On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

All-Optical Label Stacking: Easing the Trade-offs Between Routing and Architecture Cost in All-Optical Packet Switching

All-optical label swapping (AOLS) forms a key technology towards the implementation of all-optical packet switching nodes (AOPS) for the future optical Internet. The capital expenditures of the deployment of AOLS increases with the size of the label spaces (i.e. the number of used labels), since a special optical device is needed for each recognized label on every node. Label space sizes are affected by the way in which demands are routed. For instance, while shortest-path routing leads to the usage of fewer labels but high link utilization, minimum interference routing leads to the opposite. This paper studies all-optical label stacking (AOLStack), which is an extension of the AOLS architecture. AOLStack aims at reducing label spaces while easing the compromise with link utilization. In this paper, an integer lineal program is proposed with the objective of analyzing the softening of the aforementioned trade-off due to AOLStack. Furthermore, a heuristic aiming at finding good solutions in polynomial-time is proposed as well. Simulation results show that AOLStack either a) reduces the label spaces with a low increase in the link utilization or, similarly, b) uses better the residual bandwidth to decrease the number of labels even more

Enterprise Architecture Principles in Research and Practice: Insights from an Exploratory Analysis

Even though architecture principles were first discussed in the 1990s, they are still perceived as an underexplored topic in enterprise architecture management research. By now, there is an increasing consensus about EA principles' nature, as well as guidelines for their formulation. However, the extant literature remains vague about what can be considered suitable EA design and evolution guidance principles. In addition, empirical insights regarding their role and usefulness in practice are still lacking. Accordingly, this research seeks to address three questions: (1) What are suitable principles to guide EA design and evolution? (2) What usage do EA principles have for practitioners? (3) Which propositions can be derived regarding EA principles' role and application? Opting for exploratory research, we apply a research process covering critical analysis of current publications as well as capturing experts' perceptions. Our research ontologically distinguishes between principles from nonprinciples, proposes a validated set of meta-principles, and clarifies principles' application, role, and usefulness in practice. The explored insights can be used as guidelines in defining suitable principles and turning them into an effective bridge between strategy and design and a guide in design decisions.

Trabecular bone score (TBS) the new parameter of 2D texture analysis for the evaluation of 3D bone micro architecture status

X-ray is a technology that is used for numerous applications in the medical field. The process of X-ray projection gives a 2-dimension (2D) grey-level texture from a 3- dimension (3D) object. Until now no clear demonstration or correlation has positioned the 2D texture analysis as a valid indirect evaluation of the 3D microarchitecture. TBS is a new texture parameter based on the measure of the experimental variogram. TBS evaluates the variation between 2D image grey-levels. The aim of this study was to evaluate existing correlations between 3D bone microarchitecture parameters - evaluated from μCT reconstructions - and the TBS value, calculated on 2D projected images. 30 dried human cadaveric vertebrae were acquired on a micro-scanner (eXplorer Locus, GE) at isotropic resolution of 93 μm. 3D vertebral body models were used. The following 3D microarchitecture parameters were used: Bone volume fraction (BV/TV), Trabecular thickness (TbTh), trabecular space (TbSp), trabecular number (TbN) and connectivity density (ConnD). 3D/2D projections has been done by taking into account the Beer-Lambert Law at X-ray energy of 50, 100, 150 KeV. TBS was assessed on 2D projected images. Correlations between TBS and the 3D microarchitecture parameters were evaluated using a linear regression analysis. Paired T-test is used to assess the X-ray energy effects on TBS. Multiple linear regressions (backward) were used to evaluate relationships between TBS and 3D microarchitecture parameters using a bootstrap process. BV/TV of the sample ranged from 18.5 to 37.6% with an average value at 28.8%. Correlations' analysis showedthat TBSwere strongly correlatedwith ConnD(0.856≤r≤0.862; p<0.001),with TbN (0.805≤r≤0.810; p<0.001) and negatively with TbSp (−0.714≤r≤−0.726; p<0.001), regardless X-ray energy. Results show that lower TBS values are related to "degraded" microarchitecture, with low ConnD, low TbN and a high TbSp. The opposite is also true. X-ray energy has no effect onTBS neither on the correlations betweenTBS and the 3Dmicroarchitecture parameters. In this study, we demonstrated that TBS was significantly correlated with 3D microarchitecture parameters ConnD and TbN, and negatively with TbSp, no matter what X-ray energy has been used. This article is part of a Special Issue entitled ECTS 2011. Disclosure of interest: None declared.

