Precautious-RM: a predictable non-preemptive scheduling algorithm for harmonic tasks

A major requirement of many real-time embedded systems is to have time-predictable interaction with the environment. More specifically, they need fixed or small sampling and I/O delays, and they cannot cope with large delay jitters. Non-preemptive execution is a known method to reduce the latter delay; however, the corresponding scheduling problem is NP-Hard for periodic tasks. In this paper, we present Precautious-RM as a predictable linear-time online non-preemptive scheduling algorithm for harmonic tasks which can also deal with the former delay, namely sampling delay. We derive conditions of optimality of Precautious-RM and show that satisfying those conditions, tight bounds for best- and worst-case response times of the tasks can be calculated in polynomial-time. More importantly, response time jitter of the tasks is analyzed and it is proven that under specific conditions, each task has either one or two values for response time, which leads to improving the predictability of the system interaction with the environment. Simulation results demonstrate efficiency of Precautious-RM in increasing accuracy of control applications.     

A process model for robotic disc grinding

Automation of deburring and cleaning of castings is desirable for many reasons. The major reasons are dangerous working conditions, difficulties in finding workers for cleaning sections, and improved profitability. A suitable robot cell capable of using different tools, such as cup grinders, disc grinders and rotary files, is the solution. This robot should be completed with sensors in order to keep the quality of the cleaned surface at an acceptable level. Although using sensors simplifies both the programming and quality control there are still other problems that need to be solved. These involve selection of machining data, e.g. feeding rate and grinding force in a force controlled operation based on parameters such as tool type, disc grinder and geometry. In order to decrease the programming time, a process model for disc grinders has been developed. This article investigates this process model and pays attention to problems such as wavy or burned surfaces and the effect of a robot's repetition accuracy in the results obtained. Many aspects treated in this article are quite general, and can be applied in other types of grinding operations.     

A comprehensive survey of industry practice in real-time systems

Real-Time Systems - This paper presents results and observations from a survey of 120 industry practitioners in the field of real-time embedded systems. The survey provides insights into the...     

Behaviour of sand–clay mixtures for road pavement subgrade

Materials forming sand grains and colluvial soil deposits have a distinct structure, consisting of a composite matrix of coarse and fine soil grains. The influence of sand grains content on the behaviour of sand–clay mixtures was investigated by a series of intensive laboratory experiments. The California bearing ratio (CBR), unconfined compression strength (UCS) and compaction tests were carried out on various contents of sand and clay mixtures. The sand–clay mixtures were prepared with sand contents of 0, 10, 20, 30, 40, and 50% by weight. The laboratory tests on these mixtures have indicated that their behaviour will depend on the relative concentration of the sand and clay samples. The results of the tests showed a decrease in the UCS, and an increase the CBR values with an increase in the amount of sand. An increase in dry unit weight and a decrease in respective moisture content by an increase in the amount of sand were observed in the compaction tests.     

Eco‐friendly synthesis of silver nanoparticles and its larvicidal property against fourth instar larvae of Aedes aegypti

In this study, larvicidal activity of silver nanoparticles (AgNPs) synthesised using apple extract against fourth instar larvae of Aedes aegypti was determined. As a result, the AgNPs showed moderate larvicidal effects against Ae. aegypti larvae (LC₅₀  = 15.76 ppm and LC₉₀  = 27.7 ppm). In addition, comparison of larvicidal activity performance of AgNPs at high concentration prepared using two different methods showed that Ae. aegypti larvae was fully eliminated within the duration of 2.5 h. From X‐ray diffraction, the AgNP crystallites were found to exhibit face centred cubic structure. The average size of these AgNPs as estimated by particle size distribution was in the range of 50–120 nm. The absorption maxima of the synthesised Ag showed characteristic Ag surface plasmon resonance peak. This green synthesis provides an economic, eco‐friendly and clean synthesis route to Ag.Inspec keywords: silver, nanofabrication, X‐ray diffraction, zoology, particle size, nanoparticles, biomedical materials, nanomedicineOther keywords: time 2.5 h, size 50 nm to 120 nm, silver nanoparticle, larvicidal property, instar larvae, Aedes aegypti, larvicidal effect, larvicidal activity performance, X‐ray diffraction, nanoparticle particle size distribution, absorption maxima, silver surface plasmon resonance peak     

Interpolating meshes of boundary intersecting curves by subdivision surfaces

C ⁰ (creases) or C ¹ continuity across the interpolated curves.     

