Improved nonlinear trajectory tracking using RBFNN for a robotic helicopter

This paper presents a backstepping control method using radial‐basis‐function neural network (RBFNN) for improving trajectory tracking performance of a robotic helicopter. Many well‐known nonlinear controllers for robotic helicopters have been constructed based on the approximate dynamic model in which the coupling effect is neglected; their qualitative behavior must be further analyzed to ensure that the unmodeled dynamics do not destroy the stability of the closed‐loop system. In order to improve the controller design process, the proposed controller is developed based on the complete dynamic model of robotic helicopters by using an RBFNN function approximation to the neglected dynamic uncertainties, and then proving that all the trajectory tracking error variables are globally ultimately bounded and converge to a neighborhood of the origin. The merits of the proposal controller are exemplified by four numerical simulations, showing that the proposed controller outperforms a well‐known controller in (J. Robust Nonlinear Control 2004; 14 (12):1035–1059). Copyright © 2009 John Wiley & Sons, Ltd.     

Dynamical combination of byte level and Sub-Packet level FEC in HARQ mechanism to reduce error recovery overhead on video streaming over wireless networks

Byte level Forward Error Correction (B-FEC) is efficient for recovery from uniform bit errors, but not suitable to handle recovery from burst bit errors. Conversely, Sub-Packet level Forward Error Correction (SP-FEC) can alleviate the problem of large encoding/decoding delay jitter in Packet level Forward Error Correction (P-FEC) to efficiently handle recovery from burst bit errors, but has large error recovery overhead as P-FEC for recovery from uniform bit errors. This paper proposes a dynamic combination of byte level and Sub-Packet level Forward Error Correction (BSP-FEC) in the Hybrid Automatic Repeat reQuest (HARQ) mechanism to reduce the error recovery overhead. BSP-FEC not only can solve the problems appearing in B-FEC and SP-FEC, but also can get the advantages of B-FEC and SP-FEC in the HARQ mechanism. BSP-FEC replaces the SP-FEC checksum with B-FEC and uses Automatic Repeat reQuest (ARQ) when the network condition deteriorates. BSP-FEC not only utilizes an overhead cost model to dynamically decide the SP-FEC parameter and the B-FEC bit rate according to network conditions, but also utilizes a time constraint model to decide the ARQ retry limit. BSP-FEC dynamically adjusts the FEC redundancy to save bandwidth and improves the Decodable Frame Rate (DFR) and the Peak Signal to Noise Ratio (PSNR) of the delivered video streaming. Accordingly, BSP-FEC can improve multimedia communication performance to both avoid network congestion and shorten end-to-end delay by decreasing effective packet loss rate and packet recovery overhead. Because of the low packet recovery overhead, furthermore, BSP-FEC allows applications to transmit more application data in networks with limited bandwidth. Considering the compatibility, BSP-FEC is implemented in the application layer as the end-to-end protection method to protect packets from errors in wired/wireless networks. Numerical and simulation experimental results show that BSP-FEC obtains better recovery efficiency with the minimum error recovery overhead.     

Performance analysis for hierarchical resource allocation in multiplexed mobile packet data networks

The general packet radio service (GPRS) can be thought of as an overlay network above a Global Systems for Mobile (GSM) network. In cooperation with the GSM system, GPRS supports both voice and packet data services. Obviously, combining voice and data traffic implies the nature of contending with finite radio resources. The paper focuses on voice/data integrated GPRS downlink traffic and proposes two hierarchical resource allocation strategies by considering time slots and radio blocks simultaneously with two different TDMA frame configurations. The radio block based resource allocation can characterize the multiplexing scheme of the practical GPRS operation. The performance of the proposed strategies were evaluated analytically by multidimensional Markov chain and verified through intensive computer simulations. Based on both the analytical and simulation results, it showed that the proposed allocation strategies can offer high utilization of transmission resource, as well as low blocking probability to GPRS users. The results of the study provide not only a practical thinking for implementation but also a guideline for analysis.     

Sub-packet forward error correction mechanism for video streaming over wireless networks

Traditional Forward Error Correction (FEC) mechanisms can be divided into Packet level FEC (PFEC) mechanisms and Byte level FEC (BFEC) mechanisms. The PFEC mechanism of recovering from errors in a source packet requires an entire FEC redundant packet even though the error involves a few bit errors. The recovery capability of the BFEC mechanism is only half of the FEC redundancy. Accordingly, an adaptive Sub-Packet FEC (SPFEC) mechanism is proposed in this paper to improve the quality of video streaming data over wireless networks, simultaneously enhancing the recovery performance and reducing the end-to-end delay jitter. The SPFEC mechanism divides a packet into n sub-packets by means of the concept of a virtual packet. The SPFEC mechanism uses a checksum in each sub-packet to identify the position of the error sub-packet. Simulation experiments show the adaptive SPFEC mechanism achieves high recovery performance and low end-to-end delay jitter. The SPFEC mechanism outperforms traditional FEC mechanism in terms of packet loss rate and video Peak Signal-to-Noise Ratio (PSNR). SPFEC offers an alternative for improved efficiency video streaming that will be of interest to the designers of the next generation environments.     

