An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facilitate controller design. An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper. External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller. To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures. The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators.     

PMSS: A programmable memory system and scheduler for complex memory patterns

HPC industry demands more computing units on FPGAs, to enhance the performance by using task/data parallelism. FPGAs can provide its ultimate performance on certain kernels by customizing the hardware for the applications. However, applications are getting more complex, with multiple kernels and complex data arrangements, generating overhead while scheduling/managing system resources. Due to this reason all classes of multi threaded machines–minicomputer to supercomputer–require to have efficient hardware scheduler and memory manager that improves the effective bandwidth and latency of the DRAM main memory. This architecture could be a very competitive choice for supercomputing systems that meets the demand of parallelism for HPC benchmarks. In this article, we proposed a Programmable Memory System and Scheduler (PMSS), which provides high speed complex data access pattern to the multi threaded architecture. This proposed PMSS system is implemented and tested on a Xilinx ML505 evaluation FPGA board. The performance of the system is compared with a microprocessor based system that has been integrated with the Xilkernel operating system. Results show that the modified PMSS based multi-accelerator system consumes 50% less hardware resources, 32% less on-chip power and achieves approximately a 19x speedup compared to the MicroBlaze based system.     

Self and static interference mitigation scheme for coexisting wireless networks

High density of coexisting networks in the Industrial, Scientific and Medical (ISM) band leads to static and self interferences among different communication entities. The inevitability of these interferences demands for interference avoidance schemes to ensure reliability of network operations. This paper proposes a novel Diversified Adaptive Frequency Rolling (DAFR) technique for frequency hopping in Bluetooth piconets. DAFR employs intelligent hopping procedures in order to mitigate self interferences, weeds out the static interferer efficiently and ensures sufficient frequency diversity. We compare the performance of our proposed technique with the widely used existing frequency hopping techniques, namely, Adaptive Frequency Hopping (AFH) and Adaptive Frequency Rolling (AFR). Simulation studies validate the significant improvement in goodput and hopping diversity of our scheme compared to other schemes and demonstrate its potential benefit in real world deployment.     

Impact of processing conditions and sizing on the thermomechanical and morphological properties of polypropylene/carbon fiber composites fabricated by material extrusion additive manufacturing

For the 3D printed composites, fiber alignment is affected by the direction of melt-flow during extrusion of filaments and subsequently through the printing nozzle. The resulting fibers orientation and the fiber-matrix compatibility have a direct correlation with mechanical properties. This study investigates the impact of processing conditions on the state of the carbon fiber types and their orientation on the mechanical properties of 3D-printed composites. Short and long carbon fibers were used as starting reinforcing materials, and the state of fibers at the beginning and on the printed parts were evaluated. Strong anisotropy in terms of mechanical properties (flexural and impact properties) was observed for the samples printed with different printing orientations. Interestingly, the number of voids in the printed composites was found to be correlated with the fiber types. The present work provides a step towards the optimization of tailored composite properties by additive manufacturing.     

In-focus electron microscopy of frozen-hydrated biological samples with a Boersch phase plate

We report the implementation of an electrostatic Einzel lens (Boersch) phase plate in a prototype transmission electron microscope dedicated to aberration-corrected cryo-EM. The combination of phase plate, C_s corrector and Diffraction Magnification Unit (DMU) as a new electron-optical element ensures minimal information loss due to obstruction by the phase plate and enables in-focus phase contrast imaging of large macromolecular assemblies. As no defocussing is necessary and the spherical aberration is corrected, maximal, non-oscillating phase contrast transfer can be achieved up to the information limit of the instrument. A microchip produced by a scalable micro-fabrication process has 10 phase plates, which are positioned in a conjugate, magnified diffraction plane generated by the DMU. Phase plates remained fully functional for weeks or months. The large distance between phase plate and the cryo sample permits the use of an effective anti-contaminator, resulting in ice contamination rates of <0.6 nm/h at the specimen. Maximal in-focus phase contrast was obtained by applying voltages between 80 and 700 mV to the phase plate electrode. The phase plate allows for in-focus imaging of biological objects with a signal-to-noise of 5-10 at a resolution of 2-3 nm, as demonstrated for frozen-hydrated virus particles and purple membrane at liquid-nitrogen temperature.     

