Control of a Nonlinear Teleoperation System by State Convergence

In this work, we proposes a control strategy that allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel. The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov- Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system.

Advances in Control of Teleoperation System by State Convergence

In this work, we proposes a control strategy by state convergence applied to bilateral control of a nonlinear teleoperator system with constant delay. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis is performed using Lyapunov-Krasovskii functional, it showed that using an control algorithm by state convergence for the case with constant delay, the nonlinear local and remote teleoperation system is asymptotically stable, also speeds converge to zero and position tracking is achieved. This work also presents the implementation of an experimental platform. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement.

Control of a Teleoperation System by State Convergence with Variable Time Delay

In this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

Metodología de Diseño y Análisis de Sistemas Teleoperados Considerando Dinámica No Lineal

Cuando la separación física entre el sistema local y remoto es relativamente corta, el retardo no es perceptible; sin embargo, cuando el manipulador local y el manipulador remoto se encuentran a una distancia lejana uno del otro, el retardo de tiempo ya no es insignificante e influye negativamente en la realización de la tarea. El retardo de tiempo en un sistema de control introduce un atraso de fase que a su vez degrada el rendimiento del sistema y puede causar inestabilidad. Los sistemas de teleoperación pueden sacar provecho de la posibilidad de estar presente en dos lugares simultáneamente, sin embargo, el uso de Internet y otras redes de conmutación de paquetes, tales como Internet2, impone retardos de tiempo variables, haciendo que los esquemas de control ya establecidos elaboren soluciones para hacer frente a inestabilidades causadas por estos retardos de tiempo variables. En este trabajo de tesis se presenta el modelado y análisis de un sistema de teloperación bilateral no lineal de n grados de libertad controlado por convergencia de estado. La comunicación entre el sitio local y remoto se realiza mediante un canal de comunicación con retardo de tiempo. El análisis presentado en este trabajo considera que el retardo puede ser constante o variable. Los principales objetivos de este trabajo son; 1) Desarrollar una arquitectura de control no lineal garantizando la estabilidad del sistema teleoperado, 2) Evaluar la estabilidad del sistema considerando el retardo en la comunicación, y 3) Implementación de los algoritmos desarrollados para probar el desempeño de los mismos en un sistema experimental de 3 grados de libertad. A través de la teoría de Estabilidad de Lyapunov y el funcional Lyapunov-Krasovskii, se demuestra que el sistema de lazo cerrado es asintóticamente estable. Estas conclusiones de estabilidad se han obtenido mediante la integración de la función de Lyapunov y aplicando el Lema de Barbalat. Se demuestra también que se logra sincronizar las posiciones del manipulador local y remoto cuando el operador humano no mueve el manipulador local y el manipulador remoto se mueve libremente. El esquema de control propuesto se ha validado mediante simulación y en forma experimental empleando un sistema de teleoperación real desarrollado en esta tesis doctoral y que consta de un un manipulador serie planar de tres grados de libertad, un manipulador local, PHANTOM Omni, el cual es un dispositivo haptico fabricado que consta de 3 grados de libertad (en fuerza) y que proporciona realimentación de fuerza en los ejes x,y,z. El control en tiempo real se ha diseñado usando el Sistema Operativo en Tiempo Real QuaRC de QUARC en el lado local y el Simulink Real-Time Windows TargetTM en el lado remoto. Para finalizar el resumen se destaca el impacto de esta tesis en el mundo científico a través de los resultados publicados: 2 artículos en revistas con índice de impacto , 1 artículo en una revista indexada en Sistemas, Cibernética e Informática, 7 artículos en congresos y ha obtenido un premio en la 9a. Conferencia Iberoamericana en Sistemas, Cibernética e Informática, 2010. ABSTRACT When the physical separation between the local and remote system is relatively short, the delay is not noticeable; however, when the local manipulator and the remote manipulator are at a far distance from each other, the time delay is no longer negligible and negatively influences the performance of the task. The time delay in a control system introduces a phase delay which in turn degrades the system performance and cause instability. Teleoperation systems can benefit from the ability to be in two places simultaneously, however, the use of Internet and other packet switched networks, such as Internet2, imposes varying time delays, making established control schemes to develop solutions to address these instabilities caused by different time delays. In this thesis work we present a modeling and analysis of a nonlinear bilateral teloperation system of n degrees of freedom controlled by state convergence strategy. Communication between the local and remote site is via a communication channel with time delay. The analysis presented in this work considers that the time-delay can be constant or variable. The main objectives of this work are; 1) Develop a nonlinear control schemes to ensure the stability of the teleoperated system, 2) Evaluate the system stability considering the delay in communication, and 3) Implementation of algorithms developed to test the performance of the teleoperation system in an experimental system of 3 degrees of freedom. Through the Theory of Stability of Lyapunov and the functional Lyapunov-Krasovskii, one demonstrates that the closed loop system is asymptotically stable.. The conclusions about stability were obtained by integration of the Lyapunov function and applying Barbalat Lemma. It further shows that the positions of the local and remote manipulator are synchronize when the human operator stops applying a constant force and the remote manipulator does not interact with the environment. The proposed control scheme has been validated by means of simulation and in experimental form using a developed system of real teleoperation in this doctoral thesis, which consists of a series planar manipulator of three degrees of freedom, a local manipulator, PHANTOM Omni, which is an haptic device that consists of 3 degrees of freedom (in force) and that provide feeback force in x-axis, and, z. The control in real time has been designed using the Operating system in Real time QuaRC of Quanser in the local side and the Simulink Real-Time Windows Target in the remote side. In order to finalize the summary, the highlights impact of this thesis in the scientific world are shows through the published results: 2 articles in Journals with impact factor, one article in a indexed Journal on Systemics, Cybernetics and Informatics, 7 articles in Conferences and has won an award in 9a. Conferencia Iberoamericana en Sistemas, Cibernética e Informática, 2010.

