Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation-part II: teleoperation

This paper is the second of two companion papers. The foundation for the external gain scheduling approach to enable an existing controller via middleware for networked control with a case study on a proportional-integral (PI) controller for dc motor speed control over IP networks was given in Part I. Part II extends the concepts and methods of the middleware called gain scheduler middleware (GSM) in Part I to enable an existing controller for mobile robot path-tracking teleoperation. By identifying network traffic conditions in real-time, the GSM will predict the future tracking performance. If the predicted tracking performance tends to be degraded over a certain tolerance due to network delays, the GSM will modify the path-tracking controller output with respect to the current traffic conditions. The path-tracking controller output is modified so that the robot will move with the fastest possible speed, while the tracking performance is maintained in a certain tolerance. Simulation and experimental results on a mobile robot path-tracking platform show that the GSM approach can significantly maintain the robot path-tracking performance with the existence of IP network delays.     

A networking framework for teleoperation in safety, security, and rescue robotics - [wireless communications in networked robotics]

Safety, security, and rescue robotics is an important application field that can be viewed as a prototypical example of a domain where networked mobile robots are used for the exploration of unstructured environments that are inaccessible to or dangerous for humans. Teleoperation, based on wireless networks, is much more complex than what one might expect at first glance because it goes well beyond mere mappings of low-level user inputs ? like joystick commands ? to motor activations on a robot. Teleoperation for SSRR must move up to the behavior and mission levels where a single operator triggers short-time, autonomous behaviors, respectively, and supervises a whole team of autonomously operating robots. Consequently, a significant amount of heterogeneous data ? video, maps, goal points, victim data, and so on ? must be transmitted between robots and mission control. In this article, a networking framework for teleoperation in SSRR is presented. It was evaluated in a series of field tests and competitions, including the European Land Robot Trials and RoboCup events.     

Cree research - part I: Quietly positioned for SiC dominance

There's been a purposeful quiet surrounding the fledgling field of silicon carbide (SiC) based semiconductors. Behind the scenes, however, there is considerable activity, interest and positioning among some of the most powerful consumer electronic companies in this world. In this the first of a two-part update on SiC, TFR takes a look at Cree Research and talks to its President and CEO, Eric Hunter.     

Variable-structure direct torque control - a class of fast and robust controllers for induction machine drives

A family of variable-structure controllers for induction machine drives is presented, in which the principles of direct torque control (DTC), variable-structure control (VSC), and space-vector pulsewidth modulation are combined to ensure high-performance operation, both in the steady state and under transient conditions. Three new VSC schemes are designed following the DTC voltage-control-based philosophy. These provide robust, fast, and accurate torque and flux control, without the penalty of high chattering. Comparative results demonstrate that proposed techniques preserve the DTC transient merits, while the steady-state behavior is significantly improved. Experimental results prove the strong robustness, accuracy, quickness, and low-ripple sensor-less operation of a drive that uses the new schemes.     

Modal analysis for a bounded-wave EMP Simulator - part I: effect of test object

We have analyzed the electromagnetic-mode structure inside a bounded-wave electromagnetic pulse (EMP) simulator. This has been done by the application of the singular value decomposition method to time-domain data generated by self-consistent, three-dimensional finite-difference time-domain simulations. This combination of two powerful techniques yields a wealth of information about the internal mode structure which cannot be otherwise obtained. To our knowledge, this is the first time such a comprehensive study has been done. In the absence of a test object, the transverse electromagnetic (TEM) mode is dominant throughout the simulator length. TM/sub 1/ dominates over other transverse electromagnetic (TM) modes over most of the length. Close to the termination, the TEM mode weakens marginally, while higher order TM modes become stronger. The enhancement of TM/sub 2/, and the weakening of TEM near the termination, have been explained in physical terms. Placement of a perfectly conducting test object in the parallel-plate section increases the strength of higher order TM modes, at the cost of TEM. Hence, the object is subjected to electromagnetic fields that deviate significantly from the desired TEM form. A physical interpretation has been provided for this phenomenon. The enhancement of electromagnetic fields near the top and bottom faces of the object are explained in terms of the Poynting flux distribution.     

