SENFIS: a Sensor Node File System for increasing the scalability and reliability of Wireless Sensor Networks applications

In the last years the Wireless Sensor Networks’ (WSN) technology has been increasingly employed in various application domains. The extensive use of WSN posed new challenges in terms of both scalability and reliability. This paper proposes Sensor Node File System (SENFIS), a novel file system for sensor nodes, which addresses both scalability and reliability concerns. SENFIS can be mainly used in two broad scenarios. First, it can transparently be employed as a permanent storage for distributed TinyDB queries, in order to increase the reliability and scalability. Second, it can be directly used by a WSN application for permanent storage of data on the WSN nodes. The experimental section shows that SENFIS implementation makes an efficient use of resources in terms of energy consumption, memory footprint, flash wear levelling, while achieving execution times similarly with existing WSN file systems.     

Real-time hierarchical stereo Visual SLAM in large-scale environments

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time.     

A hybrid solution to the multi-robot integrated exploration problem

In this paper we present a hybrid reactive/deliberative approach to the multi-robot integrated exploration problem. In contrast to other works, the design of the reactive and deliberative processes is exclusively oriented to the exploration having both the same importance level. The approach is based on the concepts of expected safe zone and gateway cell. The reactive exploration of the expected safe zone of the robot by means of basic behaviours avoids the presence of local minima. Simultaneously, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or changing to other zone by means of travelling to a gateway cell. Furthermore, the model takes into account the degree of localization of the robots to return to previously explored areas when it is necessary to recover the certainty in the position of the robots. Several simulations demonstrate the validity of the approach.     

PedVis: a structured, space-efficient technique for pedigree visualization

Public genealogical databases are becoming increasingly populated with historical data and records of the current population's ancestors. As this increasing amount of available information is used to link individuals to their ancestors, the resulting trees become deeper and more dense, which justifies the need for using organized, space-efficient layouts to display the data. Existing layouts are often only able to show a small subset of the data at a time. As a result, it is easy to become lost when navigating through the data or to lose sight of the overall tree structure. On the contrary, leaving space for unknown ancestors allows one to better understand the tree's structure, but leaving this space becomes expensive and allows fewer generations to be displayed at a time. In this work, we propose that the H-tree based layout be used in genealogical software to display ancestral trees. We will show that this layout presents an increase in the number of displayable generations, provides a nicely arranged, symmetrical, intuitive and organized fractal structure, increases the user's ability to understand and navigate through the data, and accounts for the visualization requirements necessary for displaying such trees. Finally, user-study results indicate potential for user acceptance of the new layout.     

Simultaneous algorithm for trajectory planning

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The presented method deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via‐points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Optimization–Simulation Model for Planning Supply Transport to Large Infrastructure Public Works Located in Congested Urban Areas

This article proposes an optimization–simulation model for planning the transport of supplies to large public infrastructure works located in congested urban areas. The purpose is to minimize their impact on the environment and on private transportation users on the local road network. To achieve this goal, the authors propose and solve an optimization problem for minimizing the total system cost made up of operating costs for various alternatives for taking supplies to the worksite and the costs supported by private vehicle users as a result of increased congestion due to the movement of heavy goods vehicles transporting material to the worksite. The proposed optimization problem is a bi-level Math Program model. The upper level defines the total cost of the system, which is minimized taking into account environmental constraints on atmospheric and noise pollution. The lower level defines the optimization problem representing the private transportation user behavior, assuming they choose the route that minimizes their total individual journey costs. Given the special characteristics of the problem, a heuristic algorithm is proposed for finding optimum solutions. Both the model developed and the specific solution algorithm are applied to the real case of building a new port at Laredo (Northern Spain). A series of interesting conclusions are obtained from the corresponding sensitivity analysis.     

Line planning on tree networks with applications to the Quito Trolebús system

We discuss an optimization model for the line planning problem in public transport in order to minimize operation costs while guaranteeing a certain level of quality of service, in terms of available transport capacity. We analyze the computational complexity of this problem for tree network topologies as well as several categories of line operations that are important for the Quito Trolebús system. In practice, these instances can be solved quite well, and significant optimization potentials can be demonstrated.     

Size-reduction heuristics for the unrelated parallel machines scheduling problem

In this paper we study the unrelated parallel machines problem where n independent jobs must be assigned to one out of m parallel machines and the processing time of each job differs from machine to machine. We deal with the objective of the minimisation of the maximum completion time of the jobs, usually referred to as makespan or C_max. This is a type of assignment problem that has been frequently studied in the scientific literature due to its many potential applications. We propose a set of metaheuristics based on a size-reduction of the original assignment problem that produce solutions of very good quality in a short amount of time. The underlying idea is to consider only a few of the best possible machine assignments for the jobs and not all of them. The results are simple, yet powerful methods. We test the proposed algorithms with a large benchmark of instances and compare them with current state-of-the-art methods. In most cases, the proposed size-reduction algorithms produce results that are statistically proven to be better by a significant margin.     

Pull-in-based μg-resolution accelerometer: Characterization and noise analysis

The pull-in time (t_pi) of electrostatically actuated parallel-plate microstructures enables the realization of a high-sensitivity accelerometer that uses time measurement as the transduction mechanism. The key feature is the existence of a metastable region that dominates pull-in behavior, thus making pull-in time very sensitive to external accelerations. Parallel-plate MEMS structures have been designed and fabricated using a SOI micromachining process (SOIMUMPS) for the implementation of the accelerometer. This paper presents the experimental characterization of the microdevices, validating the concept and the analytical models used. The accelerometer has a measured sensitivity of 0.25 μs/μg and a bandwidth that is directly related to the pull-in time, BW = 1/2t_pi ≈ 50 Hz. These specifications place this sensor between the state of the art accelerometers found both in the literature and commercially. More importantly, the resolution of the measurement method used is very high, making the mechanical-thermal noise the only factor limiting the resolution. The in-depth noise analysis to the system supports these conclusions. The total measured noise floor of 400 μg (100 μs) is mainly due to the contribution of the environmental noise, due to lack of isolation of the experimental setup from the building vibrations (estimated mechanical thermal noise of 2.8 μg/√Hz). The low requirements of the electronic readout circuit makes this an interesting approach for high-resolution accelerometers.