On input‐to‐state stability‐based design for leader/follower formation control with measurement delays

This paper addresses the design of low‐level controllers for leader–follower formations of nonholonomic vehicles in the presence of bounded measurement delays. The concept of input‐to‐state stability is extended to encompass the effect of bounded delays and restrictions on the input. A method is proposed to integrate a Smith predictor in a backstepping design on the basis of nested saturations and nonlinear small‐gain assignment, which allows for time delays in the feedback loop. Robustness analysis under uncertain bounded time delays is provided, and design tradeoffs resulting from the use of bounded controls are discussed. Illustrative simulations are shown to validate the design and robustness analysis in the context of a simple leader–follower trailing control problem. Copyright © 2012 John Wiley & Sons, Ltd.     

A bacterial colony growth algorithm for mobile robot localization

Achieving robot autonomy is a fundamental objective in Mobile Robotics. However in order to realize this goal, a robot must be aware of its location within an environment. Therefore, the localization problem (i.e.,the problem of determining robot pose relative to a map of its environment) must be addressed. This paper proposes a new biology-inspired approach to this problem. It takes advantage of models of species reproduction to provide a suitable framework for maintaining the multi-hypothesis. In addition, various strategies to track robot pose are proposed and investigated through statistical comparisons. The Bacterial Colony Growth Algorithm (BCGA) provides two different levels of modeling: a background level that carries on the multi-hypothesis and a foreground level that identifies the best hypotheses according to an exchangeable strategy. Experiments, carried out on the robot ATRV-Jr manufactured by iRobot, show the effectiveness of the proposed BCGA.

Inverse analysis procedure to determine flow stress and friction data for finite element modeling of machining

This paper describes an inverse procedure to determine the constitutive constants and the friction conditions in the machining processes using Finite Elements (FE) simulations. In general, the FE modeling of machining processes is an effective tool to analyze the materials machinability under different cutting conditions. However, the use of reliable rheological and friction models represents the basis of a correct numerical investigation. The presented inverse procedure was based on the numerical results obtained using a commercial FE code and was developed considering a specific optimization problem, in which the objective functions that have to be minimized is the experimental/numerical error. This problem was performed by a routine developed in a commercial optimization software. In order to verify the goodness and the robustness of the methodology, it was applied on a Super Duplex Stainless Steel (SDSS) and on an Austenitic Stainless Steel (AUSS) orthogonal machining processes. This work, then, was focused on the identification of the Johnson-Cook (JC) coefficients (A,B,C, n and m) and on the calibration of a Coulomb friction model, in the specific cases of the SAF2507 SDSS and of an AISI 316 Based AUSS Alloy (AISI 316 ASBA). The identification phases were performed considering forces and temperatures experimental data, collected in two specific experimental tasks in which different orthogonal cutting tests were carried out under different cutting parameters conditions.     

Pulmonary infiltrates in neutropenic patients with acute leukemia during chemotherapy: outcome and prognostic factors

STUDY OBJECTIVE: To determine predictors of mortality from pulmonary infiltrates in neutropenic patients with acute leukemia during chemotherapy, and the significance of those factors related to the underlying malignancy and its therapy as well as of those related to the severity of the illness associated with pulmonary infiltrates. DESIGN: A historical cohort study. SETTING: A university teaching hospital and tertiary referral center. PATIENTS AND METHODS: Overall, 53 patients with neutropenia during chemotherapy and with first episodes of pulmonary infiltrates during a 4-year period were studied. Prognostic analysis included 38 variables. Multivariate analyses were performed by logistic regression. RESULTS: The survival rate from pneumonia was 57% (30/53). The following eight parameters were significantly associated with death in univariate analysis: comorbidity present; development of "late" pulmonary infiltrates (> or = 14 days after hospital admission); heart rate > or = 100 beats/min; a ratio heart rate/systolic blood pressure (HR/SBP) > or = 1.2; urea nitrogen > 7 mmol/L; radiographic score > or = 3; neutropenia < 1.0x10(9)/L at the treatment end point; and failed complete remission. In a multivariate model including only parameters available at diagnosis of pulmonary infiltrates, the presence of a ratio HR/SBP > or = 1.2 and of a radiographic score > or = 3 remained independently associated with death. In a second model also including the evolutionary parameter neutropenia < or = 1.0x10(9)/L at the treatment end point, both parameters remained significant together with neutropenia <1.0x 10(9)/L at the treatment end point. The presence of a ratio HR/SBP > or = 1.2 was a strong marker of early death. CONCLUSION: Both therapy- and malignancy-associated neutropenia as well as the severity of illness associated with pulmonary infiltrates are independent prognostic factors. Patients with a ratio HR/SBP > or = 1.2 at diagnosis of pulmonary infiltrates suffer from potentially reversible acute illness, are at risk for early death and, therefore, may be appropriate candidates for treatment in an ICU.     

