A new mobile robot control approach via fusion of control signals.

This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well.     

On Burst Length Distribution and Preemption Probabilities in OBS Networks with Burst Segmentation

Recently, preemption techniques have attracted considerable attention as a means to provide differentiated quality of service in optical burst switching (OBS) networks. This paper is focused on the analysis of preemption probabilities for bursts within the same priority class. As proposed by Vokkarane and Jue ((2003)* IEEE J Select Areas Commun 21(7): 1198–1209) an incoming burst will preempt the burst in service, within the same priority class, if the residual length of the burst in service is smaller than the incoming burst length. For a general case with wavelength conversion, the preemption probability of contending bursts with a generic service distribution, not necessarily exponential, is analyzed. First, we show that the size distribution for the preempting bursts is shifted to larger values, in comparison to the original burst size distribution. Second, we obtain an upper and lower bound for the preemption probability. Finally, the asymptotic behavior of the OBS switch is analyzed showing that preemption will always occur for a very large number of wavelengths.     

Dielectric relaxation of vegetable-based polyurethane

Vegetable-based polyurethane (PU) was prepared in the thin film form by spin coating. This polymer is synthesised from castor oil, which can be extracted from the seeds of a native plant in Brazil called mamona. This polymer is biocompatible and is being used as material for artificial bone. The PU was characterised by dielectric spectroscopy in a wide range of frequency (10^–5 Hz to 10⁵ Hz) and by thermally stimulated discharge current (TSDC) measurements. The glass transition temperature (T _g = 39°C) was determined and using the initial rise method the activation energy was found to be 1.58 eV.     

Dealumination–aging pattern of REUSY zeolites contained in fluid cracking catalysts

The evolution of the properties of a REUSY zeolite contained in a fluid cracking catalyst was investigated under laboratory steam deactivation procedures and in age fractions of the corresponding equilibrium catalyst (Ecat). The aging pattern, defined by the evolution of the zeolite surface area (ZSA) related to the decrease of the unit cell size (UCS), was similar between lab-steamed zeolites and Ecat fractions. A sharp drop in ZSA occurred at ca. 2.430 nm UCS. A study done by FT-IR spectroscopy suggested that zeolite dealumination initially took place more extensively on the sodalite cages and double six-member rings (D6R) of the structure and that the final collapse of the zeolite framework occurred through destruction of the 12-member rings (12M). This can be explained by a crystal fracture and break down process and disassembling of the sodalite cages in the faujasite structure. NH₃ microcalorimetry showed that strong acid sites in faujasites are destroyed by steam aging, but this effect does not lead to a reduction in the cracking activity of the Ecat form. The microactivity test (MAT) showed that the specific activity declined sharply at 2.430 nm UCS. Differences in product selectivity were related to the extent of damage of the zeolite, extra-framework alumina and mesoporosity. While further aging canceled the effect attributed to extra-framework alumina differences attributed to mesoporosity increased.     

The influence of oxygen partial pressure on growth of the (Hg,Re)-1223 intergrain junction

Hg/sub 0.82/Re/sub 0.18/Ba/sub 2/Ca/sub 2/Cu/sub 3/O/sub 8+/spl delta// polycrystalline samples were successfully obtained by using different oxygen partial pressure in the annealing treatment of the precursor ceramic. The doping state was confirmed by X-ray powder diffraction pattern analysis and by observing distinct thermopower values at room temperature. Also, the intergrain regions have shown an improvement in the critical current density when using the precursor preparation with 10% O/sub 2/ and 90% Ar (optimal doped). The optimal doped sample has presented the highest /spl alpha/ exponent of the J/sub c//spl prop/[1-(T/T/sub c/)/sup 2/]/sup /spl alpha// dependence. For the case of (Hg,Re)-1223 polycrystalline superconductor applications, the /spl alpha/ exponent can be used as a junction quality parameter.     

An application of chemometric techniques to analyze the effects of the wave function modifications on the intermolecular stretching frequencies of the hydrogen-bonded complexes

Factorial design and principal component models are used to determine how ab initio H-bond stretching frequencies depend on characteristics of the molecular orbital wave functions of acetylene–HX, ethylene–HX and cyclopropane–HX π-type hydrogen complexes with X=F, Cl, CN, NC and CCH. The results obtained for the three sets of complexes show that factorial design and principal component analyses complement each other. Factorial design calculations clearly show that these frequencies are affected mostly by inclusion of electron correlation on the calculation level. On average, their values are increased by about 25 cm⁻¹ due to a change from the Hartree–Fock (HF) to Möller–Plesset 2 (MP2) level. Valence, diffuse and polarization main effects as well as valence–diffuse, diffuse–correlation and polarization–correlation interaction effects are also important to better describe a factorial model to the H-bond stretching frequencies of these hydrogen complexes. This simplified model has been successful in reproducing the complete ab initio results, which correspond to two hundred and forty calculations. Principal component analyses applied only to hydrogen-bonded complexes whose experimental frequencies are known, has revealed that the six-dimensional original space can be accurately represented by a bidimensional space defined by two principal components. Its graphical representation reveals that the experimental intermolecular stretching frequencies are in closest agreement with the MP2/6–31+G and MP2/6–311+G ab initio results.     

L’optimisation des réseaux cellulaires assistée par ordinateur: le logiciel RNO (Radio Network Optimisation)

Quality of service has become today a major concern for operators of mobile communication networks. The massive development of networks and strong competition between operators has lead to the necessary and daily follow-up of network quality of service, a key factor for its subscriber’s fidelity. This article aims at presenting the optimization methodology and proposes its illustration with a case of RNO (Radio Network Optimisation) software usage, one of the Alcatel optimization toolchain component. After a short presentation of cellular network, the optimization basic principles are described. RNO software and its main functionnalities are then detailed before a last part dedicated to a real case of optimization done with RNO software.     

Pyrolysis of Miscanthus Giganteus and wood pellets: TG-FTIR analysis and reaction kinetics

Characterisation of two biomass fuels (pelletised Miscanthus Giganteus and wood) was performed using thermogravimetric analysis with measurement of products by means of Fourier transform infrared spectroscopy (TG-FTIR). Three heating rate profiles were applied (10, 30 and 100 °C/min), with a final temperature of 900 °C. HCN and HNCO were found to be the major N-products, while the NH₃ fraction was detected to a minor extent. Kinetic parameters were obtained from the TG-FTIR results using a model based on parallel first-order reactions with a Gaussian distribution of activation energies. On the basis of the above kinetic analysis and product yields, input files for the functional group-devolatilisation, vaporisation, cross-linking biomass-pyrolysis model were prepared. The fit of model parameters to TG-FTIR product-evolution data was found to be generally good, but the model-predicted yields for some species did not fit experimental data at all heating rates. Further improvements in the model are needed to resolve above difficulty.     

Enhancing both network and user performance for networks supporting best effort traffic

With a view on improving user-perceived performance on networks supporting best effort flows, e.g., multimedia/data file transfers, we propose a family of bandwidth allocation criteria that depends on the residual work of on-going transfers. Analysis and simulations show that allocating bandwidth in this fashion can significantly improve the user-perceived delay, bit transmission delay, and throughput over traditional approaches, e.g., by 58% on an 80% loaded linear network. A simple implementation based on TCP Reno, exemplifies how one might approach practically realizing such gains. We discuss several other advantages of incorporating such differentiation at the transport level. In particular we make the case that favoring small transfers combined with user impatience or peak rate constraints, both of which are natural mechanisms for users to express the utility of completing transfers, offers a lightweight approach to achieving good overall network goodput and/or utility for best effort networks.