Gait Generation and Stabilization for Nearly Passive Dynamic Walking Using Auto‐distributed Impulses

We propose a state feedback control design via linearization for flexible walking on flat ground. First, we generate nearly passive limit cycles, being stable or not, using impulsive toe‐off actuations. The term ‘nearly passive’ means that the dynamics is completely passive almost everywhere except at the toe‐off moment. A feature of our gait generation method is that walking gaits are characterized only by amounts of supplied energy, and we observe that other variables, including input torques, are auto‐balanced via our method. After gait generation, we design a feedback controller considering robustness and input saturation. As a result, each limit cycle can be matched with its respective controller classified only by energy levels. We have verified that walking speeds monotonically increase by adding more energy, and the ankle joint plays a significant role in compass‐gait walking. Finally, instead of applying impulsive torques, we discuss a practical issue regarding realistic control inputs that ensure stable gait transitions as energy levels are elevated.     

Business Intelligence Acceptance: The Prominence of Organizational Factors

The specifics of business intelligence systems compared to operational IS motivate the necessity to research the business intelligence systems acceptance determinants separately. The authors followed an exploratory approach in order to conceptualize a business intelligence acceptance model. Their findings show that in the Business Intelligence Systems context, there is a significant emphasis on organizational factors, such as result demonstrability, social influence, and facilitating conditions with sufficient resources that help build an adequate information culture all substantially influencing the effective acceptance of business intelligence systems.     

COACH: COllaborative certificate stAtus CHecking mechanism for VANETs

Vehicular Ad Hoc Networks (VANETs) require mechanisms to authenticate messages, identify valid vehicles, and remove misbehaving vehicles. A public key infrastructure (PKI) can be used to provide these functionalities using digital certificates. However, if a vehicle is no longer trusted, its certificates have to be revoked and this status information has to be made available to other vehicles as soon as possible. In this paper, we propose a collaborative certificate status checking mechanism called COACH to efficiently distribute certificate revocation information in VANETs. In COACH, we embed a hash tree in each standard Certificate Revocation List (CRL). This dual structure is called extended-CRL. A node possessing an extended-CRL can respond to certificate status requests without having to send the complete CRL. Instead, the node can send a short response (less than 1 kB) that fits in a single UDP message. Obviously, the substructures included in the short responses are authenticated. This means that any node possessing an extended-CRL can produce short responses that can be authenticated (including Road Side Units or intermediate vehicles). We also propose an extension to the COACH mechanism called EvCOACH that is more efficient than COACH in scenarios with relatively low revocation rates per CRL validity period. To build EvCOACH, we embed an additional hash chain in the extended-CRL. Finally, by conducting a detailed performance evaluation, COACH and EvCOACH are proved to be reliable, efficient, and scalable.     

The Price of Anarchy in Network Creation Games Is (Mostly) Constant

We study the price of anarchy and the structure of equilibria in network creation games. A network creation game is played by n players {1,2,…,n}, each identified with a vertex of a graph (network), where the strategy of player i, i=1,…,n, is to build some edges adjacent to i. The cost of building an edge is α>0, a fixed parameter of the game. The goal of every player is to minimize its creation cost plus its usage cost. The creation cost of player i is α times the number of built edges. In the SumGame variant, the usage cost of player i is the sum of distances from i to every node of the resulting graph. In the MaxGame variant, the usage cost is the eccentricity of i in the resulting graph of the game. In this paper we improve previously known bounds on the price of anarchy of the game (of both variants) for various ranges of α, and give new insights into the structure of equilibria for various values of α. The two main results of the paper show that for α>273?n all equilibria in SumGame are trees and thus the price of anarchy is constant, and that for α>129 all equilibria in MaxGame are trees and the price of anarchy is constant. For SumGame this answers (almost completely) one of the fundamental open problems in the field—is price of anarchy of the network creation game constant for all values of α?—in an affirmative way, up to a tiny range of α.     

Braess’s Paradox for Flows over Time

We study the properties of Braess’s paradox in the context of the model of congestion games with flow over time introduced by Koch and Skutella. We compare them to the well known properties of Braess’s paradox for Wardrop’s model of games with static flows. We show that there are networks which do not admit Braess’s paradox in Wardrop’s model, but which admit it in the model with flow over time. Moreover, there is a topology that admits a much more severe Braess’s ratio for this model. Further, despite its symmetry for games with static flow, we show that Braess’s paradox is not symmetric for flows over time. We illustrate that there are network topologies which exhibit Braess’s paradox, but for which the transpose does not. Finally, we conjecture a necessary and sufficient condition of existence of Braess’s paradox in a network, and prove the condition of existence of the paradox either in the network or in its transpose.     

A novel technique for producing metallic microjets and microdrops

A new technique for producing steady metallic jets is proposed. It allows the production of supercritical jets with Weber numbers well below unity, which entails important technological advantages over existing techniques. The metallic liquid is injected through a micrometer converging nozzle located inside a gas stream. Both the liquid jet and the coflowing gas current cross an orifice located in front of the nozzle. The gas stream stabilizes the jet by sweeping away the capillary waves growing on the free surface. In this way, one can steadily produce microjets with a kinetic energy much lower than the interfacial energy, a possibility that has been predicted theoretically (Gañán-Calvo in Phys Rev E 78:026304, 2008). Experiments were conducted with mercury to assess the performance of the new technique. The experimental results agreed remarkably well with the predictions calculated from the convective/absolute instability transition of the jet. The jet breakup mechanism did not correspond to classical Rayleigh instability, but to the growth of surface waves over a capillary column which ends at a fixed location. The results were compared with those obtained with the well-established flow focusing method to show that the new technique considerably favors the jet’s stability.