High-fidelity bilateral teleoperation systems and the effect of multimodal haptics.

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.     

Analysis of fair rate calculations in resilient packet ring aggressive mode

Resilient packet ring (RPR) standardized as IEEE 802.17 is a new medium access control (MAC) protocol for metro-ring networks. RPR supports spatial reuse which increases the achieved throughput but it can also result in congestion and starvation of nodes on the ring. Therefore, it is necessary to employ mechanisms to enforce a fair allocation of the ring bandwidth in RPR. In order to maintain fairness among nodes, a fairness algorithm is deployed at each RPR node. When a node detects congestion, it calculates a fair rate which is advertised to all upstream nodes contributing to congestion. Upon receiving the fair rate, the upstream nodes limit the rate of their injected traffic to the advertised fair rate. Consequently, the congested node can utilize the unused capacity and add its local traffic to the ring. In this paper, we develop an analytical model for fair rate calculation in the RPR aggressive mode fairness algorithm in the parking-lot scenario. This model provides an insight on dynamics of the RPR fairness algorithm and can be used to evaluate its performance. We investigate this problem in two cases. First, we assume that the link propagation delay is zero and derive the fair rate equations for this ideal case. We then consider the link propagation delay and develop a more realistic model. We verify the accuracy of our model by simulation results. Furthermore, we use the developed model to study the impact of various parameters on convergence of the fair rate.     

Privacy aware image template matching in clouds using ambient data

Cloud computing is ideal for image storage and processing because it provides enormously scalable storage and processing resources at low cost. One of the major drawbacks of cloud computing, however, is the lack of robust mechanisms for the users to control the privacy of the data they farm out to the clouds. In this paper, we develop an image encoding scheme that enhances the privacy of image data that is outsourced to the clouds for processing. Unlike previously proposed image encryption schemes, our encoding scheme allows different forms of pixel-level image processing to take place in the clouds while the actual image is not revealed to the cloud provider. Our encoding scheme uses a chaotic map to transform the image after it is masked with an arbitrarily chosen ambient image. We use template matching as a common image processing task to demonstrate the ability of our scheme to perform computations on privacy enhanced images. A simplified prototype of the image processing system was implemented and the experimental results are presented in this paper.     

Bioreactor temperature profile controller using inverse neural network (INN) for production of ethanol

This paper presents the use of inverse neural networks (INN) for temperature control of a biochemical reactor and its effect on ethanol production. The process model is derived indicating the relationship between temperature, pH and dissolved oxygen. Using fundamental model obtained data sets; an inverse neural network has been trained using the back-propagation learning algorithm. Two types of temperature profile are used to compare the performance of the INN and conventional PID controllers. These controllers have been simulated in MATLAB for a quantitative comparison. The results obtained by the neural network based INN controller and by the PID controller are presented and compared. There is an improvement in the performance of INN controller in settling time and dead time and steady state error over the PID controller.     

Design of an integrated UWB antenna with dual band notch characteristics

A miniaturized couple-line-fed planar ultra-wideband (UWB) antenna is proposed, which has a dual band-notched characteristic as well as two integrated monopoles. Narrowband notches are generated at frequencies of 3.5 GHz and 5.5 GHz using independently controlled bent resonators, whereas the monopoles are designed for radiation at 900 MHz and 2.4 GHz. The proposed design is simulated with full wave solvers and verified with measurements. A good agreement is observed between the simulations and measurements for the antenna's return loss, gain and radiation pattern performances.     

