An SOA design and development platform should allow for the semi-automatic transformation of models from higher to lower levels of abstraction, and eventually to code.
Here, we have experienced and explored a semi-automated method for generating a high-level abstraction of a UML class diagram.
这里，我们尝试并探索了，以半自动方法产生U ML类图的高层抽象方案。
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We propose a road-surface abstraction algorithm which is suitable for structured or semi-structured road environment and extracts effectively a road-surface for ground robot navigation.