Service-oriented system engineering (SOSE) has drawn increasing attention since service-oriented computing was introduced in the beginning of this decade. A large number of SOSE challenges that call for special software engineering efforts have been proposed in the research community. Our goal is to gain insight into the current status of SOSE research issues as published to date. To this end, we conducted a systematic literature review exploring SOSE challenges that have been claimed between January 2000 and July 2008. This paper presents the results of the systematic review as well as the empirical research method we followed. In this review, of the 729 publications that have been examined, 51 were selected as primary studies, from which more than 400 SOSE challenges were elicited. By applying qualitative data analysis methods to the extracted data from the review, we proved our hypotheses about the classification scheme. We are able to conclude that the SOSE challenges can be classified along two dimensions: (a) based on themes (or topics) that they cover and (b) based on characteristics (or types) that they reveal. By analyzing the distribution of the SOSE challenges on the topics and types in the years 2000-2008, we are able to point out the trend in SOSE research activities. The findings of this review further provide empirical evidence for establishing future SOSE research agendas.

No abstract

No abstract

In the field of path tracking control for wheeled mobile robots, researchers generally believe that the motion of robots meets non-holonomic constraints. However, the robot may sideslip by centrifugal force when it is steering. This kind of slip is usually uncontrollable and dangerous. In order to prevent sideslip and improve the performance of path tracking control, we propose a controller based on tire mechanics. Moreover, the new controller is based on the model predictive control, and this control method has proven to be suitable for path tracking of wheeled mobile robots. The proposed controller was verified by simulation and compared with a model predictive controller based on kinematics (non-holonomic constraints). As for the simulation results, the maximum values of displacement error, heading error, lateral velocity, and slip angle of the dynamic-based model predictive controller are 0.2086 m, 0.1609 rad, 0.1546 m/s, and 0.0576 rad, respectively. Compared with the kinematics-based model predictive controller, the maximum values of the above-mentioned parameters of the dynamic-based controller reduce by 86.55%, 72.25%, 96.30%, and 90.02%, respectively. The above-mentioned results show that the proposed controller can effectively improve the accuracy of path tracking control and avoid sideslip. INDEX TERMS Wheeled mobile robot, path tracking, path following, model predictive control, dynamic model.

Service-oriented computing is a paradigm for effectively delivering software services in a dynamic environment. Accordingly, many service-oriented software engineering (SOSE) methodologies have been proposed and practiced in both academia and industry. Some of these methodologies share common features (e.g. cover similar life-cycle phases) but are presented for different purposes, ranging from project management to system modernization, and from business analysis to technical solutions development. Given this diversity in the methodologies available in the literature, it is very hard for a company to decide which methodology would fit best for its specific needs. With this aim, we took a feature analysis approach and devised a framework for comparing the existing SOA methodologies. Different from existing comparison frameworks, ours specifically highlights aspects that are specific to SOA and aims to differentiate the methodologies that are truly service-oriented from those that deal little with service aspects. As such, the criteria defined in the framework can be used as a checklist for selecting a SOSE methodology.