A co-operative formation-based collision avoidance approach for a group of autonomous vehicles (Special Issue on Adaptive Control and Signal Processing in Marine System)

This paper employs a unique decentralised cooperative control method to realise a formation-based collision avoidance strategy for a group of autonomous vehicles. In this approach, the vehicles' role in the formation and their alert and danger areas are first defined, and the formation-based intra-group and external collision avoidance methods are then proposed to translate the collision avoidance problem into the formation stability problem. The extension–decomposition–aggregation formation control method is next employed to stabilise the original and modified formations, whilst manoeuvring, and subsequently solve their collision avoidance problem indirectly. Simulation study verifies the feasibility and effectiveness of the intra-group and external collision avoidance strategy. It is demonstrated that both formation control and collision avoidance problems can be simultaneously solved if the stability of the expanded formation including external obstacles can be satisfied.

Improvisation, Indeterminacy and Game-Mediated Participation in Network Music Performance

This chapter focuses on the relationship between improvisation and indeterminacy. We discuss the two practices by referring to play theory and game studies and situate it in recent network music performance. We will develop a parallel with game theory in which indeterminacy is seen as a way of articulating situations where structural decisions are left to the discernment of the performers and discuss improvisation as a method of play. The improvisation-indeterminacy relationship is discussed in the context of network music performance, which employs digital networks in the exchange of data between performers and hence relies on topological structures with varying degrees of openness and flexibility. Artists such as Max Neuhaus and The League of Automatic Music Composers initiated the development of a multitude of practices and technologies exploring the network as an environment for music making. Even though the technologies behind “the network” have shifted dramatically since Neuhaus’ use of radio in the 1960’s, a preoccupation with distribution and sharing of artistic agency has remained at the centre of networked practices. Gollo Föllmer, after undertaking an extensive review of network music initiatives, produced a typology that comprises categories as diverse as remix lists, sound toys, real/virtual space installations and network performances. For Föllmer, “the term ‘Net music’ comprises all formal and stylistic kinds of music upon which the specifics of electronic networks leave considerable traces, whereby the electronic networks strongly influence the process of musical production, the musical aesthetic, or the way music is received” (2005: 185).

Spectacles of military urbanism in online representations of the Elite Squad of the military police of Rio de Janeiro: a multimodal approach

This paper presents a multimodal analysis of online self-representations of the Elite Squad of the military police of Rio de Janeiro, the Special Police Operations Battalion BOPE. The analysis is placed within the wider context of a “new military urbanism”, which is evidenced in the ongoing “Pacification” of many of the city’s favelas, in which BOPE plays an active interventionist as well as a symbolic role, and is a kind of solution which clearly fails to address the root causes of violence which lie in poverty and social inequality. The paper first provides a sociocultural account of BOPE’s role in Rio’s public security and then looks at some of the mainly visual mediated discourses the Squad employs in constructing a public image of itself as a modern and efficient, yet at the same time “magical” police force.

Multi-UAVs formation autopilot design and performance analysis under interconnection topologies

This paper employs a unique extension-decomposition-aggregation (EDA) scheme to solve the formation flight control problem for multiple unmanned aerial vehicles (UAVs). The corresponding decentralised longitudinal and lateral formation autopilots are novelly designed to maintain the overall formation stability when encountering changes of the formation error and topologies. The concept of propagation layer number (PLN) is also proposed to provide an intuitive criterion to judge which type of formation topology is more suitable to minimise formation error propagation (FEP). The criterion states that the smaller the PLN of the formation is, the quicker the response to the formation error is. A smaller PLN also means that the resulting topology provides better prevention to the FEP. Simulation studies of formation flight of multiple Aerosonde UAVs demonstrate that the designed formation controller based on the EDA strategy performs satisfactorily in maintaining the overall formation stable, and the bidirectional partial-mesh topology is found to provide the best overall response to the formation error propagation based on the PLN criterion.

