Multi-objective approach for robot motion planning in search tasks

This work addresses the problem of single robot coverage and exploration in an environment with the goal of finding a specific object previously known to the robot. As limited time is a constraint of interest we cannot search from an infinite number of points. Thus, we propose a multi-objective approach for such search tasks in which we first search for a good set of positions to place the robot sensors in order to acquire information from the environment and to locate the desired object. Given the interesting properties of the Generalized Voronoi Diagram, we restrict the candidate search points along this roadmap. We redefine the problem of finding these search points as a multi-objective optimization one. NSGA-II is used as the search engine and ELECTRE I is applied as a decision making tool to decide among the trade-off alternatives. We also solve a Chinese Postman Problem to optimize the path followed by the robot in order to visit the computed search points. Simulation results show a comparison between the solution found by our method and solutions defined by other known approaches. Finally, a real robot experiment indicates the applicability of our method in practical scenarios.     

Interactive Persuasive Systems: A Perspective on Theory and Evaluation

Interactive systems are increasingly used in a growing number of domains to encourage users to perform certain actions or take a certain position toward a given subject. This article offers a perspective on interactive persuasive systems that emphasizes theories and concepts that can guide their design and evaluation. The goal is not to champion a theoretical model over others or to compare the effectiveness of different persuasive strategies but rather to depict the current conceptual landscape in this field and highlight emerging concepts and positions that have recently appeared in it. The article includes a discussion of some representative, general, and domain-specific constructs that can be used to evaluate the effectiveness of interactive persuasive systems.     

Data Plane Programmability Beyond OpenFlow: Opportunities and Challenges for Network and Service Operations and Management

SDN and OpenFlow reshaped the way we configure forwarding devices and determine network behavior, by offering an open interface upon which apps like routing, monitoring, etc. can be built. SDN/OpenFlow helped break network “ossification” and unleash evolution, by enabling one to effectively think networking from top-down. It evidenced, however, a subtle but important problem: networking evolution is also hampered by the inability to change switch behavior, which forces one to build systems constrained from the bottom up. This scenario can change dramatically with the re-emergence of programmable data planes, and languages like POF and P4. Although recent, these languages proved to be very influential, powering several contributions towards flexible and customizable forwarding devices. In this paper, we survey the literature on data plane programmability, from early concepts (like Active Networks) to state-of-the-art solutions. We then dive into research questions that more recent work (especially P4) have uncovered: how to deploy and manage custom switch programs in large-scale networks? Can we improve services like monitoring and security with programmable data planes? Can we make network operation more dependable? As another contribution, we organize and discuss opportunities and challenges with potential to influence research in the field, from the perspective of network and service operations and management.     

Hydroxyapatite Reinforced Chitosan and Polyester Blends for Biomedical Applications

Summary: Hydroxyapatite, chitosan, and aliphatic polyester were compounded using a twin‐screw extruder. The polyesters include poly(ε‐caprolactone) (PCL), poly(lactic acid) , poly(butylene succinate) (PBS), and poly(butylene terephthalate adipate). The mass fraction of chitosan ranged from 17.5 to 45%, while that of HA ranged from 10 to 30%. These blends were injection molded and evaluated for thermal, morphological, and mechanical properties. The addition of hydroxyapatite decreased the crystallinity in chitosan/PBS blends, while in blends containing chitosan/PCL, the crystallinity increased. Addition of hydroxyapatite significantly decreased the tensile strength and elongation of polyester/hydroxyapatite composites as well as chitosan/polyester/hydroxyapatite composites with elongations undergoing decreases over an order of magnitude. The tensile strength of the composite was dictated by the adhesion of HA to the chitosan/polyester matrix. The tensile strength of composites containing hydroxyapatite could be predicted using the Nicolai and Narkis equation for weak filler adhesion (K ≈ 1.21). Tensile‐fractured and cryogenically‐fractured surface indicates extensive debonding of hydroxyapatite crystals from the matrix, indicating weak adhesion. The adhesion of hydroxyapatite was higher for pure polyester than those containing chitosan and polyester. The modulus of the composites registered modest increase. The two main diffraction peaks observed using WAXS are unaffected by the amount of chitosan or hydroxyapatite.

