Pose consensus in networks of heterogeneous robots with variable time delays

This paper proposes a novel pose (position and orientation) consensus controller for networks of heterogeneous robots modeled in the operational space. The proposed controller is a distributed proportional plus damping scheme that, with a slight modification, solves both the leader–follower and leaderless consensus problems. A singularity‐free representation, unit quaternion, is used to describe the robots orientation, and the network is represented by an undirected and connected interconnection graph. Furthermore, it is shown that the controller is robust to interconnection variable time delays. Experiments with a network of two 6‐degrees‐of‐freedom robots are presented to illustrate the performance of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.     

A two‐step control approach for docking of autonomous underwater vehicles

This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.     

Characterizing peers communities and dynamics in a P2P live streaming system

Despite the large number of works devoted to understand P2P live streaming applications, most of them put forth so far rely on characterizing the static view of these systems. In this work, we characterize the SopCast, one of the most important P2P live streaming applications. We focus on its dynamics behavior as well as on the community formation phenomena. Our results show that SopCast presents a low overlay topology diameter and low end-to-end shortest path. In fact, diameter is smaller than 6 hops in almost 90 % of the observation time. More than 96 % of peers’ end-to-end connections present only 3 hops. These values combined may lead to low latencies and a fast streaming diffusion. Second, we show that communities in SopCast are well defined by the streaming data exchange process. Moreover, the SopCast protocol does not group peers according to their Autonomous System. In fact, the probability that a community contains 50 % of its members belonging to the same AS (when we observe the largest AS of our experiments) is lower then 10 %. Peers exchange more data with partners belonging to the same community instead of peers inside the same AS. For the largest AS we have, less than 18 % of peer traffic has been exchanged with another AS partners. Finally, our analysis provides important information to support the future design of more efficient P2P live streaming systems and new protocols that exploit communities’ relationships.     

Map‐based Visualizations Increase Recall Accuracy of Data

We investigate the memorability of data represented in two different visualization designs. In contrast to recent studies that examine which types of visual information make visualizations memorable, we examine the effect of different visualizations on time and accuracy of recall of the displayed data, minutes and days after interaction with the visualizations. In particular, we describe the results of an evaluation comparing the memorability of two different visualizations of the same relational data: node‐link diagrams and map‐based visualization. We find significant differences in the accuracy of the tasks performed, and these differences persist days after the original exposure to the visualizations. Specifically, participants in the study recalled the data better when exposed to map‐based visualizations as opposed to node‐link diagrams. We discuss the scope of the study and its limitations, possible implications, and future directions.     

SOA-enabled compliance management: instrumenting, assessing, and analyzing service-based business processes

Facilitating compliance management, that is, assisting a company’s management in conforming to laws, regulations, standards, contracts, and policies, is a hot but non-trivial task. The service-oriented architecture (SOA) has evolved traditional, manual business practices into modern, service-based IT practices that ease part of the problem: the systematic definition and execution of business processes. This, in turn, facilitates the online monitoring of system behaviors and the enforcement of allowed behaviors—all ingredients that can be used to assist compliance management on the fly during process execution. In this paper, instead of focusing on monitoring and runtime enforcement of rules or constraints, we strive for an alternative approach to compliance management in SOAs that aims at assessing and improving compliance. We propose two ingredients: (i) a model and tool to design compliant service-based processes and to instrument them in order to generate evidence of how they are executed and (ii) a reporting and analysis suite to create awareness of a company’s compliance state and to enable understanding why and where compliance violations have occurred. Together, these ingredients result in an approach that is close to how the real stakeholders—compliance experts and auditors—actually assess the state of compliance in practice and that is less intrusive than enforcing compliance.     

COACH: COllaborative certificate stAtus CHecking mechanism for VANETs

Vehicular Ad Hoc Networks (VANETs) require mechanisms to authenticate messages, identify valid vehicles, and remove misbehaving vehicles. A public key infrastructure (PKI) can be used to provide these functionalities using digital certificates. However, if a vehicle is no longer trusted, its certificates have to be revoked and this status information has to be made available to other vehicles as soon as possible. In this paper, we propose a collaborative certificate status checking mechanism called COACH to efficiently distribute certificate revocation information in VANETs. In COACH, we embed a hash tree in each standard Certificate Revocation List (CRL). This dual structure is called extended-CRL. A node possessing an extended-CRL can respond to certificate status requests without having to send the complete CRL. Instead, the node can send a short response (less than 1 kB) that fits in a single UDP message. Obviously, the substructures included in the short responses are authenticated. This means that any node possessing an extended-CRL can produce short responses that can be authenticated (including Road Side Units or intermediate vehicles). We also propose an extension to the COACH mechanism called EvCOACH that is more efficient than COACH in scenarios with relatively low revocation rates per CRL validity period. To build EvCOACH, we embed an additional hash chain in the extended-CRL. Finally, by conducting a detailed performance evaluation, COACH and EvCOACH are proved to be reliable, efficient, and scalable.     

Solving weighted CSPs with meta-constraints by reformulation into satisfiability modulo theories

We introduce WSimply, a new framework for modelling and solving Weighted Constraint Satisfaction Problems (WCSP) using Satisfiability Modulo Theories (SMT) technology. In contrast to other well-known approaches designed for extensional representation of goods or no-goods, and with few declarative facilities, our approach aims to follow an intensional and declarative syntax style. In addition, our language has built-in support for some meta-constraints, such as priority and homogeneity, which allows the user to easily specify rich requirements on the desired solutions, such as preferences and fairness. We propose two alternative strategies for solving these WCSP instances using SMT. The first is the reformulation into Weighted SMT (WSMT) and the application of satisfiability test based algorithms from recent contributions in the Weighted Maximum Satisfiability field. The second one is the reformulation into an operation research-like style which involves an optimisation variable or objective function and the application of optimisation SMT solvers. We present experimental results of two well-known problems: the Nurse Rostering Problem (NRP) and a variant of the Balanced Academic Curriculum Problem (BACP), and provide some insights into the impact of the addition of meta-constraints on the quality of the solutions and the solving time.     

Elimination and accumulation of polycyclic aromatic hydrocarbons in urban stormwater wet detention ponds

The concentrations of polycyclic aromatic hydrocarbons (PAHS) in water and sediments of seven wet detention ponds receiving urban stormwater were investigated. The ponds comprised traditional wet detention ponds with a permanent wet volume and a storage volume as well as ponds that were expanded with sand filters and other means to improve the removal of micropollutants. The concentrations of sigmaPAH in the sediments varied between 6 +/- 5 and 2,222 +/- 603 ng g(-1) dry weight (mean +/- standard deviation), and were highest in the ponds with lower pond volume per catchment area and did not clearly reflect different activities in the catchments. In general, the concentrations of PAHS in the sediments decreased from inlet to outlet, especially in the systems with good conditions for sedimentation such as systems with flow perpendicular sand dikes and extensive submerged vegetation. High molecular weight PAHs were predominant in the sediments indicating the pyrogenic origin of the PAHS. There was no correlation between PAH species concentrations in water or sediments and their hydrophobicity (log K(ow)). PAH concentrations in water fluctuated in response to intensity and frequency of rain events, whereas concentrations in the sediments integrated the pollutant load over time. Pond systems expanded with sand filters and other technologies to enhance removal of micropollutants consistently had concentrations of PAHS in the effluents below the detection level.