Label‐QoS switching protocol for quality of service assurance in dynamic swarm robot local network

This paper presents the modeling and analysis of a proposed label–quality of service (QoS) switching protocol for heterogeneous robot in a swarm. Establishing the data communication and network in multirobot task allocation is an important aspect in robot collaboration. Instead of passing the data through the cloud network, each robot can be configured as a node in its swarm for intercommunication. This research was conducted to model and propose aggregation and classification methods in a swarm robot network inspired from multiprotocol label switching, namely, label‐QoS switching protocol. Each packet of data is forwarded with a proposed 2‐side label values that are concerned with addressing and QoS. This proposed protocol was applied in each of the node's routing, and it was set up with forwarding information table. The simulation and analysis were conducted in 2 situations: (1) with a constant n–label switch mobile robot and a number of packet data increasing with time and (2) with a constant number of packet and varying n–label switch mobile robot by time. With reference to the network parameter performances, it shows that the anomaly treatment by the proposed protocol is able to prioritize the data forwarding between the robots at the edge of the swarm with class of service although the robot community at the center is increasing or getting crowded.     

Fluoroscopy-based 3-D reconstruction of femoral bone cement: a new approach for revision total hip replacement

In revision total hip replacement the removal of the distal femoral bone cement can be a time consuming and risky operation due to the difficulty in determining the three-dimensional (3-D) boundary of the cement. We present a new approach to reconstruct the bone cement volume by using just a small number of calibrated multiplanar X-ray images. The modular system design allows the surgeon to react intraoperatively to problems arising during the individual situation. When encountering problems during conventional cement removal, the system can be used on demand to acquire a few calibrated X-ray images. After a semi-automatic segmentation and 3-D reconstruction of the cement with a deformable model, the system guides the surgeon through a free-hand navigated or robot-assisted cement removal. The experimental evaluation using plastic test implants cemented into anatomic specimen of human femoral bone has shown the potential of this method with a maximal error of 1.2 mm (0.5 mm RMS) for the distal cement based on just 4-5 multiplanar X-ray images. A first test of the complete system, comparing the 3-D-reconstruction with a computed tompgraphy data set, confirmed these results with a mean error about 1 mm.     

（NixZn0.825—xCu0.170Co0.005）Fe1.90O3.85铁氧体的电磁性能

采用配方式（ＮｉｘＺｎ０．８２５－ｘＣｕ０．１７０Ｃｏ０．００５）Ｆｅ１．９０Ｏ３．８５（简称ＮｉＣｕＺｎ铁氧体）在较宽的组成范围内（ｘ＝０．２９５～０．７５０）研究了ＮｉＣｕＺｎ铁氧体的电磁性能,发现ＮｉＣｕＺｎ铁氧体的μ,Ｑ以及温度特性随Ｎｉ含量ｘ的变化与ＮｉＺｎ铁氧体有很大不同,并对产生这种现象的原因进行了初步探讨。     

Analysis of Heuristic Graph Partitioning Methods for the Assignment of Packet Control Units in GERAN

Over the last few years, graph partitioning has been recognized as a suitable technique for optimizing cellular network structure. For example, in a recent paper, the authors proposed a classical graph partitioning algorithm to optimize the assignment of cells to Packet Control Units (PCUs) in GSM-EDGE Radio Access Network. Based on this approach, the quality of packet data services in a live environment was increased by reducing the number of cell re-selections between different PCUs. To learn more about the potential of graph partitioning in cellular networks, in this paper, a more sophisticated, yet computationally efficient, partitioning algorithm is proposed for the same problem. The new method combines multi-level refinement and adaptive multi-start techniques with algorithms to ensure the connectivity between cells under the same PCU. Performance assessment is based on an extensive set of graphs constructed with data taken from a live network. During the tests, the new method is compared with classical graph partitioning approaches. Results show that the proposed method outperforms classical approaches in terms of solution quality at the expense of a slight increase in computing time, while providing solutions that are easier to check by the network operator.     

On the reduction of thermal and flicker noise in ENG signal recording amplifiers

Because of the extremely low amplitude of the input signal, the design of electro-neuro-graph (ENG) amplifiers involves a special care for flicker and thermal noise reduction. The task becomes really challenging in the case of implantable electronics, because power consumption is restricted to few hundreds μW. In this work, two different circuit techniques aimed to reduce flicker and thermal noise, in ultra-low noise amplifiers for implantable medical devices, are demonstrated. The circuit design, and measurement results are presented, in both cases showing an excellent performance, and noise to power consumption trade-off. In the first circuit, a very simple low-pass G_m–C chopper amplifier is used for flicker noise cancellation. It consumes only 28 mW, with a measured input referred noise and offset of 2  $ {{{\text{nV}}} \mathord{\left/ {\vphantom {{{\text{nV}}} {\sqrt {{\text{Hz}}} }}} \right. \kern-0em} {\sqrt {{\text{Hz}}} }} $ , and 2.5 μV, respectively. In the second circuit, a ultra-low noise amplifier, a energy-efficient DC–DC down-converter, and low voltage design techniques are combined, for the reduction of thermal noise with a minimum power consumption. Measured input referred noise in this case was 5.5  $ {{{\text{nV}}} \mathord{\left/ {\vphantom {{{\text{nV}}} {\sqrt {{\text{Hz}}} }}} \right. \kern-0em} {\sqrt {{\text{Hz}}} }} $ at only 380 μW power consumption. Both circuits were fabricated in a 1.5 μm technology.     

