A comparative analysis of video codecs for multihop wireless video sensor networks

Wireless video sensor networks (WVSNs) have drawn significant attention in recent years due to the advent of low-cost miniaturized cameras, which makes it feasible to realize large-scale WVSNs for a variety of applications including security surveillance, environmental tracking, and health monitoring. However, the conventional video coding paradigms are not suitable for WVSNs due to resource constraints such as limited computation power, battery energy, and network bandwidth. In this paper, we evaluated and analyzed the performance of video codecs based on emerging video coding paradigms such as distributed video coding and distributed compressive video sensing for multihop WVSNs. The main objective of this work was to provide an insight into the computational (encoding/decoding) complexity, energy consumption, node and network lifetime, processing and memory requirements, and the quality of reconstruction of these video codecs. Based on the findings, this paper also provides some guidelines for the selection of appropriate video codecs for a given WVSN application.     

Kinematic Design and Analysis of a 7 Degree-of-Freedom Dual-Stage Inspection Manipulator for Dexterous Subsea Applications

This paper describes the design of a 7 degree-of-freedom (d.o.f) manipulator for underwater inspection applications. The functional requirements of an underwater manipulator for subsea inspection are discussed and the desired performance requirements identified. The inspection process of a weld joint using a manipulator is described and the desirable attributes of a 5 d.o.f manipulator for the inspection process established. A novel kinematic structure, for Underwater Robotic Vehicle (URV) operation, having a 2 d.o.f launching stages and a 5 d.o.f inspection stage is proposed for the manipulator. This configuration increases the dexterity, without compromising on the total reach of the manipulator. The kinematic structure of the 7 d.o.f, 2 stage, manipulator is presented. A hybrid power actuation is proposed for the manipulator to exploit the benefits of both hydraulic as well as electric actuators. Kinematic analysis of the manipulator is presented. The link dimensions of the inspection stage manipulator is done on the basis of kinematic performance indices of the manipulator. The novel kinematic structure and the hybrid power actuation strategy results in a power efficient, dexterous manipulator for underwater applications.     

Motion Control of a Two-Wheeled Mobile Vehicle with an Inverted Pendulum

Nested saturation control design techniques are usually applied to derive a control law for a two-wheeled vehicle with an inverted pendulum. In presence of external disturbances, this control law may result in a catastrophic problem of finite escape time in the controlled system. This paper proposes control solutions to overcome the above problem. First, a disturbance observer is designed to estimate the external disturbances exponentially. Several coordinate transformations and partial-feedback linearization techniques are then derived to transform the vehicle’s dynamics into an upper-triangular form. Next, nested p-times differentiable saturation and backstepping techniques are combined to design a control law for the transformed system. Attractive features of our proposed control design include a large domain of attraction and simplicity of tuning control gains and the controller implementation. Numerical simulations illustrate the results.     

An active-architecture approach to COTS integration

COTS software products are increasingly becoming standard components for building integrated information systems. At the same time, the growth of electronic trading, turbulent market conditions, and a project-style approach to business have created a demand for information systems that can be rapidly adapted to changing business process demands. However, the ongoing development of COTS products is unpredictable as their developers and source code are rarely available. Flexible information systems use COTS components because they cost-effectively supply required component functionality. A software architecture can capture a system design as a set of interacting components and capture the role of COTS software in "implementing" certain components.     

Maternal High‐Fat‐Diet Programs Rat Offspring Liver Fatty Acid Metabolism

In offspring exposed in utero to a maternal diet high in fat (HF), we have previously demonstrated that despite similar birth weights, HF adult offspring at 6 months of age had significantly higher body weights, greater adiposity, and increased triacylglycerol (TAG) levels as compared to controls. We hypothesized that a maternal HF diet predisposes to offspring adiposity via a programmed increase in the synthesis of monounsaturated fatty acids in the liver and hence increased substrate availability for liver TAG synthesis. We further hypothesized that programmed changes in offspring liver fatty acid metabolism are associated with increased liver expression of the lipogenic enzyme stearoyl‐CoA desaturase‐1 (SCD‐1). Female rats were maintained on a HF diet rich in monounsaturated fatty acids (MUFA) prior to and throughout pregnancy and lactation. After birth, newborns were nursed by the same dam, and all offspring were weaned to control diet. Plasma and liver fatty acid compositions were determined using gas chromatography/mass spectrometry. Fatty acid C16 desaturation indices of palmitoleic/palmitic and (vaccenic + palmitoleic)/palmitic and the C18 desaturation index of oleic/stearic were calculated. Liver protein abundance of SCD‐1 was analyzed in newborns and adult offspring. Plasma and liver C16 desaturation indices were decreased in HF newborns, but increased in the adult offspring. Liver SCD‐1 expression was increased in the HF adult offspring. These data show that the maternal HF diet during pregnancy and lactation increases offspring liver SCD‐1 protein abundance and alters the liver C16 desaturase pathway.     

The elastic analysis of a dent on pressurised pipe

The elastic analysis of a dent on a pressurised cylinder is investigated. The predetermined shapes of the dent are grouped into three categories according to the physical geometry of the dent width, namely the local dent, the short dent, and the long dent. The induced bending stresses associated with the dent are evaluated using Sanders's non-linear shell theory. The geometry of the dent is treated as an initial geometric imperfection and incorporated in the expressions of strain. The non-linear cylindrical shell equations thus obtained are linearised and then solved by a Fourier series expansion technique. Comparison of theoretical results with the finite element approach is made for a pipe of assumed dimensions and pressure. Good agreement of the results is observed. The analytical approach of this paper is suitable for pipe or cylinder with a dent depth of up to five times the wall thickness.     

Multi‐interface cognitive radio for enhanced routing in multi‐hop cellular networks

Multi‐hop cellular network (MCN) is a wireless communication architecture that combines the benefits of conventional single‐hop cellular networks and multi‐hop ad hoc relaying networks. The route selection in MCN depends on the availability of intermediate nodes and their neighborhood connectivity. Cognitive radio (CR) is an emerging communication paradigm that exploits the available radio frequencies opportunistically for the effective utilization of the radio frequency spectrum. The incorporation of CR and mobile ad hoc network routing protocols in MCN could potentially improve the spectrum utilization and the routing performance of MCN. This paper firstly presents the proposed model for the multi‐interface CR mobile node with transceiver synchronization and then investigates its opportunistic spectrum utilization and routing performance in MCN. Copyright © 2015 John Wiley & Sons, Ltd.     

Real-time control architecture using Xenomai for intelligent service robots in USN environments

This paper describes the implementation of a dual-kernel software architecture, based on standard Linux and real-time embedded Linux, for real-time control of service robots in ubiquitous sensor network environments. Mobile robots are used in active service for the assisted living of elderly people, monitoring their mental and physiological data with wireless sensor nodes. The data collected from sensor nodes are routed back to a sink node through multi-hop communication. The moving sink node installed on the main controller of the robot collects data and transmits it to the main controller. To be able to handle emergency situations, the robot needs to satisfy real-time requirements when processing the data collected, and invoking tasks to execute. This paper realizes a multi-hop sensor network and proposes real-time software architecture based on Xenomai. The real-time tasks were implemented, with priority, to rapidly respond to urgent sensor data. In order to validate the deterministic response of the proposed system, the performance measurements for the delay in handling the sensed data transmission and the trajectory control with a feedback loop were evaluated on the non real-time standard Linux.