An intrinsic observer for a class of Lagrangian systems

We propose a new design method of asymptotic observers for a class of nonlinear mechanical systems: Lagrangian systems with configuration (position) measurements. Our main contribution is to introduce a state (position and velocity) observer that is invariant under any changes of the configuration coordinates. The observer dynamics equations, as the Euler-Lagrange equations, are intrinsic. The design method uses the Riemannian structure defined by the kinetic energy on the configuration manifold. The local convergence is proved by showing that the Jacobian of the observer dynamics is negative definite (contraction) for a particular metric defined on the state-space, a metric derived from the kinetic energy and the observer gains. From a practical point of view, such intrinsic observers can be approximated, when the estimated configuration is close to the true one, by an explicit set of differential equations involving the Riemannian curvature tensor. These equations can be automatically generated via symbolic differentiations of the metric and potential up to order two. Numerical simulations for the ball and beam system, an example where the scalar curvature is always negative, show the effectiveness of such approximation when the measured positions are noisy or include high frequency neglected dynamics.     

An exploratory study of adolescent's perceptions of the Web

Abstract The purpose of this exploratory study was to investigate the influence of two individual characteristics (Web experience and academic focus) of adolescents on the Web perception, using off-line questionnaires (a Lickert response scale) constituted on the basis of a series of interviews. Questions concerned: perceptions about the nature of information found in the Web; 'strategies' of access to the interesting Internet sites and the reliability of different information resources (libraries, television, Web, etc.). Results lead to the assumption that adolescents with high Web experience became more critical, less confident and less enthusiastic than adolescents with low Web experience and that, in some dimensions, perceptions of literature students are different to those of science students. Even if some interesting results were obtained, further research is needed to explore users' perceptions related to individuals' characteristics and to determine the generalisability of the influences identified in this exploratory study.     

Experience in testing the Motif interface

The testing and quality assurance of the Motif 1.0 graphical user-interface software are described. The testing goals, which fell into three general categories (code coverage, defect-density, and defect-arrival rate), and a deliverable formal test suite are examined. The three phases of the testing process-evaluation, test development, and regression testing-and the tools used in testing are discussed     

Galvani's frog: Harbinger of a new era

On 30 October 1786 Luigi Galvani gave the first account, at the Academy of Sciences of Bologna, about his experiments on animal electricity, of which he thought to have obtained evidence from the convulsions shown by a dissected frog, as soon as its hind-limbs were connected with the spinal cord by means of a metallic conductor. The publication of these experiments gave rise to Galvani's controversy with Volta, who denied the existence of animal electricity after discovering that there exists a potential difference between any couple of dissimilar conductors. This was a preliminary step that led Volta to the invention of the voltaic pile. Evidence of animal electricity was given about 1840 by Carlo Matteucci, using the astatic galvanometer invented by Leopoldo Nobili. This fundamental property of living organisms is now a well-advanced field of investigation by electrophysiology and bioelectrochemistry.     

Application of a leakage model to assess exfiltration from sewers.

The exfiltration of wastewater from sewer systems in urban areas causes a deterioration of soil and possibly groundwater quality. Beside the simulation of transport and degradation processes in the unsaturated zone and in the aquifer the analysis of the potential impact requires the estimation of quantity and temporal variation of wastewater exfiltration. Exfiltration can be assessed by the application of a leakage model. The hydrological approach was originally developed to simulate the interactions between the groundwater and surface water, it was adapted to allow for modelling of interactions between groundwater and sewer system. In order to approximate the exfiltration specific model parameters infiltration specific parameters were used as a basis. Scenario analysis of the exfiltration in the City of Dresden from 1997 to 1999 and during the flood event in August 2002 shows the variation and the extent of exfiltration rates.     

Analysis and synthesis of on-chip spiral inductors

This paper presents a physically based compact model for estimating high-frequency performance of spiral inductors. The model accurately accounts for skin and proximity effects in the metal conductors as well as eddy current losses in the substrate. The model shows excellent agreement with measured data mostly within 10% across a variety of inductor geometries and substrate dopings up to 20 GHz. A web-based spiral inductor synthesis and analysis tool COILS, which makes use of the compact models, is presented. An optimization algorithm using binary searches speeds up the synthesis of inductor designs.     

The Metaflow architecture

The Metaflow architecture, a unified approach to maximizing the performance of superscalar microprocessors, is introduced. The Metaflow architecture exploits inherent instruction-level parallelism in conventional sequential programs by hardware means, without relying on optimizing compilers. It is based on a unified structure, the DRIS (deferred-scheduling, register-renaming instruction shelf), that manages out-of-order execution and most of the attendant problems. Coupling the DRIS with a speculative-execution mechanism that avoids conditional branch stalls results in performance limited only be inherent instruction-level parallelism and available execution resources. Although presented in the context of superscalar machines, the technique is equally applicable to a superpipelined implementation. Lightning, the first implementation of the Metaflow architecture, which executes the Sparc RISC instruction set is described