Current-voltage behavior of AlGaAs/InGaAs pHEMT structures and the effect of optical illumination

Various pseudomorphic High Electron Mobility Transistor (pHEMT) structures of AlGaAs/InGaAs alloys have been observed their current-voltage behavior. The tungsten probes were used for a measurement the structures by ramping the voltage from −5 to 5 V and measure the electrical current. Measurement was carried out at room temperature and also under optical illumination. From the measurement, the electrical current was found to increase as the increase of Al content in the AlGaAs alloys layer in the pHEMT structure. This phenomenon was supported by the decrease of sheet resistance as obtained from Hall effect measurement. Under visible light illumination, the current-voltage behavior of pHEMT structure was observed to vary as the light power density was varied for 0, 25 and 55 μW/cm.     

Creep crack growth in P22 and P91 welds — overview from SOTA and HIDA projects

Creep crack growth (CCG) tests on two pressure vessel steels, P22 (2.25Cr1Mo) and P91 (9CrMoVNb) were carried out in two European Commission supported projects: SMT 2070 ‘SOTA’ and BE1702 ‘HIDA’.Tests in the SOTA project were conducted on the all-weld and cross-weld compact tension (CT) specimens; in the case of cross-weld specimens the electrical discharge machined (edm) notches were placed at various positions inside the HAZ to study the effect of notch position on CCG characteristics. These tests were conducted at 550°C (P22) and 600°C (P91).Tests in the HIDA project were carried out on the base metal and cross-weld CT specimens; in the case of cross-weld specimens the edm notches were placed in the centre of the HAZ. These tests were carried out at higher temperatures than those in the SOTA project i.e. at 565°C (P22) and 625°C (P91). In this project CCG tests were also carried out on large seam-welded pipes (feature specimens) with edm notches positioned in the base metal and in the centre of HAZ.The base and weld metals used in both projects were from the same cast/pedigree. This paper discusses the findings of the two projects and implications for crack growth in the weldments of these two steels.     

Antimicrobial effectiveness of oregano and sage essential oils incorporated into whey protein films or cellulose‐based filter paper

BACKGROUND: In this study the antimicrobial effectiveness of oregano and sage essential oils (EOs) incorporated into two different matrices, whey protein isolate (WPI) and cellulose‐based filter paper, was analysed. RESULTS: Antimicrobial properties of WPI‐based films containing oregano and sage EOs were tested against Listeria innocua, Staphylococcus aureus and Salmonella enteritidis. Oregano EO showed antimicrobial activity against all three micro‐organisms. The highest inhibition zones were against L. innocua. However, sage EO did not show antimicrobial activity against any of the micro‐organisms. Antimicrobial activity was confirmed for both EOs using cellulose‐based filter paper as supporting matrix, although it was significantly more intense for oregano EO. Inhibition surfaces were significantly greater when compared with those of the WPI films. This finding is likely due to the higher porosity and diffusivity of the active compounds in the filter paper. CONCLUSION: The interactions between the EOs and the films have a critical effect on the diffusivity of the active compounds and therefore on the final antimicrobial activity. As a result, to obtain active edible films, it is necessary to find the equilibrium point between the nature and concentration of the active compounds in the EO and the formulation of the film. Copyright © 2010 Society of Chemical Industry     

Mechanisms of molecular and structural interactions between lentil and quinoa proteins in aqueous solutions induced by pH recycling

There has been a growing interest in plant proteins due to their beneficial health effects, low cost and variety of applications in food industries. The low solubility of lentil proteins (LPs) is one of the significant factors that limit their use in food applications. Quinoa proteins (QPs), which have high water solubility, were combined with LPs at pH 12 to generate LP-QP complexes to generate pH-based soluble protein compounds. The LP-QP complexes demonstrated a large surface charge with an increase solubilisation of the protein complexes by more than 85%, together with resistance to protein aggregation. The combination of LPs to QPs led to a significant increase (P < 0.05) in unique tertiary and secondary protein structures as determined by the protein–protein interaction (PPI) technique involving pH recycling. Interactions between LPs and QPs affected the surface morphology of the protein complexes formed. Electrostatic interactions, hydrophobic forces and hydrogen bonding were indicated to play key roles in the PPIs. The capacity of pH cycling to illustrate the above protein interactions shows that this is a robust approach for assessing the emulsion and foaming properties of food proteins.     

Combined effect of antimicrobial edible coatings with reduction of initial microbial load on the shelf-life of fresh hake (Merluccius merluccius) medallions

Two distinct strategies were combined to preserve fresh fish (Merluccius merluccius) under refrigeration at 4 °C for 12 days: (i) the application of an antimicrobial edible coating enriched with oregano essential oil (OEO) or carvacrol (CV) and (ii) the reduction of initial microbial load by good handling practise and the use of sodium hypochlorite (NaOCl). The action of antimicrobial coatings alone retarded the growth of Enterobacteriaceae, lactic acid bacteria (LAB) and H₂S producing bacteria on fish samples. The reduction of initial microbial load by itself only affected the evolution of LAB, but not the rest of the bacterial groups. When using both techniques combined, edible antimicrobial coatings were significantly more effective with additional and significant delays in the growth of mesophilic, psychrotrophic and Pseudomonas bacteria. Thus, the use of both strategies combined resulted in a reduction of the counts of all bacterial groups after 12 days of storage which ranged from 1.5 log and 8 log, in Pseudomonas and H₂S producing bacteria, respectively. Moreover, no significant differences were observed when comparing the microbiological evolution of samples treated with OEO compared to those only treated with CV.