Prediction-based methods for teleoperation across delayed networks

The remote nature of telepresence scenarios can be seen as a strongpoint and also as a weakness. Although it enables the remote control of robots in dangerous or inaccessible environments, it necessarily involves some kind of communication mechanism for the transmission of control signals. This communication mechanism necessarily involves adverse network effects such as delay. Three mechanisms aimed at improving the effects of network delay are presented in this paper: (1) Motion prediction to partially compensate for network delays, (2) force prediction to learn a local force model, thereby reducing dependency on delayed force signals, and (3) haptic data compression to reduce the required bandwidth of high frequency data. The utilized motion prediction scheme was shown to improve operator performance, but had no influence on operator immersion. The force prediction provided haptic feedback through synchronous forces from the local model, thereby stabilizing the control loop. The developed haptic data compression scheme reduced the number of packets sent across the network by 90%, while improving the quality of the haptic feedback.     

Polite Combination of Algebraic Datatypes

Journal of Automated Reasoning - Algebraic datatypes, and among them lists and trees, have attracted a lot of interest in automated reasoning and Satisfiability Modulo Theories (SMT). Since its...     

Relaxing high-dimensional constraints in the direct solution space method for early phase development

Early phase distributed system design can be accomplished using solution spaces that provide an interval of permissible values for each functional parameter. The feasibility property guarantees fulfillment of all design requirements for all possible realizations. Flexibility denotes the size measure of the intervals, with higher flexibility benefiting the design process. Two methods are available for solution space identification. The direct method solves a computationally cheap optimization problem. The indirect method employs a sampling approach that requires a relaxation of the feasibility property through re-formulation as a chance constraint. Even for high probabilities of fulfillment, \(P>0.99\), this results in substantial increases in flexibility, which offsets the risk of infeasibility. This work implements the chance constraint formulation into the direct method for linear constraints by showing that its problem statement can be understood as a linear robust optimization problem. Approximations of chance constraints from the literature are transferred into the context of solution spaces. From this, we derive a theoretical value for the safety parameter \(\varOmega\). A further modification is presented for use cases, where some intervals are already predetermined. A problem from vehicle safety is used to compare the modified direct and indirect methods and discuss suitable choices of \(\varOmega\). We find that the modified direct method is able to identify solution spaces with similar flexibility, while maintaining its cost advantage.     

Theory of the hall effect in strongly correlated Fermi systems

The anomalous properties of the Hall constant in the normal state of high-T_c superconductors are investigated within the Hubbard model. In Mori theory, the frequency dependent Hall constant is given as the sum of its infinite frequency limit and a memory function contribution. The first term (R _H ) was already considered by Shastry et al.¹ In perturbation theory and in the limit of infinite spatial dimensions, the memory function contribution causes the Hall constant to change sign as a function of doping () and to decrease as a function of temperature, if we allow U to be 2W (U: Coulomb repulsion; W: bandwidth). In the limit U , the memory function is calculated via its moments. For frequencies W U, this leads to a decrease of R _H by a factor of (1 + )/2.     

Infrared temperature measurement in the ear canal with the DIATEK 9000 Instatemp and the DIATEK 9000 Thermoguide. Comparison with methods of temperature measurement in other body parts

Temperature of the tympanic membrane is recommended as a "gold standard" of core-temperature recording. However, use of temperature probes in the auditory canal may lead to damage of tympanic membrane. Temperature measurement in the auditory canal with infrared thermometry does not pose this risk. Furthermore it is easy to perform and not very time-consuming. For this reason infrared thermometry of the auditory canal is becoming increasingly popular in clinical practice. We evaluated two infrared thermometers-the Diatek 9000 Thermoguide and the Diatek 9000 Instatemp-regarding factors influencing agreement with conventional tympanic temperature measurement and other core-temperature recording sites. In addition, we systematically evaluated user dependent factors that influence the agreement with the tympanic temperature. MATERIALS AND METHODS: In 20 volunteers we evaluated the influence of three factors: duration of the devices in the auditory canal before taking temperature (0 or 5 s), interval between two following recordings (30, 60, 90, 120, 180 s) and positioning of the grip relative to the auditory-canal axis (0, 60, 180 and 270 degrees). Agreement with tympanic contact probes (Mon-a-therm tympanic) in the contralateral ear was investigated in 100 postoperative patients. Comparative readings with rectal (YSI series 400) and esophageal (Mon-a-therm esophageal stethoscope with temperature sensor) probes were done in 100 patients in the ICU. The method of Bland and Altman was taken for comparison. RESULTS: Shortening of the interval between two consecutive readings led to increasing differences between the two measurements with the second reading decreasing. A similar effect was seen when positioning the infrared thermometers in the auditory canal before taking temperatures: after 5 s the recorded temperatures were significantly lower than temperature recordings taken immediately. Rotation of the devices out of the telephone handle position led to increasing lack of agreement between infrared thermometry and contact probes. Mean differences between infrared thermometry (Instatemp and Thermoguide, CAL-Mode) and tympanic probes were -0.41 +/- 0.67 degree C (2 SD) and -0.43 +/- 0.70 degree C, respectively. Mean differences between the Thermoquide (Rectal-Mode) and rectal probe were -0.19 +/- 0.72 degree C, and between the Thermoguide (Core Mode) and esophageal probe -0.13 +/- 0.74 degree C. DISCUSSION: Although easy to use, infrared thermometry requires careful handling. To obtain optimal recordings, the time between two consecutive readings should not be less than two min. Recordings should be taken immediately after positioning the devices in the auditory canal. Best results are obtained in the 60 degrees position with the grip of the devices following the ramus mandibulae (telephone handle position). The lower readings of infrared thermometry compared with tympanic contact probes indicate that the readings obtained represent the temperature of the auditory canal rather than of the tympanic membrane itself. To compensate for underestimation of core temperature by infrared thermometry, the results obtained are corrected and transferred into core-equivalent temperatures. This data correction reduces mean differences between infrared recordings and traditional core-temperature monitoring, but leaves limits of agreement between the two methods uninfluenced.     

On regular temporal logics with past

The IEEE standardized Property Specification Language, PSL for short, extends the well-known linear-time temporal logic LTL with so-called semi-extended regular expressions. PSL and the closely related SystemVerilog Assertions, SVA for short, are increasingly used in many phases of the hardware design cycle, from specification to verification. In this article, we extend the common core of these specification languages with past operators. We name this extension PPSL. Although all ω-regular properties are expressible in PSL, SVA, and PPSL, past operators often allow one to specify properties more naturally and concisely. In fact, we show that PPSL is exponentially more succinct than the cores of PSL and SVA. On the star-free properties, PPSL is double exponentially more succinct than LTL. Furthermore, we present a translation of PPSL into language-equivalent nondeterministic Büchi automata, which is based on novel constructions for 2-way alternating automata. The upper bound on the size of the resulting nondeterministic Büchi automata obtained by our translation is almost the same as the upper bound for the nondeterministic Büchi automata obtained from existing translations for PSL and SVA. Consequently, the satisfiability problem and the model-checking problem for PPSL fall into the same complexity classes as the corresponding problems for PSL and SVA.