Supermedia-enhanced Internet-based telerobotics

This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However, when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay causes instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. This modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.     

Environmental factors and kinetics of microbial degradation of poly(3‐hydroxybutyrate‐co‐3‐hydroxyvalerate) in an aqueous medium

Environmental factors such as oxygen, temperature, and microbial species may have significant effects on decomposition of biodegradable polymers. A representative biodegradable, thermoplastic polymer, poly(3‐hydroxybutyrate‐co‐hydroxyvalerate) (PHBV), was decomposed in an aqueous medium under controlled laboratory conditions by soil microbes for the intrinsic degradation kinetics and the effects of the environmental factors on polymer biodegradation. The amount of proteins, including the PHBV depolymerases, that attached to the polymer surfaces was quite constant during the period of significant mass loss of the polymer specimens. The microbial polymer degradation followed a zero‐order rate model, so the residual mass fraction of PHBV films declined linearly with time. The mixed aerobic microbial organisms from fertile soil showed a higher activity of polymer degradation than an aerobic PHBV‐producing bacterium and the mixed anaerobes in the same soil. The mixed anaerobic microorganisms from barren soil decomposed the polymer at a slower rate than the anaerobes from fertile soil, and this was attributed to fewer microbial cells in the barren soil instead of the difference in the microbial species. The temperature effect on PHBV degradation can be described with an Arrhenius equation, and the activation energy is around 16 kcal/mol. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 87: 205–213, 2003     

Smooth profile generation for a tile printing machine

In this paper a digital filter is proposed for the generation of smooth set points for motion control systems. The proposed nonlinear filter produces profiles with bounded velocity and acceleration starting from rough reference signals (steps and ramps). An actual implementation of the filter for a tile printing machine is presented and experimental results are reported.     

Ideal amplifier spacing for reduction of Gordon-Haus jitter indispersion-managed soliton communications

Based on a variational analysis, the authors demonstrate that the noise-induced Gordon-Haus timing jitter in a dispersion-managed soliton transmission system can be substantially reduced by appropriate placement of the amplifiers     

Simulation of deep space network traffic under various loading conditions

This is a follow‐up report on the end‐to‐end data link performance of the NASA deep space network. The focus of this report is the effect of traffic loading on data delivery. Architecture of the existing network is modeled via COMNET. The contribution of the data latency to the overall acquisition time is simulated as a function of network traffic conditions. The results show steady‐state latencies in the range of tenths of milli‐seconds under a mild loading condition. During heavy traffic, a delay rate of over a hundred seconds of increased delay per hour of network operation time is observed. This is primarily due to the queueing delays associated with large volume of data stored in the buffers throughout the link. This revised version was published online in June 2006 with corrections to the Cover Date.     

Measurements of single chain form factors by small-angle neutron scattering from polystyrene blends containing high concentrations of labelled molecules

A series of small angle neutron scattering measurements on blends of normal polystyrene (PSH) and labelled (deuterated) polystyrene (PSD) have been made with concentrations of PSD from 5 to 50 mol %. It is shown that the single chain form factor of the polymer in bulk can be obtained from a single concentration measurement for any concentration of labelled molecules, providing the molecular weights of the parent and labelled molecules are the same and the molecular weight distributions are narrow.     

Collision Detection and Multitone Tree Search for Multiple-Access Protocols on Radio Channels

The carrier sense multiple access with collision detection (CSMA-CD) protocol cannot be applied directly to radio channels because of the difficulty in sensing remote carrier in the presence of local transmission. Only recently, a new protocol called the CSMA with timesplit collision detection (CSMA-TCD) was introduced to overcome this problem on radio channels. This paper presents an extension of the CSMA-TCD protocol, called CSMA-TCD with multitone tree search (CSMA-TCD-MTTS). In CSMA-TCD, a preamble is transmitted before data transmission. For CSMA-TCD-MTTS, the preamble is modulated with one out ofNtones. In case of a collision, a resolution algorithm splits the terminals involved into anN-degree tree according to the tone chosen. This paper presents the throughput and approximate delay analysis of the CSMA-TCD-MTTS protocol.