H: A component-based specification language for heterogeneous applications

This paper presents H, a minimalistic specification language for designing heterogeneous software applications, particularly in the realms of robotics and industria, which takes advantage of a Component-Based Software Engineering (CBSE) approach. H copes with some of the most outstanding characteristics of these systems, like diversity at different levels (hardware platforms, programming languages, programmer skills), network distribution, real time and fault-tolerance. The H specification covers the life-cycle of any heterogeneous application. Its development system offers to the designer and/or builder a set of tools for specifying modules, generating code semiautomatically, debugging, maintenance, and a real time analysis of the system.     

In vitro degradation of four magnesium–zinc–strontium alloys and their cytocompatibility with human embryonic stem cells

Magnesium alloys have attracted great interest for medical applications due to their unique biodegradable capability and desirable mechanical properties. When designed for medical applications, these alloys must have suitable degradation properties, i.e., their degradation rate should not exceed the rate at which the degradation products can be excreted from the body. Cellular responses and tissue integration around the Mg-based implants are critical for clinical success. Four magnesium–zinc–strontium (ZSr41) alloys were developed in this study. The degradation properties of the ZSr41 alloys and their cytocompatibility were studied using an in vitro human embryonic stem cell (hESC) model due to the greater sensitivity of hESCs to known toxicants which allows to potentially detect toxicological effects of new biomaterials at an early stage. Four distinct ZSr41 alloys with 4 wt% zinc and a series of strontium compositions (0.15, 0.5, 1, and 1.5 wt% Sr) were produced through metallurgical processing. Their degradation was characterized by measuring total mass loss of samples and pH change in the cell culture media. The concentration of Mg ions released from ZSr41 alloy into the cell culture media was analyzed using inductively coupled plasma atomic emission spectroscopy. Surface microstructure and composition before and after culturing with hESCs were characterized using field emission scanning electron microscopy and energy dispersive X-ray spectroscopy. Pure Mg was used as a control during cell culture studies. Results indicated that the Mg–Zn–Sr alloy with 0.15 wt% Sr provided slower degradation and improved cytocompatibility as compared with pure Mg control.     

Fouling in Crude Oil Preheat Trains: A Systematic Solution to an Old Problem

A major cause of refinery energy inefficiency is fouling in preheat trains. This has been a most challenging problem for decades, due to limited fundamental understanding of its causes, deposition mechanisms, deposit composition, and impacts on design/operations. Current heat exchanger design methodologies mostly just allow for fouling, rather than fundamentally preventing it. To address this problem in a systematic way, a large-scale interdisciplinary research project, CROF (crude oil fouling), brought together leading experts from the University of Bath, University of Cambridge, and Imperial College London and, through IHS ESDU, industry. The research, coordinated in eight subprojects blending theory, experiments, and modeling work, tackles fouling issues across all scales, from molecular to the process unit to the overall heat exchanger network, in an integrated way. To make the outcomes of the project relevant and transferable to industry, the research team is working closely with experts from many world leading oil companies. The systematic approach of the CROF project is presented. Individual subprojects are outlined, together with how they work together. Initial results are presented, indicating that a quantum progress can be achieved from such a fundamental, integrated approach. Some preliminary indications with respect to impact on industrial practice are discussed.     

Electromechanical transients simulation on a multicomputer via theVDHN-Maclaurin method

