Distributed active traction control system applied to the RoboCup middle size league

This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies in local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto robots and was used to control and detect loss of for traction. %and to detect the ball in the kicking device. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented.

Size at birth and blood pressure in young adults: findings from a Brazilian birth cohort study

^len^lpt^aOBJETIVO: Descrever a prevalência de pressão arterial limítrofe (PAL) e hipertensão (HT) entre adultos jovens e avaliar a associação entre tamanho ao nascer e PAL/HT. MÉTODOS: Dados foram coletados do primeiro estudo brasileiro de coorte de nascimentos em Ribeirão Preto (sudeste do Brasil), iniciado em 1978/79. De 6.827 recém-nascidos de parto único hospitalar, 2.060 foram avaliados aos 23/25 anos. Foram realizadas coleta de sangue, avaliação antropométrica e obtidas informações sobre ocupação, escolaridade, hábitos de vida e doenças crônicas. Pressão arterial (PA) foi classificada em: 1) PAL: PA sistólica (PAS) ≥ 130 e < 140 mm Hg e/ou PA diastólica (PAD) ≥ 85 e < 90 mmHg; 2) HT: PAS ≥ 140 e/ou PAD ≥ 90 mm Hg. Foi aplicado modelo de regressão logística politômica. RESULTADOS: A prevalência de PAL foi de 13,5% (homens 23,2%) e a de HT, 9,5% (homens 17,7%). PAL foi independentemente associada com sexo masculino (RR 8,84; IC95%: 6,09;12,82), comprimento ao nascer ≥ 50 cm (RR 1,97; 1,04; 3,73), índice de massa corporal (IMC) ≥ 30 kg/m² (RR 3,23; 2,02; 5,15) e circunferência de cintura alterada (RR 1,61; 1,13;2,29), enquanto HT associou-se com sexo masculino (RR 15,18; 8,92;25,81), IMC ≥ 30 kg/m² (RR 3,68; 2,23;6,06), circunferência de cintura alterada (RR 2,68; 1,77;4,05) e glicemia elevada (RR 2,55; 1,27;5,10), mas não com comprimento ao nascer. CONCLUSÕES: As prevalências de PAL e HT entre os adultos jovens dessa coorte foram maiores em homens que em mulheres. Maior comprimento ao nascer foi associado com PAL, mas não com HT, enquanto peso ao nascer não foi associado com PAL ou HT. Fatores de risco do adulto explicaram a maioria dos aumentos de PAL ou HT.^les^aOBJETIVO: Describir la prevalencia de presión arterial limítrofe (PAL) e hipertensión (HT) entre adultos jóvenes y evaluar la asociación entre tamaño al nacer y PAL/HT. MÉTODOS: : Los datos fueron colectados en el primer estudio de cohorte de nacimientos brasileño en Ribeirao Preto (sureste de Brasil), iniciado en 1978/79. De 6.827 recién nacidos de parto único hospitalario, 2.060 fueron evaluados a los 23/25 años. Se realizaron colecta de sangre, evaluación antropométrica y obtenidas informaciones sobre ocupación, escolaridad, hábitos de vida y enfermedades crónicas. Presión arterial (PA) fue clasificada en: 1) PAL: PA sistólica (PAS) ≥ 130 y < 140 mm Hg y/o PA diastólica (PAD) ≥ 85 y < 90 mm Hg; 2) HT: PAS ≥ 140 y/o PAD ≥ 90 mm Hg. Se aplicó modelo de regresión logística politómica. RESULTADOS: La prevalencia de PAL fue de 13,5% (hombres 23,2%) y la de HT, 9,5% (hombres 17,7%). PAL fue independientemente asociada con sexo masculino (Riesgo Relativo - RR) 8,84; 95%IC: 6,09;12,82), estatura al nacer ≥ 50 cm (RR 1,97; 1,04; 3,73), índice de masa corporal (IMC) ≥ 30 kg/m2 (RR 3,23; 2,02; 5,15) y circunferencia de cintura alterada (RR 1,61; 1,13;2,29), mientras el HT se asoció con sexo masculino (RR 15,18; 8,92;25,81), IMC ≥ 30 kg/m2 (RR 3,68; 2,23;6,06), circunferencia de cintura alterada (RR 2,68; 1,77;4,05) y glicemia elevada (RR 2,55; 1,27;5,10), pero no con estatura al nacer. CONCLUSIONES: Las prevalencias de PAL y HT entre los adultos jóvenes de la cohorte fueron mayores en hombres que en mujeres. Mayor estatura al nacer fue asociado con PAL, pero no con HT, mientras que el peso al nacer no estuvo asociado con PAL o HT. Factores de riesgo de adulto explicaron la mayoría de los aumentos de PAL o HT.