Integrated design methodology of ball-screw driven servomechanisms with discrete controllers. Part I: Modelling and performance analysis

In order to ensure high-speed and high-precision specifications in ball-screw driven servomechanisms, an integrated design methodology in which driving mechanisms and motion controllers are designed simultaneously is required. As a prior study of the integrated design procedure, it is necessary to obtain not only mathematical models of servomechanisms but also proper formulation of the integrated design problem. In this paper, the feedback and feedforward controllers described in discrete-time domain are incorporated in the motion controller. Design requirements of the servomechanism such as stability, geometric errors, resonance of the driving mechanism, deformation of the structure, actuator saturation and so on are described in detail. Numerical simulations of the servomechanism performance according to design and operating parameters are performed based on the developed mathematical model. An accurate identification process of the driving mechanism is introduced to verify the mathematical subsystem model. Circular motion experiments are conducted to investigate interactions between parameters of the driving mechanism and controller gains, as well as analyze the influence of the interactions on the servomechanism performance. Results of the analysis and experiments let us understand accurate dynamic characteristics of the ball-screw driven servomechanism and render an integrated design possible.     

Cardinal exponential splines: part I - theory and filtering algorithms

Causal exponentials play a fundamental role in classical system theory. Starting from those elementary building blocks, we propose a complete and self-contained signal processing formulation of exponential splines defined on a uniform grid. We specify the corresponding B-spline basis functions and investigate their reproduction properties (Green function and exponential polynomials); we also characterize their stability (Riesz bounds). We show that the exponential B-spline framework allows an exact implementation of continuous-time signal processing operators including convolution, differential operators, and modulation, by simple processing in the discrete B-spline domain. We derive efficient filtering algorithms for multiresolution signal extrapolation and approximation, extending earlier results for polynomial splines. Finally, we present a new asymptotic error formula that predicts the magnitude and the Nth-order decay of the L/sub 2/-approximation error as a function of the knot spacing T.     

Integrated process planning and scheduling in networked manufacturing systems for I4.0: a review and framework proposal

Wireless Networks - Integrated process planning and scheduling in networked manufacturing systems plays a crucial role nowadays and in the forthcoming context of Industry 4.0 to enable effective...     

Erratic erase in flash memories - part I: basic experimental and statistical characterization

This paper presents experimental results and statistics about the erratic erase in Flash Memories, setting the basis for any physical modeling of the phenomena and data comparison. Statistical parameters like the reliability function and the failure rate have been measured and modeled by analytical functions showing that all cells of an array may potentially exhibit erratic events. By mapping the physical position of each erratic bit in a sector and using an equivalent cell approach, it has been possible to establish a correlation between the erratic phenomena and the intrinsic amorphous nature of SiO/sub 2/. Tail bits of the erased distribution have been shown to be caused by erratic events suggesting a unique physical cause for the two phenomena. The relation between positive and negative shifts has also been discussed and overerase risks caused by erratic behaviors have been estimated.     

Constant-frequency sliding-mode and PI linear controllers for powerrectifiers: a comparison

Constant-frequency sliding-mode and linear proportional integral (PI) cascaded controllers (internal current loop and external output voltage control loop) for 12-pulse thyristor rectifiers are designed, using new models and convenient assumptions, and their performances compared. The use of sliding-mode control on line-commutated power converters implies the use of fixed-frequency sliding-mode design, originating steady-state errors. These are eliminated using a higher order switching function, with fourth-order Bessel polynomial coefficients, to minimize the response time and to eliminate the overshoot in the reaching mode. Comparisons are made using simulations (MATLAB/SIMULINK blocks) and experimental results. The sliding-mode controllers, as well as the PI controllers, need almost the same hardware and present no steady-state errors and no output voltage overshoots. Besides allowing a faster dynamics than the PI controllers, the proposed sliding-mode approach provides a new, nonlinear theoretical frame for solving the control problem of power rectifiers with output filters     

