A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise.

Design optimization of modern machine drive systems for maximum fault tolerant and optimal operation

Modern electric machine drives, particularly three phase permanent magnet machine drive systems represent an indispensable part of high power density products. Such products include; hybrid electric vehicles, large propulsion systems, and automation products. Reliability and cost of these products are directly related to the reliability and cost of these systems. The compatibility of the electric machine and its drive system for optimal cost and operation has been a large challenge in industrial applications. The main objective of this dissertation is to find a design and control scheme for the best compromise between the reliability and optimality of the electric machine-drive system. The effort presented here is motivated by the need to find new techniques to connect the design and control of electric machines and drive systems. ^ A highly accurate and computationally efficient modeling process was developed to monitor the magnetic, thermal, and electrical aspects of the electric machine in its operational environments. The modeling process was also utilized in the design process in form finite element based optimization process. It was also used in hardware in the loop finite element based optimization process. The modeling process was later employed in the design of a very accurate and highly efficient physics-based customized observers that are required for the fault diagnosis as well the sensorless rotor position estimation. Two test setups with different ratings and topologies were numerically and experimentally tested to verify the effectiveness of the proposed techniques. ^ The modeling process was also employed in the real-time demagnetization control of the machine. Various real-time scenarios were successfully verified. It was shown that this process gives the potential to optimally redefine the assumptions in sizing the permanent magnets of the machine and DC bus voltage of the drive for the worst operating conditions. ^ The mathematical development and stability criteria of the physics-based modeling of the machine, design optimization, and the physics-based fault diagnosis and the physics-based sensorless technique are described in detail. ^ To investigate the performance of the developed design test-bed, software and hardware setups were constructed first. Several topologies of the permanent magnet machine were optimized inside the optimization test-bed. To investigate the performance of the developed sensorless control, a test-bed including a 0.25 (kW) surface mounted permanent magnet synchronous machine example was created. The verification of the proposed technique in a range from medium to very low speed, effectively show the intelligent design capability of the proposed system. Additionally, to investigate the performance of the developed fault diagnosis system, a test-bed including a 0.8 (kW) surface mounted permanent magnet synchronous machine example with trapezoidal back electromotive force was created. The results verify the use of the proposed technique under dynamic eccentricity, DC bus voltage variations, and harmonic loading condition make the system an ideal case for propulsion systems.^

Design Optimization of Modern Machine-drive Systems for Maximum Fault Tolerant and Optimal Operation

Modern electric machine drives, particularly three phase permanent magnet machine drive systems represent an indispensable part of high power density products. Such products include; hybrid electric vehicles, large propulsion systems, and automation products. Reliability and cost of these products are directly related to the reliability and cost of these systems. The compatibility of the electric machine and its drive system for optimal cost and operation has been a large challenge in industrial applications. The main objective of this dissertation is to find a design and control scheme for the best compromise between the reliability and optimality of the electric machine-drive system. The effort presented here is motivated by the need to find new techniques to connect the design and control of electric machines and drive systems. A highly accurate and computationally efficient modeling process was developed to monitor the magnetic, thermal, and electrical aspects of the electric machine in its operational environments. The modeling process was also utilized in the design process in form finite element based optimization process. It was also used in hardware in the loop finite element based optimization process. The modeling process was later employed in the design of a very accurate and highly efficient physics-based customized observers that are required for the fault diagnosis as well the sensorless rotor position estimation. Two test setups with different ratings and topologies were numerically and experimentally tested to verify the effectiveness of the proposed techniques. The modeling process was also employed in the real-time demagnetization control of the machine. Various real-time scenarios were successfully verified. It was shown that this process gives the potential to optimally redefine the assumptions in sizing the permanent magnets of the machine and DC bus voltage of the drive for the worst operating conditions. The mathematical development and stability criteria of the physics-based modeling of the machine, design optimization, and the physics-based fault diagnosis and the physics-based sensorless technique are described in detail. To investigate the performance of the developed design test-bed, software and hardware setups were constructed first. Several topologies of the permanent magnet machine were optimized inside the optimization test-bed. To investigate the performance of the developed sensorless control, a test-bed including a 0.25 (kW) surface mounted permanent magnet synchronous machine example was created. The verification of the proposed technique in a range from medium to very low speed, effectively show the intelligent design capability of the proposed system. Additionally, to investigate the performance of the developed fault diagnosis system, a test-bed including a 0.8 (kW) surface mounted permanent magnet synchronous machine example with trapezoidal back electromotive force was created. The results verify the use of the proposed technique under dynamic eccentricity, DC bus voltage variations, and harmonic loading condition make the system an ideal case for propulsion systems.

