A decoupled sliding mode control for a continuum arm

The paper treats the control problem of a class of robots constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The segment control system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. The primary benefit of the proposed method is that the dynamic equations are represented by a set of ODE’s in time instead of PDE’s in time and space, and the new curvature gradient lumped parameter model is used. A sliding mode control system is used in order to achieve the desired shape of the arm. The stability of the closed-loop control system is proven. Numerical simulations and an experimental platform are also provided to verify the effectiveness of the presented approach.     

On absolute (robust) stability: slope restrictions andstability multipliers

Absolute stability for systems with several sector‐restricted and slope‐restricted nonlinearities is studied in this paper. A critical analysis of the multipliers is performed and the multipliers of Yakubovich type are chosen because the stability inequality is obtained with a minimum of technical assumptions. The main part of the paper is devoted to obtaining the Yakubovich‐type criterion in the unified context of stable, critical, and unstable cases for the linear part. The paper is motivated by the problem of pilot in‐the‐loop oscillations of the aircrafts where critical and unstable cases appear and the saturation nonlinearity is both sector and slope restricted. The paper contains some applications of the frequency domain inequalities. The conclusions show a ‘parsimony principle’: using as few free parameters as possible to obtain the largest possible domain of stability. The paper ends with conclusions and hints for further development. Copyright © 2011 John Wiley & Sons, Ltd.     

A Multicast-Enabled Delivery Framework for QoE Assurance of Over-The-Top Services in Multimedia Access Networks

Over-The-Top (OTT) video services are becoming more and more important in today’s broadband access networks. While original OTT services only offered short duration medium quality videos, more recently, premium content such as high definition full feature movies and live video are offered as well. For operators, who see the potential in providing Quality of Experience (QoE) assurance for an increased revenue, this introduces important new network management challenges. Traditional network management paradigms are often not suited for ensuring QoE guarantees as the provider does not have any control on the content’s origin. In this article, we focus on the management of an OTT-based video service. We present a loosely coupled architecture that can be seamlessly integrated into an existing OTT-based video delivery architecture. The framework has the goal of resolving the network bottleneck that might occur from high peaks in the requests for OTT video services. The proposed approach groups the existing Hypertext Transfer Protocol (HTTP) based video connections to be multicasted over an access network’s bottleneck and then splits them again to reconstruct the original HTTP connections. A prototype of this architecture is presented, which includes the caching of videos and incorporates retransmission schemes to ensure robust transmission. Furthermore, an autonomic algorithm is presented that allows to intelligently select which OTT videos need to be multicasted by making a remote assessment of the cache state to predict the future availability of content. The approach was evaluated through both simulation and large scale emulation and shows a significant gain in scalability of the prototype compared to a traditional video delivery architecture.     

Formulating the template ILP consistency problem as a constraint satisfaction problem

Inductive Logic Programming (ILP) deals with the problem of finding a hypothesis covering positive examples and excluding negative examples, where both hypotheses and examples are expressed in first-order logic. In this paper we employ constraint satisfaction techniques to model and solve a problem known as template ILP consistency, which assumes that the structure of a hypothesis is known and the task is to find unification of the contained variables. In particular, we present a constraint model with index variables accompanied by a Boolean model to strengthen inference and hence improve efficiency. The efficiency of models is demonstrated experimentally.     

Oblivious transfer and quantum channels as communication resources

We show that from a communication-complexity perspective, the primitive called oblivious transfer—which was introduced in a cryptographic context—can be seen as the classical analogue to a quantum channel in the same sense as non-local boxes are of maximally entangled qubits. More explicitly, one realization of non-cryptographic oblivious transfer allows for the perfect simulation of sending one qubit and measuring it in an orthogonal basis. On the other hand, a qubit channel allows for realizing non-cryptographic oblivious transfer with probability roughly 85 %, whereas 75 % is the classical limit.     

Adaptation provisioning with respect to learning styles in a Web‐based educational system: an experimental study

Personalized instruction is seen as a desideratum of today's e‐learning systems. The focus of this paper is on those platforms that use learning styles as personalization criterion called learning style‐based adaptive educational systems. The paper presents an innovative approach based on an integrative set of learning preferences that alleviates some of the limitations of similar systems. The adaptive methods used as well as their implementation in a dedicated system (WELSA) are presented, together with a thorough evaluation of the approach. The results of the experimental study involving 64 undergraduate students show that accommodating learning styles in WELSA has a beneficial effect on the learning process.     

Left-forbidding cooperating distributed grammar systems

A left-forbidding grammar, introduced in this paper, is a context-free grammar, where a set of nonterminal symbols is attached to each context-free production. Such a production can rewrite a nonterminal provided that no symbol from the attached set occurs to the left of the rewritten nonterminal in the current sentential form. The present paper discusses cooperating distributed grammar systems with left-forbidding grammars as components and gives some new characterizations of language families of the Chomsky hierarchy. In addition, it also proves that twelve nonterminals are enough for cooperating distributed grammar systems working in the terminal derivation mode with two left-forbidding components (including erasing productions) to characterize the family of recursively enumerable languages.     

Reactive scheduling in the multi-mode RCPSP

The multi-mode resource-constrained project scheduling problem (MRCPSP) involves the determination of a baseline schedule of the project activities, which can be executed in multiple modes, satisfying the precedence relations and resource constraints while minimizing the project duration. During the execution of the project, the baseline schedule may become infeasible due to activity duration and resource disruptions. We propose and evaluate a number of dedicated exact reactive scheduling procedures as well as a tabu search heuristic for repairing a disrupted schedule, under the assumption that no activity can be started before its baseline starting time. We report on promising computational results obtained on a set of benchmark problems.