Motion control and real-time systems: an approach to trajectory rebuilding in non-deterministic networks

Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device. In motion control the position, velocity, force, pressure, etc., profiles are designed in such a way that the different mechanical parts work as an harmonious whole in which a perfect synchronization must be achieved. The real-time exchange of information in the distributed system that is nowadays an industrial plant plays an important role in order to achieve always better performance, better effectiveness and better safety. The network for connecting field devices such as sensors, actuators, field controllers such as PLCs, regulators, drive controller etc., and man-machine interfaces is commonly called fieldbus. Since the motion transmission is now task of the communication system, and not more of kinematic chains as in the past, the communication protocol must assure that the desired profiles, and their properties, are correctly transmitted to the axes then reproduced or else the synchronization among the different parts is lost with all the resulting consequences. In this thesis, the problem of trajectory reconstruction in the case of an event-triggered communication system is faced. The most important feature that a real-time communication system must have is the preservation of the following temporal and spatial properties: absolute temporal consistency, relative temporal consistency, spatial consistency. Starting from the basic system composed by one master and one slave and passing through systems made up by many slaves and one master or many masters and one slave, the problems in the profile reconstruction and temporal properties preservation, and subsequently the synchronization of different profiles in network adopting an event-triggered communication system, have been shown. These networks are characterized by the fact that a common knowledge of the global time is not available. Therefore they are non-deterministic networks. Each topology is analyzed and the proposed solution based on phase-locked loops adopted for the basic master-slave case has been improved to face with the other configurations.

Middleware per la gestione di interfacce di comunicazione e di sorgenti di contesto in ambienti wireless eterogenei

The full exploitation of multi-hop multi-path connectivity opportunities offered by heterogeneous wireless interfaces could enable innovative Always Best Served (ABS) deployment scenarios where mobile clients dynamically self-organize to offer/exploit Internet connectivity at best. Only novel middleware solutions based on heterogeneous context information can seamlessly enable this scenario: middleware solutions should i) provide a translucent access to low-level components, to achieve both fully aware and simplified pre-configured interactions, ii) permit to fully exploit communication interface capabilities, i.e., not only getting but also providing connectivity in a peer-to-peer fashion, thus relieving final users and application developers from the burden of directly managing wireless interface heterogeneity, and iii) consider user mobility as crucial context information evaluating at provision time the suitability of available Internet points of access differently when the mobile client is still or in motion. The novelty of this research work resides in three primary points. First of all, it proposes a novel model and taxonomy providing a common vocabulary to easily describe and position solutions in the area of context-aware autonomic management of preferred network opportunities. Secondly, it presents PoSIM, a context-aware middleware for the synergic exploitation and control of heterogeneous positioning systems that facilitates the development and portability of location-based services. PoSIM is translucent, i.e., it can provide application developers with differentiated visibility of data characteristics and control possibilities of available positioning solutions, thus dynamically adapting to application-specific deployment requirements and enabling cross-layer management decisions. Finally, it provides the MMHC solution for the self-organization of multi-hop multi-path heterogeneous connectivity. MMHC considers a limited set of practical indicators on node mobility and wireless network characteristics for a coarsegrained estimation of expected reliability/quality of multi-hop paths available at runtime. In particular, MMHC manages the durability/throughput-aware formation and selection of different multi-hop paths simultaneously. Furthermore, MMHC provides a novel solution based on adaptive buffers, proactively managed based on handover prediction, to support continuous services, especially by pre-fetching multimedia contents to avoid streaming interruptions.

Emotional engagement and brain potentials: repetition in affective picture processing

The present thesis addresses several experimental questions regarding the nature of the processes underlying the larger centro-parietal Late Positive Potential (LPP) measured during the viewing of emotional(both pleasant and unpleasant) compared to neutral pictures. During a passive viewing condition, this modulatory difference is significantly reduced with picture repetition, but it does not completely habituate even after a massive repetition of the same picture exemplar. In order to investigate the obligatory nature of the affective modulation of the LPP, in Study 1 we introduced a competing task during repetitive exposure of affective pictures. Picture repetition occurred in a passive viewing context or during a categorization task, in which pictures depicting any mean of transportation were presented as targets, and repeated pictures (affectively engaging images) served as distractor stimuli. Results indicated that the impact of repetition on the LPP affective modulation was very similar between the passive and the task contexts, indicating that the affective processing of visual stimuli reflects an obligatory process that occurs despite participants were engaged in a categorization task. In study 2 we assessed whether the decrease of the LPP affective modulation persists over time, by presenting in day 2 the same set of pictures that were massively repeated in day 1. Results indicated that the reduction of the emotional modulation of the LPP to repeated pictures persisted even after 1-day interval, suggesting a contribution of long-term memory processes on the affective habituation of the LPP. Taken together, the data provide new information regarding the processes underlying the affective modulation of the late positive potential.