Evaluating the efficiency of fractional integration parameter estimators

This article deals with the efficiency of fractional integration parameter estimators. This study was based on Monte Carlo experiments involving simulated stochastic processes with integration orders in the range]-1,1[. The evaluated estimation methods were classified into two groups: heuristics and semiparametric/maximum likelihood (ML). The study revealed that the comparative efficiency of the estimators, measured by the lesser mean squared error, depends on the stationary/non-stationary and persistency/anti-persistency conditions of the series. The ML estimator was shown to be superior for stationary persistent processes; the wavelet spectrum-based estimators were better for non-stationary mean reversible and invertible anti-persistent processes; the weighted periodogram-based estimator was shown to be superior for non-invertible anti-persistent processes.

Distributed computer-controlled systems: the DEAR-COTS approach

This paper proposes a new architecture targeting real-time and reliable Distributed Computer-Controlled Systems (DCCS). This architecture provides a structured approach for the integration of soft and/or hard real-time applications with Commercial O -The-Shelf (COTS) components. The Timely Computing Base model is used as the reference model to deal with the heterogeneity of system components with respect to guaranteeing the timeliness of applications. The reliability and availability requirements of hard real-time applications are guaranteed by a software-based fault-tolerance approach.

Replication management in reliable real-time systems

Building reliable real-time applications on top of commercial off-the-shelf (COTS) components is not a straightforward task. Thus, it is essential to provide a simple and transparent programming model, in order to abstract programmers from the low-level implementation details of distribution and replication. However, the recent trend for incorporating pre-emptive multitasking applications in reliable real-time systems inherently increases its complexity. It is therefore important to provide a transparent programming model, enabling pre-emptive multitasking applications to be implemented without resorting to simultaneously dealing with both system requirements and distribution and replication issues. The distributed embedded architecture using COTS components (DEAR-COTS) architecture has been previously proposed as an architecture to support real-time and reliable distributed computer-controlled systems (DCCS) using COTS components. Within the DEAR-COTS architecture, the hard real-time subsystem provides a framework for the development of reliable real-time applications, which are the core of DCCS applications. This paper presents the proposed framework, and demonstrates how it can be used to support the transparent replication of software components.

Adaptive frequency tracking of the baseline ECG identifies the site of atrial fibrillation termination by catheter ablation

Multiple organization indices have been used to predict the outcome of stepwise catheter ablation in long-standing persistent atrial fibrillation (AF), however with limited success. Our study aims at developinginnovative organization indices from baseline ECG (i.e. during the procedure, before ablation) in orderto identify the site of AF termination by catheter ablation. Seventeen consecutive male patients (age60 ± 5 years, AF duration 7 ± 5 years) underwent a stepwise catheter ablation. Chest lead V6 was placedin the back (V6b). QRST cancelation was performed from chest leads V1 to V6b. Using an innovativeadaptive harmonic frequency tracking, two measures of AF organization were computed to quantify theharmonics components of ECG activity: (1) the adaptive phase difference variance (APD) between theAF harmonic components as a measure of AF regularity, and (2) and adaptive organization index (AOI)evaluating the cyclicity of the AF oscillations. Both adaptive indices were compared to indices computedusing a time-invariant approach: (1) ECG AF cycle length (AFCL), (2) the spectrum based organizationindex (OI), and (3) the time-invariant phase difference TIPD. Long-standing persistent AF was terminatedinto sinus rhythm or atrial tachycardia in 13/17 patients during stepwise ablation, 11 during left atriumablation (left terminated patients - LT), 2 during the right atrium ablation (right terminated patients -RT), and 4 were non terminated (NT) and required electrical cardioversion. Our findings showed that LTpatients were best separated from RT/NT before ablation by the duration of sustained AF and by AOI onchest lead V1 and APD from the dorsal lead V6b as compared to ECG AFCL, OI and TIPD, respectively. Ourresults suggest that adaptive measures of AF organization computed before ablation perform better thantime-invariant based indices for identifying patients whose AF will terminate during ablation within theleft atrium. These findings are indicative of a higher baseline organization in these patients that could beused to select candidates for the termination of AF by stepwise catheter ablation.© 2013 Elsevier Ltd. All rights reserved.

