Coordinated runtime adaptations in cooperative open real-time systems

This paper proposes an one-step decentralised coordination model based on an effective feedback mechanism to reduce the complexity of the needed interactions among interdependent nodes of a cooperative distributed system until a collective adaptation behaviour is determined. Positive feedback is used to reinforce the selection of the new desired global service solution, while negative feedback discourages nodes to act in a greedy fashion as this adversely impacts on the provided service levels at neighbouring nodes. The reduced complexity and overhead of the proposed decentralised coordination model are validated through extensive evaluations.

Dynamic QoS adaptation of inter- dependent task sets in cooperative embedded systems

Due to the growing complexity and dynamism of many embedded application domains (including consumer electronics, robotics, automotive and telecommunications), it is increasingly difficult to react to load variations and adapt the system's performance in a controlled fashion within an useful and bounded time. This is particularly noticeable when intending to benefit from the full potential of an open distributed cooperating environment, where service characteristics are not known beforehand and tasks may exhibit unrestricted QoS inter-dependencies. This paper proposes a novel anytime adaptive QoS control policy in which the online search for the best set of QoS levels is combined with each user's personal preferences on their services' adaptation behaviour. Extensive simulations demonstrate that the proposed anytime algorithms are able to quickly find a good initial solution and effectively optimise the rate at which the quality of the current solution improves as the algorithms are given more time to run, with a minimum overhead when compared against their traditional versions.

A shared-disk parallel cluster file system

Dissertação apresentada para obtenção do Grau de Doutor em Informática Pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Multi-Objective and Financial Portfolio Optimization of Carrier-Sense Multiple Access Protocols with Cooperative Diversity

8th International Workshop on Multiple Access Communications (MACOM2015), Helsinki, Finland.

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Uncertainty based Multi-Robot Cooperative Triangulation

The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.

Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.

Cooperative strategies for imperfect CSI scenarios based on distributed Alamouti

Les comunicacions cooperatives estan guanyant un gran interès en les comunicacions modernes degut a que permeten millorar la transmissió dʼinformació entre un emissor i un receptor utilitzant una sèrie de terminals situats entre ells. Aquest projecte és un estudi complet del sistemes cooperatius, analitzant el seu rendiment i comparant lʼús dʼun sol dʼaquests terminals amb lʼús del codi Alamouti, que utilitza dos terminals. Primer hi ha una introducció als sistemes cooperatius i a la teoria de la informació. Després hem estudiat un sistema cooperatiu amb la teoria de la informació com a base, en termes de probabilitat de fallada del sistema, i posteriorment lʼhem adaptat a un sistema cooperatiu real utilitzant una modulació QPSK, estudiant la seva probabilitat dʼerror de paquet. Finalment es proposen diversos protocols que permeten millorar el rendiment del sistema cooperatiu estudiat.

Geodynamic reconstructions of the South America-Antarctica plate system

The South America-Antarctica plate system shows many oceanic accretionary systems and subduction zones that initiated and then stopped. To better apprehend the evolution of the system, geodynamic reconstructions (global) have been created from Jurassic (165 Ma) to present, following the techniques used at the University of Lausanne. However, additional synthetic magnetic anomalies were used to refine the geodynamics between 33 Ma and present. The reconstructions show the break up of Gondwana with oceanisation between South America (SAM) and Antarctica (ANT), together with the break off of `Andean' geodynamical units (GDUs). We propose that oceanisation occurs also east and south of the Scotian GDUs. Andean GDUs collide with other GDUs crossing the Pacific. The west coast of SAM and ANT undergo a subsequent collision with all those GDUs between 103 Ma and 84 Ma, and the Antarctic Peninsula also collides with Tierra del Fuego. The SAM-ANT plate boundary experienced a series of extension and shortening with large strike-slip component, culminating with intra-oceanic subduction leading to the presence of the `V-' and anomalies in the Weddell Sea. From 84 Ma, a transpressive collision takes place in the Scotia region, with active margin to the east. As subduction propagates northwards into an old and dense oceanic crust, slab roll-back initiates, giving rise to the western Scotia Sea and the Powell Basin opening. The Drake Passage opens. As the Scotian GDUs migrate eastwards, there is enough space for them to spread and allow a north-south divergence with a spreading axis acting simultaneously with the western Scotia ridge. Discovery Bank stops the migration of South Orkney and `collides with' the SAM-ANT spreading axis, while the northern Scotian GDUs are blocked against the Falkland Plateau and the North-East Georgia Rise. The western and central Scotia and the Powell Basin spreading axes must cease, and the ridge jumps to create the South Sandwich Islands Sea. The Tierra del Fuego-Patagonia region has always experienced mid-oceanic ridge subduction since 84 Ma. Slab window location is also presented (57-0 Ma), because of its important implication for heat flux and magmatism. (C) 2011 Elsevier Ltd. All rights reserved.