Perceptions of high involvement work practices and burnout: investigating the mediating role of procedural justice and role overload and the moderating role of colleague support

Purpose
The purpose of this paper is to investigate the impact of employees’ perceptions of high involvement work practices (HIWPs) on burnout (emotional exhaustion and depersonalisation) via the mediating role of role overload and procedural justice. Further, perceived colleague support was hypothesised to moderate the effects of role overload and procedural justice on these outcomes.

Design/Methodology
The study was conducted on a random sample of unionised registered nurses (RNs) working in the Canadian public health care sector, stratified by mission and size of the institution to ensure representativeness. Of the 6546 nurses solicited, 2174 returned a completed questionnaire, resulting in a response rate of 33.2%. To test our hypotheses we conducted structural equation modelling (SEM) in Mplus version 6.0 (Muthen and Muthen, 1998 – 2010) with Maximum Likelihood (ML) estimation.

Results
The results showed that procedural justice and role overload fully mediated the influence of HIWPs on burnout. Moreover, colleague support moderated the effects of procedural justice and role overload on emotional exhaustion but not depersonalisation.

Limitations
The study used a cross-sectional research design and is conducted among one occupational group (i.e. nurses).

Research/Practical Implications
The findings question the dark side of HRM in the health care context. They also contribute to the lack of theoretical and empirical work dedicated to understanding the ‘black box’ problem (Castanheira and Chambel, 2010).

Originality/Value
The study employs a well-known theoretical perspective from the occupational health psychology literature to the HR field in order to contribute to the lack of theorising in the HR-well-being link.

Towards generalized Doherty power amplifier design for multiband operation

This paper presents a new variant of broadband Doherty power amplifier that employs a novel output combiner. A new parameter ∝ is introduced to permit a generalized analysis of the recently reported Parallel Doherty power amplifier (PDPA),and hence offer design flexibility. The circuit prototype of the new DPA fabricated using GaN devices exhibits maximum drain efficiency of 85% at 43-dBm peak power and 63% at 6-dB backoff power (BOP). Measured drain efficiency of >60% at peak power across 500-MHz frequency range and >50% at 6-dB BOP across 480-MHz frequency range were achieved, confirming the  theoretical wideband characteristics of the new DPA.

A Tractable Approach to Uplink Spectral Efficiency of Two-Tier Massive MIMO Cellular HetNets

This letter investigates the uplink spectral efficiency (SE) of a two-tier cellular network, where massive multiple-input multiple-output macro base stations are overlaid with dense small cells. Macro user equipments (MUEs) and small cells with single user equipment uniformly scattered are modeled as two independent homogeneous Poisson point processes. By applying stochastic geometry, we analyze the SE of the multiuser uplink at a macro base station that employs a zero-forcing detector and we obtain a novel lower bound as well as its approximation. According to the simple and near-exact analytical expression, we observe that the ideal way to improve the SE is by increasing the MUE density and the base station antennas synchronously rather than increasing them individually. Furthermore, a large value of path loss exponent has a positive effect on the SE due to the reduced aggregated interference.

A Steganalysis System Utilizing Temporal Pixel Correlation Of HEVC Video

High Efficiency Video Coding (HEVC) is the most recent video codec coming after currently most popular H.264/MPEG4 codecs and has promising compression capabilities. It is conjectured that it will be a substitute for current video compression standards. However, to the best knowledge of the authors, none of the current video steganalysis methods designed or tested with HEVC video. In this paper, pixel domain steganography applied on HEVC video is targeted for the first time. Also, its the first paper that employs accordion unfolding transformation, which merges temporal and spatial correlation, in pixel domain video steganalysis. With help of the transformation, temporal correlation is incorporated into the system. Its demonstrated for three different feature sets that integrating temporal dependency substantially increased the detection accuracy.

