Scalable and leaderless Byzantine consensus in cloud computing environments

Traditional Byzantine consensus in distributed systems requires n ≥ 3f + 1, where n is the number of nodes. In this paper, we present a scalable and leaderless Byzantine consensus implementation based on gossip, requiring only n ≥ 2f + 1 nodes. Unlike conventional distributed systems, the network topology of cloud computing systems is often not fully connected, but loosely coupled and layered. Hence, we revisit the Byzantine consensus problem in cloud computing environments, in which each node maintains some number of neighbors, called local view. The message complexity of our Byzantine consensus scheme is O(n), instead of O(n ²). Experimental results and correctness proof show that our Byzantine consensus scheme can solve the Byzantine consensus problem safely in a scalable way without a bottleneck and a leader in cloud computing environments.     

An Active Disturbance Rejection Approach to Leader‐Follower Controlled Formation

This article describes the design of a linearizing, observer‐based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in a leader‐follower non‐holonomic car formation problem. The approach is based on the cars' kinematic models. A radical simplification in the form of a global ultra‐model is proposed on the follower's exact open loop position tracking error dynamics obtained via flatness considerations. This results in a system described by an additively disturbed set of two, second order integrators with non‐linear velocity dependent control input gain matrix. The unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated by arbitrary elements of a sufficiently high degree family of Taylor polynomials. Linear high‐gain Luenberger observers of the generalized proportional integral (GPI) type may be readily designed. These observers include the self updating internal model of the unknown disturbance input vector components in the form of generic, instantaneous, time‐polynomial models. The proposed (GPI) observers, which are the dual counterpart of GPI controllers [17], achieve a simultaneous disturbance estimation and tracking error phase variables estimation. This on‐line gathered information is used to advantage on the follower's feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to have the follower track a time‐delayed version of the actual leader's trajectory. Experimental results are presented which illustrate the robustness and viability of the proposed approach.     

Scaled Jacobian transpose based control for robotic manipulators

This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.     

Magnetic mechanical capsule robot for multiple locomotion mechanisms

This paper proposes a magnetic mechanical capsule robot which crawls in a fluid-filled tube. The developed capsule robot employs two locomotion mechanisms simultaneously. It has spiral ribs at both ends, which are rotated by a small on-board motor. Such rotating spiral structures generate a driving force of the capsule robot. We invented a magnetic mechanical mechanism to transfer the rotational motion of the frontal part into the linear motion of the middle part. Using this original mechanism, the linearly moving part at the middle of the capsule robot generates a supportive driving force. The improved mobility is evaluated in experiments. The developed capsule robot employing multiple locomotion mechanisms moves 44% faster than the spiral motion-based capsule robot. The developed magnetic mechanical mechanism and the mobile robotic platform could be used for pipe inspection robots or medical robots.     

High oleic acid oil suppresses lung tumorigenesis in mice through the modulation of extracellular signal-regulated kinase cascade

This study was undertaken to estimate the effect of dietary high oleic acid oil (OA) on 4-(methylnitrosamino)-1-(3-pyridyl)-1-butanone (NNK)-induced lung tumorigenesis in mice. Diet containing 10% oil was fed to mice through experimental periods. On day 30 after NNK injection (100 mg/kg body weight, i.p.), the treatment increased the level of prostaglandin E₂ (PGE₂) as well as proliferating cell nuclear antigen, a marker of cell proliferation in a high linoleic acid oil (LA)-fed group but not in an OA-fed group. The NNK treatment also induced the activation of an extracellular signal-regulated kinase (Erk) cascade (Erk, Mek and Raf-1) in an LA-fed group. On the other hand, OA feeding abolished the NNK-induced activation of the Erk cascade. In conjugation with these events, OA feeding reduced lung tumor incidence and tumor multiplicity (percentage of mice with tumors) in mice compared with LA feeding at the 20th experimental week. These results suggest that OA suppresses lung tumorigenesis and that this suppression is correlated with the inhibition of PGE₂ production and inactivation of the Erk cascade.     

Dependence of the Microstructure and the Electrical Properties of Lanthanum-Substituted (Na1/2Bi1/2)TiO3 on Cation Vacancies

The sintering and electrical characteristics of La-modified Na_1/2Bi_1/2TiO₃ (NBT) was investigated from a defect structure viewpoint. To reveal the role of cation vacancies, two series of ceramics, with different cation vacancies, were processed to compensate the excess positive charge of lanthanum ions. In a region of complete solid solution, the grain size of NBLT-B {[(Na_0.5Bi_0.5)_{1− x} La _x ]Ti_{1−0.25 x} O₃} was smaller than that of NBLT-A {[(Na_0.5Bi_0.5)_{1−1.5 x} La _x ]TiO₃} and densification was enhanced more effectively in NBLT-B. With the aid of thermoelectric power, electric conductivity, and electrotransport measurements, it was found that different sintering behaviors between NBLT-A and NBLT-B specimens were related to the change in the type of cation vacancies present and that lanthanum ion–cation vacancy pairs played an important role in reducing the grain growth and enhancing the densification process.     

