Performance of TZCD-MBOK watermarking scheme in T-DMB systems

Recently, watermarking based data transmission techniques using terrestrial digital TV signal have been proposed since they are also cost-free and can overcome the limitations of GPS. However, in the previous watermarking based methods, the detection accuracy is low and additional data rate is too low. Thus, we propose the throughput enhancement method by employing the TZCD-MBOK watermarking technique in T-DMB system. By applying the proposed scheme to T-DMB, it allows additional data transmission for disaster broadcasting and improves efficiency of data transmission in shadow region and indoor to mobile environment through watermarking spread code. From the simulation results, we confirm the proposed watermarking scheme affected on the existing T-DMB signal. Moreover, it was also confirmed that the system capacity increases as the power of additional watermarking signal rose. The results of the paper can be applied to wireless multimedia digital broadcasting systems.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Environmental-aware virtual data center network

Cloud computing services have recently become a ubiquitous service delivery model, covering a wide range of applications from personal file sharing to being an enterprise data warehouse. Building green data center networks providing cloud computing services is an emerging trend in the Information and Communication Technology (ICT) industry, because of Global Warming and the potential GHG emissions resulting from cloud services. As one of the first worldwide initiatives provisioning ICT services entirely based on renewable energy such as solar, wind and hydroelectricity across Canada and around the world, the GreenStar Network (GSN) was developed to dynamically transport user services to be processed in data centers built in proximity to green energy sources, reducing Greenhouse Gas (GHG) emissions of ICT equipments. Regarding the current approach, which focuses mainly in reducing energy consumption at the micro-level through energy efficiency improvements, the overall energy consumption will eventually increase due to the growing demand from new services and users, resulting in an increase in GHG emissions. Based on the cooperation between Mantychore FP7 and the GSN, our approach is, therefore, much broader and more appropriate because it focuses on GHG emission reductions at the macro-level. This article presents some outcomes of our implementation of such a network model, which spans multiple green nodes in Canada, Europe and the USA. The network provides cloud computing services based on dynamic provision of network slices through relocation of virtual data centers.     

Optimal Performance in Tracking Stochastic Signal Under Disturbance Rejection

The analysis method of optimal tracking performance is proposed for multiple‐input multiple‐output (MIMO) linear time‐invariant (LTI) systems under disturbance rejection. An H₂ criterion of the error signal between the output of the plant and the reference signal is used as a measure for the tracking performance. Spectral factorization is applied to obtain the optimal solution of the system tracking error. The explicit expressions are derived for this minimal tracking error with respect to random reference signals under disturbance rejection. It is shown that the nonminimum phase zeros, the zero direction, the unstable poles, the pole direction of a given plant, statistical characteristics of the reference input signal, and disturbance signal have a negative effect on a feedback system's ability to reduce the system error with disturbance rejection. The results show that the optimal tracking performance will further be damaged because of disturbance rejection. Some typical examples are given to illustrate the theoretical results.     

Stabilization of impulsive hybrid systems using quantized input and output feedback

In this paper, we consider the feedback stabilization of impulsive control systems with quantized input and output signals. To study the problem, the notions of quasi‐invariant sets and attracting sets for impulsive systems with quantization are introduced first, and then applied to the control design. Hybrid quantized control schemes are proposed to stabilize the considered impulsive linear or nonlinear systems via either input or output feedback. Mathematical analysis and numerical simulations are given to show the principle and effectiveness of the proposed designs. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A hybrid online-product recommendation system: Combining implicit rating-based collaborative filtering and sequential pattern analysis

Many online shopping malls in which explicit rating information is not available still have difficulty in providing recommendation services using collaborative filtering (CF) techniques for their users. Applying temporal purchase patterns derived from sequential pattern analysis (SPA) for recommendation services also often makes users unhappy with the inaccurate and biased results obtained by not considering individual preferences. The objective of this research is twofold. One is to derive implicit ratings so that CF can be applied to online transaction data even when no explicit rating information is available, and the other is to integrate CF and SPA for improving recommendation quality. Based on the results of several experiments that we conducted to compare the performance between ours and others, we contend that implicit rating can successfully replace explicit rating in CF and that the hybrid approach of CF and SPA is better than the individual ones.     

Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of the mobile robot velocity is obtained as the simple average of the optical mouse velocity readings. Second, it is shown that a redundant number of optical mice contributes to the robustness of the least squares mobile robot velocity estimation against both measurement noises and partial malfunction of optical mice. Third, the sensitivity analysis of the least squares mobile robot velocity estimation to imprecise installation of optical mice is made, from which a practical method of optical mouse position calibration is devised. Finally, some experimental results using commercial optical mice are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Automated synthesis of multiple analog circuits using evolutionary computation for redundancy-based fault-tolerance

Analog circuits are one of the most important parts of modern electronic systems and the failure of electronic hardware presents a critical threat to the completion of modern aircraft, spacecraft, and robot missions. Compared to digital circuits, designing fault-tolerant analog circuits is a difficult and knowledge-intensive task. A simple but powerful method for robustness is a redundancy approach to use multiple circuits instead of single one. For example, if component failures occur, other redundant components can replace the functions of broken parts and the system can still work. However, there are several research issues to make the redundant system automatically. In this paper, we used evolutionary computation to generate multiple analog circuits automatically and then we combined the solutions to generate robust outputs. Evolutionary computation is a natural way to produce multiple redundant solutions because it is a population-based search. Experimental results on the evolution of the low-pass, high-pass and band-stop filters show that the combination of multiple evolved analog circuits produces results that are more robust than those of the best single circuit.     

Signal tracking method of GNSS receivers for spinning vehicles

A signal tracking method of GNSS receivers for spinning vehicles is proposed in order to eliminate the influence of spinning to the GNSS signal of a vehicle. In the proposed method, a rotation tracking loop is added into the carrier tracking loop of a conventional GNSS receiver. The proposed method was verified through computer simulations and an experiment for live GPS signals. The results show that the proposed method gives an accurate tracking performance.     

Electric field-induced concentration and capture of DNA onto microtips

Simple, high-yield concentration of DNA is important for high-throughput genetic analysis and disease diagnosis. Glass-based microfilters are popular but the process requires centrifugation steps with cumbersome chemical processes. As an alternative, a concentration method using an electric field has been explored previously, but with limited efficiency. In this paper, electric field-induced concentration and capture of DNA are studied by using high-aspect-ratio microtips coated with a gold layer. The microtips are immersed longitudinally into a solution of 100???L containing ??-phage DNA. After DNA concentration using an electric field, the microtips are withdrawn from the solution. Under AC- and biased AC fields, DNA is concentrated by electrophoresis (EP), dielectrophoresis (DEP), and electroosmotic flow (EOF). To reduce capillary effects in the withdrawal process, the microtips are coated with positively charged poly-l-lysine (PLL). The pattern of captured DNA is analyzed by fluorescence microscopy. DEP attracts DNA molecules at the edges of microtips, where the highest gradient of electric field exists. EP attracts DNA onto the surface of microtips following the vectors of an electric field. EOF generates vortexes that deliver DNA onto microtips. Using this method, 85% of DNA is captured on the PLL-coated microtips after three sequential captures. The concentration mechanism can potentially facilitate rapid and simple preparation of DNA for downstream analysis.