Cluster de volatilidade no mercado de taxas de câmbio USD/GBP

Mestrado em Controlo de Gestão e dos Negócios

Pictorial health warnings on cigarette packs and the impact on women

OBJECTIVE : To analyze the association between the pictorial graphic health warnings on cigarette packs and their impact on intention to quit smoking among women. METHODS : Population-based cross-sectional study among 265 women daily smokers in the State of Paraná in 2010. The sample size was calculated using cluster sampling. Participants were asked whether they had seen any pictorial graphic health warnings in the past 30 days, whether these warnings made them think about quitting, and intensity of these thoughts. The data was analyzed using logistic regression and the independent variables included age, educational attainment, whether they had children, whether they had attempted to quit smoking in the past 12 months, age of smoking initiation, number of cigarettes smoked per day, their town of residence, and how soon after waking do they smoke their first cigarette. RESULTS : Participants (91.7%) reported seeing the pictorial graphic health warnings in the past 30 days. Women with elementary education or below and women with some/complete high school education were more likely to think about quitting smoking after seeing the pictorial graphic health warningsthan women with higher education (OR = 4.85; p = 0.0028 and OR = 2.91; p = 0.05), respectively). Women who attempted to quit smoking in the past 12 months were more likely to think about quitting than women who had not (OR = 2.49; p = 0.001). Quit attempts within the last 12 months were associated with intensity of these thoughts (OR = 2.2; p = 0.03). CONCLUSIONS : Results show an association between pictorial graphic health warnings and intent to quit smoking among women with warnings having a greater impact among women with less education and who had attempted to quit smoking within the past year. Tobacco control strategies should be implemented across all groups of women regardless of their educational attainment.

Optimal virtual cluster-based multiprocessor scheduling

Scheduling of constrained deadline sporadic task systems on multiprocessor platforms is an area which has received much attention in the recent past. It is widely believed that finding an optimal scheduler is hard, and therefore most studies have focused on developing algorithms with good processor utilization bounds. These algorithms can be broadly classified into two categories: partitioned scheduling in which tasks are statically assigned to individual processors, and global scheduling in which each task is allowed to execute on any processor in the platform. In this paper we consider a third, more general, approach called cluster-based scheduling. In this approach each task is statically assigned to a processor cluster, tasks in each cluster are globally scheduled among themselves, and clusters in turn are scheduled on the multiprocessor platform. We develop techniques to support such cluster-based scheduling algorithms, and also consider properties that minimize total processor utilization of individual clusters. In the last part of this paper, we develop new virtual cluster-based scheduling algorithms. For implicit deadline sporadic task systems, we develop an optimal scheduling algorithm that is neither Pfair nor ERfair. We also show that the processor utilization bound of us-edf{m/(2m−1)} can be improved by using virtual clustering. Since neither partitioned nor global strategies dominate over the other, cluster-based scheduling is a natural direction for research towards achieving improved processor utilization bounds.

Dimensioning and worst-case analysis of cluster-tree sensor networks

Modeling the fundamental performance limits of Wireless Sensor Networks (WSNs) is of paramount importance to understand their behavior under the worst-case conditions and to make the appropriate design choices. This is particular relevant for time-sensitive WSN applications, where the timing behavior of the network protocols (message transmission must respect deadlines) impacts on the correct operation of these applications. In that direction this paper contributes with a methodology based on Network Calculus, which enables quick and efficient worst-case dimensioning of static or even dynamically changing cluster-tree WSNs where the data sink can either be static or mobile. We propose closed-form recurrent expressions for computing the worst-case end-to-end delays, buffering and bandwidth requirements across any source-destination path in a cluster-tree WSN. We show how to apply our methodology to the case of IEEE 802.15.4/ZigBee cluster-tree WSNs. Finally, we demonstrate the validity and analyze the accuracy of our methodology through a comprehensive experimental study using commercially available technology, namely TelosB motes running TinyOS.