Termination of Atrial Fibrillation by Catheter Ablation can be Successfully Predicted from Baseline ECG

Purpose Multiple organization indices (OIs) have been used to predict the outcome of stepwise catheter ablation (step-CA) in long-standing persistent AF (pers-AF), however with limited success. Our study aims at developing innovative OIs from baseline (BL, before ablation) ECG in order to predict the outcome of step-CA. Methods Fourteen consecutive patients (pts) (60±5 y, AF duration 21±9 m) underwent a step-CA consisting in pulmonary veins isolation, left atrial (LA) defragmentation and linear ablations, and right atrial (RA) ablations if non terminated. Chest lead V6 was placed in the back (V6b). After QRST cancellation from chest leads V1 to V6b, two OIs were computed to quantify the harmonic components of ECG atrial activity: 1) phase difference variance (PD) between the AF harmonic components as a measure of AF regularity, and 2) adaptive OI (AOI) evaluating the time evolution of the AF harmonic components. Both indices were compared to classical ones: a spectrum-based OI (SOI) and ECG AF cycle length (AFCL). Results Pers-AF was terminated into sinus rhythm or atrial tachycardia in 10/14 pts during step-CA, 8 during LA (LT), 2 during RA (RT) ablation, and 4 were non terminated (NT). The figure shows that LT was best separated from RT/NT before ablation by AOI computed on lead V1 (A) and PD from lead V6b (B) as compared to SOI and AFCL respectively. Conclusion Our results suggest that adaptive OIs computed before ablation perform better than classical OIs for separating LT from RT/NT pts. These findings are indicative of a higher baseline organization in LT pts that could be used to select candidates for the restoration of sinus rhythm by step-CA.

EEG windowed statistical wavelet scoring for evaluation and discrimination of muscular artifacts

EEG recordings are usually corrupted by spurious extra-cerebral artifacts, which should be rejected or cleaned up by the practitioner. Since manual screening of human EEGs is inherently error prone and might induce experimental bias, automatic artifact detection is an issue of importance. Automatic artifact detection is the best guarantee for objective and clean results. We present a new approach, based on the time–frequency shape of muscular artifacts, to achieve reliable and automatic scoring. The impact of muscular activity on the signal can be evaluated using this methodology by placing emphasis on the analysis of EEG activity. The method is used to discriminate evoked potentials from several types of recorded muscular artifacts—with a sensitivity of 98.8% and a specificity of 92.2%. Automatic cleaning ofEEGdata are then successfully realized using this method, combined with independent component analysis. The outcome of the automatic cleaning is then compared with the Slepian multitaper spectrum based technique introduced by Delorme et al (2007 Neuroimage 34 1443–9).