Mapping complex tissue architecture with diffusion spectrum magnetic resonance imaging.

Methods are presented to map complex fiber architectures in tissues by imaging the 3D spectra of tissue water diffusion with MR. First, theoretical considerations show why and under what conditions diffusion contrast is positive. Using this result, spin displacement spectra that are conventionally phase-encoded can be accurately reconstructed by a Fourier transform of the measured signal's modulus. Second, studies of in vitro and in vivo samples demonstrate correspondence between the orientational maxima of the diffusion spectrum and those of the fiber orientation density at each location. In specimens with complex muscular tissue, such as the tongue, diffusion spectrum images show characteristic local heterogeneities of fiber architectures, including angular dispersion and intersection. Cerebral diffusion spectra acquired in normal human subjects resolve known white matter tracts and tract intersections. Finally, the relation between the presented model-free imaging technique and other available diffusion MRI schemes is discussed.

Social Dynamics in Paper Wasps: The case of nest-drifting in Polistes canadensis

Le passage de la vie solitaire à la vie sociale représente une des principales transitions évolutives. La socialité a évolué au sein de plusieurs taxons du règne animal et notamment chez les insectes sociaux qui ont atteint son niveau le plus élevé : l'eusocialité. Les colonies d'insectes sociaux se composent d'une reine, qui monopolise la reproduction, et d'ouvrières, non-reproductrices ou parfois stériles, qui aident à élever la descendance de la reine. Selon la théorie de la sélection de parentèle, les ouvrières augmentent leur fitness (succès reproducteur) non pas à travers leur propre progéniture, mais en aidant des individus apparentés (leur reine) à produire davantage de descendants. Cette théorie prédit ainsi que les ouvrières ont un intérêt à rester fidèles à leur nid natal. Toutefois, chez la guêpe tropicale Polistes canadensis, de nombreuse ouvrières visitent d'autres nids que leur nid natal : un phénomène appelé « dérive des ouvrières ». Le but de ce doctorat est ainsi de mieux comprendre les mécanismes impliqués dans ce comportement particulier des ouvrières ainsi que ces implications pour la théorie de la sélection de parentèle. Nous avons examiné le comportement de dérive des ouvrières à travers une étude des dynamiques sociales chez la guêpe tropicale P. canadensis. Mes résultats montrent que les populations de P. canadensis se composent en différentes agrégations de nids. Malgré de précédentes suggestions, on n'observe qu'une faible viscosité génétique au sein des populations de P. canadensis étudiées. On retrouve toutefois un degré d'apparentement entre nids d'une même agrégation. Ceci suggère que les ouvrières dériveuses sont susceptibles de bénéficier de fitness indirect en aidant les nids proches géographiquement. De plus, ces échanges d'ouvrières ne semblent pas accidentels puisque l'on constate des variations de taux de dérive et puisque les déplacements observés entre nids persistent sur plusieurs périodes de temps. La charge de travail, qui correspond aux différences d'effort de fourragement entre nid visités et natals, est décrite dans notre étude comme potentiel facteur expliquant le comportement de dérive des ouvrières chez P. canadensis. Nos expériences de retrait d'ouvrières et de couvain ont révélées que les dériveuses ne semblent pas répondre aux changements de besoins en aide des nids visités. Les ouvrières dériveuses biaisent leur effort en aidant leur propre nid, par lequel elles bénéficient le plus en termes de fitness indirect, avant de se consacrer à tout autre nid. Dans l'ensemble, ces résultats sur la dérive des ouvrières chez P. canadensis sont cohérents et suggèrent que ce comportement est une importante stratégie de reproduction alternative chez cette espèce qui contribue à la fitness indirecte de ces ouvrières non-reproductrices. De plus, ce doctorat apporte des informations sur la structure génétique des populations de guêpes Polistes et décrit le rôle des ouvrières inactives. Celles-ci semblent servir de réserve en ouvrières apportant du support