Performance optimization for energy-aware adaptive checkpointing in embedded real-time systems

Using additional store-checkpoinsts (SCPs) and compare-checkpoints (CCPs), we present an adaptive checkpointing for double modular redundancy (DMR) in this paper. The proposed approach can dynamically adjust the checkpoint intervals. We also design methods to calculate the optimal numbers of checkpoints, which can minimize the average execution time of tasks. Further, the adaptive checkpointing is combined with the DVS (dynamic voltage scaling) scheme to achieve energy reduction. Simulation results show that, compared with the previous methods, the proposed approach significantly increases the likelihood of timely task completion and reduces energy consumption in the presence of faults.

Luminescence and microstructure of Sr2Mg(BO3)2 doped with Eu

Sr₂Mg(B0₃)₂ doped with Eu was synthesized respectively in air and weak reducing atmosphere (combustion of carbon particle), whose photoluminescence characteristics and structure were also studied at room-temperature. In air, the fluorescent body's color was white for different synthesized temperatures. At room temperature, the sample was excited and showed red typical emission spectrum of Eu³⁺ whose emission apex were sharp near 612 nm and emission spect~m was made up of the charge transformation band (CTB) of Eu^{3 +} and excitation spectrum of 4f→4f high energy level transition, then reached the area of VUV. However, under reducing atmosphere (combustion of carbon particles), the color of the sample yielded was yellow, whose color became deeper with increasing temperature and showed phase transition. Using UV excitation, the luminescence of yellow sample was very weak. In a complicated broad spectrum at visible light area, the red emission spectrum of Eu²⁺ was not observed. Crystal structure and luminescence of the sample were completely different from the results of Diaz and Keszler. Two samples were prepared under oxidation and reducing atmosphere at high temperature, which were different on crystal structure and microstructure. By studying Sr₂Mg(B0₃)₂:Eu³⁺ a series of directional faults or educts were found, because Eu^{3 +} ions substituted for Sr^{2 +} ions. However, microstructure of Sr₂Mg(B0₃ )₂: Eu^{2 +} is more complicated, whose excitation spectrum might be excited by Eu^{2 +}. By XRD patten of the samples, phase transitibn could be found. Twins and clusters that were formed from point defect such as interstitial atom and big angle crystal boundary could be found by TEM.

Growth and structure of prismatic boron nitride nanorods

Prismatic boron nitride nanorods have been grown on single crystal silicon substrates by mechanical ball-milling followed by annealing at 1300 °C. Growth takes place by rapid surface diffusion of BN molecules, and follows heterogeneous nucleation at catalytic particles of an Fe/Si alloy. Lattice imaging transmission electron microscopy studies reveal a central axial row of rather small truncated pyramidal nanovoids on each nanorod, surrounded by three basal planar BN domains which, with successive deposition of epitaxial layers adapt to the void geometry by crystallographic faceting. The bulk strain in the nanorods is taken up by the presence of what appear to be simple nanostacking faults in the external, near-surface domains which, like the nanovoids are regularly repetitive along the nanorod length. Growth terminates with a clear cuneiform tip for each nanorod. Lateral nanorod dimensions are essentially determined by the size of the catalytic particle, which remains as a foundation essentially responsible for base growth. Growth, structure, and dominating facets are shown to be consistent with a system which seeks lowest bulk and surface energies according to the well-known thermodynamics of the capillarity of solids.

The effects of an apparent breach of therapeutic regulations on consumers: the Pan Pharmaceuticals recall

The aim of this study was to assess how demographic variables and personal values are related to people's knowledge and cognitive and behavioural responses towards a major drug recall event that occurred in Australia in 2003. For this purpose, a survey was sent out in 2003 to 1000 households in Victoria, Australia. Households had been randomly selected from the electoral role. A total of 415 respondents participated. Results indicated that higher socioeconomic status was related to better information about the recall event and more trust in manufacturers. Respondents who held traditional or naturalistic values were likely to trust that faults in the system would be regulated by the government or consumers themselves. Parents and older respondents were more likely to be critical of the Therapeutic Goods Administration which co-ordinated the recall. Parental status, education and values were related to subsequent changes in respondents' use of complementary medicines. In light of the worth of the health supplement industry to the Australian economy, the results of this survey suggest that the Therapeutic Goods Administration should adopt a more transparent and accountable role towards the public.