Pankin arvot päivittäisessä pankkityössä-tapaustutkimus Handelsbanken Suomen aluepankista

Tämän tutkimuksen tavoitteena on selvittää, miten kansainvälisen pankkikonsernin arvoihin perustuva toimintatapa näkyy päivittäisessä pankkityössä Suomen aluepankin alueella. Handelsbankenin toiminta-ajatus perustuu vahvaan yrityskulttuuriin ja arvoihin. Yrityskulttuuri ja arvot ovat yli 30 vuotta vanhoja ja niiden mukaan toimitaan edelleen. Tutkimus sisältää henkilökunnan, asiakkaiden ja pankin johtoryhmään kuuluvan henkilön näkökulmat siitä, mitkä arvot ovat ryhmille tärkeitä ja miten arvoihin perustuva toiminta näkyy päivittäisessä pankkityössä. Rahoitusmarkkinoiden muutos Suomessa mahdollisti ulkomaisten pankkien tulon Suomen pankkimarkkinoille. Handelsbanken tuli markkinoille omalla, kotimaisten pankkien toimintatavasta poikkeavalla toimintamallilla. Paikallisuuteen ja kustannustehokkuuteen perustuva malli on toiminut Ruotsissa jo 1970-luvulta lähtien. 1990-luvulla pankki laajensi toimintaansa muihin pohjoismaihin ja 2000-luvulla ympäri maailman.

Moottoripyörän rungon muuntelun valvontakriteerit muutoskatsastuksessa

Muutoskatsastusta koskeva lainsäädäntö aiheuttaa tulkintavaikeuksia ja rajoitteita moottoripyöräharrastajille ja alan toimijoille. Nykyinen asetus edellyttää tarvittaessa asiantuntijaselvitystä rakennemuutoksen lujuudesta ja hitsaustyöstä. Moottoripyörän geometria on laissa rajattu akselivälin ja emäputken kulman osalta. Moottoripyörien runkoja valmistetaan hitsaamalla seostamattomista teräksistä ja lämpökäsiteltävistä alumiini- ja terässeoksista. Runkojen muuntelu suoritetaan myös yleisesti hitsaamalla. Turvallisuuden kannalta tärkeiltä hitsausliitoksilta vaaditaan hyvää laatua, joka saavutetaan oikeilla hitsausparametreilla ja -suorituksella. Vaatimukset seostamattomalle teräkselle voidaan täyttää pätevöityneen hitsaajan toimesta. Lämpökäsiteltävät seokset vaativat lisäksi jälkilämpökäsittelyn, mikä edelleen vaikeuttaa runkojen hitsausta. Hitsien laadun merkitystä moottoripyörän rungossa tutkittiin soveltamalla rajoitetun vahingon periaatetta. Vauriotapauksena mallinnettiin satunnaisen rungon hitsausliitoksen murtuminen. Eri kuormitustilanteissa elementtimenetelmää hyödyntäen todettiin chopper-tyyppisten moottoripyörien runkojen olevan osittain vauriosietoisia ja havaittiin kriittiset hitsausliitokset emä- ja vaakaputken alueilla. Moottoripyörien runkojen kriittisiä hitsausliitoksia tarkasteltiin väsymisen kannalta. Soveltamalla tehollista lovijännitystä, vertailtiin emäputken hitsausliitosten väsymiskestävyyttä oletetulla kuormituksella. Tulosten perusteella muunneltu moottoripyörän runko voi olla alkuperäisrunkoa kestävämpi tai heikompi. Moottoripyörän akseliväli tai emäputken kulma eivät määrää kestävyyttä, vaan rakenteen yksityiskohtainen suunnittelu. Kriittisten liitosten väsymiskestävyyksissä havaittiin merkittäviä eroja eri mallien välillä.

La Ley de Tecnologías de la Información y las Comunicaciones (L1341/09). Actualización de un marco legal para un sector en constante evolución

La necesidad de preparar al sector de tecnologías de la información y las comunicaciones para hacer frente a los desafíos que trae consigo el desarrollo de la convergencia en todas sus dimensiones, implicaba plantear un nuevo equilibrio entre la promoción del desarrollo competitivo del sector y el cumplimiento de los compromisos sociales de cobertura derivados de la naturaleza de servicio público que ostentan las telecomunicaciones. En consecuencia, desde comienzos de 2007 se trabajó, con una permanente retroalimentación intragubernamental y sectorial, en la estructuración de los pilares del Proyecto de Ley 112/07 Cámara - 340/08 Senado, que culminó en la sanción presidencial de la Ley 1341 el30 de julio de 2009. Este nuevo marco legal para un sector en constante evolución constituye un hito sin precedentes, que rompe con la tradición de más de diez años y seis intentos fallidos de ajuste legislativo e institucional.