Energy efficient scheduling for cluster-tree wireless sensor networks with time-bounded data flows: application to IEEE 802.15.4/ZigBee

Cluster scheduling and collision avoidance are crucial issues in large-scale cluster-tree Wireless Sensor Networks (WSNs). The paper presents a methodology that provides a Time Division Cluster Scheduling (TDCS) mechanism based on the cyclic extension of RCPS/TC (Resource Constrained Project Scheduling with Temporal Constraints) problem for a cluster-tree WSN, assuming bounded communication errors. The objective is to meet all end-to-end deadlines of a predefined set of time-bounded data flows while minimizing the energy consumption of the nodes by setting the TDCS period as long as possible. Sinceeach cluster is active only once during the period, the end-to-end delay of a given flow may span over several periods when there are the flows with opposite direction. The scheduling tool enables system designers to efficiently configure all required parameters of the IEEE 802.15.4/ZigBee beaconenabled cluster-tree WSNs in the network design time. The performance evaluation of thescheduling tool shows that the problems with dozens of nodes can be solved while using optimal solvers.

On the capacity of cluster-tree ZigBee networks

Modeling the fundamental performance limits of Wireless Sensor Networks (WSNs) is of paramount importance to understand their behavior under worst-case conditions and to make the appropriate design choices. In that direction this paper contributes with an analytical methodology for modeling cluster-tree WSNs where the data sink can either be static or mobile. We assess the validity and pessimism of analytical model by comparing the worst-case results with the values measured through an experimental test-bed based on Commercial-Off- The-Shelf (COTS) technologies, namely TelosB motes running TinyOS.

TDBS: a time division beacon scheduling mechanism for ZigBee cluster-tree wireless sensor networks

Synchronization is a challenging and important issue for time-sensitive Wireless Sensor Networks (WSN) since it requires a mutual spatiotemporal coordination between the nodes. In that concern, the IEEE 802.15.4/ZigBee protocols embody promising technologies for WSNs, but are still ambiguous on how to efficiently build synchronized multiple-cluster networks, specifically for the case of cluster-tree topologies. In fact, the current IEEE 802.15.4/ZigBee specifications restrict the synchronization to beacon-enabled (by the generation of periodic beacon frames) star networks, while they support multi-hop networking in mesh topologies, but with no synchronization. Even though both specifications mention the possible use of cluster-tree topologies, which combine multi-hop and synchronization features, the description on how to effectively construct such a network topology is missing. This paper tackles this issue by unveiling the ambiguities regarding the use of the cluster-tree topology and proposing a synchronization mechanism based on Time Division Beacon Scheduling (TDBS) to build cluster-tree WSNs. In addition, we propose a methodology for efficiently managing duty-cycles in every cluster, ensuring the fairest use of bandwidth resources. The feasibility of the TDBS mechanism is clearly demonstrated through an experimental test-bed based on our open-source implementation of the IEEE 802.15.4/ZigBee protocols.

Simulation study of energy efficient scheduling for IEEE 802.15.4/ZigBee cluster-treeWireless Sensor Networks with time-bounded data flows

The simulation analysis is important approach to developing and evaluating the systems in terms of development time and cost. This paper demonstrates the application of Time Division Cluster Scheduling (TDCS) tool for the configuration of IEEE 802.15.4/ZigBee beaconenabled cluster-tree WSNs using the simulation analysis, as an illustrative example that confirms the practical applicability of the tool. The simulation study analyses how the number of retransmissions impacts the reliability of data transmission, the energy consumption of the nodes and the end-to-end communication delay, based on the simulation model that was implemented in the Opnet Modeler. The configuration parameters of the network are obtained directly from the TDCS tool. The simulation results show that the number of retransmissions impacts the reliability, the energy consumption and the end-to-end delay, in a way that improving the one may degrade the others.