This paper reports simulations of power systems electromechanical transients on a multicomputer, formulated as a nonlinear algebraic problem by using the time parallelization concept. The bi-factorized inversion, which is the most time consuming stage of the simulation, is solved by the “Very Dishonest Newton (VDHN)-Maclaurin” method, a fully parallel indirect method based on the decomposition of the nonupdated Jacobian matrix. This proposal is made to orient the search for the decomposition based on a sufficient condition for the convergence of the Maclaurin series, which is a desirable situation for the design of more robust algorithms for power system simulation. Such condition keeps a close relation with a physical coupling property exhibited by power systems, and the characteristics of the simulation method. Theoretical and numerical results show that a successful implementation of this method can be better reached when the Jacobian matrix is decomposed as a block diagonal matrix plus a matrix with off diagonal blocks elements, the latter representing weak couplings between the diagonal blocks. The ϵ Decomposition is used to satisfy the sufficient condition for convergence and the Longest Path Scheduling Method to prevent the uneven loading of processors, permitting to adapt the method in a efficient way on a coarse grain computer. The parallel simulation was written in C language and implemented on a Parsytec PowerXplorer multicomputer. Tests using electromechanical models of the Chilean Central interconnected system and the IEEE300 test system were made to evaluate the advantages and drawbacks of the parallel method     

Text scaffolds for effective surface labeling

In this paper we introduce a technique for applying textual labels to 3D surfaces. An effective labeling must balance the conflicting goals of conveying the shape of the surface while being legible from a range of viewing directions. Shape can be conveyed by placing the text as a texture directly on the surface, providing shape cues, meaningful landmarks and minimally obstructing the rest of the model. But rendering such surface text is problematic both in regions of high curvature, where text would be warped, and in highly occluded regions, where it would be hidden. Our approach achieves both labeling goals by applying surface labels to a 'text scaffold', a surface explicitly constructed to hold the labels. Text scaffolds conform to the underlying surface whenever possible, but can also float above problem regions, allowing them to be smooth while still conveying the overall shape. This paper provides methods for constructing scaffolds from a variety of input sources, including meshes, constructive solid geometry, and scalar fields. These sources are first mapped into a distance transform, which is then filtered and used to construct a new mesh on which labels are either manually or automatically placed. In the latter case, annotated regions of the input surface are associated with proximal regions on the new mesh, and labels placed using cartographic principles.     

A software engineering approach for the development of heterogeneous robotic applications

One of the most evident characteristics of robotic applications is heterogeneity: large robotic projects involve many different researchers with very different programming needs and areas of research, using a variety of hardware and software that must be integrated efficiently (i.e.: with a low development cost) to construct applications that satisfy not only classic robotic requirements (fault-tolerance, real-time specifications, intensive access to hardware, etc.) but also software engineering aspects (reusability, maintainability, etc.). Most existing solutions to this problem either do not deal with such heterogeneity or do not cover specific robotic needs. In this paper we propose a framework for the integration of heterogeneous robotic software through a software engineering approach: the BABEL development system, which is aimed to cover the main phases of the application lifecycle (design, implementation, testing, and maintainance) when unavoidable heterogeneity conditions are present. The capabilities of our system are shown by its support for designing and implementing diverse real robotic applications that use several programming languages (C, C++, JAVA), execution platforms (RT-operating systems, MS-Windows, no operating system at all), communication middleware (CORBA, TCP/IP, USB), and also a variety of hardware components (Personal Computers, microcontrollers, and a wide diversity of sensor and actuator devices in mobile robots and manipulator arms).     

Stabilisation using a stable controller and robust stability and performance

A class of strictly proper multi-input multi-output (MIMO) causal linear time invariant (LTI) systems with a detectable and stabilisable realisation in a proposed observer-controller scheme, is considered. This class is characterised by the rank of the observability matrix in closed loop. The considered scheme is based on an ?_∞ pre-compensator and on an ?_∞ dual post-compensator stabilising a full actuation full information plant and on pseudo inverses of the input and of the output matrices. The pre-compensator and post-compensator are of reduced complexity and belong to the family of all stabilising controllers. The separation principle is satisfied and necessary and sufficient stability conditions are presented for the overall system getting a stable ?_∞ controller. An algebraic approach and a state space approach are used to find this stability condition. The estimated error is zero in stationary state. Also, the control parameters allow the stationary state error and the complementary sensitivity function in high frequencies to approach zero asymptotically. So, robust stability and performance are achieved. A compromise exists between the stability of the compensators and the robust performance objective. The results are illustrated on a mechanical system.