Effect of time/temperature treatment parameters on depolymerization of chitosan

Depolymerization of the biopolymer chitosan by an autoclaving process at 121°C and 15 psi was investigated using various treatments. Acetic acid was found to be the most effective solvent in decreasing chitosan viscosity among the six organic acids tested. The rate of viscosity decrease increased with increasing chitosan concentration. The viscosity of 1% chitosan in 1% acetic acid decreased rapidly to 91% of the initial viscosity following the initial 15 min of autoclaving. This decreased gradually to 93% and 94% in 30 and 60 min, respectively, without being adversely affected by the chitosan solution volume. The degree of deacetylation was comparable before and after autoclaving for 60 min. Chitosan at three molecular weights (M_r = 1597, 1110, and 789 kDa) decreased in molecular weight by 46%–51% in the 15‐min treatment, 55%–60% in the 30‐min treatment, and 60%–62% in the 60‐min treatment. The addition of 0.1%–1.0% (v/v) concentrations of hydrogen peroxide to the chitosan solution autoclaved for 15 min decreased viscosity by 94%–98% and molecular weight by 69%–83%. This process is a simple, timesaving, homogeneous depolymerization procedure, and it is possible to prepare partially hydrolyzed chitosan with specified molecular weights by regulating the time of treatment. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 87: 1890–1894, 2003     

Characteristics of polyvinylpyrrolidone-layered silicate nanocomposites prepared by attrition ball milling

Polyvinylpyrrolidone (PVP)/sodium montmorillonite (MMT) nanocomposites prepared via the solution intercalation method were investigated by UV/vis, SEM, X-ray diffraction, TEM, FT-IR and PLM (polarized light microscopy). PVP/MMT nanocomposites show exfoliation below 20 wt% MMT and intercalation above this concentration. Nanocomposites retain good optical clarity and increased thermal resistance with MMT content. The compatibility between PVP and MMT and their enhanced properties may be explained by hydrogen bonding interactions. In addition, the nanocomposites prepared under more rigorous mixing conditions show better transparency because the smaller particle sizes are induced. In addition, the study on optically clear PVP/MMT suspensions helps one to understand how optical anisotropy of MMT is affected by the existence of polymer in aqueous solution.     

Thermal and mechanical properties of the polymers synthesized by the sequential polymerization of propylene and 1‐hexadecene

The block copolymer of poly(1‐hexadecene) (PHD) and polypropylene (PP) was effectively synthesized by the sequential polymerization of propylene and 1‐hexadecene by using highly isospecific TiCl₃/Cp₂Ti(CH₃)₂ (Cp = cyclopentadienyl). The block copolymers had two separate melting temperatures of constituent blocks. The modulus of PHD–PP block copolymer was enhanced as the content of sequentially polymerized PP block was increased. The elongation at break showed positive deviation at the intermediate compositions from the simple additive values of constituent homopolymers. Shape memory effect which utilizes the crystalline PHD block as a reversible phase and the crystalline PP block as a fixed structure was examined. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 84: 1709–1715, 2002; DOI 10.1002/app.10551     

A quantitative feedback solution to the multivariable tracking error problem

This paper introduces a novel solution for the multi‐input multi‐output (MIMO) quantitative feedback theory control design problem with tracking error specifications. Looking for a minimum controller overdesign, the technique finds new controller quantitative feedback theory bounds based on necessary and sufficient conditions for the existence of suitable associated prefilter matrix elements. It improves previous approaches to the subject and includes (i) the possibility of a free selection of the nominal plant, (ii) a less conservative application of the Schwartz inequality to decisively reduce the potential controller overdesign, (iii) a methodology to design independently the elements of the prefilter matrix, and (iv) a scope of application to both sequential and nonsequential MIMO controller design methods. The benefits of the new control design technique are illustrated by means of two examples. The first one, a standard 2 × 2 MIMO problem, is provided for comparison purposes with previous approaches. The second example, included as a major control challenge, deals with a well‐known demanding distillation column benchmark problem. Copyright © 2013 John Wiley & Sons, Ltd.