A potentiometric biosensor for rapid on-site disease diagnostics

Quantitative point-of-care (POC) devices are the next generation for serological disease diagnosis. Whilst pathogen serology is typically performed by centralized laboratories using Enzyme-Linked ImmunoSorbent Assay (ELISA), faster on-site diagnosis would infer improved disease management and treatment decisions. Using the model pathogen Bovine Herpes Virus-1 (BHV-1) this study employs an extended-gate field-effect transistor (FET) for direct potentiometric serological diagnosis. BHV-1 is a major viral pathogen of Bovine Respiratory Disease (BRD), the leading cause of economic loss ($2 billion annually in the US only) to the cattle and dairy industry. To demonstrate the sensor capabilities as a diagnostic tool, BHV-1 viral protein gE was expressed and immobilized on the sensor surface to serve as a capture antigen for a BHV-1-specific antibody (anti-gE), produced in cattle in response to viral infection. The gE-coated immunosensor was shown to be highly sensitive and selective to anti-gE present in commercially available anti-BHV-1 antiserum and in real serum samples from cattle with results being in excellent agreement with Surface Plasmon Resonance (SPR) and ELISA. The FET sensor is significantly faster than ELISA (<10 min), a crucial factor for successful disease intervention. This sensor technology is versatile, amenable to multiplexing, easily integrated to POC devices, and has the potential to impact a wide range of human and animal diseases.

Detecting localized homogeneous anomalies over spatio-temporal data

The last decade has witnessed an unprecedented growth in availability of data having spatio-temporal characteristics. Given the scale and richness of such data, finding spatio-temporal patterns that demonstrate significantly different behavior from their neighbors could be of interest for various application scenarios such as – weather modeling, analyzing spread of disease outbreaks, monitoring traffic congestions, and so on. In this paper, we propose an automated approach of exploring and discovering such anomalous patterns irrespective of the underlying domain from which the data is recovered. Our approach differs significantly from traditional methods of spatial outlier detection, and employs two phases – i) discovering homogeneous regions, and ii) evaluating these regions as anomalies based on their statistical difference from a generalized neighborhood. We evaluate the quality of our approach and distinguish it from existing techniques via an extensive experimental evaluation.

Interpretable and Reconfigurable Clustering of Document Datasets by Deriving Word-based Rules

Clusters of text documents output by clustering algorithms are often hard to interpret. We describe motivating real-world scenarios that necessitate reconfigurability and high interpretability of clusters and outline the problem of generating clusterings with interpretable and reconfigurable cluster models. We develop two clustering algorithms toward the outlined goal of building interpretable and reconfigurable cluster models. They generate clusters with associated rules that are composed of conditions on word occurrences or nonoccurrences. The proposed approaches vary in the complexity of the format of the rules; RGC employs disjunctions and conjunctions in rule generation whereas RGC-D rules are simple disjunctions of conditions signifying presence of various words. In both the cases, each cluster is comprised of precisely the set of documents that satisfy the corresponding rule. Rules of the latter kind are easy to interpret, whereas the former leads to more accurate clustering. We show that our approaches outperform the unsupervised decision tree approach for rule-generating clustering and also an approach we provide for generating interpretable models for general clusterings, both by significant margins. We empirically show that the purity and f-measure losses to achieve interpretability can be as little as 3 and 5%, respectively using the algorithms presented herein.

Beam division multiple access transmission for massive MIMO communications

We study multicarrier multiuser multiple-input multiple-output (MU-MIMO) systems, in which the base station employs an asymptotically large number of antennas. We analyze a fully correlated channel matrix and provide a beam domain channel model, where the channel gains are independent of sub-carriers. For this model, we first derive a closed-form upper bound on the achievable ergodic sum-rate, based on which, we develop asymptotically necessary and sufficient conditions for optimal downlink transmission that require only statistical channel state information at the transmitter. Furthermore, we propose a beam division multiple access (BDMA) transmission scheme that simultaneously serves multiple users via different beams. By selecting users within non-overlapping beams, the MU-MIMO channels can be equivalently decomposed into multiple single-user MIMO channels; this scheme significantly reduces the overhead of channel estimation, as well as, the processing complexity at transceivers. For BDMA transmission, we work out an optimal pilot design criterion to minimize the mean square error (MSE) and provide optimal pilot sequences by utilizing the Zadoff-Chu sequences. Simulations demonstrate the near-optimal performance of BDMA transmission and the advantages of the proposed pilot sequences.

