Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.     

Applying machine learning techniques for scaling out data quality algorithms in cloud computing environments

Deduplication is the task of identifying the entities in a data set which refer to the same real world object. Over the last decades, this problem has been largely investigated and many techniques have been proposed to improve the efficiency and effectiveness of the deduplication algorithms. As data sets become larger, such algorithms may generate critical bottlenecks regarding memory usage and execution time. In this context, cloud computing environments have been used for scaling out data quality algorithms. In this paper, we investigate the efficacy of different machine learning techniques for scaling out virtual clusters for the execution of deduplication algorithms under predefined time restrictions. We also propose specific heuristics (Best Performing Allocation, Probabilistic Best Performing Allocation, Tunable Allocation, Adaptive Allocation and Sliced Training Data) which, together with the machine learning techniques, are able to tune the virtual cluster estimations as demands fluctuate over time. The experiments we have carried out using multiple scale data sets have provided many insights regarding the adequacy of the considered machine learning algorithms and proposed heuristics for tackling cloud computing provisioning.     

Supporting Unified Distributed Management and Autonomic Decisions: Design,Implementation and Deployment

Nowadays, the prevailing use of networks based on traditional centralized management systems reflects on a fast increase of the management costs. The growth in the number of network equipments and services reinforces the need to distribute the management responsibilities throughout the network devices. In this approach, each device executes common network management functionalities, being part of the overall network management platform. In this paper, we present a Unified Distributed Network Management (UDNM) framework that provides a unified (wired and wireless) management network solution, where further different network services can take part of this infrastructure, e.g., flow monitoring, accurate routing decisions, distributed policies dissemination, etc. This framework is divided in two main components: (A) Situation awareness, which sets up initial information through bootstrapping, discovery, fault-management process and exchange of management information; (B) Autonomic Decision System (ADS) that performs distributed decisions in the network with incomplete information. We deploy the UDNM framework in a testbed which involves two cities (\(\approx\)250 km between), different standards (IEEE 802.3, IEEE 802.11 and IEEE 802.16e) and network technologies, such as, wired virtual grid, wireless ad-hoc gateways, ad-hoc mobile access devices. The UDNM framework integrates management functionalities into the managed devices, proving to be a lightweight and easy-respond framework. The performance analysis shows that the UDNM framework is feasible to unify devices management functionalities and to take accurate decisions on top of a real network.     

Authorship verification applied to detection of compromised accounts on online social networks

Compromising legitimate accounts has been the most used strategy to spread malicious content on OSN (Online Social Network). To address this problem, we propose a pure text mining approach to check if an account has been compromised based on its posts content. In the first step, the proposed approach extracts the writing style from the user account. The second step comprehends the k-Nearest Neighbors algorithm (k-NN) to evaluate the post content and identify the user. Finally, Baseline Updating (third step) consists of a continuous updating of the user baseline to support the current trends and seasonality issues of user’s posts. Experiments were carried out using a dataset from Twitter composed by tweets of 1000 users. All the three steps were individually evaluated, and the results show that the developed method is stable and can detect the compromised accounts. An important observation is the Baseline Updating contribution, which leads to an enhancement of accuracy superior of 60 %. Regarding average accuracy, the developed method achieved results over 93 %.     

The shape of feature code: an analysis of twenty C-preprocessor-based systems

Feature annotations (e.g., code fragments guarded by #ifdef C-preprocessor directives) control code extensions related to features. Feature annotations have long been said to be undesirable. When maintaining features that control many annotations, there is a high risk of ripple effects. Also, excessive use of feature annotations leads to code clutter, hinder program comprehension and harden maintenance. To prevent such problems, developers should monitor the use of feature annotations, for example, by setting acceptable thresholds. Interestingly, little is known about how to extract thresholds in practice, and which values are representative for feature-related metrics. To address this issue, we analyze the statistical distribution of three feature-related metrics collected from a corpus of 20 well-known and long-lived C-preprocessor-based systems from different domains. We consider three metrics: scattering degree of feature constants, tangling degree of feature expressions, and nesting depth of preprocessor annotations. Our findings show that feature scattering is highly skewed; in 14 systems (70 %), the scattering distributions match a power law, making averages and standard deviations unreliable limits. Regarding tangling and nesting, the values tend to follow a uniform distribution; although outliers exist, they have little impact on the mean, suggesting that central statistics measures are reliable thresholds for tangling and nesting. Following our findings, we then propose thresholds from our benchmark data, as a basis for further investigations.     

