A case for an international consortium on system-of-systems engineering

A system-of-systems (SoS) conceptualization is essential in resolving issues involving heterogeneous independently operable systems to achieve a unique purpose. Successful operation as an SoS requires communication among appropriate individuals and groups across enterprises through an effective protocol. This paper presents a position on the creation of a consortium of concerned system engineers and scientists worldwide to examine the problems and solutions strategies associated with SoS. The consortium could lead efforts in clarifying ambiguities and in seeking remedies to numerous open questions with respect to SoS analysis, SoS engineering (SoSE), as well as differences between systems engineering (SE) and SoSE. The mission of this consortium is envisioned to: 1) act as a neutral party; 2) provide a forum to put forth Calls to Action; and 3) establish a community of interest to recommend a set of solutions.

System of systems approach to threat detection and integration of heterogeneous independently operable systems

This paper presents a system of systems approach to threat detection through integration of heterogeneous independently operable systems. The approach is presented on a realistic situation where a human-controlled base robot, swarm robot(s), and sensors work together to obtain a decision about a possible threat in the environment. The base robot is remotely operated by a human using a haptic control system. The swarm robot(s) are autonomous and can accept directives from the base robot. Finally, sensors directly communicate with (report to) the base robot. In this scenario, heterogeneous systems and human interact in a system of systems architecture. With the inclusion of human expert and sensor verification of swarm robots, the system can successfully perform the threat detection and reduce the false alarms. Finally, a system of systems simulation framework including a base robot, a swarm robot, and two sensors is presented in addition to an experimental evaluation of the proposed SoS architecture

Towards optimization of a real-world robotic-sensor system of systems

The problem of threat detection in an unstructured environment is considered. Three systems, comprising of robots and sensors, are proposed to form a system of systems (SoS) to find a solution to the problem. System interactions are defined to provide a framework for formulation as an SoS optimization problem. Different cost and objective functions are introduced for optimization of local criteria. Using different weights, a linear combination of the local cost and objective functions is obtained to propose a global objective function. An algorithm is suggested to find an optimum value for the global objective function leading towards optimization of the SoS.

Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications

The objective of this research is to model and analyze candidate hull configurations for a low-cost, modular, autonomous underwater robot. As the computational power and speed of microprocessors continue to progress, we are seeing a growth in the research, development, and the utilization of underwater robots. The number of applications is broadening in the R&D and science communities, especially in the area of multiple, collaborative robots. These underwater collaborative robots represent an instantiation of a System of Systems (SoS). While each new researcher explores a unique application, control method, etc. a new underwater robot vehicle is designed, developed, and deployed. This sometimes leads to one-off designs that are costly. One limit to the wide-scale utilization of underwater robotics is the cost of development. Another limit is the ability to modify the configuration for new applications and evolving requirements. Consequently, we are exploring autonomous underwater vehicle (AUV) hull designs towards the goal of modularity, vehicle dexterity, and minimizing the cost. In our analysis, we have employed 3D solid modeling tools and finite element methods. In this paper we present our initial results and discuss ongoing work.

Do mass media campaigns capture and describe the experience of stroke symptoms?