     

Gas transport properties of siloxane polyurethanes

Polyurethanes (PUs) were synthesized from toluenediisocyanates (TDIs) and a polymeric diol having polydimethylsiloxane and polyoxyethylene blocks of the ABA type, ended with OH groups. Prepolymers, prepared in toluene solution using ratios [NCO]/[OH] ≥ 2, were crosslinked with triisopropanolamine (TIPA) (ratio [OH]/[NCO] = 1.1) (two-step process). PUs were also obtained with a one-step process using, contemporaneously, TDI, block copolymer, and, as crosslinking agent, TIPA or the glyceride of ε-hydroxyhexanoic acid. Polydimethylsiloxane (PDMSO) was prepared as a reference material. The course of the reaction between block copolymer and TDI was studied by differential scanning calorimetry in the absence and presence of benzoyl chloride (BzCl). Without BzCl, with ratios [NCO]/[OH] > 2, uncontrolled crosslinking side reactions occur. The properties of the PU films obtained with the two methods were studied both for the density of crosslinking and for gas transport properties. The two-step polymers are less crosslinked than the others and are characterized by higher diffusion coefficients and by higher permeability to gases. The permeability order is 10^?9 (N cm³ cm^?1 cm^?1 cm Hg^?1 s^?1) for CH₄, O₂, CO, and N₂ and is 10 times higher for CO₂. The selectivity for the couple O₂/N₂ is higher than that obtained with PDMSO films. Considerable selectivities are shown for the couples CO₂/N₂ and CO₂/CO. © 1995 John Wiley & Sons, Inc.     

Finding Best Swap Edges Minimizing the Routing Cost of a Spanning Tree

Given an n-node, undirected and 2-edge-connected graph G=(V,E) with positive real weights on its m edges, given a set of k source nodes S?V, and given a spanning tree T of G, the routing cost from S of T is the sum of the distances in T from every source s∈S to all the other nodes of G. If an edge e of T undergoes a transient failure, and one needs to promptly reestablish the connectivity, then to reduce set-up and rerouting costs it makes sense to temporarily replace e by means of a swap edge, i.e., an edge in G reconnecting the two subtrees of T induced by the removal of e. Then, a best swap edge for e is a swap edge which minimizes the routing cost from S of the tree obtained after the swapping. As a natural extension, the all-best swap edges problem is that of finding a best swap edge for every edge of T, and this has been recently solved in O(mn) time and linear space. In this paper, we focus our attention on the relevant cases in which k=O(1) and k=n, which model realistic communication paradigms. For these cases, we improve the above result by presenting an $\widetilde{O}(m)$ time and linear space algorithm. Moreover, for the case k=n, we also provide an accurate analysis showing that the obtained swap tree is effective in terms of routing cost. Indeed, if the input tree T has a routing cost from V which is a constant-factor away from that of a minimum routing-cost spanning tree (whose computation is a problem known to be in APX), and if in addition nodes in T enjoys a suitable distance stretching property from a tree centroid (which can be constructively induced, as we show), then the tree obtained after the swapping has a routing cost from V which is still a constant-ratio approximation of that of a new (i.e., in the graph deprived of the failed edge) minimum routing-cost spanning tree.     

