Procedural aspects of modeling the dynamics of a three wheeled vehicle using ADAMS-CAR

We describe in some detail the process of development of a dynamic model of a three wheeled vehicle using ADAMS-CAR. We first describe the rigid body model, and then the modeling of structural flexibilities. The aim of this report is to document procedural details of such modeling, with a view to presenting more research and development oriented investigations in the future. The contents of this report may also be of interest to practicing engineers engaged in multi-body dynamics modeling of wheeled vehicles.

Optimal Sleep-Wake Scheduling for Quickest Intrusion Detection using wireless sensor Networks

We consider the problem of quickest detection of an intrusion using a sensor network, keeping only a minimal number of sensors active. By using a minimal number of sensor devices,we ensure that the energy expenditure for sensing, computation and communication is minimized (and the lifetime of the network is maximized). We model the intrusion detection (or change detection) problem as a Markov decision process (MDP). Based on the theory of MDP, we develop the following closed loop sleep/wake scheduling algorithms: 1) optimal control of Mk+1, the number of sensors in the wake state in time slot k + 1, 2) optimal control of qk+1, the probability of a sensor in the wake state in time slot k + 1, and an open loop sleep/wake scheduling algorithm which 3) computes q, the optimal probability of a sensor in the wake state (which does not vary with time),based on the sensor observations obtained until time slot k.Our results show that an optimum closed loop control onMk+1 significantly decreases the cost compared to keeping any number of sensors active all the time. Also, among the three algorithms described, we observe that the total cost is minimum for the optimum control on Mk+1 and is maximum for the optimum open loop control on q.

An Efficient and Optimized Bluetooth Scheduling Algorithm for Scatternets

Bluetooth is a short-range radio technology operating in the unlicensed industrial-scientific-medical (ISM) band at 2.45 GHz. A scatternet is established by linking several piconets together in ad hoc fashion to yield a global wireless ad hoc network. This paper proposes a polling policy that aims to achieve increased system throughput and reduced packet delays while providing reasonably good fairness among all traffic flows in a Bluetooth Scatternet. Experimental results from our proposed algorithm show performance improvements over a well known existing algorithm.

Ascent Phase Trajectory Optimization of a Generic Launch Vehicle

Trajectory optimization of a generic launch vehicle is considered in this paper. The trajectory from launch point to terminal injection point is divided in to two segments. The first segment deals with launcher clearance and vertical raise of the vehicle. During this phase, a nonlinear feedback guidance loop is incorporated to assure vertical raise in presence of thrust misalignment, centre of gravity offset, wind disturbance etc. and possibly to clear obstacles as well. The second segment deals with the trajectory optimization, where the objective is to ensure desired terminal conditions as well as minimum control effort and minimum structural loading in the high dynamic pressure region. The usefulness of this dynamic optimization problem formulation is demonstrated by solving it using the classical Gradient method. Numerical results for both the segments are presented, which clearly brings out the potential advantages of the proposed approach.

STEM+: A Fair and Efficient Algorithm for Scheduling on the DSCH in UMTS Networks

In Universal Mobile Telecommunication Systems (UMTS), the Downlink Shared Channel (DSCH) can be used for providing streaming services. The traffic model for streaming services is different from the commonly used continuously- backlogged model. Each connection specifies a required service rate over an interval of time, k, called the "control horizon". In this paper, our objective is to determine how k DSCH frames should be shared among a set of I connections. We need a scheduler that is efficient and fair and introduce the notion of discrepancy to balance the conflicting requirements of aggregate throughput and fairness. Our motive is to schedule the mobiles in such a way that the schedule minimizes the discrepancy over the k frames. We propose an optimal and computationally efficient algorithm, called STEM+. The proof of the optimality of STEM+, when applied to the UMTS rate sets is the major contribution of this paper. We also show that STEM+ performs better in terms of both fairness and aggregate throughput compared to other scheduling algorithms. Thus, STEM+ achieves both fairness and efficiency and is therefore an appealing algorithm for scheduling streaming connections.

Power control and transmission scheduling for network utility maximization in wireless networks

We consider a joint power control and transmission scheduling problem in wireless networks with average power constraints. While the capacity region of a wireless network is convex, a characterization of this region is a hard problem. We formulate a network utility optimization problem involving time-sharing across different "transmission modes," where each mode corresponds to the set of power levels used in the network. The structure of the optimal solution is a time-sharing across a small set of such modes. We use this structure to develop an efficient heuristic approach to finding a suboptimal solution through column generation iterations. This heuristic approach converges quite fast in simulations, and provides a tool for wireless network planning.

Opportunistic scheduling of wireless links

We consider the problem of scheduling of a wireless channel (server) to several queues. Each queue has its own link (transmission) rate. The link rate of a queue can vary randomly from slot to slot. The queue lengths and channel states of all users are known at the beginning of each slot. We show the existence of an optimal policy that minimizes the long term (discounted) average sum of queue lengths. The optimal policy, in general needs to be computed numerically. Then we identify a greedy (one step optimal) policy, MAX-TRANS which is easy to implement and does not require the channel and traffic statistics. The cost of this policy is close to optimal and better than other well-known policies (when stable) although it is not throughput optimal for asymmetric systems. We (approximately) identify its stability region and obtain approximations for its mean queue lengths and mean delays. We also modify this policy to make it throughput optimal while retaining good performance.

Register Allocation and Optimal Spill code Scheduling in Software Pipelined Loops using 0-1 Integer Linear Programming Formulation

In achieving higher instruction level parallelism, software pipelining increases the register pressure in the loop. The usefulness of the generated schedule may be restricted to cases where the register pressure is less than the available number of registers. Spill instructions need to be introduced otherwise. But scheduling these spill instructions in the compact schedule is a difficult task. Several heuristics have been proposed to schedule spill code. These heuristics may generate more spill code than necessary, and scheduling them may necessitate increasing the initiation interval. We model the problem of register allocation with spill code generation and scheduling in software pipelined loops as a 0-1 integer linear program. The formulation minimizes the increase in initiation interval (II) by optimally placing spill code and simultaneously minimizes the amount of spill code produced. To the best of our knowledge, this is the first integrated formulation for register allocation, optimal spill code generation and scheduling for software pipelined loops. The proposed formulation performs better than the existing heuristics by preventing an increase in II in 11.11% of the loops and generating 18.48% less spill code on average among the loops extracted from Perfect Club and SPEC benchmarks with a moderate increase in compilation time.

Design of a quadrotor micro air vehicle

In this paper, we present the design and development details of a micro air vehicle (MAV) built around a quadrotor configuration. A survey of implemented MAVs suggests that a quadrotor design has several advantages over other configurations, especially in the context of swarm intelligence applications. Our design approach consists of three stages. However, the focus of this paper is restricted to the first stage that involves selection of crucial components such as motor-rotor pair, battery source, and structural material. The application of MAVs are broad-ranging, from reconnaissance to search and rescue, and have immense potential in the rapidly advancing field of swarm intelligence.