Thin and thick YBCO films grown by MOCVD processes. Study of the angular magnetic field dependence of current transport properties

Thin and thick YBCO Films have been grown by Aerosol Assisted as well as by thermal MOCVD. The Aerosol Assisted MOCVD technique allows the growth of YBCO films from a single liquid source at deposition rates of up to 10m/h.Transport measurements (I-V) on etched microbridges using a single pulse technique have been performed. The angular magnetic field dependence J_c() of the critical current density from T_c down to 50 K has been measured. Transport properties are reported and discussed with respect to the microstructural features as determined by X-ray diffraction and electron microscopy.     

Proof Lengths for Equational Completion

We first show that ground term-rewriting systems can be completed in a polynomial number of rewriting steps, if the appropriate data structure for terms is used. We then apply this result to study the lengths of critical pair proofs in non-ground systems, and obtain bounds on the lengths of critical pair proofs in the non-ground case. We show how these bounds depend on the types of inference steps that are allowed in the proofs.     

An internet of things–based personal device for diabetes therapy management in ambient assisted living (AAL)

Diabetes therapy management in AAL environments, such as old people and diabetes patients homes, is a very difficult task since many factors affect a patient’s blood sugar levels. Factors such as illness, treatments, physical and psychological stress, physical activity, drugs, intravenous fluids and change in the meal plan cause unpredictable and potentially dangerous fluctuations in blood sugar levels. Right now, operations related to dosage are based on insulin infusion protocol boards, which are provided by physicians to the patients. These boards are not considering very influential factors such as glycemic index from the diet, consequently patients need to estimate the dosage leading to dose error, which culminates in hyperglycemia and hypoglycemia episode. Therefore, right insulin infusion calculation needs to be supported by the next generation of personal-care devices. For this reason, a personal device has been developed to assist and consider more factors in the insulin therapy dosage calculation. The proposed solution is based on Internet of things in order to, on the one hand, support a patient’s profile management architecture based on personal RFID cards and, on the other hand, provide global connectivity between the developed patient’s personal device based on 6LoWPAN, nurses/physicians desktop application to manage personal health cards, glycemic index information system, and patient’s web portal. This solution has been evaluated by a multidisciplinary group formed by patients, physicians, and nurses.     

Performance analysis of available bandwidth estimation tools for grid networks

Modern large-scale grid computing systems for processing advanced science and engineering applications rely on geographically distributed clusters. In such highly distributed environments, estimating the available bandwidth between clusters is a key issue for efficient task scheduling. We analyze the performance of two well known available bandwidth estimation tools, pathload and abget, with the aim of using them in grid environments. Differently than previous investigations (Jain et al., ; Shriram et al., in Passive and active network measurement: 6th international workshop, PAM 2005. Springer, Berlin, 2005), our experiments consider a series of relevant metrics such as accuracy of the estimation, convergence time, degree of intrusion in the grid links, and ability to handle multiple simultaneous estimations. No previous work has analyzed the use of available bandwidth tools for the derivation of efficient grid scheduling.