Development of DAL and DAPL languages for building distributed applications

A common characteristic among parallel/distributed programming languages is that the one language is used to specify not only the overall organisation of the distributed application, but also the functionality of the application. That is, the connectivity and functionality of processes are specified within a single program. Connectivity and functionality are independent aspects of a distributed application. This thesis shows that these two aspects can be specified separately, therefore allowing application designers to freely concentrate on either aspect in a modular fashion. Two new programming languages have been developed for specifying each aspect. These languages are for loosely coupled distributed applications based on message passing, and have been designed to simplify distributed programming by completely removing all low level interprocess communication. A suite of languages and tools has been designed and developed. It includes the two new languages, parsers, a compilation system to generate intermediate C code that is compiled to binary object modules, a run-time system to create, manage and terminate several distributed applications, and a shell to communicate with the run-tune system. DAL (Distributed Application Language) and DAPL (Distributed Application Process Language) are the new programming languages for the specification and development of process oriented, asynchronous message passing, distributed applications. These two languages have been designed and developed as part of this doctorate in order to specify such distributed applications that execute on a cluster of computers. Both languages are used to specify orthogonal components of an application, on the one hand the organisation of processes that constitute an application, and on the other the interface and functionality of each process. Consequently, these components can be created in a modular fashion, individually and concurrently. The DAL language is used to specify not only the connectivity of all processes within an application, but also a cluster of computers for which the application executes. Furthermore, sub-clusters can be specified for individual processes of an application to constrain a process to a particular group of computers. The second language, DAPL, is used to specify the interface, functionality and data structures of application processes. In addition to these languages, a DAL parser, a DAPL parser, and a compilation system have been designed and developed (in this project). This compilation system takes DAL and DAPL programs to generate object modules based on machine code, one module for each application process. These object modules are used by the Distributed Application System (DAS) to instantiate and manage distributed applications. The DAS system is another new component of this project. The purpose of the DAS system is to create, manage, and terminate many distributed applications of similar and different configurations. The creation procedure incorporates the automatic allocation of processes to remote machines. Application management includes several operations such as deletion, addition, replacement, and movement of processes, and also detection and reaction to faults such as a processor crash. A DAS operator communicates with the DAS system via a textual shell called DASH (Distributed Application SHell). This suite of languages and tools allowed distributed applications of varying connectivity and functionality to be specified quickly and simply at a high level of abstraction. DAL and DAPL programs of several processes may require a few dozen lines to specify as compared to several hundred lines of equivalent C code that is generated by the compilation system. Furthermore, the DAL and DAPL compilation system is successful at generating binary object modules, and the DAS system succeeds in instantiating and managing several distributed applications on a cluster.

Unusual corrugated nanowires of zinc oxide

We report an previous termunusualnext term morphology of ZnO previous termnanowiresnext term with a hexagonal cross-section and previous termcorrugatednext term side walls. previous termNanowiresnext term grow along the [0 0 0 1] direction and possess side walls built predominantly with facets of {1 0 1¯ 1} and {1 0 1¯ 1¯} families. Such a morphology deviates dramatically from the well-known growth habit of ZnO previous termnanowiresnext term that involves smooth side walls represented by {1 0 1¯ 0} or {1 1 2¯ 0} facets with the lowest surface energy. The formation of previous termcorrugated nanowiresnext term is attributed to the lateral growth activated by the high vapor supersaturation and the presence of stacking faults.

Thermo-mechanical processing and the shape memory effect in an Fe–Mn–Si-based shape memory alloy

The effect of cold rolling and annealing on the shape memory effect (SME) in an Fe–Mn–Si-based alloy has been studied. It has been found
that the SME in these alloys can be significantly increased by the appropriate thermo-mechanical processing (TMP). The optimum conditions
were found to be 15% cold rolling followed by annealing at 800 ◦C for 15 min. This produced a total strain recovery of 4.5%. TEM showed that
this processing schedule produces a microstructure of evenly spaced, and well defined stacking faults throughout the parent phase. It is shown for
the first time that samples processed in this way produce a larger fraction of martensite compared to samples in the as-austenitized condition. It
is concluded that the stacking faults induced by TMP act as nucleation sites for martensite formation during deformation. The SME is improved
primarily as a result of the increased amount of martensite that is formed in this condition.

Fault tolerance force for redundant manipulators

Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating joint torques of the healthy joints to maintain the force. This paper addresses the optimal mapping to minimize the force jump due to a fault, which is the maximum effort to maintain the force when a fault occurs. The paper studies the locked joint fault/s of the redundant manipulators and it relates the force jump at the end-effector to the faults within the joints. Adding on a previous study to maintain the trajectory, in here the objective is to providing fault tolerant force at the end-effector of the redundant manipulators. This optimal mapping with minimum force jump is presented using matrix perturbation model. And the force jump is calculated through this model for single and multiple joints fault. The proposed optimal mapping is used in different fault scenarios for a 5-DOF manipulator; also it is deployed to compensate the force at the end-effector for the 5-DOF manipulator through simulation study and the results are presented.

