Multi-level virtual ring : a foundation network architecture to support peer-to-peer application in wireless sensor network

Two main problems prevent the deployment of peer-to-peer application in a wireless sensor network: the index table, which should be distributed stored rather than uses a central server as the director; the unique node identifier, which cannot use the global addresses. This paper presents a multi-level virtual ring (MVR) structure to solve these two problems.

The index table in MVR is distributed stored by using the DHT technique. MVR is constructed decentralized and runs on mobile nodes themselves, requiring no central server or interruption. Naming system in MVR uses natural names rather than global addresses to identify sensor nodes. The MVR can route directly on the name identifiers of the sensor nodes without being aware the location. Some sensor nodes are selected as the backbone nodes by the backbone selection algorithm and are placed on the different levels of the virtual rings. MVR hashes nodes’ identifiers on the virtual ring, and stores them at the backbone nodes. Furthermore, MVR adopts cross-level routing to improve the routing efficiency.

Experiments using ns2 simulator for up to 200 nodes show that the storage and bandwidth requirements of MVR grow slowly with the size of the network. Furthermore, MVR has demonstrated as self-administrating, fault-tolerant, and resilient under the different workloads.

Parental perceptions of residential location : impacts on children's health

This study explored families’ views and experiences of their residential location in relation to their children's health. Thematic analysis of interviews with mothers revealed that decisions to live in an outer Melbourne municipality were strongly influenced by ideals around children however; all spoke of experiencing difficulties in raising children in terms of accessing services, recreation facilities, transport and work. Analysis of these findings using Bronfenbrenner's Social Ecology Model revealed how factors could interact to affect children's health and wellbeing. The study findings highlight the importance of parental perceptions of residential location in understanding the relationship between children's health and place.

Dynamic addressing in wireless sensor networks without location awareness

Sensor Networks have applications in diverse fields. They can be deployed for habitat modeling, temperature monitoring and industrial sensing. They also find applications in battlefield awareness and emergency (first) response situations. While unique addressing is not a requirement of many data collecting applications of wireless sensor networks, it is vital for the success of applications such as emergency response. Data that cannot be associated with a specific node becomes useless in such situations. In this work we propose a novel dynamic addressing mechanism for wireless sensor networks that are not location-aware. The scheme enables successful reuse of addresses in event-driven wireless sensor networks introducing minimal latencies and efficiently addressing packet loss. It also eliminates the need for network-wide Duplicate Address Detection (DAD) to ensure uniqueness of network level addresses.

Designing optimal fault tolerant Jacobian for robotic manipulators

Fault tolerance of robotic manipulators is determined based on the fault tolerance measures. In this study a Jacobian of a 7DOF optimal fault tolerant manipulator is designed based on optimality of worse case relative manipulability and worse case dexterity from geometric perspective instead of numerical solution of constrained optimisation problem or construction of optimal Jacobean through a desired null space. The proposed Jacobean matrix is optimal and equally fault tolerant for a single joint failure within any joint of the manipulators.

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.

Fault tolerance operation of cooperative manipulators

Autonomous or teleoperation of critical tasks in space applications require fault tolerant robotic manipulators. These manipulators are able to maintain their tasks even if a joint fails. If it is presumed that the manipulator is fault tolerant on its trajectory, then the next step is to provide a fault tolerant force at the end-effector of the manipulator. The problem of cooperative fault tolerant force is addressed in this paper within the operation of two manipulators. The cooperative manipulators are used to compensate the force jump which occurs on the force of the end-effector of one manipulator due to a joint failure. To achieve fault tolerant operation, the contribution of the faulty joint for the force of the end-effector of the faulty manipulator is required to be optimally mapped into the torque of the faulty and healthy manipulators. The optimal joint torque reconfigurations of both manipulators for compensating this force jump are illustrated. The proposed frameworks are deployed for two cooperative PUMA560 manipulators. The results of the case studies validate the fault tolerant cooperation strategies.

Joint velocity redistribution for fault tolerant manipulators

If the end-effector of a robotic manipulator moves on a specified trajectory, then for the fault tolerant operation, it is required that the end-effector continues the trajectory with a minimum velocity jump when a fault occurs within a joint. This problem is addressed in the paper. A way to tolerate the fault is to find new joint velocities for the faulty manipulator in which results into the same end-effector velocity provided by the healthy manipulator. The aim of this study is to find a strategy which optimally redistributes the joint velocities for the remained healthy joints of the manipulators. The optimality is defined by the minimum end-effector velocity jump. A solution of the problem is presented and it is applied to a robotics manipulator. Then through a case study and a simulation study it is validated. The paper shows that if would be possible the joint velocity redistribution results into a zero velocity jump.

Blank page : the location of creativity

Whether one writes in the field of literary studies or that of creative writing, one begins with the 'blank page'. The field of interest I am calling the 'blank page' has implications for the discipline of creative writing, and can be useful to theorising creativity, writing practice, and pedagogy. One creates out of, or into, the 'blank page '; one's practice is partly determined by how one theorises, however subconsciously, this blank page (how does one start? how blank is the page? how have others figured the blank page); and one teaches students who have to face literal blank pages. ln this paper I will consider how the theorisation of the blank page in literary studies addresses such creative-writing issues. I will then engage D.W. Winnicott's psychoanalytic theory on 'the location of play' to consider the implications of conceptualising the blank page as 'the location of writing'. A Winnicottian approach to the blank page, as a space akin to the potential space of play, allows various insights into the process of writing, especially as a proccss involving paradox.

Fault-tolerant scheduling with dynamic number of replicas in heterogeneous systems

In the existing studies on fault-tolerant scheduling, the active replication schema makes use of ε + 1 replicas for each task to tolerate ε failures. However, in this paper, we show that it does not always lead to a higher reliability with more replicas. Besides, the more replicas implies more resource consumption and higher economic cost. To address this problem, with the target to satisfy the user’s reliability requirement with minimum resources, this paper proposes a new fault tolerant scheduling algorithm: MaxRe. In the algorithm, we incorporate the reliability analysis into the active replication schema and the theoretical analysis and experiments prove that the MaxRe algorithm’s schedule can certainly satisfy user’s reliability requirements. And the MaxRe scheduling algorithm can achieve the corresponding reliability with at most 70% fewer resources than the FTSA algorithm.

Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control

This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.

e-learning through digital theatre : breaking down the tyranny of distance and limits of location

In this article, we report on a cross-disciplinary, cross-cultural digital exchange project between Australian Drama and Education students and Dutch English Language and Culture students, and examine the impact of the place-independent, technology-mediated communications and collaboration on their learning trajectories. The intensive, intercultural collaboration between the two groups of students resulted in a 50-minute group-devised, digital theatre play entitled Quarter Acre Dreaming. This play, performed through live interactive media by both Dutch and Australian students, traced the historical development of the Australian suburb, while integrating scenes of Dutch immigration into Australia. In the creative process, the students on either side of the globe interacted through Computer-Mediated Communication (CMC), and used videoconferencing and Skype for live rehearsals and discussions to advance their learning of English, their performance repertoire and cross-cultural understanding.

A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries

Design of locally optimal fault tolerant manipulators has been recently addressed via using the constraints of the desired null space for the Jacobian matrix of the manipulators. In the present paper the Jacobian matrices for optimal fault tolerance are presented based on geometric properties of column vectors instead of the null space. They are equally fault tolerant to a single joint failure from the worst-case relative manipulability and worst-case dexterity points of view. The optimality is achieved through a symmetric distribution of points on spheres.