Miriã: a CAD tool to synthesize multi-burst controllers for heterogeneous systems

This paper presents the Miriã tool that synthesizes multi-burst mode asynchronous controllers. An important feature of our solution is its capability of handling pairs of input burst that satisfy a set of properties. Such multi-burst may be formally described by two burst operators: OR and concurrence. A formal specification, which we called multi-burst graph (MBG), was developed to capture these features. The Miriã tool starts from a MBG specification producing asynchronous controllers as generalized RS architectures. This type of architecture handles efficiently edge-sensitive, non-monotonic (conditional) level sensitive, directed don’t-care and undetermined signals, which may occur when designing asynchronous circuits for heterogeneous systems. When compared to asynchronous controllers generated by the 3D tool, our experimental results frequently present a shorter cycle time, a reduced area and a faster interaction with the external environment.     

Cochannel and adjacent channel interference in actual terrestrial TV scenarios - part I: field measurements

The results of an extensive study on analog PAL signals interfered with by digital DVB-T signals are presented. The research work covers field measurements, laboratory measurements, a theoretical evaluation of the interference problems and a national survey among TV installation companies. The main objective is the identification and explanation of the interference problems reported since the start of DVB-T broadcasting. The report is organized in two parts. This paper, part I, describes the field measurements, whereas the laboratory measurements and the poll results are described in part II (see Acuna, M.A. et al., ibid., p.116-22). It has been found that the frequency plan is part of the source of the interference problems, particularly in the case of cochannel interference. Another source of problems is use of different radiation elements at the same site for broadcasting DVB-T and analog TV signals. As stated in ETSI documents (see ETSI TR-101-190, 1997), the use of a different antennas for DVB-T may require ERP restrictions to protect existing analog services. The power ratios between digital and analog TV signals at the broadcasting station should be adjusted to meet the protection ratios everywhere within the coverage area. The required power ratio depends on the specific shape of the radiation pattern of each antenna. Finally, it has been found that an important part of the interference problems is due to the amplifiers of the master antenna television (MATV) systems in buildings. The results of the laboratory tests and the theoretical analysis conducted to determine the increment of the protection ratio required by the presence of these amplifiers are presented in part II.     

Future wireless applications for a networked city: services for visitors and residents

Future wireless networks will offer near-ubiquitous high-bandwidth communications to mobile users. In addition, the accurate position of users will be known, either through network services or via additional sensing devices such as GPS. These characteristics of future mobile environments will enable the development of location-aware and, more generally, context-sensitive applications. In an attempt to explore the system, application, and user issues associated with the development and deployment of such applications, we began to develop the Lancaster GUIDE system in early 1997, finishing the first phase of the project in 1999. In its entirety, GUIDE comprises a citywide wireless network based on 802.11, a context-sensitive tour guide application with, crucially, significant content, and a set of supporting distributed systems services. Uniquely in the field, GUIDE has been evaluated using members of the general public, and we have gained significant experience in the design of usable context-sensitive applications. We focus on the applications and supporting infrastructure that will form part of GUIDE II, the successor to the GUIDE system. These developments are designed to expand GUIDE outside the tour guide domain, and to provide applications and services for residents of the city of Lancaster, offering a vision of the future mobile environments that will emerge once ubiquitous high-bandwidth coverage is available in most cities.     

