Passivity based visual servoing of mobile robots with dynamics compensation

This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L₂-gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.     

A fractional approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.     

Survey and comparison of message authentication solutions on wireless sensor networks

Security is an important concern in any modern network. This also applies to Wireless Sensor Networks (WSNs), especially those used in applications that monitor sensitive information (e.g., health care applications). However, the highly constrained nature of sensors imposes a difficult challenge: their reduced availability of memory, processing power and energy hinders the deployment of many modern cryptographic algorithms considered secure. For this reason, the choice of the most memory-, processing- and energy-efficient security solutions is of vital importance in WSNs. To date, a number of extensive analyses comparing different encryption algorithms and key management schemes have been developed, while very little attention has been given to message authentication solutions. In this paper, aiming to close this gap, we identify cipher-based Message Authentication Codes (MACs) and Authenticated Encryption with Associated Data (AEAD) schemes suitable for WSNs and then evaluate their features and performance on a real platform (TelosB). As a result of this analysis, we identify the recommended choices depending on the characteristics of the target network and available hardware.     

Estimation of breast tumor thermal properties using infrared images

The major goal of this paper is to help detect breast cancer early based on infrared images. Some procedures, protocols and numerical simulations were developed or performed. Two different issues are presented. The first is the development of a standardized protocol for the acquisition of breast thermal images including the design, construction and installation of mechanical apparatus. The second part is related to the greatest difficulty for the numerical computation of breast temperature profiles that is caused by the uncertainty of the real values of the thermophysical parameters of some tissues. Then, a methodology for estimating thermal properties based on these infrared images is presented. The commercial software FLUENT^TM was used for the numerical simulation. A Sequential Quadratic Programming (SQP) method was used to solve the inverse problem and to estimate the thermal conductivity and blood perfusion of breast tissues. The results showed that it is possible to estimate the thermophysical properties using the thermography. The next stage will be to use the geometry of a real breast for the numerical simulation in conjunction with a linear mapping of the temperatures measured over the breast volume.     

Highly Conductive Carbon Nanotube‐Graphene Hybrid Yarn

An efficient procedure for the fabrication of highly conductive carbon nanotube/graphene hybrid yarns has been developed. To start, arrays of vertically aligned multi‐walled carbon nanotubes (MWNT) are converted into indefinitely long MWNT sheets by drawing. Graphene flakes are then deposited onto the MWNT sheets by electrospinning to form a composite structure that is transformed into yarn filaments by twisting. The process is scalable for yarn fabrication on an industrial scale. Prepared materials are characterized by electron microscopy, electrical, mechanical, and electrochemical measurements. It is found that the electrical conductivity of the composite MWNT‐graphene yarns is over 900 S/cm. This value is 400% and 1250% higher than electrical conductivity of pristine MWNT yarns or graphene paper, respectively. The increase in conductivity is asssociated with the increase of the density of states near the Fermi level by a factor of 100 and a decrease in the hopping distance by an order of magnitude induced by grapene flakes. It is found also that the MWNT‐graphene yarn has a strong electrochemical response with specific capacitance in excess of 111 Fg^?1. This value is 425% higher than the capacitance of pristine MWNT yarn. Such substantial improvements of key properties of the hybrid material can be associated with the synergy of MWNT and graphene layers in the yarn structure. Prepared hybrid yarns can benefit such applications as high‐performance supercapacitors, batteries, high current capable cables, and artificial muscles.     

Algorithm transformation methods to reduce the overhead of software-based fault tolerance techniques

This paper introduces a framework that tackles the costs in area and energy consumed by methodologies like spatial or temporal redundancy with a different approach: given an algorithm, we find a transformation in which part of the computation involved is transformed into memory accesses. The precomputed data stored in memory can be protected then by applying traditional and well established ECC algorithms to provide fault tolerant hardware designs. At the same time, the transformation increases the performance of the system by reducing its execution time, which is then used by customized software-based fault tolerant techniques to protect the system without any degradation when compared to its original form. Application of this technique to key algorithms in a MP3 player, combined with a fault injection campaign, show that this approach increases fault tolerance up to 92%, without any performance degradation.     

STC power for 15 MW of PV comparing nameplate,initial power and power after 4 years

To date, the majority of quality controls performed at PV plants are based on the measurement of a small sample of individual modules. Consequently, there is very little representative data on the real Standard Test Conditions (STC) power output values for PV generators. This paper presents the power output values for more than 1300 PV generators having a total installed power capacity of almost 15.3 MW. The values were obtained by the INGEPER‐UPNA group, in collaboration with the IES‐UPM, through a study to monitor the power output of a number of PV plants from 2006 to 2009. This work has made it possible to determine, amongst other things, the power dispersion that can be expected amongst generators made by different manufacturers, amongst generators made by the same manufacturer but comprising modules of different nameplate ratings and also amongst generators formed by modules with the same characteristics. The work also analyses the STC power output evolution over time in the course of this 4‐year study. The values presented here could be considered to be representative of generators with fault‐free modules. Copyright © 2012 John Wiley & Sons, Ltd.     

Large‐Area Fabrication of Periodic Arrays of Nanoholes in Metal Films and Their Application in Biosensing and Plasmonic‐Enhanced Photovoltaics

Plasmonics is a fast developing research area with a great potential for practical applications. However, the implementation of plasmonic devices requires low cost methodologies for the fabrication of organized metallic nanostructures that covers a relative large area (～1 cm²). Here the patterning of periodic arrays of nanoholes (PANHs) in gold films by using a combination of interference lithography, metal deposition, and lift off is reported. The setup allows the fabrication of periodic nanostructures with hole diameters ranging from 110 to 1000 nm, for 450 and 1800 nm of periodicity, respectively. The large areas plasmonic substrates consist of 2 cm × 2 cm gold films homogeneously covered by nanoholes and gold films patterned with a regular microarray of 200 μm diameter circular patches of PANHs. The microarray format is used for surface plasmon resonance (SPR) imaging and its potential for applications in multiplex biosensing is demonstrated. The gold films homogeneously covered by nanoholes are useful as electrodes in a thin layer organic photovoltaic. This is first example of a large area plasmonic solar cell with organized nanostructures. The fabrication approach reported here is a good candidate for the industrial‐scale production of metallic substrates for plasmonic applications in photovoltaics and biosensing.