From biological inspiration toward next-generation manipulators: manipulator control focused on human tasks

This paper presents our approach to extend the niche of behavior-based robotics toward manipulation. We use results from neuroscience to derive some qualitative design rules for the mechanics of the manipulator, resulting in a next-generation manipulator, the "soft arm". By defining the basic behaviors of the manipulator as trajectory-producing behaviors (which is also biologically plausible), we have designed a first test case: writing on a board with a mobile manipulator. The soft arm has not yet been developed; therefore, we have emulated such a soft robot arm on an industrial robot.     

Consistent modeling of capacitances and transit times of GaAs-based HBTs

This paper investigates how time delays and capacitances observed under small-signal conditions can be consistently accounted for in heterojunction bipolar transistor (HBT) large-signal models. The approach starts at the circuit level by mapping the large-signal equivalent circuit (which consists of charge and current sources) to the well-known small-signal circuit (which consists of capacitances, transit-time, and resistances). It is shown that and how bias dependent charge sources at either pn-junction impact transit-time, base-collector capacitance, and their mutual dependence. It is demonstrated for the example of a GaAs-based HBT that the interrelation of the elements is observed in measurements as predicted. The results of the investigation enhance understanding of HBT model characteristics and provide a criterion to check model consistency.     

Auditory motivated level-crossing approach to instantaneous frequency estimation

We address the problem of estimating the instantaneous frequency (IF) of a phase signal using its level-crossing (LC) information based on front-end auditory processing motivation. We show that the problem of IF estimation using LC information can be cast in the framework of estimation from irregularly sampled data. The formulation has the generality of estimating different types of IF without the need for a quasistationary assumption. We consider two types of IF-polynomial and bandlimited; we use polynomial interpolating functions for the former, and for the latter, we propose a novel "line plus sum of sines" model. The model parameters are estimated by linear regression. Considering the noisy case, LC data for different levels is analyzed, and methods for combining different estimators from LCs are discussed. Theoretical and extensive simulation results show that the performance of the zero-crossing (ZC) based IF estimator and the level-crossing based IF estimator with smaller level values is better than those obtained with higher level values or their combinations. The new technique reaches the Crame/spl acute/r-Rao bound (CRB) roughly above 4 dB signal-to-noise ratio (SNR), and its performance does not deteriorate rapidly with mismatch in the IF order compared with the other techniques in the literature.     

Optimal diagonal precoder for multiantenna communication systems

In this paper, we examine a multiantenna single-user wireless communication system fitted with a QR-based successive cancellation receiver (QR receiver). Initially, our consideration is confined to uncoded binary phase shift keying (BPSK) signals transmitted through independent and identically distributed (IID) Rayleigh fading channels and to the design of an optimum precoder for the transmitter. For minimum feeding back of the channel state information (CSI) to the transmitter from the receiver, we stipulate the precoder to be in the form of a power loading square diagonal matrix. We proceed to develop the theory for the design of this diagonal matrix based on the minimization of the lower bound of the average bit error rate (BER) of transmission. The design obtained provides substantially lower error rates than most of other existing schemes under the same environment. The corresponding gain in signal-to-noise ratio (SNR) can be several decibels. To further improve the performance, we extend the design to include an optimal detection order of the received bits using an iterative approach. This iterative process proves to have fast convergence and results in a design providing significant SNR gain. We also propose a subchannel dropping scheme for cases in which SNR is low, and when the minimum BER precoder is equipped with this scheme, its average performance can be substantially superior to the Vertical Bell Laboratories Layered Space-Time (V-BLAST) detection. We extend our design of the optimum precoder to quadrature amplitude modulation (QAM) modulation scheme and similar performance gain has been observed.     

Micro- and nanofabrication processes for hybrid synthetic and biological system fabrication

The application of micro- and nanofabrication processes to the development of hybrid synthetic and biological systems may enable the production of new devices such as controllable transporters, gears, levers, micropumps, or microgenerators powered by biological molecular motors. However, engineering these hybrid devices requires fabrication processes that are compatible with biological materials such as kinesin motor proteins and microtubules. In this paper, the effects of micro- and nanofabrication processing chemicals and resists on the functionality of casein, kinesin, and microtubule proteins are systematically examined to address the important missing link of the biocompatibility of micro- and nanofabrication processes needed to realize hybrid system fabrication. It is found that both casein, which is used to prevent motor denaturation on surfaces, and kinesin motors are surprisingly tolerant of most of the processing chemicals examined. Microtubules, however, are much more sensitive. Exposure to the processing chemicals leads to depolymerization, which is partially attributed to the pH of the solutions examined. When the chemicals were diluted in aqueous buffers, a subset of them no longer depolymerized microtubules and in their diluted forms still worked as resist removers. This approach broadens the application of micro- and nanofabrication processes to hybrid synthetic and biological system fabrication.     