A time division beacon scheduling mechanism for IEEE 802.15.4/Zigbee cluster-tree wireless sensor networks

While the IEEE 802.15.4/Zigbee protocol stack is being considered as a promising technology for low-cost low-power Wireless Sensor Networks (WSNs), several issues in the standard specifications are still open. One of those ambiguous issues is how to build a synchronized multi-hop cluster-tree network, which is quite suitable for ensuring QoS support in WSNs. In fact, the current IEEE 802.15.4/Zigbee specifications restrict the synchronization in the beacon-enabled mode (by the generation of periodic beacon frames) to star-based networks, while it supports multi-hop networking using the peer-to-peer mesh topology, but with no synchronization. Even though both specifications mention the possible use of cluster-tree topologies, which combine multihop and synchronization features, the description on how to effectively construct such a network topology is missing. This paper tackles this problem, unveils the ambiguities regarding the use of the cluster-tree topology and proposes a synchronization mechanism based on Time Division Beacon Scheduling to construct cluster-tree WSNs. We also propose a methodology for an efficient duty cycle management in each router (cluster-head) of a cluster-tree WSN that ensures the fairest use of bandwidth resources. The feasibility of the proposal is clearly demonstrated through an experimental test bed based on our own implementation of the IEEE 802.15.4/Zigbee protocol.

Collision-free beacon scheduling mechanisms for IEEE 802.15.4/Zigbee cluster-tree wireless sensor networks

The recently standardized IEEE 802.15.4/Zigbee protocol stack offers great potentials for ubiquitous and pervasive computing, namely for Wireless Sensor Networks (WSNs). However, there are still some open and ambiguous issues that turn its practical use a challenging task. One of those issues is how to build a synchronized multi-hop cluster-tree network, which is quite suitable for QoS support in WSNs. In fact, the current IEEE 802.15.4/Zigbee specifications restrict the synchronization in the beacon-enabled mode (by the generation of periodic beacon frames) to star-based networks, while it supports multi-hop networking using the peer-to-peer mesh topology, but with no synchronization. Even though both specifications mention the possible use of cluster-tree topologies, which combine multi-hop and synchronization features, the description on how to effectively construct such a network topology is missing. This paper tackles this problem, unveils the ambiguities regarding the use of the cluster-tree topology and proposes two collision-free beacon frame scheduling schemes. We strongly believe that the results provided in this paper trigger a significant step towards the practical and efficient use of IEEE 802.15.4/Zigbee cluster-tree networks.

Implementation details of the time division beacon scheduling approach for ZigBee cluster-tree networks

This technical report describes the implementation details of the Time Division Beacon Scheduling Approach in IEEE 802.15.4/ZigBee Cluster-Tree Networks. In this technical report we describe the implementation details, focusing on some aspects of the ZigBee Network Layer and the Time Division Beacon Scheduling mechanism. This report demonstrates the feasibility of our approach based on the evaluation of the experimental results. We also present an overview of the ZigBee address and tree-routing scheme.

Real-time communications over cluster-tree sensor networks with mobile sink behaviour

Modelling the fundamental performance limits of wireless sensor networks (WSNs) is of paramount importance to understand the behaviour of WSN under worst case conditions and to make the appropriate design choices. In that direction, this paper contributes with a methodology for modelling cluster tree WSNs with a mobile sink. We propose closed form recurrent expressions for computing the worst case end to end delays, buffering and bandwidth requirements across any source-destination path in the cluster tree assuming error free channel. We show how to apply our theoretical results to the specific case of IEEE 802.15.4/ZigBee WSNs. Finally, we demonstrate the validity and analyze the accuracy of our methodology through a comprehensive experimental study, therefore validating the theoretical results through experimentation.

Modeling and worst-case dimensioning of cluster-tree wireless sensor networks

Time-sensitive Wireless Sensor Network (WSN) applications require finite delay bounds in critical situations. This paper provides a methodology for the modeling and the worst-case dimensioning of cluster-tree WSNs. We provide a fine model of the worst-case cluster-tree topology characterized by its depth, the maximum number of child routers and the maximum number of child nodes for each parent router. Using Network Calculus, we derive “plug-and-play” expressions for the endto- end delay bounds, buffering and bandwidth requirements as a function of the WSN cluster-tree characteristics and traffic specifications. The cluster-tree topology has been adopted by many cluster-based solutions for WSNs. We demonstrate how to apply our general results for dimensioning IEEE 802.15.4/Zigbee cluster-tree WSNs. We believe that this paper shows the fundamental performance limits of cluster-tree wireless sensor networks by the provision of a simple and effective methodology for the design of such WSNs.