A tag-topic model for blog mining

Blog mining addresses the problem of mining information from blog data. Although mining blogs may share many similarities to Web and text documents, existing techniques need to be reevaluated and adapted for the multidimensional representation of blog data, which exhibit dimensions not present in traditional documents, such as tags. Blog tags are semantic annotations in blogs which can be valuable sources of additional labels for the myriad of blog documents. In this paper, we present a tag-topic model for blog mining, which is based on the Author-Topic model and Latent Dirichlet Allocation. The tag-topic model determines the most likely tags and words for a given topic in a collection of blog posts. The model has been successfully implemented and evaluated on real-world blog data.     

Adaptive hybrid error correction model for video streaming over wireless networks

The Hybrid ARQ (HARQ) mechanism is the well-known error packet recovery solution composed of the Automation Repeat reQuest (ARQ) mechanism and the Forward Error Correction (FEC) mechanism. However, the HARQ mechanism neither retransmits the packet to the receiver in time when the packet cannot be recovered by the FEC scheme nor dynamically adjusts the number of FEC redundant packets according to network conditions. In this paper, the Adaptive Hybrid Error Correction Model (AHECM) is proposed to improve the HARQ mechanism. The AHECM can limit the packet retransmission delay to the most tolerable end-to-end delay. Besides, the AHECM can find the appropriate FEC parameter to avoid network congestion and reduce the number of FEC redundant packets by predicting the effective packet loss rate. Meanwhile, when the end-to-end delay requirement can be met, the AHECM will only retransmit the necessary number of redundant FEC packets to receiver in comparison with legacy HARQ mechanisms. Furthermore, the AHECM can use an Unequal Error Protection to protect important multimedia frames against channel errors of wireless networks. Besides, the AHECM uses the Markov model to estimate the burst bit error condition over wireless networks. The AHECM is evaluated by several metrics such as the effective packet loss rate, the error recovery efficiency, the decodable frame rate, and the peak signal to noise ratio to verify the efficiency in delivering video streaming over wireless networks.     

A multi-strategy knowledge interoperability framework for heterogeneous learning objects

This paper presents a knowledge exchange framework that can leverage the interoperability among semantically heterogeneous learning objects. With the release of various e-Learning standards, learning contents and digital courses are easy to achieve cross-platform sharing, exchanging, and even reorganizing. However, knowledge sharing in semantic level is still a challenge due to that the learning materials can be presented in any form, such as audios, videos, web pages, and even flash files. The proposed knowledge exchange framework allows users to share their learning materials (also called “learning objects”) in semantic level automatically. This framework contains two methodologies: the first is a semantic mapping between knowledge bases (i.e. ontologies) which have essentially similar concepts, and the second is an ontology-based classification algorithm for sharable learning objects. The proposed algorithm adopts the IMS DRI standard and classifies the sharable learning objects from heterogeneous repositories into a local knowledge base by their inner meaning instead of keyword matching. Significance of this research lies in the semantic inferring rules for ontology mapping and learning objects classification as well as the full automatic processing and self-optimizing capability. Focused on digital learning materials and contrasted to other traditional technologies, the proposed approach has experimentally demonstrated significantly improvement in performance.     

Heuristic algorithms for two-machine flowshop with availability constraints

The majority of the scheduling studies carry a common assumption that machines are available all the time. However, machines may not always be available in the scheduling period due to breakdown or preventive maintenance. Taking preventive maintenance activity into consideration, we dealt with the two-machine flowshop scheduling problem with makespan objective. The preventive maintenance policy in this paper was dependent on the number of finished jobs. The integer programming model was proposed. We combined two recent constructive heuristics, HI algorithm and H algorithm, with Johnson’s algorithm, and named the combined heuristic H&J algorithm. We also developed a constructive heuristic, HD, with time complexities O(n²). Based on the difference in job processing times on two machines, both H&J and HD showed good performance, and the latter was slightly better. The HD algorithm was able to obtain the optimality in 98.88% of cases. We also employed the branch and bound (B&B) algorithm to obtain the optimum. With a good upper bound and a modified lower bound, the proposed B&B algorithm performed significantly effectively.     

Modeling enterprise service-oriented architectural styles

Modern enterprise consists of complicate business processes and systems. The Enterprise Service-Oriented Architecture (ESOA) becomes an important architectural style that defines the principles for coping with the complexity of designing and implementing business systems. This paper classifies ESOA styles to six substyles and proposes a generic and abstract model for ESOA styles. The model consists of seven sets: services, service consumers, service data, infrastructure, processes, management and quality attributes. This paper formally defines each set and their relationships in ESOA style model, and discusses the roles of these sets. The model can be applied to specify various ESOA styles. As case studies, the definition of instance of ESOA style is applied to analyze and evaluate a Java component-based ESOA-style architecture and several other ESOA-style architectures. Finally, this paper concludes by comparing the proposed model with related ESOA models.