à la colonie dans l'éventualité d'une perte d'individus. Plus généralement, ce travail met l'accent sur l'organisation complexe et l'adaptabilité des individus dans les sociétés d'insectes. - One major transition in evolution is the shift from solitary to social life. Sociality has evolved in a few taxa of the animal kingdom, most notably in the social insects which have achieved the highest level of sociality: eusociality. Colonies of social insects are formed by a reproductive queen, and many non-reproductive or sterile workers who help raise their mother queen's offspring. Kin selection theory explains worker behaviour in terms of the indirect fitness they gain from raising non-offspring kin. It therefore predicts that workers should stay faithful to their natal nests, to which they are the more related. However, in the tropical paper wasps Polistes canadensis, high levels of nest-drifting, whereby workers spend time on other neighbouring nests, has been reported. This PhD aimed at understanding the mechanisms involved in this peculiar behaviour as well as its implications for kin selection theory. I examined nest-drifting through the study of the social dynamics of the tropical paper wasp P. canadensis. My results showed that populations of this species of paper wasps are composed of different aggregations of nests. The studied populations showed little limited dispersal (viscosity), despite previous suggestion, but nests within these aggregations were more related to each other than nests outside of aggregations. This suggested that drifters may benefit from indirect fitness when helping on neighbouring nests. Drifting was unlikely to be accidental since we found drifting patterns at various rates and consistently over several time periods during monitoring. Workload (differences in colony-level foraging effort) was also a potential factor explaining nest-drifting in P. canadensis. Worker and brood removal experiments revealed that drifters do not respond to any changes in the need for help in the non-natal nests they visit. Drifters thus bias their help in their natal nests, from which they may benefit the most in terms of indirect fitness, before investing in others. Altogether, these results on nest-drifting in P. canadensis are consistent and suggest that nest-drifting is an important alternative reproductive strategy, contributing to the indirect fitness benefits gained by non-reproductive wasps. Additionally, this PhD provides information on the genetic structure of paper wasps' populations and demonstrates the role of inactive or lazy wasps as a "reserve worker force", which provides resilience to the colony in the event of worker mortality. More generally, this work further highlights the complex organization and adaptability of individuals in insect societies.

Enterprise Architecture Management Design: Towards Understanding Organizational Contingencies, Design Principles and Effectiveness

Despite the increasing popularity of enterprise architecture management (EAM) in practice, many EAM initiatives either do not fully meet the expected targets or fail. Several frameworks have been suggested as guidelines to EA implementation, but companies seldom follow prescriptive frameworks. Instead, they follow very diverse implementation approaches that depend on their organizational contingencies and the way of adopting and evolving EAM over time. This research strives for a broader understanding of EAM by exploring context-dependent EAM adoption approaches as well as identifying the main EA principles that affect EA effectiveness. Based on two studies, this dissertation aims to address two main questions: (1) EAM design: Which approaches do companies follow when adopting EAM? (2) EA principles and their impact: What impact does EA principles have on EA effectiveness/quality? By utilizing both qualitative and quantitative research methods, this research contributes to exploring different EAM designs in different organizational contingencies as well as using EA principles as an effective means to achieve principle-based EAM design. My research can help companies identify a suitable EAM design that fits their organizational settings and shape their EA through a set of principles.