Model-driven engineering for mobile robotic systems: a systematic mapping study

Software and Systems Modeling - Mobile robots operate in various environments (e.g. aquatic, aerial, or terrestrial), they come in many diverse shapes and they are increasingly becoming parts of...     

Low-Power Adaptive Biased Integrated Amplifiers

In this paper the author will present the working principle and the applications of a novel adaptive biasing topology, designed to decrease the stand-by power dissipation without affecting the transient performance of low-power amplifiers. The proposed circuit, whose principle and circuit topology can be implemented both in CMOS and in bipolar standard technologies, gives a biasing current whose value depends on the applied input differential voltage and can be set according to the requested transient performance constraints. The adaptive architecture can be utilized in the design of high-efficient low-power operational amplifiers, for the biasing of both the input stage (where the input source current is dynamically increased) and the output stage (where the output current can be controlled and limited). These amplifiers show a very good behaviour, evaluated in terms of two efficiency factors, if compared with those of other adaptive solutions and class-AB topologies, proposed in the literature. Simulation results and also measurements on a chip prototype, fabricated in a standard CMOS technology, are finally presented.     

Effects of interstitial oxygen on microstructure and mechanical properties of Ti-48Al-2Cr-2Nb with fully lamellar and duplex microstructures

The effect of added oxygen in the range of 1000 to 4000 wt ppm on the microstructures of a Ti-48Al-2Cr-2Nb alloy has been investigated and compared to the microstructures for a high-purity alloy. For specimens cooled from theα phase, interstitial oxygen stabilizes the lamellar microstructure with respect toγ grains, with higher than equilibrium values for theα ₂ volume fraction. For specimens cooled from theα +γ phase field, the lamellar microstructure still tends to be favored by oxygen, but it is found that the phase volume fractions are not significantly different from equilibrium values. This suggests that interstitial O essentially reduces the kinetics of theα toα +γ transformation. Thus, interstitial oxygen will have a strong effect on microstructures obtained by continuous cooling fromα, but significantly less on those, such as the duplex microstructure, obtained by long treatment in theα +γ phase field. In general, increased O content is well correlated with reduced ductility. Finally, the role of interstitial oxygen on this phase transformation is discussed.     

Constructive model-based analysis for safety assessment

The aerospace industry still uses fault trees to perform reliability analysis. This is because fault-tree modeling and analysis (FTA) seems easier to practical engineers when compared with Markov models, even though FTA provides a weaker form of analysis. In this paper, we propose an automatic strategy for generating Markov-based models and corresponding analysis formulations, according to ARP 4761, directly from Simulink diagrams annotated with failure information. The generated Markov-based models are expressed in the formal language PRISM, and the analysis is carried out by the PRISM model checker. The strategy is compositional and based on a comprehensive set of translation rules from Simulink to PRISM. We briefly address soundness and completeness of the rules and, to illustrate the application of the strategy, we apply it to a classical avionics case study: an actuator control system.     

Structural Investigation and Molecular Modeling Studies of Strobilurin-Based Fungicides Active against the Rice Blast Pathogen Pyricularia oryzae

The increasing emergence of fungicide-resistant pathogens requires urgent solutions for crop disease management. Here, we describe a structural investigation of new fungicides obtained by combining strobilurin and succinate dehydrogenase inhibitor pharmacophores. We identified compounds endowed with very good activity against wild-type Pyricularia oryzae, combined in some cases with promising activity against strobilurin-resistant strains. The first three-dimensional model of P. oryzae cytochrome bc1 complex containing azoxystrobin as a ligand was developed. The model was validated with a set of commercially available strobilurins, and it well explains both the resistance mechanism to strobilurins mediated by the mutation G143A and the activity of metyltetraprole against strobilurin-resistant strains. The obtained results shed light on the key recognition determinants of strobilurin-like derivatives in the cytochrome bc1 active site and will guide the further rational design of new fungicides able to overcome resistance caused by G143A mutation in the rice blast pathogen.     

Binarised regression tasks: methods and evaluation metrics

Some supervised tasks are presented with a numerical output but decisions have to be made in a discrete, binarised, way, according to a particular cutoff. This binarised regression task is a very common situation that requires its own analysis, different from regression and classification—and ordinal regression. We first investigate the application cases in terms of the information about the distribution and range of the cutoffs and distinguish six possible scenarios, some of which are more common than others. Next, we study two basic approaches: the retraining approach, which discretises the training set whenever the cutoff is available and learns a new classifier from it, and the reframing approach, which learns a regression model and sets the cutoff when this is available during deployment. In order to assess the binarised regression task, we introduce context plots featuring error against cutoff. Two special cases are of interest, the \( UCE \) and \( OCE \) curves, showing that the area under the former is the mean absolute error and the latter is a new metric that is in between a ranking measure and a residual-based measure. A comprehensive evaluation of the retraining and reframing approaches is performed using a repository of binarised regression problems created on purpose, concluding that no method is clearly better than the other, except when the size of the training data is small.     

Coherence-multiplexed acousto-optic correlator for signal processing: theory and applications

A method of multichannel processing to compute correlation products simultaneously is introduced. The signals that process are encoded on a single light beam through the use of an electro-optic modulators that induce optical delays greater than the coherence length of light. The coherence-modulated light beam thus obtained is then spatially and temporally modulated through an acousto-optic Bragg cell. The potential number of channels is estimated to be approximately 5-10. The method can be combined with other existing systems, such as time-, space-, or frequency-multiplexed correlators, to increase the channel number. The method also applies to high-resolution spectral analysis.     

An Acoustic Network Navigation System

This work describes a system for acoustic‐based navigation that relies on the addition of localization services to underwater networks. The localization capability has been added on top of an existing network, without imposing constraints on its structure/operation. The approach is based on the inclusion of timing information within acoustic messages through which it is possible to know the time of an acoustic transmission in relation to its reception. Exploiting such information at the network application level makes it possible to create an interrogation scheme similar to that of a long baseline. The advantage is that the nodes/autonomous underwater vehicles (AUVs) themselves become the transponders of a network baseline, and hence there is no need for dedicated instrumentation. The paper reports at sea results obtained from the COLLAB–NGAS14 experimental campaign. During the sea trial, the approach was implemented within an operational network in different configurations to support the navigation of the two Centre for Maritime Research and Experimentation Ocean Explorer (CMRE OEX) vehicles. The obtained results demonstrate that it is possible to support AUV navigation without constraining the network design and with a minimum communication overhead. Alternative solutions (e.g., synchronized clocks or two‐way‐travel‐time interrogations) might provide higher precision or accuracy, but they come at the cost of impacting on the network design and/or on the interrogation strategies. Results are discussed, and the performance achieved at sea demonstrates the viability to use the system in real, large‐scale operations involving multiple AUVs. These results represent a step toward location‐aware underwater networks that are able to provide node localization as a service.