Output feedback of Markov jump linear systems with no mode observation: An automotive throttle application

The note presents an output feedback control strategy for Markov jump linear systems with no mode observation. Based on minimizing a finite‐time quadratic cost, we derive an algorithm that generates output feedback gains that satisfy a necessary optimality condition. These gains can be computed off‐line relying only on the initial condition of the system. This result expands a previous one from the literature that considered state‐feedback only. To illustrate the usefulness of the approach, real‐time laboratory experiments were performed to control an automotive electronic throttle valve subject to Markov‐driven voltage fluctuations. Copyright © 2015 John Wiley & Sons, Ltd.     

Hefestos: an intelligent system applied to ubiquitous accessibility

This article proposes Hefestos, an intelligent system applied to ubiquitous accessibility. This model uses ubiquitous computing concepts to manage accessibility resources for people with disabilities. Among the concepts employed, context awareness, user profiles and trails management can be highlighted. The paper proposes an ontology for accessibility and delineates scenarios of its application in everyday life of people with disabilities. Moreover, the implementation of a smart wheelchair prototype and its application in a practical experiment is described. Ten users with a range of disability degrees tried the system and filled out a survey based on the technology acceptance model. This experiment demonstrated the main functionalities and the acceptance of the system. The results showed 96 % of acceptance regarding perceived easy of use and 98 % in perceived usefulness. These results were encouraging and show the potential for implementing Hefestos in real life situations.     

Lyapunov Design of Multivariable MRAC via Generalized Passivation

A Lyapunov design of multiple input, multiple output (MIMO) model‐reference adaptive control (MRAC) systems is proposed using new generalized passivity concepts based on WSPR and WASPR properties. The new design avoids control overparameterization and leads to the simplest unnormalized gradient algorithm by means of a passivating multiplier. To this end, a necessary and sufficient condition on the high frequency gain matrix to achieve the WASPR property is established. This condition is referred to as Positive Diagonal Jordan (PDJ) form. Based on the robustness WSPR and WASPR properties, a systematic determination of a robust passivating matrix multiplier is then presented. The advantages of the new design are illustrated by numerical simulation including a robotics adaptive visual servoing problem and a 4‐input‐4‐output dynamic system. © 2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd     

3-D Unitary ESPRIT: Accurate attitude estimation for unmanned aerial vehicles with a hexagon-shaped ESPAR array

Accurate estimation of the attitude of unmanned aerial vehicles (UAVs) is crucial for their control and displacement. Errors in the attitude estimate may misuse the limited battery energy of UAVs or even cause an accident. For attitude estimation, proprioceptive sensors such as inertial measurement units (IMUs) are widely applied, but they are susceptible to inertial guidance error. With antenna arrays currently being installed in UAVs for communication with ground base stations, we can take advantage of the array structure in order to improve the estimates of IMUs via data fusion. In this paper, we therefore propose an attitude estimation system based on a hexagon-shaped 7-element electronically steerable parasitic antenna radiator (ESPAR) array. The ESPAR array is well-suited for installment in the UAVs with broad wings and short bodies. Our proposed solution returns an estimation for the pitch and roll based on the inter-element phase delay estimates of the line-of-sight path of the impinging signal over the antenna array. By exploiting the parallel and centrosymmetric structure in the hexagon-shaped ESPAR array, the 3-dimensional Unitary ESPRIT algorithm is applied for phase delay estimation to achieve high accuracy as well as computational efficiency. We devise an attitude estimation algorithm by exploiting the geometrical relationship between the UAV attitude and the estimated phase delays. An analytical closed-form expression of the attitude estimates is obtained by solving the established simultaneous nonlinear equations. Simulations results show the feasibility of our proposed solution for different signal-to-noise ratio levels as well as multipath scenarios.     