Introduction: In 2006, the National Stroke Foundation of Australia launched the FAST (Face, Arm, Speech)/ Signs of Stroke (SOS) (5 symptom categories) campaigns designed to improve public awareness of stroke symptoms and the sense of urgency to present to hospital. However, there is little published review of how well such campaigns capture and describe the experience of stroke. This study aims to examine the awareness, content and language of the FAST/SOS campaigns by those experiencing stroke symptoms.
Methods: Interviews were conducted with either the stroke patient or a witness (incapacitated patients) whilst an inpatient at Box Hill or Maroondah Hospitals between August 2006 through April 2008. They were asked to describe awareness of campaigns, symptoms experienced (recorded verbatim and coded into campaign symptom categories) and to evaluate the descriptions of “Signs of Stroke” against their own experience (exact, somewhat, or not at all).
Results: Of 239 eligible stroke cases, 167 (70%) were interviewed (100 patients and 67 witnesses). Few (n= 20, 12%) were aware of the FAST campaign and only 16% recalled all three symptoms. Most recalled that it was “something” to do with the face, however facial droop (n=6) was less commonly experienced compared to speech impairments (n=16) and arm drift (n=13). FAST symptoms detected 84% (patients 77% and witnesses 94%) and SOS symptoms 100% of stroke patients. Patients not describing a FAST symptom (n=27) described: arm or hand numbness; hand incoordination; leg impairments; vision disturbances; or collapse. Approximately, half of patients and witnesses thought the SOS descriptions of the most commonly detected symptoms (arm/leg/face weakness or paralysis or numbness and speech impairments) exactly described the experience. Common language used to describe symptoms were: incoordination of hands or limbs; sudden difficulty walking; drooped/dropped face or mouth; slurred or loss of speech; pins and needles or tingling.
Conclusion: Both campaigns identified symptoms most commonly detected in those experiencing and reacting to symptoms. Both campaigns could portray symptoms more realistically using common descriptors without impacting on the simplicity of the messages

An approach to nonirreducible MIMO FIR channel equalization

It is known that a nonirreducible multiple-input– multiple-output finite-impulse-response channel driven by colored signals that are mutually uncorrelated and of sufficiently diverse power spectra can be identified blindly by exploiting only the second-order statistics of the measured data. In this brief, we propose an approach to dealing with the equalization of a nonirreducible channel, provided that the estimate of the channel matrix is available. Both zero-forcing and minimum-mean-square-error equalizers are developed to perform the channel equalization. The effectiveness of the approach and equalizers is demonstrated by simulation examples.

Blind separation of mutually correlated sources using precoders

This paper studies the problem of blind source separation (BSS) from instantaneous mixtures with the assumption that the source signals are mutually correlated.We propose a novel approach to BSS by using precoders in transmitters.We show that if the precoders are properly designed, some cross-correlation coefficients of the coded signals can be forced to be zero at certain time lags. Then, the unique correlation properties of the coded signals can be exploited in receiver to achieve source separation. Based on the proposed precoders, a subspace-based algorithm is derived for the blind separation of mutually correlated sources. The effectiveness of the algorithm is illustrated by simulation examples.

Calcaneal ultrasound reference ranges for Australian men and women : the Geelong Osteoporosis Study

Summary Heel ultrasound is a more portable modality for assessing fracture risk than dual-energy X-ray absorptiometry and does not use ionising radiation. Fracture risk assessment requires appropriate reference data to enable comparisons. This study reports the first heel ultrasound reference ranges for the Australian population.

Introduction This study aimed to develop calcaneal (heel) ultrasound reference ranges for the Australian adult population using a population-based random sample.

Methods Men and women aged ≥20 years were randomly selected from the Barwon Statistical Division in 2001–2006 and 1993–1997, respectively, using the electoral roll. Broadband ultrasound attenuation (BUA), speed of sound (SOS) and stiffness index (SI) were measured at the heel using a Lunar Achilles Ultrasonometer. Gender-specific means and standard deviations for BUA, SOS and SI were calculated for the entire sample (men 20–93 years, n = 1,104; women 20–92 years, n = 914) and for participants aged 20–29 years (men, n = 157; women, n = 151). Associations between ultrasound measures and age were examined using linear regression.

Results For men, mean ± standard deviation BUA, SOS and SI were 118.7 ± 15.8 dB/MHz, 1,577.0 ± 43.7 m/s and 100.5 ± 20.7, respectively; values for women were consistently lower (111.0 ± 16.4 dB/MHz, P < 0.001; 1,571.0 ± 39.0 m/s, P = 0.001; and 93.7 ± 20.3, P < 0.001, respectively). BUA was higher in young men compared with young women (124.5 ± 14.4 vs 121.0 ± 15.1 dB/MHz), but SOS (1,590.1 ± 43.1 vs 1,592.5 ± 35.0 m/s) and SI (108.0 ± 19.9 vs 106.3 ± 17.7) were not. The relationships between age and each ultrasound measure were linear and negative across the age range in men; associations were also negative in women but non-linear.