Effects of non-uniform crosswind fields on scintillometry measurements

The effects of a non-uniform wind field along the path of a scintillometer are investigated. Theoretical spectra are calculated for a range of scenarios where the crosswind varies in space or time and compared to the ‘ideal’ spectrum based on a constant uniform crosswind. It is verified that the refractive-index structure parameter relation with the scintillometer signal remains valid and invariant for both spatially and temporally-varying crosswinds. However, the spectral shape may change significantly preventing accurate estimation of the crosswind speed from the peak of the frequency spectrum and retrieval of the structure parameter from the plateau of the power spectrum. On comparison with experimental data, non-uniform crosswind conditions could be responsible for previously unexplained features sometimes seen in observed spectra. By accounting for the distribution of crosswind, theoretical spectra can be generated that closely replicate the observations, leading to a better understanding of the measurements. Spatial variability of wind speeds should be expected for paths other than those that are parallel to the surface and over flat, homogenous areas, whilst fluctuations in time are important for all sites.

Satellite-supported flood forecasting in river networks: a real case study

Satellite-based (e.g., Synthetic Aperture Radar [SAR]) water level observations (WLOs) of the floodplain can be sequentially assimilated into a hydrodynamic model to decrease forecast uncertainty. This has the potential to keep the forecast on track, so providing an Earth Observation (EO) based flood forecast system. However, the operational applicability of such a system for floods developed over river networks requires further testing. One of the promising techniques for assimilation in this field is the family of ensemble Kalman (EnKF) filters. These filters use a limited-size ensemble representation of the forecast error covariance matrix. This representation tends to develop spurious correlations as the forecast-assimilation cycle proceeds, which is a further complication for dealing with floods in either urban areas or river junctions in rural environments. Here we evaluate the assimilation of WLOs obtained from a sequence of real SAR overpasses (the X-band COSMO-Skymed constellation) in a case study. We show that a direct application of a global Ensemble Transform Kalman Filter (ETKF) suffers from filter divergence caused by spurious correlations. However, a spatially-based filter localization provides a substantial moderation in the development of the forecast error covariance matrix, directly improving the forecast and also making it possible to further benefit from a simultaneous online inflow error estimation and correction. Additionally, we propose and evaluate a novel along-network metric for filter localization, which is physically-meaningful for the flood over a network problem. Using this metric, we further evaluate the simultaneous estimation of channel friction and spatially-variable channel bathymetry, for which the filter seems able to converge simultaneously to sensible values. Results also indicate that friction is a second order effect in flood inundation models applied to gradually varied flow in large rivers. The study is not conclusive regarding whether in an operational situation the simultaneous estimation of friction and bathymetry helps the current forecast. Overall, the results indicate the feasibility of stand-alone EO-based operational flood forecasting.

Comportamento de compra de jovens de baixa renda no varejo de vestuário

Esta pesquisa objetivou compreender o comportamento de compra de vestuário de jovens de baixa renda, residentes em três bairros periféricos da cidade de São Paulo. A metodologia utilizada baseou-se em entrevistas em profundidade e amostra de 30 jovens mulheres, de 18 a 24 anos, com renda familiar mensal entre 3 e 7 salários mínimos. Além disso, realizou-se uma simulação de compra, com a pesquisadora acompanhando a visita a uma loja escolhida pelas jovens e verificando seu comportamento de compra. A perspectiva de análise foi a do interacionismo simbólico, que busca identificar os significados simbólicos, subjacentes às escolhas das marcas e dos produtos de consumo. Os resultados da pesquisa indicam uma riqueza de significados simbólicos associados às marcas de vestuário, que envolvem as decisões e escolhas de consumo das jovens. Também mostrou que além das marcas preferidas, as jovens escolhem as lojas pela localização, sortimento de produtos, preço e atendimento.