Simulating grasping behavior of people using the relational description scheme

This paper presents an enhanced relational description for the prescription of the grasp requirement and evolution of the posture of a digital human hand towards satisfaction of this requirement. Precise relational description needs anatomical segmentation of the hand geometry into palmar, dorsal and lateral patches using the palm-plane and joint locations information, and operational segmentation of the object geometry into pull,push and lateral patches with due consideration to the effect of friction. Relational description identifies appropriate patches for a desired grasp condition. Satisfaction of this requirement occurs in two discrete stages,namely,contact establishment and post-contact force exertion for object capturing. Contact establishment occurs in four potentially overlapping phases,namely,re-orientation,transfer,pre- shaping,and closing-in. The novel h and re-orientation phase,enables the palm to face the object in a task sequence scenario, transfer takes the wrist to the ball park ; pre-shaping and close-in finally achieves the contact. In this paper, an anatomically pertinent closed-form formulation is presented for the closing-in phase for identification of the point of contact on the patches ,prescribed by the relational description. Since mere contact does not ensure grasp and slip phenomenon at the point of contact on application of force is a common occurrence, the effect of slip in presence of friction has been studied for 2D and 3D object grasping endeavours and a computational generation of the slip locus is presented.A general slip locus is found to be a non-linear curve even on planar faces.Two varieties of slip phenomena,namely,stabilizing and non-stabilizing slips, and their local characteristics have been identified.Study of the evolution of this slip characteristic over the slip locus exhibited diverse grasping behaviour possibilities. Thus, the relational description paradigm not only makes the requirement specification easy and meaningful but also enables high fidelity hand object interaction studies possible.

A Novel Power Allocation Scheme for Two-User GMAC with Finite Input Constellations

Constellation Constrained (CC) capacity regions of two-user Gaussian Multiple Access Channels (GMAC) have been recently reported, wherein an appropriate angle of rotation between the constellations of the two users is shown to enlarge the CC capacity region. We refer to such a scheme as the Constellation Rotation (CR) scheme. In this paper, we propose a novel scheme called the Constellation Power Allocation (CPA) scheme, wherein the instantaneous transmit power of the two users are varied by maintaining their average power constraints. We show that the CPA scheme offers CC sum capacities equal (at low SNR values) or close (at high SNR values) to those offered by the CR scheme with reduced decoding complexity for QAM constellations. We study the robustness of the CPA scheme for random phase offsets in the channel and unequal average power constraints for the two users. With random phase offsets in the channel, we show that the CC sum capacity offered by the CPA scheme is more than the CR scheme at high SNR values. With unequal average power constraints, we show that the CPA scheme provides maximum gain when the power levels are close, and the advantage diminishes with the increase in the power difference.

Adaptive constellation rotation scheme for two-user fading MAC with quantized fade state feedback

With no Channel State Information (CSI) at the users, transmission over the two-user Gaussian Multiple Access Channel with fading and finite constellation at the input, will have high error rates due to multiple access interference (MAI). However, perfect CSI at the users is an unrealistic assumption in the wireless scenario, as it would involve extremely large feedback overheads. In this paper we propose a scheme which removes the adverse effect of MAI using only quantized knowledge of fade state at the transmitters such that the associated overhead is nominal. One of the users rotates its constellation relative to the other without varying the transmit power to adapt to the existing channel conditions, in order to meet certain predetermined minimum Euclidean distance requirement in the equivalent constellation at the destination. The optimal rotation scheme is described for the case when both the users use symmetric M-PSK constellations at the input, where M = 2(gimel), gimel being a positive integer. The strategy is illustrated by considering the example where both the users use QPSK signal sets at the input. The case when the users use PSK constellations of different sizes is also considered. It is shown that the proposed scheme has considerable better error performance compared to the conventional non-adaptive scheme, at the cost of a feedback overhead of just log log(2) (M-2/8 - M/4 + 2)] + 1 bits, for the M-PSK case.

Trellis coded modulation scheme for the fading relay channel

A decode and forward protocol based Trellis Coded Modulation (TCM) scheme for the half-duplex relay channel, in a Rayleigh fading environment, is presented. The proposed scheme can achieve any spectral efficiency greater than or equal to one bit per channel use (bpcu). A near-ML decoder for the suggested TCM scheme is proposed. It is shown that the high Signal to Noise Ratio (SNR) performance of this near-ML decoder approaches the performance of the optimal ML decoder. Based on the derived Pair-wise Error Probability (PEP) bounds, design criteria to maximize the diversity and coding gains are obtained. Simulation results show a large gain in SNR for the proposed TCM scheme over uncoded communication as well as the direct transmission without the relay.