Interpolating an Unlimited Number of Curves Meeting at Extraordinary Points on Subdivision Surfaces*

Interpolating curves by subdivision surfaces is one of the major constraints that is partially addressed in the literature. So far, no more than two intersecting curves can be interpolated by a subdivision surface such as Doo‐Sabin or Catmull‐Clark surfaces. One approach that has been used in both of theses surfaces is the polygonal complex approach where a curve can be defined by a control mesh rather than a control polygon. Such a definition allows a curve to carry with it cross derivative information which can be naturally embodied in the mesh of a subdivision surface. This paper extends the use of this approach to interpolate an unlimited number of curves meeting at an extraordinary point on a subdivision surface. At that point, the curves can all meet with either C ⁰ or C ¹ continuity, yet still have common tangent plane. A straight forward application is the generation of subdivision surfaces through 3‐regular meshes of curves for which an easy interface can be used.     

Contrast enhancement in atherosclerosis development in a mouse model: in vivo results at 2 Tesla

To develop an MRI method for the evaluation of contrast enhancement in early atherosclerotic plaque development in the abdominal aorta of a mouse model. Male apoE^–/– mice from three groups, respectively 4 (n = 6), 8 (n = 11) and 16 (n = 4) weeks were included. Axial T1 spin echo images of the abdominal aorta were obtained above and below the renal arteries (90 m spatial resolution) before and over 1 h after the injection of a macromolecular contrast agent. Signal enhancement was measured in the vessel wall and compared to histological features. Maximal arterial wall signal enhancement was obtained from 16 to 32 min post injection. During this time, the signal-to-noise ratio increased by a factor up to 1.7 in 16 week mice and 2.7 and 2.4 in 8 and 4 weeks mice, respectively. The enhancement of the arterial wall appeared less pronounced in the oldest mice, 16 weeks old, exhibiting more advanced lesions. Using a macromolecular gadolinium agent, contrast uptake in atherogenesis varies with lesion stage and may be related to vessel-wall permeability. Dynamic contrast-enhanced MRI may be useful to evaluate the atherosclerotic plaque activity in mice.     

The induced damage in the hepatopancreas of Orchestia species after exposure to a mixture of Cu/Zn—An ultrastructural study

The hepatopancreas of crustaceans species has been recognized as an essential target organ to assess trace elements' effects. Due to its dynamic and capability of detoxifying trace metal, this organ often indicates distinct pathological disturbances. In the present work, we intend to evaluate the bioaccumulation of trace metal in three Orchestia species (Orchestia montagui, Orchestia gammarellus, and Orchestia mediterranea) living in symmetry in the banks of Bizerte lagoon (37°13′8″N 09°55′1″E) after their exposure during 14 days to a mixture of copper and zinc, and to highlight the effect of these metals on their hepatopancreas ultrastructure using transmission electron microscopy. At the end of the experiment, results showed that the mortality and the body mass varied according to the used nominal concentrations. Significant alterations were noted in all the treatment groups. The degree of these alterations depends on the used concentration, and they are represented especially by the cells remoteness and the border lyses, the reduction of the nuclear volume, the increase in the cytoplasm density with the presence of trace metal in the nucleus as well as in the vacuole, the disorganization and the destruction of microvilli, the condensation of the majority of cellular organelles and mitochondria swelling. Through this study, Orchestia genus could be an attractive candidate for the biochemical study of trace metal toxicity in Tunisian wetlands.