The genuine short GRB 090227B and the disguised by excess GRB 090510

GRB 090227B and GRB 090510, traditionally classified as short gamma-ray Bursts (GRBs), indeed originate from different systems. For GRB 090227B we inferred a total energy of the e ⁺ e ^? plasma \(E_{e^ + e^ - }^{tot} \) = (2.83 ± 0.15) × 10⁵³ erg, a baryon load of B = (4.1 ± 0.05) × 10^?5, and a CircumBurstMedium (CBM) average density 〈n _CBM〉 = (1.90 ± 0.20) × 10^?5 cm^?3. From these results we have assumed the progenitor of this burst to be a symmetric neutron stars (NSs) merger with masses m = 1.34 M_⊙, radii R = 12.24 km. GRB 090510, instead, has \(E_{e^ + e^ - }^{tot} \) = (1.10 ± 0.06) × 10⁵³ erg, B = (1.45 ± 0.28) × 10^?3, implying a Lorentz factor at transparency of Γ = (6.7 ± 1.7) × 10², which are characteristic of the long GRB class, and a very high CBM density, 〈n _CBM〉 = (1.85 ± 0.14) × 10³ cm^?3. The joint effect of the high values of Γ and of 〈n _CBM〉 compresses in time and “inflates” in intensity in an extended afterglow, making appear GRB 090510 as a short burst, which we here define as “disguised short GRB by excess” occurring an overdense region with 10³ cm^?3.     

Optimal joint routing and link scheduling for real-time traffic in TDMA Wireless Mesh Networks

We investigate the problem of joint routing and link scheduling in Time-Division Multiple Access (TDMA) Wireless Mesh Networks (WMNs) carrying real-time traffic. We propose a framework that always computes a feasible solution (i.e. a set of paths and link activations) if there exists one, by optimally solving a mixed integer-nonlinear problem. Such solution can be computed in minutes or tens thereof for e.g. grids of up to 4 × 4 nodes. We also propose heuristics based on Lagrangian decomposition to compute suboptimal solutions considerably faster and/or for larger WMNs, up to about 50 nodes. We show that the heuristic solutions are near-optimal, and we exploit them to gain insight on the schedulability in WMN, i.e. to investigate the optimal placement of one or more gateways from a delay bound perspective, and to investigate how the schedulability is affected by the transmission range.     

k-Dense communities in the Internet AS-level topology graph

In this paper we investigate the structure of the Internet by exploiting an efficient algorithm for extracting k-dense communities from the Internet AS-level topology graph. The analyses showed that the most well-connected communities consist of a small number of ASs characterized by a high level of clusterization, although they tend to direct a lot of their connections to ASs outside the community. In addition these communities are mainly composed of ASs that participate at the Internet Exchange Points (IXPs) and have a worldwide geographical scope. Regarding k-max-dense ASs we found that they play a primary role in the Internet connectivity since they are involved in a huge number of Internet connections (42% of Internet connections). We also investigated the properties of three classes of k-max-dense ASs: Content Delivery Networks, Internet Backbone Providers and Tier-1s. Specifically, we showed that CDNs and IBPs heavily exploit IXPs by participating in many of them and connecting to many IXP participant ASs. On the other hand, we found that a high percentage of connections originated by Tier-1 ASs are likely to involve national ASs which do not participate at IXPs.     

Solution and Aging of MAR-M246 Nickel-Based Superalloy

Solution and aging heat-treatments play a key role for the application of the superalloys. The aim of this work is to evaluate the microstructure of the MAR-M246 nickel-based superalloy solutioned at 1200 and 1250 °C for 330 min and aged at 780, 880 and 980 °C for 5, 20 and 80 h. The γ′ solvus, solidus and liquidus temperatures were calculated with the aid of the JMatPro software (Ni database). The as-cast and heat-treated samples were characterized by SEM/EDS and SEM-FEG. The γ′ size precipitated in the aged samples was measured and compared with JMatPro simulations. The results have shown that the sample solutioned at 1250 °C for 330 min showed a very homogeneous γ matrix with carbides and cubic γ′ precipitates uniformly distributed. The mean γ′ size of aged samples at 780 and 880 °C for 5, 20 and 80 h did not present significant differences when compared to the solutioned sample. However, a significant increasing in the γ′ particles was observed at 980 °C, evidenced by the large mean size of these particles after 80 h of aging heat-treatment.