Decode-and-forward relay beamforming for secrecy with finite-alphabet input

In this letter, we compute the secrecy rate of decode-and-forward (DF) relay beamforming with finite input alphabet of size M. Source and relays operate under a total power constraint. First, we observe that the secrecy rate with finite-alphabet input can go to zero as the total power increases, when we use the source power and the relay weights obtained assuming Gaussian input. This is because the capacity of an eavesdropper can approach the finite-alphabet capacity of 1/2 log(2) M with increasing total power, due to the inability to completely null in the direction of the eavesdropper. We then propose a transmit power control scheme where the optimum source power and relay weights are obtained by carrying out transmit power (source power plus relay power) control on DF with Gaussian input using semi-definite programming, and then obtaining the corresponding source power and relay weights which maximize the secrecy rate for DF with finite-alphabet input. The proposed power control scheme is shown to achieve increasing secrecy rates with increasing total power with a saturation behavior at high total powers.

Optical read-out scheme based on Grated Waveguide Cantilever cavity resonance for interrogation of cantilever sensor arrays

The design and analysis of an optical read-out scheme based on a grated waveguide (GWG) resonator for interrogating microcantilever sensor arrays is presented. The optical system consisting of a micro cantilever monolithically integrated in proximity to a grated waveguide (GWG), is realized in silicon optical bench platform. The mathematical analysis of the optical system is performed using a Fabry-Perot interferometer model with a lossy cavity formed between the cantilever and the GWG and an analytical expression is derived for the optical power transmission as a function of the cantilever deflection which corresponds to cavity width variation. The intensity transmission of the optical system for different cantilever deflections estimated using the analytical expression captures the essential features exhibited by a FDTD numerical model.

Remoulded shear strength at plastic and semi-solid states

The undrained shear strength of remoulded soils is of great concern in geotechnical engineering applications. This study aims to develop a reliable approach for determining the undrained shear strength of remoulded fine-grained soils, through the use of index test results, at both the plastic and semi-solid states of consistency. Experimental investigation and subsequent analysis involving a number of fine-grained soils of widely varying plasticity and geological origin have led to a two-parameter linear model of the relationship between logarithm of remoulded undrained shear strength and liquidity index. The numerical values of the parameters are found to be dependent to a lesser extent on the soil group and to a greater extent on the soil state. Based on the values of regression coefficient, ranking index and ranking distance, it seems that the relationship represents the experimental results well. It may be pointed out that the possibility of such a relationship in the semi-solid state of a soil has not been explored in the past. It is also shown that the shear strength at the plastic limit is about 32-34 times that at the liquid limit.

Interplay Between Optimal Selection Scheme, Selection Criterion, and Discrete Rate Adaptation in Opportunistic Wireless Systems

An opportunistic, rate-adaptive system exploits multi-user diversity by selecting the best node, which has the highest channel power gain, and adapting the data rate to selected node's channel gain. Since channel knowledge is local to a node, we propose using a distributed, low-feedback timer backoff scheme to select the best node. It uses a mapping that maps the channel gain, or, in general, a real-valued metric, to a timer value. The mapping is such that timers of nodes with higher metrics expire earlier. Our goal is to maximize the system throughput when rate adaptation is discrete, as is the case in practice. To improve throughput, we use a pragmatic selection policy, in which even a node other than the best node can be selected. We derive several novel, insightful results about the optimal mapping and develop an algorithm to compute it. These results bring out the inter-relationship between the discrete rate adaptation rule, optimal mapping, and selection policy. We also extensively benchmark the performance of the optimal mapping with several timer and opportunistic multiple access schemes considered in the literature, and demonstrate that the developed scheme is effective in many regimes of interest.

Joint Antenna Selection and Frequency-Domain Scheduling in OFDMA Systems with Imperfect Estimates from Dual Pilot Training Scheme

Transmit antenna selection (AS) has been adopted in contemporary wideband wireless standards such as Long Term Evolution (LTE). We analyze a comprehensive new model for AS that captures several key features about its operation in wideband orthogonal frequency division multiple access (OFDMA) systems. These include the use of channel-aware frequency-domain scheduling (FDS) in conjunction with AS, the hardware constraint that a user must transmit using the same antenna over all its assigned subcarriers, and the scheduling constraint that the subcarriers assigned to a user must be contiguous. The model also captures the novel dual pilot training scheme that is used in LTE, in which a coarse system bandwidth-wide sounding reference signal is used to acquire relatively noisy channel state information (CSI) for AS and FDS, and a dense narrow-band demodulation reference signal is used to acquire accurate CSI for data demodulation. We analyze the symbol error probability when AS is done in conjunction with the channel-unaware, but fair, round-robin scheduling and with channel-aware greedy FDS. Our results quantify how effective joint AS-FDS is in dispersive environments, the interactions between the above features, and the ability of the user to lower SRS power with minimal performance degradation.

