A novel electromyographic signal simulator for muscle contraction studies

Mathematical simulation has been widely used in biomedical and biological sciences. In the case of the surface electromyographic (SEMG) activity, some models have been proposed aiming to study muscle contraction strategies that are used during different tasks and conditions. Most of SEMG simulators are based on energy modulation of a Gaussian noise. This work proposes a novel simulator in which the user-defined parameters are associated with the motor units (MUs) recruitment and their firing rate. Comparison between the mean spectrum of real SEMG signals collected in isometric contraction of the muscle biceps brachii and the mean spectrum obtained from simulated SEMG signals showed a good agreement, pointing the proposed simulator seems to be capable to generate consistent electromyographic signals in time and frequency domains and that can be used in many studies, in particular in the evaluation of automatic methods aimed to detect muscular contraction.     

Modeling and solving the rooted distance-constrained minimum spanning tree problem

In this paper we discuss models and methods for solving the rooted distance constrained minimum spanning tree problem which is defined as follows: given a graph G=(V,E)$G=(V,E)$ with node set V={0,1,…,n}$V=\{0,1,\dots ,n\}$ and edge set E$E$, two integer weights, a cost _ce$c_e$ and a delay _we$w_e$ associated with each edge e$e$ of E$E$, and a natural (time limit) number H$H$, we wish to find a spanning tree T$T$ of the graph with minimum total cost and such that the unique path from a specified root node, node 0, to any other node has total delay not greater than H$H$. This problem generalizes the well known hop-constrained spanning tree problem and arises in the design of centralized networks with quality of service constraints and also in package shipment with service guarantee constraints. We present three theoretically equivalent modeling approaches, a column generation scheme, a Lagrangian relaxation combined with subgradient optimization procedure, both based on a path formulation of the problem, and a shortest path (compact) reformulation of the problem which views the underlying subproblem as defined in a layered extended graph. We present results for complete graph instances with up to 40 nodes. Our results indicate that the layered graph path reformulation model is still quite good when the arc weights are reasonably small. Lagrangian relaxation combined with subgradient optimization procedure appears to work much better than column generation and seems to be a quite reasonable approach to the problem for large weight, and even small weight, instances.     

Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.     

Design of output constraints for model-based non-square controllers using interval operability

A steady-state interval operability methodology is introduced here for multivariable non-square systems with fewer inputs than output variables to be used in the design of model-based constrained controllers (MPC, DMC). For such systems, set-point control is not possible for all the outputs and interval control is needed. The proposed iterative approach enables the selection of the needed interval constraints systematically, so that the tightest possible control is achieved without rendering the control problem infeasible. The application of this methodology to high-dimensional industrial problems characterizing processes of Air Products and Chemicals and DuPont shows that very significant reduction of the constrained region can be achieved from the steady-state point of view. Ratios of the initial to the calculated volume of the constrained regions examined range between 10⁴ and 10⁸.     

Avatar mobility in user-created networked virtual worlds: measurements, analysis, and implications

We collected mobility traces of avatars spanning multiple regions in Second Life, a popular user-created virtual world. We analyzed the traces to characterize the dynamics of the avatars’ mobility and behavior, both temporally and spatially. We discuss the implications of our findings on the design of peer-to-peer architecture, interest management, mobility modeling of avatars, server load balancing and zone partitioning, caching, and prefetching for user-created virtual worlds.     

A Genre-Aware Approach to Focused Crawling

Focused crawlers have as their main goal to crawl Web pages that are relevant to a specific topic or user interest, playing an important role for a great variety of applications. In general, they work by trying to find and crawl all kinds of pages deemed as related to an implicitly declared topic. However, users are often not simply interested in any document about a topic, but instead they may want only documents of a given type or genre on that topic to be retrieved. In this article, we describe an approach to focused crawling that exploits not only content-related information but also genre information present in Web pages to guide the crawling process. This approach has been designed to address situations in which the specific topic of interest can be expressed by specifying two sets of terms, the first describing genre aspects of the desired pages and the second related to the subject or content of these pages, thus requiring no training or any kind of preprocessing. The effectiveness, efficiency and scalability of the proposed approach are demonstrated by a set of experiments involving the crawling of pages related to syllabi of computer science courses, job offers in the computer science field and sale offers of computer equipments. These experiments show that focused crawlers constructed according to our genre-aware approach achieve levels of F1 superior to 88%, requiring the analysis of no more than 65% of the visited pages in order to find 90% of the relevant pages. In addition, we experimentally analyze the impact of term selection on our approach and evaluate a proposed strategy for semi-automatic generation of such terms. This analysis shows that a small set of terms selected by an expert or a set of terms specified by a typical user familiar with the topic is usually enough to produce good results and that such a semi-automatic strategy is very effective in supporting the task of selecting the sets of terms required to guide a crawling process.     

Self-managed topologies in P2P networks

The problem of efficient resource location is an important open issue in P2P systems. This paper introduces DANTE, a self-adapting P2P system that changes its peer links to form topologies where resources are located in an efficient manner via random walks. Additionally, this same self-adaptation capacity makes DANTE capable of reacting to events like changes in the system load or attacks on well-connected nodes by adjusting the topology to the new scenario. This adaptive behavior emerges as the global result of the individual work of nodes, without the intervention of any central entity or the need for global knowledge. Simulations show that this adaptation process makes the system scalable, resilient to attacks, and tolerant to a high transitivity of peers. Simulations are also used to compare this solution with other well-known self-adapting P2P system. From these results it can be concluded that the topologies achieved by DANTE offer better performance.     

A new control scheme for visual servoing

This research presents a new control scheme for visual servoing that takes into account the delay introduced by image acquisition and image processing. Firstly, previous control schemes for visual servoing are discussed and then a new control scheme is proposed and fully described. Afterwards, the capabilities (steady-state errors, stability margins, step time response, etc.) of the proposed control scheme and of previous ones are analytically analyzed and compared. Next, several simulations and experimental results are provided to validate the analytical results and to illustrate the benefits of the proposed control scheme. In particular, it is shown that this new control scheme clearly improves the performance of the previous ones.     

Extreme-ultraviolet interferometry at 15.5 nm using multilayer optics

The development of multilayer mirror technology capable of operating in the range of 3-30 nm and the construction of thin membranes with excellent uniformity and strength have made it possible to design and implement a Mach-Zehnder interferometer operating at 15.5 nm. We have tested this interferometer by using a soft x-ray laser as a source, and we show its use in probing high-density plasmas.