A study on the efficiency of hardware Trojan detection based on path-delay fingerprinting

Hardware Trojan horses (HTHs) are among the most challenging treats to the security of integrated circuits. Path-delay fingerprinting has shown to be a promising HTH detection approach. However, previous work in this area incurs a large hardware cost or requires expensive testing techniques. Moreover, the relation between technology mapping and the efficiency of delay-based HTH detection have not yet been studied. In this paper, we present a HTH detection method which uses an effective test-vector selection scheme and a path-delay measurement structure. Furthermore, we demonstrate the large impact of technology mapping on the effectiveness of delay-based HTH detection. We also show that delay-based detection methods are highly scalable. In case of choosing an area-driven design strategy, the average HTH detection probability of our approach is about 63%, 78% and 90% if false alarm rate is 0%, 2% and 16%, respectively. However, with modifications in the technology mapping, the results show improvements to 85%, 94% and 99%, at the cost of about 20% area overhead. In addition, the efficiency of our method would not decrease for large benchmarks with thousands of gates.     

Color PCA eigenimages and their application to compression and watermarking

From the birth of multi-spectral imaging techniques, there has been a tendency to consider and process this new type of data as a set of parallel gray-scale images, instead of an ensemble of an n-D realization. However, it has been proved that using vector-based tools leads to a more appropriate understanding of color images and thus more efficient algorithms for processing them. Such tools are able to take into consideration the high correlation of the color components and thus to successfully carry out energy compaction. In this paper, a novel method is proposed to utilize the principal component analysis in the neighborhoods of an image in order to extract the corresponding eigenimages. These eigenimages exhibit high levels of energy compaction and thus are appropriate for such operations as compression and watermarking. Subsequently, two such methods are proposed in this paper and their comparison with available approaches is presented.     

In vitro gas production profiles and fermentation end‐products in processed peas,lupins and faba beans

BACKGROUND: An experiment was carried out to establish whether using a pre‐compacting device (expander) changes the contribution of dry matter (DM) and degradative behaviour of peas, lupins and faba beans over the different fractions (non‐washable fraction, NWF; insoluble washable fraction, ISWF; soluble washable fraction, SWF). Samples of the entire concentrate ingredients (WHO ingredients) and their different fractions (NWF, ISWF and SWF) were subjected to three processes (Retsch milling, R; expander treatment, E; expander‐pelleting, EP) and their fermentation characteristics were evaluated using an in vitro gas production technique. RESULTS: In peas and faba beans, both the E and EP processes increased the size of the NWF (P < 0.05) and decreased the size of the SWF compared with the R process. The maximum fractional rate of gas production in the first phase of fermentation was higher in the E and EP samples than in the R samples (P < 0.05). In lupins and faba beans the E and EP processes shifted the pattern of fermentation towards a more glucogenic fermentation, as represented by a lower non‐glucogenic to glucogenic ratio (NGR). Ammonia production (NH₃‐N) in the E and EP samples was significantly (P < 0.05) lower than that in the R samples. CONCLUSION: It is concluded that the E and EP processes provide a certain level of protection against ruminal breakdown to dietary protein and shift the pattern of fermentation towards a more glucogenic fermentation. Copyright © 2008 Society of Chemical Industry     

纳米结构Ni-Al_2O_3梯度涂层的制备及结构表征（英文）

将微米级的Ni和Al_2O_3粉末通过行星式球磨机沉积在固定于球磨罐内顶端的铝板上,制备纳米结构的Ni-Al_2O_3复合涂层。共采用五组不同Ni与Al_2O_3质量比(1:1~16:1)的混合粉末,并制备一组纯Ni涂层。用XRD、SEM和TEM技术对涂层的相组成和微观结构进行表征。结果表明,初始混合粉末的成分对涂层中Al_2O_3颗粒的含量和微观结构有很大影响。Al_2O_3含量高的初始混合粉沉积的涂层中,Al_2O_3颗粒所占体积分数大。虽然通过本研究的方法可沉积出含有50%Al_2O_3颗粒的Ni-Al_2O_3复合涂层,但其性能差,制备出的致密度高、无裂纹和/或孔洞的涂层中Al_2O_3颗粒的含量小于20%,且需用Ni和Al_2O_3质量比≥4:1的初始混合粉制备。研究还发现,机械和冶金结合是涂层和铝基体结合的主要机理。通过在同一制备条件下沉积两种独立的涂料层可以成功制备出具有较好的致密度和完整性的功能梯度复合涂层。