Satellite Evaluation of Current status of Irrigation management in Rajolibanda diversion scheme command, Mahaboobnagar District, AP

This article presents the results of a study using satellite remote sensing techniques to evaluate the current status of canal system performance in terms of the spatial and temporal mismatch between water requirements and water releases within the command area The Rajolibanda Diversion Scheme(RDS)is the only operational major irrigation project in the drought prone district of Mahaboobnagar in Andra Pradesh. It is an inter-state project between Karnataka and Andra Pradesh which comprises of an anicut constructed in Karnataka in 1995 across river Thungabhdra and a 143 km long left bank main canel. The initial 42.6 km of the canel lies in Karnataka consisting of 12 distributaries and servers and serves an localised ayacut of 2739ha. In Andra Pradesh, the latter stretch of the main canal consists of distributaries 12A to 40, is localised to serve an ayacut of 35,410 ha.of which 14,215 ha during kharif season,19,332 ha, during rabi season and 1,863 ha.of perennial crops

Zero knowledge one time digital signature scheme

In many applications, when communicating with a host, we may or may not be concerned about the privacy of the data but are mainly concerned about the integrity of data being transmitted. This paper presents a simple algorithm based on zero knowledge proof by which the receiver can confirm the integrity of data without the sender having to send the digital signature of the message directly. Also, if the same document is sent across by the same user multiple times, this scheme results in different digital signature each time thus making it a practical one-time signature scheme.

Discussion: Remoulded shear strength at plastic and semi-solid states

The undrained shear strength of remoulded soils is of great concern in geotechnical engineering applications. This study aims to develop a reliable approach for determining the undrained shear strength of remoulded fine-grained soils, through the use of index test results, at both the plastic and semi-solid states of consistency. Experimental investigation and subsequent analysis involving a number of fine-grained soils of widely varying plasticity and geological origin have led to a two-parameter linear model of the relationship between logarithm of remoulded undrained shear strength and liquidity index. The numerical values of the parameters are found to be dependent to a lesser extent on the soil group and to a greater extent on the soil state. Based on the values of regression coefficient, ranking index and ranking distance, it seems that the relationship represents the experimental results well. It may be pointed out that the possibility of such a relationship in the semi-solid state of a soil has not been explored in the past. It is also shown that the shear strength at the plastic limit is about 32–34 times that at the liquid limit.

Fast and efficient automatic memory management for GPUs using compiler-assisted runtime coherence scheme

Exploiting the performance potential of GPUs requires managing the data transfers to and from them efficiently which is an error-prone and tedious task. In this paper, we develop a software coherence mechanism to fully automate all data transfers between the CPU and GPU without any assistance from the programmer. Our mechanism uses compiler analysis to identify potential stale accesses and uses a runtime to initiate transfers as necessary. This allows us to avoid redundant transfers that are exhibited by all other existing automatic memory management proposals. We integrate our automatic memory manager into the X10 compiler and runtime, and find that it not only results in smaller and simpler programs, but also eliminates redundant memory transfers. Tested on eight programs ported from the Rodinia benchmark suite it achieves (i) a 1.06x speedup over hand-tuned manual memory management, and (ii) a 1.29x speedup over another recently proposed compiler--runtime automatic memory management system. Compared to other existing runtime-only and compiler-only proposals, it also transfers 2.2x to 13.3x less data on average.

Joint Evaluation of Reduced Feedback Scheme, Scheduling, and Rate Adaptation in OFDMA Systems with Feedback Delays

Orthogonal frequency division multiple access (OFDMA) systems exploit multiuser diversity and frequency-selectivity to achieve high spectral efficiencies. However, they require considerable feedback for scheduling and rate adaptation, and are sensitive to feedback delays. We develop a comprehensive analysis of the OFDMA system throughput as a function of the feedback scheme, frequency-domain scheduler, and discrete rate adaptation rule in the presence of feedback delays. We analyze the popular best-n and threshold-based feedback schemes. We show that for both the greedy and round-robin schedulers, the throughput degradation, given a feedback delay, depends primarily on the fraction of feedback reduced by the feedback scheme and not the feedback scheme itself. Even small feedback delays at low vehicular speeds are shown to significantly degrade the throughput. We also show that optimizing the link adaptation thresholds as a function of the feedback delay can effectively counteract the detrimental effect of delays.

Group testing based spectrum hole search using a simple sub-nyquist sampling scheme

In this paper, we consider the problem of finding a spectrum hole of a specified bandwidth in a given wide band of interest. We propose a new, simple and easily implementable sub-Nyquist sampling scheme for signal acquisition and a spectrum hole search algorithm that exploits sparsity in the primary spectral occupancy in the frequency domain by testing a group of adjacent subbands in a single test. The sampling scheme deliberately introduces aliasing during signal acquisition, resulting in a signal that is the sum of signals from adjacent sub-bands. Energy-based hypothesis tests are used to provide an occupancy decision over the group of subbands, and this forms the basis of the proposed algorithm to find contiguous spectrum holes. We extend this framework to a multi-stage sensing algorithm that can be employed in a variety of spectrum sensing scenarios, including non-contiguous spectrum hole search. Further, we provide the analytical means to optimize the hypothesis tests with respect to the detection thresholds, number of samples and group size to minimize the detection delay under a given error rate constraint. Depending on the sparsity and SNR, the proposed algorithms can lead to significantly lower detection delays compared to a conventional bin-by-bin energy detection scheme; the latter is in fact a special case of the group test when the group size is set to 1. We validate our analytical results via Monte Carlo simulations.