Role of Kras Status in Patients with Metastatic Colorectal Cancer Receiving First-Line Chemotherapy plus Bevacizumab: A TTD Group Cooperative Study

BACKGROUND In the MACRO study, patients with metastatic colorectal cancer (mCRC) were randomised to first-line treatment with 6 cycles of capecitabine and oxaliplatin (XELOX) plus bevacizumab followed by either single-agent bevacizumab or XELOX plus bevacizumab until disease progression. An additional retrospective analysis was performed to define the prognostic value of tumour KRAS status on progression-free survival (PFS), overall survival (OS) and response rates. METHODOLOGY/PRINCIPAL FINDINGS KRAS data (tumour KRAS status and type of mutation) were collected by questionnaire from participating centres that performed KRAS analyses. These data were then cross-referenced with efficacy data for relevant patients in the MACRO study database. KRAS status was analysed in 394 of the 480 patients (82.1%) in the MACRO study. Wild-type (WT) KRAS tumours were found in 219 patients (56%) and mutant (MT) KRAS in 175 patients (44%). Median PFS was 10.9 months for patients with WT KRAS and 9.4 months for patients with MT KRAS tumours (p=0.0038; HR: 1.40; 95% CI:1.12-1.77). The difference in OS was also significant: 26.7 months versus 18.0 months for WT versus MT KRAS, respectively (p=0.0002; HR: 1.55; 95% CI: 1.23-1.96). Univariate and multivariate analyses showed that KRAS was an independent variable for both PFS and OS. Responses were observed in 126 patients (57.5%) with WT KRAS tumours and 76 patients (43.4%) with MT KRAS tumours (p=0.0054; OR: 1.77; 95% CI: 1.18-2.64). CONCLUSIONS/SIGNIFICANCE This analysis of the MACRO study suggests a prognostic role for tumour KRAS status in patients with mCRC treated with XELOX plus bevacizumab. For both PFS and OS, KRAS status was an independent factor in univariate and multivariate analyses.

Cooperative kinking at distant sites in mechanically stressed DNA.

In cells, DNA is routinely subjected to significant levels of bending and twisting. In some cases, such as under physiological levels of supercoiling, DNA can be so highly strained, that it transitions into non-canonical structural conformations that are capable of relieving mechanical stress within the template. DNA minicircles offer a robust model system to study stress-induced DNA structures. Using DNA minicircles on the order of 100 bp in size, we have been able to control the bending and torsional stresses within a looped DNA construct. Through a combination of cryo-EM image reconstructions, Bal31 sensitivity assays and Brownian dynamics simulations, we have been able to analyze the effects of biologically relevant underwinding-induced kinks in DNA on the overall shape of DNA minicircles. Our results indicate that strongly underwound DNA minicircles, which mimic the physical behavior of small regulatory DNA loops, minimize their free energy by undergoing sequential, cooperative kinking at two sites that are located about 180° apart along the periphery of the minicircle. This novel form of structural cooperativity in DNA demonstrates that bending strain can localize hyperflexible kinks within the DNA template, which in turn reduces the energetic cost to tightly loop DNA.

Solar Powered Highway Delineator System, HR-367, 1993

Currently, many drivers experience some difficulty in viewing the road ahead of them during times of reduced visibility, such as rain, snow, fog, or the darkness of night- Recent studies done by the National Safety Council provide a detailed contrast between fatal accidents occurring during the day and night. Revealed was that the motor vehicle night death rate (4.41 deaths per 100 million miles driven) was sharply higher than the corresponding death rate during daylight hours (1.21). By providing a delineating system powered by the natural resource of solar power, a constant source of visibility may be maintained throughout the evening. Along with providing enough light to trace the outline of the road, other major goals defined in producing this delineator system are as follows: 1. A strong and durable design that would protect the internal components and survive extreme weather conditions. 2. A low maintenance system where components need few repairs or replacements. 3. A design which makes all components accessible in the event that maintenance is needed, but also prevents vandalism. 4. A design that provides greater visibility to drivers and will not harm a vehicle or its passengers in the event of a collision. This solar powered highway delineator consists of an adjustable solar array, a light fixture, and a standard delineator pole. The solar array houses and protects the solar panels, and can be easily adjusted to obtain a maximum amount of sunlight. The light fixture primarily houses the battery, the circuit and the light assembly. Both components allow for easy accessibility and reduce vandalism using internal connections for bolts and wires. The delineator mounting pole is designed to extensively deform in the event of a collision, therefore reducing any harm caused to the vehicle and/or the passengers. The cost of a single prototype to be produced is approximately $70.00 excluding labor costs. However, these material and labor costs will be greatly reduced if a large number of delineators are produced. It is recommended that the Iowa Department of Transportation take full advantage of the research and development put into this delineator design. The principles used in creating this delineator can be used to provide an outline for drivers to follow, or on a larger scale, provide actual roadway lighting in areas where it was never before possible or economically feasible. In either event, the number of fatal accidents will be decreased due to the improved driver visibility in the evening.

La PMU au carrefour des nouveaux chemins du système de santé [Redesigning Swiss ambulatory health care system].

Primary care medicine is first in line to meet the necessary changes in our health care system. Innovations in this field pursue three types of objectives: accessibility, quality and continuity of care. The Department of ambulatory care and community medicine of the University of Lausanne (Policlinique médicale universitaire) is committed to this path, emphasizing interprofessional collaboration. The doctor, nurse and medical assistant coordinate their activities to contribute efficiently to meet the needs of patients today and tomorrow. This paper also addresses how our department, as a public and academic institution, might play a major role as a health care network actor. A master degree dissertation in health management has started to identify the critical success factors and the strategic core competencies needed to achieve this development.

Cooperative games with size-truncated information

[Eng] We study the marginal worth vectors and their convex hull, the socalled Weber set, from the original coalitional game and the transformed one, which is called the Weber set of level k. We prove that the core of the original game is included in each of the Weber set of level k, for any k, and that the Weber sets of consecutive levels form a chain if and only if the original game is 0-monotone. Even if the game is not 0-monotone, the intersection of the Weber sets for consecutive levels is always not empty, what is not the case for non-consecutive ones. Spanish education system.