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.

Terminal sliding mode control strategy design for second-order nonlinear system

This study mainly focuses on the terminal sliding mode control (TSMC) strategy design, including an adaptive terminal sliding mode control (ATSMC) and an exact-estimator-based terminal sliding mode control (ETSMC) for second-order nonlinear dynamical systems. In the ATSMC system, an adaptive bound estimation for the lump uncertainty is proposed to ensure the system stability. On the other hand, an exact estimator is designed for exact estimating system uncertainties to solve the trouble of chattering phenomena caused by a sign function in ATSMC law in despite of the utilization of a fixed value or an adaptive tuning algorithm for the lumped uncertainty bound. The effectiveness of the proposed control schemes can be verified in numerical simulations.

Chaotic synchronization of time-delay coupled Hindmarsh–Rose neurons via nonlinear control

Chaotic synchronization of two time-delay coupled Hindmarsh–Rose neurons via nonlinear control is investigated in this paper. Both the intrinsic slow current delay in a single Hindmarsh–Rose neuron and the coupling delay between the two neurons are considered. When there is no control, chaotic synchronization occurs for a limited range of the coupling strength and the time-delay values. To obtain complete chaotic synchronization irrespective of the time-delay or the coupling strength, we propose two nonlinear control schemes. The first uses adaptive control for chaotic synchronization of two electrically coupled delayed Hindmarsh–Rose neuron models. The second derives the sufficient conditions to ensure a complete synchronization between master and slave models through appropriate Lyapunov–Krasovskii functionals and the linear matrix inequality technique. Numerical simulations are carried out to show the effectiveness of the proposed methods.

A simple motion heuristic for controlling mobile sinks in delay tolerant sensor networks

Optimising energy consumption in wireless sensor networks is of dominant importance. Sink mobility is introduced to deal with this problem by approaching the sensor nodes and collecting their data buffers using the less energy demanding single-hop communication. The sink route is very crucial for the data collection operation performed in the network especially when the collection requests generated by the sensors are revealed dynamically to the sink and not known ahead. This paper presents a practical motion heuristic for constructing the sink route based on the dynamic arrival of the collection requests. Three control schemes are proposed for coordinating the interaction of multiple mobile sinks collectively performing the data collection in the network. The main objective is maximising the data collected by each mobile sink while minimising the sleeping time of each sensor awaiting the collection service. Simulation results show the performance of the mobile sinks under the proposed control schemes and the impact of the motion heuristic on the sensors' sleeping time in the network.

Sustainability analysis and resource management for wireless mesh networks with renewable energy supplies

 There is a growing interest in the use of renewable energy sources to power wireless networks in order to mitigate the detrimental effects of conventional energy production or to enable deployment in off-grid locations. However, renewable energy sources, such as solar and wind, are by nature unstable in their availability and capacity. The dynamics of energy supply hence impose new challenges for network planning and resource management. In this paper, the sustainable performance of a wireless mesh network powered by renewable energy sources is studied. To address the intermittently available capacity of the energy supply, adaptive resource management and admission control schemes are proposed. Specifically, the goal is to maximize the energy sustainability of the network, or equivalently, to minimize the failure probability that the mesh access points (APs) deplete their energy and go out of service due to the unreliable energy supply. To this end, the energy buffer of a mesh AP is modeled as a G/G/1(/N) queue with arbitrary patterns of energy charging and discharging. Diffusion approximation is applied to analyze the transient evolution of the queue length and the energy depletion duration. Based on the analysis, an adaptive resource management scheme is proposed to balance traffic loads across the mesh network according to the energy adequacy at different mesh APs. A distributed admission control strategy to guarantee high resource utilization and to improve energy sustainability is presented. By considering the first and second order statistics of the energy charging and discharging processes at each mesh AP, it is demonstrated that the proposed schemes outperform some existing state-of-the-art solutions.