Exploiting Significance of Computations for Energy-Constrained Approximate Computing

Approximate execution is a viable technique for environments with energy constraints, provided that applications are given the mechanisms to produce outputs of the highest possible quality within the available energy budget. This paper introduces a framework for energy-constrained execution with controlled and graceful quality loss. A simple programming model allows developers to structure the computation in different tasks, and to express the relative importance of these tasks for the quality of the end result. For non-significant tasks, the developer can also supply less costly, approximate versions. The target energy consumption for a given execution is specified when the application is launched. A significance-aware runtime system employs an application-specific analytical energy model to decide how many cores to use for the execution, the operating frequency for these cores, as well as the degree of task approximation, so as to maximize the quality of the output while meeting the user-specified energy constraints. Evaluation on a dual-socket 16-core Intel platform using 9 benchmark kernels shows that the proposed framework picks the optimal configuration with high accuracy. Also, a comparison with loop perforation (a well-known compile-time approximation technique), shows that the proposed framework results in significantly higher quality for the same energy budget.

Neuropeptides display antimicrobial activity against cariogenic and endodontic bacteria

Introduction: Many neuropeptides are similar in size, amino acid composition and charge to antimicrobial peptides. It is therefore possible that the nervous system employs neuropeptides as antimicrobial agents by delivering them rapidly and precisely to innervated sites such as the dental pulp. Objectives: The aim of this study was to determine whether the neuropeptides substance P (SP), neurokinin A (NKA), calcitonin gene-related peptide (CGRP), neuropeptide Y (NPY) and vasoactive intestinal polypeptide (VIP), which we have previously shown to be present in dental pulp, displayed antimicrobial activity against the cariogenic bacterium Streptococcus mutans and the endodontic bacterium Enterococcus faecalis. Methods: Neuropeptides were purchased from Bachem and utilised in antibacterial assays using a previously described ultra sensitive radial diffusion method. Results: Antimicrobial activity was identified as clear zones around neuropeptide-containing wells. NPY was found to exhibit antimicrobial against both Streptococcus mutans and Enterococcus faecalis. SP and VIP were shown to exhibit antimicrobial activity against Streptococcus mutans only. The neuropeptides NKA and CGRP did not show antimicrobial activity against either micro-organism. Conclusion: This study is the first to describe an antimicrobial role for neuropeptides in pulp biology. The antimicrobial actions of neuropeptides contribute a novel aspect to pulpal defence against cariogenic and endodontic bacteria worthy of further investigation.

DocLite: A Docker-Based Lightweight Cloud Benchmarking Tool

Existing benchmarking methods are time consuming processes as they typically benchmark the entire Virtual Machine (VM) in order to generate accurate performance data, making them less suitable for real-time analytics. The research in this paper is aimed to surmount the above challenge by presenting DocLite - Docker Container-based Lightweight benchmarking tool. DocLite explores lightweight cloud benchmarking methods for rapidly executing benchmarks in near real-time. DocLite is built on the Docker container technology, which allows a user-defined memory size and number of CPU cores of the VM to be benchmarked. The tool incorporates two benchmarking methods - the first referred to as the native method employs containers to benchmark a small portion of the VM and generate performance ranks, and the second uses historic benchmark data along with the native method as a hybrid to generate VM ranks. The proposed methods are evaluated on three use-cases and are observed to be up to 91 times faster than benchmarking the entire VM. In both methods, small containers provide the same quality of rankings as a large container. The native method generates ranks with over 90% and 86% accuracy for sequential and parallel execution of an application compared against benchmarking the whole VM. The hybrid method did not improve the quality of the rankings significantly.