Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.     

Vehicle inductive signatures recognition using a Madaline neural network

In this paper, we report results obtained with a Madaline neural network trained to classify inductive signatures of two vehicles classes: trucks with one rear axle and trucks with double rear axle. In order to train the Madaline, the inductive signatures were pre-processed and both classes, named C2 and C3, were subdivided into four subclasses. Thus, the initial classification task was split into four smaller tasks (theoretically) easier to be performed. The heuristic adopted in the training attempts to minimize the effects of the input space non-linearity on the classifier performance by uncoupling the learning of the classes and, for this, we induce output Adalines to specialize in learning one of the classes. The percentages of correct classifications presented concern patterns which were not submitted to the neural network in the training process, and, therefore, they indicate the neural network generalization ability. The results are good and stimulate the maintenance of this research on the use of Madaline networks in vehicle classification tasks using not linearly separable inductive signatures.     

Semi-formal transformation of secure business processes into analysis class and use case models: An MDA approach

ContextModel-Driven Development (MDD) is an alternative approach for information systems development. The basic underlying concept of this approach is the definition of abstract models that can be transformed to obtain models near implementation. One fairly widespread proposal in this sphere is that of Model Driven Architecture (MDA). Business process models are abstract models which additionally contain key information about the tasks that are being carried out to achieve the company’s goals, and two notations currently exist for modelling business processes: the Unified Modelling Language (UML), through activity diagrams, and the Business Process Modelling Notation (BPMN).ObjectiveOur research is particularly focused on security requirements, in such a way that security is modelled along with the other aspects that are included in a business process. To this end, in earlier works we have defined a metamodel called secure business process (SBP), which may assist in the process of developing software as a source of highly valuable requirements (including very abstract security requirements), which are transformed into models with a lower abstraction level, such as analysis class diagrams and use case diagrams through the approach presented in this paper.MethodWe have defined all the transformation rules necessary to obtain analysis class diagrams and use case diagrams from SBP, and refined them through the characteristic iterative process of the action-research method.ResultsWe have obtained a set of rules and a checklist that make it possible to automatically obtain a set of UML analysis classes and use cases, starting from SBP models. Our approach has additionally been applied in a real environment in the area of the payment of electrical energy consumption.ConclusionsThe application of our proposal shows that our semi-automatic process can be used to obtain a set of useful artifacts for software development processes.     

Incremental method evolution in global software product management: A retrospective case study

Company growth in a global setting causes challenges in the adaptation and maintenance of an organization’s methods. In this paper, we will analyze incremental method evolution in software product management in a global environment. We validate a method increment approach, based on method engineering principles, by applying it to a retrospective case study conducted at a large ERP vendor. The results show that the method increment types cover all increments that were found in the case study. Also, we identified the following lessons learned for company growth in a global software product management context: method increment drivers, such as the change of business strategy, vary during evolution; a shared infrastructure is critical for rollout; small increments facilitate gradual process improvement; and global involvement is critical. We then claim that method increments enable software companies to accommodate evolutionary adaptations of development process in agreement with the overall company expansion.     

An algorithm for computerized automatic tuning of power system stabilizers

The main objective of this paper is to relieve the power system engineers from the burden of the complex and time-consuming process of power system stabilizer (PSS) tuning. To achieve this goal, the paper proposes an automatic process for computerized tuning of PSSs, which is based on an iterative process that uses a linear matrix inequality (LMI) solver to find the PSS parameters. It is shown in the paper that PSS tuning can be written as a search problem over a non-convex feasible set. The proposed algorithm solves this feasibility problem using an iterative LMI approach and a suitable initial condition, corresponding to a PSS designed for nominal operating conditions only (which is a quite simple task, since the required phase compensation is uniquely defined). Some knowledge about the PSS tuning is also incorporated in the algorithm through the specification of bounds defining the allowable PSS parameters. The application of the proposed algorithm to a benchmark test system and the nonlinear simulation of the resulting closed-loop models demonstrate the efficiency of this algorithm.     

Active noise control in a forced-air cooling system

This paper discusses the design methodology for the active noise control of sound disturbances in a forced-air cooling system. The active sound cancellation algorithm uses the framework of output-error based optimization of a linearly parametrized filter for feedforward sound compensation to select microphone location and demonstrate the effectiveness of active noise cancellation in a small portable data projector. Successful implementation of the feedforward based active noise controller on a NEC LT170 data projector shows a 20–40 dB reduction per frequency point in the spectrum of external noise of the forced-air cooling system can be obtained over a broad frequency range from 1 to 5 kHz. A total noise reduction (unweighted) of 9.3 dB is achieved.     

MIMO-OFDM PAPR reduction by selected mapping using side information power allocation

In this paper, we present a Selected Mapping (SLM) PAPR reduction technique for MIMO-OFDM system with special protection of Side Information (SI). Selected Mapping (SLM) is a powerful PAPR reduction technique since it does not cause any signal distortion and simple to implement. As a special protection for the Side Information (SI) of SLM technique, we propose a SI power allocation procedure. Simulation results show that our proposed technique gives significantly better BER performance than the ordinary SLM technique for MIMO-OFDM systems. Analysis for the optimum SI power allocation is also presented.