FEACS: a flexible and efficient access control scheme for cloud computing

In the past few years, cloud computing has emerged as one of the most influential paradigms in the IT industry. As promising as it is, this paradigm brings forth many new challenges for data security because users have to outsource sensitive data on untrusted cloud servers for sharing. In this paper, to guarantee the confidentiality and security of data sharing in cloud environment, we propose a Flexible and Efficient Access Control Scheme (FEACS) based on Attribute-Based Encryption, which is suitable for fine-grained access control. Compared with existing state-of-the-art schemes, FEACS is more practical by following functions. First of all, considering the factor that the user membership may change frequently in cloud environment, FEACS has the capability of coping with dynamic membership efficiently. Secondly, full logic expression is supported to make the access policy described accurately and efficiently. Besides, we prove in the standard model that FEACS is secure based on the Decisional Bilinear Diffie-Hellman assumption. To evaluate the practicality of FEACS, we provide a detailed theoretical performance analysis and a simulation comparison with existing schemes. Both the theoretical analysis and the experimental results prove that our scheme is efficient and effective for cloud environment.

Fuzzy logic controller and cascade inverter for direct torque control of IM

In this paper, a five-level cascaded H-bridge multilevel inverters topology is applied on induction motor control known as direct torque control (DTC) strategy. More inverter states can be generated by a five-level inverter which improves voltage selection capability. This paper also introduces two different control methods to select the appropriate output voltage vector for reducing the torque and flux error to zero. The first is based on the conventional DTC scheme using a pair of hysteresis comparators and look up table to select the output voltage vector for controlling the torque and flux. The second is based on a new fuzzy logic controller using Sugeno as the inference method to select the output voltage vector by replacing the hysteresis comparators and lookup table in the conventional DTC, to which the results show more reduction in torque ripple and feasibility of smooth stator current. By using Matlab/Simulink, it is verified that using five-level inverter in DTC drive can reduce the torque ripple in comparison with conventional DTC, and further torque ripple reduction is obtained by applying fuzzy logic controller. The simulation results have also verified that using a fuzzy controller instead of a hysteresis controller has resulted in reduction in the flux ripples significantly as well as reduces the total harmonic distortion of the stator current to below 4 %.

Query verification schemes for cloud-hosted databases: a brief survey

Database query verification schemes provide correctness guarantees for database queries. Typically such guarantees are required and advisable where queries are executed on untrusted servers. This need to verify query results, even though they may have been executed on one’s own database, is something new that has arisen with the advent of cloud services. The traditional model of hosting one’s own databases on one’s own servers did not require such verification because the hardware and software were both entirely within one’s control, and therefore fully trusted. However, with the economical and technological benefits of cloud services beckoning, many are now considering outsourcing both data and execution of database queries to the cloud, despite obvious risks. This survey paper provides an overview into the field of database query verification and explores the current state of the art in terms of query execution and correctness guarantees provided for query results. We also provide indications towards future work in the area.

Achieving simple, secure and efficient hierarchical access control in cloud computing

Access control is an indispensable security component of cloud computing, and hierarchical access control is of particular interest since in practice one is entitled to different access privileges. This paper presents a hierarchical key assignment scheme based on linear-geometry as the solution of flexible and fine-grained hierarchical access control in cloud computing. In our scheme, the encryption key of each class in the hierarchy is associated with a private vector and a public vector, and the inner product of the private vector of an ancestor class and the public vector of its descendant class can be used to derive the encryption key of that descendant class. The proposed scheme belongs to direct access schemes on hierarchical access control, namely each class at a higher level in the hierarchy can directly derive the encryption key of its descendant class without the need of iterative computation. In addition to this basic hierarchical key derivation, we also give a dynamic key management mechanism to efficiently address potential changes in the hierarchy. Our scheme only needs light computations over finite field and provides strong key indistinguishability under the assumption of pseudorandom functions. Furthermore, the simulation shows that our scheme has an optimized trade-off between computation consumption and storage space.