NodeWiz: Fault-tolerant grid information service

Large scale grid computing systems may provide multitudinous services, from different providers, whose quality of service will vary. Moreover, services are deployed and undeployed in the grid with no central coordination. Thus, to find out the most suitable service to fulfill their needs, or to find the most suitable set of resources on which to deploy their services, grid users must resort to a Grid Information Service (GIS). This service allows users to submit rich queries that are normally composed of multiple attributes and range operations. The ability to efficiently execute complex searches in a scalable and reliable way is a key challenge for current GIS designs. Scalability issues are normally dealt with by using peer-to-peer technologies. However, the more reliable peer-to-peer approaches do not cater for rich queries in a natural way. On the other hand, approaches that can easily support these rich queries are less robust in the presence of failures. In this paper we present the design of NodeWiz, a GIS that allows multi-attribute range queries to be performed efficiently in a distributed manner, while maintaining load balance and resilience to failures.     

Main and interactive effects of shiftwork, age and work stress on health in an Italian sample of healthcare workers

Among healthcare workers, shiftwork (mostly if nightwork is also included), ageing and work-related stress may be factors leading to impaired health. Such risk factors may also operate in interaction, resulting in an even increased harm for health. The present study aims at evaluating these relationships in a sample of 1842 hospital workers in Northern Italy. Subjects were mainly women, 33.1% were aged > or = 45 yr, and they were almost evenly distributed between dayworkers and rotating shiftworkers (nights included). Shiftwork was associated with poor sleep, while it was protective against gastrointestinal disorders, poor work ability and job dissatisfaction. Work stress was the risk factor with the highest relevance for poor health. Ageing was associated with lower physical health. Few significant interactions were observed. Shiftwork with nights and high work stress significantly interacted in increasing the risk for poor sleep. The "healthy worker effect" may have played a strong role in study findings.     

Cancer risk and social inequalities in Italy

STUDY OBJECTIVE: To investigate social differences in cancer incidence in Turin, Italy in 1985-87. DESIGN: A cancer incidence follow up study of the turin population in relation to socioeconomic characteristics was performed through record linkage between the 1981 census and the cancer registry. A case-control study nested in the cohort was analysed, where cases were subjects with a new diagnosis of cancer in 1985-87 and controls were a sample of the Turin population, frequency matched by sex and age group. Incidence odd ratios (ORs) were calculated for social classes (defined by education, housing tenure, and socioeconomic group) using a logistic regression model. SETTING: The study population comprised subjects included in the 1981 Turin census (n approximately equal to 1,100,000) who were still alive, 20-69 years old, and were resident in Turin in the middle of study period. PARTICIPANTS: The analyses were based on 4215 male and 3451 female cases, and on 16,913 male and 13,838 female controls. MAIN RESULTS: Compared with the highest educational level, the men in the lowest one showed an OR > 2 for respiratory cancers; OR = 1.48 for stomach cancer; and ORs < 0.7 for skin, colorectal, and prostate cancers. Women with a primary school education were protected against colorectal (OR = 0.71), skin (OR = 0.59), and breast cancer (OR = 0.66) compared with university degree women, but were at risk for cancer of the cervix (OR = 2.33) and stomach cancer (OR = 2.84). The association between educational level (primary school v university) and lung cancer risk is negative for men (OR = 2.47) and positive for women (OR = 0.62), while the association with housing tenure is negative for both sexes (OR = 1.44). CONCLUSIONS: The socioeconomic distribution of some risk factors (for example smoking, alcohol, and diet) in Italy can partially explain the differences in respiratory and digestive cancers. "Unbalanced" health promotion interventions, targeted at social groups with the highest prevalences of risk factors, and national policies for increasing the level of education in the country may play an important role in reducing social differences in cancer risk.     

Developed profile of holographically exposed photoresist gratings

A simulation of the profile of holographically recorded structures in photoresists is performed. In addition to its simplicity this simulation can be used to take into account the effects that arise from exposure, photosensitization, development, and resolution of positive photoresists. We analyzed the effects of isotropy of wet development, nonlinearity of the photoresist response curve, background light, and standing waves produced by reflection at the film-substrate interface by using this simulation, and the results agree with the experimentally recorded profiles.