Modal analysis for a bounded-wave EMP Simulator - part II: radiation leakage and mode suppression

Radiation leakage from a high-power bounded-wave electromagnetic pulse simulator can cause severe electromagnetic interference (EMI) with surrounding equipment. In Part I, we analyzed the electromagnetic mode structure inside a simulator. In Part II, we examine the relative contribution of these modes to radiation leakage. We have calculated the temporal cross correlation between the electromagnetic modes inside the simulator and the temporal waveform of the forward-radiated far field. The TM1 and TM2 modes show strong cross correlation over a range of switching times. For the TEM mode, on the other hand, this holds true only for larger values of the switching time. Hence, for a given mode amplitude, higher order TM modes tend to produce more leakage than the TEM mode. However, since TEM is far stronger than TM throughout the simulator, it may still contribute more in absolute terms. Increasing the angle between simulator plates excites more higher order modes and increases their strength, thereby enhancing leakage. Pulse compression with respect to time increases the relative strength of higher order modes. Placing a spatial mode filter inside the simulator significantly reduces TM/sub 1/ without modifying the desired TEM mode. However, TM/sub 2/ remains largely unchanged. The reduction in TM/sub 1/ depends sensitively upon the parameters of the filter. These observations illustrate a new method of understanding and improving simulator design from the point of view of EMI.     

LEAD: a methodology for learning efficient approaches to medical diagnosis.

Determining the most efficient use of diagnostic tests is one of the complex issues facing medical practitioners. With the soaring cost of healthcare, particularly in the US, there is a critical need for cutting costs of diagnostic tests, while achieving a higher level of diagnostic accuracy. This paper develops a learning based methodology that, based on patient information, recommends test(s) that optimize a suitable measure of diagnostic performance. A comprehensive performance measure is developed that accounts for the costs of testing, morbidity, and mortality associated with the tests, and time taken to reach diagnosis. The performance measure also accounts for the diagnostic ability of the tests. The methodology combines tools from the fields of data mining (rough set theory, in particular), utility theory, Markov decision processes (MDP), and reinforcement learning (RL). The rough set theory is used in extracting diagnostic information in the form of rules from the medical databases. Utility theory is used in bringing various nonhomogenous performance measures into one cost based measure. An MDP model together with an RL algorithm facilitates obtaining efficient testing strategies. The methodology is implemented on a sample problem of diagnosing solitary pulmonary nodule (SPN). The results obtained are compared with those from four alternative testing strategies. Our methodology holds significant promise to improve the process of medical diagnosis.     

A load scheduler for SIP proxy servers: design,implementation and evaluation of a history weighted window approach

The widespread use of Session Initiation Protocol as a signalling protocol has created various challenges. An important one is that its throughput can be severely degraded when an overload happens in the proxy server because of several retransmissions from the user agent. One common approach to overcome this problem is ‘load balancing’. A balancer needs to know the status of proxy servers, which are continuously gathered implicitly or explicitly. Implicit methods have averagely less overhead than explicit ones. This paper attempts to prevent throughput reduction by balancing the loads among available proxy servers properly using an implicit mechanism called History Weighted Average Response time . The proposed algorithm is robust because it incurs no extra processing to proxy servers. The novelty of the mechanism is making use of ‘response time history’ to estimate the load being currently processed on servers. By implementing in a real testbed, throughput and scalability are improved compared with an important state‐of‐the‐art similar algorithm. This improvement stems from no need for modification in SIP protocol, easy implementation and application, simple computations for making decision and no need for extra feedback between servers and load balancer. Copyright © 2015 John Wiley & Sons, Ltd.     

Transmission through axisymmetric, cascaded cylindrical cavities coupled by apertures - part I: structures with coaxial and circular-cylindrical cross-sections

A technique is presented for determining the field in a series of cascaded, axisymmetric cylindrical cavities excited by a /spl phi/-independent source. The constituent cavities are either coaxial or circular-cylindrical. The field in each cavity is expressed in terms of the electric field in the apertures at the interfaces where adjacent cavities join. Coupled integral equations are formulated in the frequency domain from which these aperture fields are computed. From knowledge of the aperture fields, the complete field in the cavity structure can be determined. The frequency-domain data are used to compute the time-domain field in the system of cavities. Cavities were constructed and experiments performed to corroborate the computed data.