Estimation of Defects Based on Defect Decay Model: ED^{3}M

An accurate prediction of the number of defects in a software product during system testing contributes not only to the management of the system testing process but also to the estimation of the product's required maintenance. Here, a new approach called ED³M is presented that computes an estimate of the total number of defects in an ongoing testing process. ED³M is based on estimation theory. Unlike many existing approaches the technique presented here does not depend on historical data from previous projects or any assumptions about the requirements and/or testers' productivity. It is a completely automated approach that relies only on the data collected during an ongoing testing process. This is a key advantage of the ED³M approach, as it makes it widely applicable in different testing environments. Here, the ED³M approach has been evaluated using five data sets from large industrial projects and two data sets from the literature. In addition, a performance analysis has been conducted using simulated data sets to explore its behavior using different models for the input data. The results are very promising; they indicate the ED³M approach provides accurate estimates with as fast or better convergence time in comparison to well-known alternative techniques, while only using defect data as the input.     

直觉线性μ-演算中的合成推理

讨论了以基于前缀封闭集合的Heyting代数的直觉解释的线性μ-演算(IμTL)作为描述“假设-保证”的逻辑基础的问题,提出了一个基于IμTL的“假设-保证”规则.该规则比往常应用线性时序逻辑(LTL)作为规范语言的那些规则具有更好的表达能力,扩展了对形如“always ?”等安全性质的“假设-保证”的范围,具备更一般的“假设-保证”推理能力及对循环推理的支持.     

Data aggregation and routing in Wireless Sensor Networks: Optimal and heuristic algorithms

A fundamental challenge in the design of Wireless Sensor Networks (WSNs) is to maximize their lifetimes especially when they have a limited and non-replenishable energy supply. To extend the network lifetime, power management and energy-efficient communication techniques at all layers become necessary. In this paper, we present solutions for the data gathering and routing problem with in-network aggregation in WSNs. Our objective is to maximize the network lifetime by utilizing data aggregation and in-network processing techniques. We particularly focus on the joint problem of optimal data routing with data aggregation en route such that the above mentioned objective is achieved. We present Grid-based Routing and Aggregator Selection Scheme (GRASS), a scheme for WSNs that can achieve low energy dissipation and low latency without sacrificing quality. GRASS embodies optimal (exact) as well as heuristic approaches to find the minimum number of aggregation points while routing data to the Base-Station (BS) such that the network lifetime is maximized. Our results show that, when compared to other schemes, GRASS improves system lifetime with acceptable levels of latency in data aggregation and without sacrificing data quality.     

Structural study of titanium oxide films synthesized by ion beam-assisted deposition

The application of titanium dioxide (TiO(2)) films as surgical implant coatings for antibiotic attachment depends crucially on their available surface area and thus their surface morphology and crystallinity. Here, we report our fabrication of high Wenzel ratio TiO(2) films targeted to increase the film surface area using the ion beam-assisted deposition (IBAD) technique at high-deposition temperatures (approximately 610 degrees C). The modulation of the films' surface morphology was accomplished by varying the chemical identity of the concurrent ion beams bombarded on the films during the e-beam evaporation process. Atomic force microscopy (AFM) and scanning electron microscopy (SEM) were employed to investigate the surface morphology of the as-deposited films. X-ray diffractometry (XRD) revealed that these nanocrystalline films primarily consist of anatase phase TiO(2). Wenzel ratio, the ratio of the actual surface area to the projected area, of IBAD films prepared with argon, oxygen, and nitrogen ion beams was measured to be 1.52, 1.31 and 1.49, respectively. The effect of the differences in chemical reactivity and ion size of these three type ion beams are discussed to explain the present results.