Performance evaluation of priority CSMA-CA mechanism on ISA100.11a wireless network

The International Society of Automation recently released ISA100.11a as an open standard for reliable wireless networks for industrial automation. ISA100.11a uses the TDMA scheme in the medium access layer to provide deterministic services. However, ISA100.11a adopts the CSMA-CA mechanism with priorities for retransmission from failure on dedicated links, sporadic data, and network configuration.This paper evaluates ISA100.11a CSMA-CA by simulation, considering the effects of backoff procedures and priority settings to probability of collision and successful use of slots. It's demonstrated that a high number of priority classes enable better network utilization resulting in less number of packets exceeding their lifetime.     

A global localization approach based on Line-segment Relation Matching technique

This paper presents a novel global localization approach for mobile robots by exploring line-segment features in any structured environment. The main contribution of this paper is an effective data association approach, the Line-segment Relation Matching (LRM) technique, which is based on a generation and exploration of an Interpretation Tree (IT). A new representation of geometric patterns of line-segments is proposed for the first time, which is called as Relation Table. It contains relative geometric positions of every line-segment respect to the others (or itself) in a coordinate-frame independent sense. Based on that, a Relation-Table-constraint is applied to minimize the searching space of IT therefore greatly reducing the processing time of LRM. The Least Square algorithm is further applied to estimate the robot pose using matched line-segment pairs. Then a global localization system can be realized based on our LRM technique integrated with a hypothesis tracking framework which is able to handle pose ambiguity. Sufficient simulations were specially designed and carried out indicating both pluses and minuses of our system compared with former methods. We also presented the practical experiments illustrating that our approach has a high robustness against uncertainties from sensor occlusions and extraneous observation in a highly dynamic environment. Additionally our system was demonstrated to easily deal with initialization and have the ability of quick recovery from a localization failure.     

Improved estimation of defocus blur and spatial shifts in spatial domain: a homotopy-based approach

This paper presents a homotopy-based algorithm for the recovery of depth cues in the spatial domain. The algorithm specifically deals with defocus blur and spatial shifts, that is 2D motion, stereo disparities and/or zooming disparities. These cues are estimated from two images of the same scene acquired by a camera evolving in time and/or space. We show that they can be simultaneously computed by resolving a system of equations using a homotopy method. The proposed algorithm is tested using synthetic and real images. The results confirm that the use of a homotopy method leads to a dense and accurate estimation of depth cues. This approach has been integrated into an application for relief estimation from remotely sensed images.     

Sliding mode control for two-time scale systems: stability issues

The paper presents some results on global exponential stability of linear time invariant systems with different time scales. The full system is decomposed in two reduced ones by means of singular perturbations and a smooth approximation of a Variable Structure Control is synthesized for each of them using Reaching Law approach. The global closed loop stability is then proved for the whole system using Lyapunov methods and a particular state space decomposition. Moreover a literal form for ε∗ (a parameter which measures the minimum separation between time scales) is derived.     

Dynamic anti-windup based control method for state constrained systems

Based on the dynamic anti-windup strategy, an alternative control methodology for state constrained systems is presented. The proposed method is an a posteriori approach for state constrained systems, which is differentiated from the usual a priori approach. That is, first a linear controller is designed to show a desirable nominal performance by ignoring state constraints. Then, an additional compensator is introduced to account for state constraints. By minimizing a reasonable performance index, a dynamic compensator is derived explicitly, which is expressed in plant and controller parameters. The proposed method not only provides a graceful performance degradation, but it also guarantees the total stability of the resulting systems. An illustrative example is given to show the effectiveness of the proposed method.     

Characterization of indoor wireless channel at 5 GHz U-NII bands

The paper reports on the experiments undertaken at the University of Wollongong to characterise fading profiles and delay parameters of an indoor wireless channels at 5 GHz U-NII bands. The measurements were undertaken at different locations around the campus with results recorded for a post-processing to calculate the Rician K-factor, the level crossing rate and the average fade duration as well as mean excess delay, rms delay spread, and the coherence bandwidth of the channel. The presented measurement results can be useful in developing a Markov chain based model of the transport channel for IEEE802.11a or HYPRLAN-2 networks. The results also indicate scenarios where the coherence bandwidth of the channel is smaller than the width of the sub-carrier OFDM channels in either of the mentioned systems.     

Decentralized overlapping control of a formation of unmanned aerial vehicles

Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an information structure constraint in which each vehicle, except the leader, only detects the vehicle directly in front of it, is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. Then, at each subsystem, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.     

Multiple costs based decision making with back-propagation neural networks

The current research investigates a single cost for cost-sensitive neural networks (CNN) for decision making. This may not be feasible for real cost-sensitive decisions which involve multiple costs. We propose to modify the existing model, the traditional back-propagation neural networks (TNN), by extending the back-propagation error equation for multiple cost decisions. In this multiple-cost extension, all costs are normalized to be in the same interval (i.e. between 0 and 1) as the error estimation generated in the TNN. A comparative analysis of accuracy dependent on three outcomes for constant costs was performed: (1) TNN and CNN with one constant cost (CNN-1C), (2) TNN and CNN with two constant costs (CNN-2C), and (3) CNN-1C and CNN-2C. A similar analysis for accuracy was also made for non-constant costs; (1) TNN and CNN with one non-constant cost (CNN-1NC), (2) TNN and CNN with two non-constant costs (CNN-2NC), and (3) CNN-1NC and CNN-2NC. Furthermore, we compared the misclassification cost for CNNs for both constant and non-constant costs (CNN-1C vs. CNN-2C and CNN-1NC vs. CNN-2NC). Our findings demonstrate that there is a competitive behavior between the accuracy and misclassification cost in the proposed CNN model. To obtain a higher accuracy and lower misclassification cost, our results suggest merging all constant cost matrices into one constant cost matrix for decision making. For multiple non-constant cost matrices, our results suggest maintaining separate matrices to enhance the accuracy and reduce the misclassification cost.     

Extracting the optimal dimensionality for local tensor discriminant analysis

Supervised dimensionality reduction with tensor representation has attracted great interest in recent years. It has been successfully applied to problems with tensor data, such as image and video recognition tasks. However, in the tensor-based methods, how to select the suitable dimensions is a very important problem. Since the number of possible dimension combinations exponentially increases with respect to the order of tensor, manually selecting the suitable dimensions becomes an impossible task in the case of high-order tensor. In this paper, we aim at solving this important problem and propose an algorithm to extract the optimal dimensionality for local tensor discriminant analysis. Experimental results on a toy example and real-world data validate the effectiveness of the proposed method.     

Improved diagnosis using enhanced fault dominance

Defect diagnosis can benefit from fault dominance relations to reduce the set of defect candidate sites. This paper presents new fault dominance collapsing operators that further reduce the set of candidates considered during the initial phase of diagnosis. In contrast to existing dominance-based methods which operate on pairs of faults, the proposed method operates on sets of faults. Fault-related entities are generated to guide the diagnosis process. The proposed collapsing operators can be used to accelerate effect-cause diagnosis. Experimental results demonstrate that the proposed method achieves a higher collapsing ratio than existing methods.