Cross-Layer Admission Control to Enhance the Support of Real-Time Applications in WSN

Real-time monitoring applications may be used in a wireless sensor network (WSN) and may generate packet flows with strict quality of service requirements in terms of delay, jitter, or packet loss. When strict delays are imposed from source to destination, the packets must be delivered at the destination within an end-to-end delay (EED) hard limit in order to be considered useful. Since the WSN nodes are scarce both in processing and energy resources, it is desirable that they only transport useful data, as this contributes to enhance the overall network performance and to improve energy efficiency. In this paper, we propose a novel cross-layer admission control (CLAC) mechanism to enhance the network performance and increase energy efficiency of a WSN, by avoiding the transmission of potentially useless packets. The CLAC mechanism uses an estimation technique to preview packets EED, and decides to forward a packet only if it is expected to meet the EED deadline defined by the application, dropping it otherwise. The results obtained show that CLAC enhances the network performance by increasing the useful packet delivery ratio in high network loads and improves the energy efficiency in every network load.

Visualizing control systems performance: A fractional perspective

This article presents a novel method for visualizing the control systems behavior. The proposed scheme uses the tools of fractional calculus and computes the signals propagating within the system structure as a time/frequency-space wave. Linear and nonlinear closed-loop control systems are analyzed, for both the time and frequency responses, under the action of a reference step input signal. Several nonlinearities, namely, Coulomb friction and backlash, are also tested. The numerical experiments demonstrate the feasibility of the proposed methodology as a visualization tool and motivate its extension for other systems and classes of nonlinearities.

A cooperação informal para a internacionalização

Dissertação de Mestrado em Gestão e Internacionalização de Empresas

Adaptação Cultural e Linguística do Trunk Control Test: avaliação das propriedades psicométricas

Introdução: O controlo postural do tronco é um fator preditivo de autonomia, sendo fundamental a existência de instrumentos válidos e fiáveis a fim da sua avaliação na população portuguesa. Objetivo: Traduzir e adaptar o Trunk Control Test (TCT) para a população portuguesa em indivíduos após AVE e avaliar as suas propriedades psicométricas. Métodos: O TCT foi sujeito aos processos de tradução e retroversão para a população portuguesa por dois tradutores bilingues e realizadas duas reuniões com painel de peritos na área. Avaliou-se a validade, a fiabilidade, a sensibilidade, a especificidade e o poder de resposta em 19 indivíduos com AVE. Para avaliar a validade de critério os indivíduos foram adicionalmente submetidos à Escala de Equilíbrio de Berg (EEB), à Avaliação Motora de Rivermead (AMR) e à Escala de Comprometimento do Tronco (ECT). A fiabilidade inter-observadores foi garantida por uma segunda amostra de 25 fisioterapeutas, através da avaliação do desempenho de um participante no TCT. Os dados foram analisados no programa SPSS 22.0. Resultados: O TCT apresentou baixa consistência interna ( =0,523) e fiabilidade inter-observadores substancial (k=0,662). Obteve-se forte correlação do TCT com a ECT (r=0,885) e AMR (r=0,864), e correlação moderada com a EEB (r=0,700). A validade de construção aponta para uma moderada correlação entre itens (KMO=0,755; Bartlett=0,001). Não foi possível obter os valores de sensibilidade, especificidade e poder de resposta do TCT. Conclusão: O estudo demonstrou que o TCT é um instrumento válido e fiável na avaliação da população portuguesa após AVE.

Robot Manipulator Systems: Analysis and Control

Manipulator systems are rather complex and highly nonlinear which makes difficult their analysis and control. Classic system theory is veil known, however it is inadequate in the presence of strong nonlinear dynamics. Nonlinear controllers produce good results [1] and work has been done e. g. relating the manipulator nonlinear dynamics with frequency response [2–5]. Nevertheless, given the complexity of the problem, systematic methods which permit to draw conclusions about stability, imperfect modelling effects, compensation requirements, etc. are still lacking. In section 2 we start by analysing the variation of the poles and zeros of the descriptive transfer functions of a robot manipulator in order to motivate the development of more robust (and computationally efficient) control algorithms. Based on this analysis a new multirate controller which is an improvement of the well known “computed torque controller” [6] is announced in section 3. Some research in this area was done by Neuman [7,8] showing tbat better robustness is possible if the basic controller structure is modified. The present study stems from those ideas, and attempts to give a systematic treatment, which results in easy to use standard engineering tools. Finally, in section 4 conclusions are presented.