Minimum reconfiguration for fault tolerant manipulators

When a robotic manipulator is fault tolerant it is beneficial to study the configurations which tolerate non-catastrophic locked joint failures with a minimum relative change for the joint velocities. This problem is addressed using the properties of the condition number of the Jacobian matrix. The relationship between the faults within the joints of the manipulators and the condition number of the Jacobean matrix is used to introduce the optimal configurations for fault recovery. These optimum configurations require a minimum reconfiguration for fault tolerance of robotics manipulators. Then these configurations are studied for a 4-DOF planar manipulator to validate the proposed framework.

Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump

Fault tolerance for a class of non linear systems is addressed based on the velocity of their output variables. This paper presents a mapping to minimize the possible jump of the velocity of the output, due to the actuator failure. The failure of the actuator is assumed as actuator lock. The mapping is derived and it provides the proper input commands for the healthy actuators of the system to tolerate the effect of the faulty actuator on the output of the system. The introduced mapping works as an optimal input reconfiguration for fault recovery, which provides a minimum velocity jump suitable for static nonlinear systems. The proposed mapping is validated through different case studies and a complementary simulation. In the case studies and the simulation, the mapping provides the commands to compensate the effect of different faults within the joints of a robotic manipulator. The new commands and the compare between the velocity of the output variables for the health and faulty system are presented.

Task completion with partially-failed manipulators

An effort to maintain the availability of partially failed manipulator is addressed based on redundant trajectories obtained by primitive constraints. The objective is to facilitate the existing manipulators to continue their point to point motion tasks when a non catastrophic fault occurs into a joint. The fault is assumed as a joint locked failure. This is achieved through fault to primitive constraints mapping which gives the primitive constraints due to the faults. Then they are applied to update the manipulator constraints for the trajectory planning. Then it purposes a new trajectory in the case of availability. Finally the method is applied for a 6DOF manipulator and validated under a fault scenario within a simulation study and the results are presented.

Improving wool/polyester yarn quality by transposal spinning with movable balloon control ring

To improve yarn quality in ring spinning frame, this paper examines transposal spinning with the movable balloon control ring. The left-transposal spinning and the right-transposal spinning were experimented to spin two yarns; after installing the movable balloon control ring, the two methods were respectively used to spin two other yarns again. All the experiments were on the same ring frame and the raw material was wool/polyester blend roving with a ration of 30/70. The main quality indexes of the four yarns were tested and analyzed, including hairiness, tensile property, evenness and usual faults. The results show that the yarn spun by the left-transposal spinning has a better quality than the right-transposal spinning, and after adding the movable balloon control ring, the improvement of yarn hairiness strength and evenness, as well usual faults, is very obvious. So, in the advantage of transposal spinning, the method of installing the movable balloon control ring can improve some deteriorative problems and make yarn quality better. In addition, the method gives new insight into energy efficiency. The research in this field in on the way and the result is in accord with the Low-carbon Economy.

Well-conditioned configurations of fault-tolerant manipulators

Fault-tolerant motion of redundant manipulators can be obtained by joint velocity reconfiguration. For fault-tolerant manipulators, it is beneficial to determine the configurations that can tolerate the locked-joint failures with a minimum relative joint velocity jump, because the manipulator can rapidly reconfigure itself to tolerate the fault. This paper uses the properties of the condition numbers to introduce those optimal configurations for serial manipulators. The relationship between the manipulator's locked-joint failures and the condition number of the Jacobian matrix is indicated by using a matrix perturbation methodology. Then, it is observed that the condition number provides an upper bound of the required relative joint velocity change for recovering the faults which leads to define the optimal fault-tolerant configuration from the minimization of the condition number. The optimization problem to obtain the minimum condition number is converted to three standard Eigen value optimization problems. A solution is for selected optimization problem is presented. Finally, in order to obtain the optimal fault-tolerant configuration, the proposed method is applied to a 4-DoF planar manipulator.

A mutation-based evolving neural network model and its application to condition monitoring

Data analysis using intelligent systems is a key solution to many industrial problems. In this paper, a mutation-based evolving artificial neural network, which is based on an integration of the Fuzzy ARTMAP (FAM) neural network and evolutionary programming (EP), is proposed. The proposed FAMEP model is applied to detect and classify possible faults from a number of sensory signals of a circulating water system in a power generation plant. The efficiency of FAM-EP is assessed and compared with that of the original FAM network in terms of classification accuracy as well as network complexity. In addition, the bootstrap method is used to quantify the performance statistically. The results positively demonstrate the usefulness of FAM-EP in tackling data classification problems.