Conclusion These data provide reference standards to facilitate the assessment of fracture risk in an Australian population using heel ultrasound.

Undercarboxylated osteocalcin, muscle strength and indices of bone health in older women

We investigated the association between undercarboxylated osteocalcin (ucOC) and lower-limb muscle strength in women over the age of 70years. The study also aims to confirm the association between bone turnover markers and heel ultrasound measures. A post-hoc analysis using data collected as part of a randomized placebo-controlled trial of vitamin D supplementation. An immunoassay was used to quantify total OC (tOC), with hydroxyapatite pre-treatment for ucOC. We determined associations of absolute and relative (ucOC/tOC; ucOC%) measures of ucOC with lower-limb muscle strength, heel ultrasound measures of speed of sound (SOS) and broadband ultrasound attenuation (BUA), bone turnover markers (BTMs; P1NP and CTx) and the acute phase protein alpha-1-antichymotrypsin (α-ACT). ucOC%, but not absolute ucOC concentration, was positively associated with hip flexor, hip abductor and quadriceps muscle strength (all p<0.05). ucOC% was negatively associated with α-ACT (β-coefficient=-0.24, p=0.02). tOC was positively associated with both P1NP and CTx (p<0.001). For each per unit increase in tOC (μg/L) there was a corresponding lower BUA, SOS and SI (β-coefficient = -0.28; -0.23 and -0.23, respectively; all p<0.04). In conclusion, ucOC% is positively associated with muscle strength and negatively associated with α-ACT. These data support a role for ucOC in musculoskeletal interactions in humans. Whilst tOC is associated with bone health, ucOC% and ucOC may also be linked to falls and fracture risk by influencing muscle function.

A second-order blind equalization method robust to ill-conditioned SIMO FIR channels

This paper deals with blind equalization of single-input-multiple-output (SIMO) finite-impulse-response (FIR) channels driven by i.i.d. signal, by exploiting the second-order statistics (SOS) of the channel outputs. Usually, SOS-based blind equalization is carried out via two stages. In Stage 1, the SIMO FIR channel is estimated using a blind identification method, such as the recently developed truncated transfer matrix (TTM) method. In Stage 2, an equalizer is derived from the estimate of the channel to recover the source signal. However, this type of two-stage approach does not give satisfactory blind equalization result if the channel is ill-conditioned, which is often encountered in practical applications. In this paper, we first show that the TTM method does not work in some situations. Then, we propose a novel SOS-based blind equalization method which can directly estimate the equalizer without knowing the channel impulse responses. The proposed method can obtain the desired equalizer even in the case that the channel is ill-conditioned. The performance of our method is illustrated by numerical simulations and compared with four benchmark methods. © 2014 Elsevier Inc.

Health-care costs over 15 years after bariatric surgery for patients with different baseline glucose status: results from the Swedish Obese Subjects study