Model-driven systems development and integration environment

Telecommunications operators are undergoing massive transformations in order to metamorphose themselves into the ICT world and compete with agile, lean IT organisations. The main challenges facing telecommunications operators, such as BT, are to reduce costs and increase agility in deploying software systems for provisioning ICT services. Despite using reusable capabilities and COTS packages, the major source of increased cost lies in the heavy integration tax we incur for integrating diverse systems implemented on diverse platforms and middleware, with heterogeneous data and process models. This paper looks at cost implications of lengthy and often manual migration to-and-from systems and platforms, and shows the clear business benefits of model-driven development (MDD) as defined by the Object Management Group (OMG). It is clearly demonstrated that model-driven development has matured into a practical, industrialised, scalable and evolvable technology, culminating from decades of R&D on specification and design languages, executable formalisms and domainspecific languages and language transformations.     

Entities,identities, identifiers and credentials — what does it all mean?

This paper looks at the concepts of entities, identities, identifiers and credentials, their definitions, and how they combine to authenticate an identity to an account, or function, within a service. Credentials can be divided into several different types on the basis of their use, origin and characteristics. In particular, types such as composite, dynamic and derived credentials will be considered, and their applicability within an identity management system. Each credential must be managed through its entire life cycle from initial registration, general use and suspension, to deletion. The notion of public (i.e. freely distributable) and private (i.e. known only to you) aspects of a credential is explored. The bindings, by trusted third parties, of identifiers and public credentials into permits and instruments of proof is explained along with the convenience, but greater exposure, of local information. Several scenarios are analysed in terms of how different types of credentials are employed during the authentication process.     

Arc root mobility on piezoelectrically actuated contacts in miniature circuit breakers

A novel contact opening mechanism has been developed using a piezoelectric actuator to open the contacts in a low contact opening velocity circuit breaker. The arc control on the contacts is critical for successful current interruption (10/sup 3/-10/sup 4/ A) in low voltage (<250V) devices. Previous work has shown how arc root commutation from the contact region into the arc chamber is affected by arc chamber materials, contact materials and the gap behind the moving contact for contact velocities between 1ms/sup -1/ and 10ms/sup -1/. This work is extended using a commercially available piezoelectric actuator to open the contacts. Contact opening speeds are assessed and the arc root mobility is characterized under this operating regime. A flexible test apparatus and solid-state high-speed arc imaging system are used to gather data on the arc root during the opening of the contacts. New experimental results are presented on the anode and cathode root velocity and arc root motion in an arc chamber with piezoelectrically actuated contact opening. These results can be used to improve the design of high current low voltage circuit breakers suitable for piezoelectric actuation.     

Security issues in hybrid networks with a satellite component

Satellites are expected to play an increasingly important role in providing broadband Internet services over long distances in an efficient manner. Most future networks will be hybrid in nature - having terrestrial nodes interconnected by satellite links. Security is an important concern in such networks, since the satellite segment is susceptible to a host of attacks, including eavesdropping, session hijacking and data corruption. In this article we address the issue of securing communication in satellite networks. We discuss various security attacks that are possible in hybrid satellite networks, and survey the different solutions proposed to secure data communications in these networks. We look at the performance problems arising in hybrid networks due to security additions like Internet security protocol (IPSec) or secure socket layer (SSL), and suggest solutions to performance-related problems. We also point out important drawbacks in the proposed solutions, and suggest a hierarchical key-management approach for adding data security to group communication in hybrid networks.     

iShopFloor: an Internet-enabled agent-based intelligent shop floor

Global competition is driving manufacturing companies to change the way they do business. New kinds of shop floor control systems need to be implemented for these companies to respond quickly to changing shop floor environments and customer demands. This paper presents a new concept called iShopFloor-an intelligent shop floor based on the Internet, web, and agent technologies. It focuses on the implementation of distributed intelligence in the manufacturing shop floor. The proposed approach provides the framework for components of a complex control system to work together as a whole rather than as a disjoint set. It encompasses both information architecture and integration methodologies. The paper introduces the basic concept of iShopFloor, a generic system architecture, and system components. It also describes the implementation of eXtensible Markup Language message services in iShopFloor and the application of intelligent agents to distributed manufacturing scheduling. A prototype environment is presented, and some implementation issues are discussed.