Applying intelligent agents and semantic web services in eGovernment environments

The increasing volume of eGovernment‐related services is demanding new approaches for service integration and interoperability in this domain. Semantic web (SW) technologies and applications can leverage the potential of eGovernment service integration and discovery, thus tackling the problems of semantic heterogeneity characterizing eGovernment information sources and the different levels of interoperability. eGovernment services will therefore be semantically described in the foreseeable future. In an environment with semantically annotated services, software agents are essential as the entities responsible for exploiting the semantic content in order to automate some tasks, and so enhance the user's experience. In this paper, we present a framework that provides a seamless integration of semantic web services and intelligent agents technologies by making use of ontologies to facilitate their interoperation. The proposed framework can assist in the development of powerful and flexible distributed systems in complex, dynamic, heterogeneous, unpredictable and open environments. Our approach is backed up by a proof‐of‐concept implementation, where the breakthrough of integrating disparate eGovernment services has been tested.     

Superpipelined high-performance optical-flow computation architecture

Optical-flow computation is a well-known technique and there are important fields in which the application of this visual modality commands high interest. Nevertheless, most real-world applications require real-time processing, an issue which has only recently been addressed. Most real-time systems described to date use basic models which limit their applicability to generic tasks, especially when fast motion is presented or when subpixel motion resolution is required. Therefore, instead of implementing a complex optical-flow approach, we describe here a very high-frame-rate optical-flow processing system. Recent advances in image sensor technology make it possible nowadays to use high-frame-rate sensors to properly sample fast motion (i.e. as a low-motion scene), which makes a gradient-based approach one of the best options in terms of accuracy and consumption of resources for any real-time implementation. Taking advantage of the regular data flow of this kind of algorithm, our approach implements a novel superpipelined, fully parallelized architecture for optical-flow processing. The system is fully working and is organized into more than 70 pipeline stages, which achieve a data throughput of one pixel per clock cycle. This computing scheme is well suited to FPGA technology and VLSI implementation. The developed customized DSP architecture is capable of processing up to 170 frames per second at a resolution of 800 × 600 pixels. We discuss the advantages of high-frame-rate processing and justify the optical-flow model chosen for the implementation. We analyze this architecture, measure the system resource requirements using FPGA devices and finally evaluate the system’s performance and compare it with other approaches described in the literature.     

Robotic control in knee joint replacement surgery

A brief history of robotic systems in knee arthroplasty is provided. The place of autonomous robots is then discussed and compared to more recent 'hands-on' robotic systems that can be more cost effective. The case is made for robotic systems to have a clear justification, with improved benefits compared to those from cheaper navigation systems. A number of more recent, smaller, robot systems for knee arthroplasty are also described. A specific example is given of an active constraint medical robot, the ACROBOT system, used in a prospective randomized controlled trial of unicondylar robotic knee arthroplasty in which the robot was compared to conventional surgery. The results of the trial are presented together with a discussion of the need for measures of accuracy to be introduced so that the efficacy of the robotic surgery can be immediately identified, rather than have to wait for a number of years before long-term clinical improvements can be demonstrated.     

On the application of the Kramers-Kronig relations to problems concerning the frequency dependence of electrode impedance

It is emphasized that, under certain conditions, the frequency dependences of the real and imaginary parts of an electrical impedance are correlated by the Kramers-Kronig relations. The importance of these relations in electrochemistry is illustrated by the examples of certain electrochemical impedance types. Some misapprehensions appearing in the electrochemical literature are pointed out.     

Decision support system to divide a large network into suitable District Metered Areas

This paper presents a new approach to divide large Water Distribution Networks (WDN) into suitable District Metered Areas (DMAs). It uses a hydraulic simulator and two operational models to identify the optimal number of DMAs, their entry points and boundary valves, and the network reinforcement/replacement needs throughout the project plan. The first model divides the WDN into suitable DMAs based on graph theory concepts and some user-defined criteria. The second model uses a simulated annealing algorithm to identify the optimal number and location of entry points and boundary valves, and the pipes reinforcement/replacement, necessary to meet the velocity and pressure requirements. The objective function is the difference between the economic benefits in terms of water loss reduction (arising from the average pressure reduction) and the cost of implementing the DMAs. To illustrate the proposed methodology, the results from a hypothetical case study are presented and discussed.