BACKGROUND: Bariatric surgery prevents and induces remission of type 2 diabetes in many patients. The effect of preoperative glucose status on long-term health-care costs is unknown. We aimed to assess health-care costs over 15 years for patients with obesity treated conventionally or with bariatric surgery and who had either euglycaemia, prediabetes, or type 2 diabetes before intervention. METHODS: The Swedish Obese Subjects (SOS) study is a prospective study of adults who had bariatric surgery and contemporaneously matched controls who were treated conventionally (age 37-60 years; BMI of ≥34 in men and ≥38 in women) recruited from 25 Swedish surgical departments and 480 primary health-care centres. Exclusion criteria were identical for both study groups, and were previous gastric or bariatric surgery, recent malignancy or myocardial infarction, selected psychiatric disorders, and other contraindicating disorders to bariatric surgery. Conventional treatment ranged from no treatment to lifestyle intervention and behaviour modification. In this study, we retrieved prescription drug costs for the patients in the SOS study via questionnaires and the nationwide Swedish Prescribed Drug Register. We retrieved data for inpatient and outpatient visits from the Swedish National Patient Register. We followed up the sample linked to register data for up to 15 years. We adjusted mean differences for baseline characteristics. Analyses were by intention to treat. The SOS study is registered with ClinicalTrials.gov, number NCT01479452. FINDINGS: Between Sept 1, 1987, and Jan 31, 2001, 2010 adults who had bariatric surgery and 2037 who were treated conventionally were enrolled into the SOS study. In this study, we followed up 4030 patients (2836 who were euglycaemic; 591 who had prediabetes; 603 who had diabetes). Drug costs did not differ between the surgery and conventional treatment groups in the euglycaemic subgroup (surgery US$10,511 vs conventional treatment $10,680; adjusted mean difference -$225 [95% CI -2080 to 1631]; p=0·812), but were lower in the surgery group in the prediabetes ($10,194 vs $13,186; -$3329 [-5722 to -937]; p=0·007) and diabetes ($14,346 vs $19,511; -$5487 [-7925 to -3049]; p<0·0001) subgroups than in the conventional treatment group. Compared with the conventional treatment group, we noted greater inpatient costs in the surgery group for the euglycaemic ($51,225 vs $25,313; $22,931 [19,001-26,861]; p<0·0001), prediabetes ($58,699 vs $32,861; $27,152 [18,736-35,568]; p<0·0001), and diabetes ($61,569 vs $47,569; 18,697 [9992-27,402]; p<0·0001) subgroups. We noted no differences in outpatient costs. Total health-care costs were higher in the surgery group in the euglycaemic ($71,059 vs $45,542; $22,390 [17,358-27,423]; p<0·0001) and prediabetes ($78,151 vs $54,864; $26,292 [16,738-35,845]; p<0·0001) subgroups than in the conventional treatment group, whereas we detected no difference between treatment groups in patients with diabetes ($88,572 vs $79,967; $9081 [-1419 to 19,581]; p=0·090). INTERPRETATION: Total health-care costs were higher for patients with euglycaemia or prediabetes in the surgery group than in the conventional treatment group, but we detected no difference between the surgery and conventional treatment groups for patients with diabetes. Long-term health-care cost results support prioritisation of patients with obesity and type 2 diabetes for bariatric surgery. FUNDING: AFA Försäkring and Swedish Scientific Research Council.

Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation

Teleoperation remains an important aspect for robotic systems especially when deployed in unstructured environments. While a range of research strives for robots that are completely autonomous, many robotic applications still require some level of human-in-The-loop control. In any situation where teleoperation is required an effective User Interface (UI) remains a key component within the systems design. Current advancements in Virtual Reality (VR) software and hardware such as the Oculus Rift, HTC Vive and Google Cardboard combined with greater transparency to robotic systems afforded by middleware such as the Robot Operating System (ROS) provides an opportunity to rapidly improve traditional teleoperation interfaces. This paper uses a System of System (SoS) approach to present the concept of a Virtual Reality Dynamic User Interface (VRDUI) for the teleoperation of heterogeneous robots. Different geometric virtual workspaces are discussed and a cylindrical workspace aligned with interactive displays is presented as a virtual control room. A presentation mode within the proposed VRDUI is also detailed, this shows how point cloud information obtained from the Microsoft Kinect can be incorporated within the proposed virtual workspace. This point cloud data is successfully processed into an OctoMap utilizing the octree data structure to create a voxelized representation of the 3D scanned environment. The resulting OctoMap is then displayed to an operator as a 3D point cloud using the Oculus Rift Head Mounted Display (HMD).