The central role of the neutrophil in ischaemic/reperfusion injury

Inadequate blood flow to an organ, ischaemia, may lead to both local and remote tissue injury characterized by oedema, increased microvascular permeability to protein and degradation of connective tissue components. This damage is probably caused by the accumulation and inappropriate activation of neutrophils which occurs when the tissue is reperfused. To test this hypothesis a number of in vitro models of the sequential stages of ischaemia/reperfusion injury were examined. Methods were initially developed to examine the adhesion of neutrophils to monolayers of a cultured endothelial cell line (ECV304) after periods of hypoxia and reoxygenation. Neutrophil migration in response to factors secreted by the treated endothelial cells was then assessed. The genesis of an inappropriate oxidative burst by the neutrophil upon exposure to endothelial chemoattractants and adhesion molecules was also measured. Finally to appraise how tissue function might be affected by endothelial cell hypoxia the contractility of vascular smooth muscle was examined. Neutrophil adhesion to ECV304 cells, which had been hypoxic for 4 hours and then reoxygenated for 30 minutes, was significantly increased. This response was probably initiated by reactive oxygen species (ROS) generated by the endothelial cells. Blockage of their production by allopurinol reduced the heightened adhesion. Similarly removal of ROS by superoxide dismutase or catalase also attenuated adhesion. ROS generation in turn caused the release of a soluble factor (s) which induced a conformational change on the neutrophil surface allowing it to bind to the intercellular adhesion molecule 1 (ICAM-1) on the endothelial cell. Soluble factor (s) from hypoxia/reoxygenated endothelial cells also had a powerful neutrophil chemoattractant ability. When neutrophils were exposed to both hypoxic/reoxygenated endothelial cells and the soluble factor (s) released by them a large oxidative burst was elicited. This response was greatest immediately after reoxygenation and one hour later was diminishing suggesting at least one of the components involved was labile. Analysis of the supernatant from hypoxic/reoxygenated endothelial cell cultures and studies using inhibitors of secretion suggested platelet activating factor (PAF) may be a major component in this overall sequence of events. Lesser roles for IL-8, TNF and LTB4 were also suggested. The secretory products from hypoxia/reoxygenated endothelial cells also affected smooth muscle contractility having an anti-vasoconstrictor or relaxation property, similar to that exerted by PAF.

Impact of scatterer density on the performances of double-scattering MIMO channels

We investigate a MIMO double-scattering model with both local and remote scatterers, aiming to investigate the effect of scatterer density on channel performances, such as capacity, correlation, and the condition number of the channel matrix in flat and frequency-selective fading channels. The investigations are carried out in terms of scatterer density. It is shown that in flat fading channels the scatterer density has a marginal effect on channel performances when the area of the two scatterer zones is fixed, while a significant impact is observed when the area of the scatterer zones is allowed to change. In frequency-selective fading channels, no matter the area of the scatterer zones is fixed or not, scatterer density can affect the channel capacity to a certain degree that depends on the length of the coding block of the transmitted signals. © 2010 IEEE.

Heterogeneous sensor database framework for the sensor observation service: integrating remote and in-situ sensor observations at the database backend

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Transparent and secure remote network storage system using an untrusted server

Työssä kehitettin läpinäkyvä Internet Small Computer Systems Interface-verkkolevyä (iSCSI) käyttävä varmistusjärjestelmä. Verkkolevyn sisältö suojattiin asiakaspään salauskerroksella (dm-crypt). Järjestely mahdollisti sen, että verkkolevylle tallennetut varmuuskopiot pysyivät luottamuksellisina, vaikka levypalvelinta tarjoava taho oli joko epäluotettava tai suorastaan vihamielinen. Järjestelmän hyötykäyttöä varten kehitettiin helppokäyttöinen prototyyppisovellus. Järjestelmän riskit ja haavoittuvuudet käytiin läpi ja analysoitiin. Järjestelmälle tehtiin myös karkea kryptoanalyysi sen teknistenominaisuuksien pohjalta. Suorituskykymittaukset tehtiin sekä salatulle että salaamattomalle iSCSI-liikenteelle. Näistä todettiin, että salauksen vaikutus suorituskykyyn oli häviävän pieni jopa 100 megabittiä sekunnissa siirtävillä verkkonopeuksilla. Lisäksi pohdittiin teknologian muita sovelluskohteita ja tulevia tutkimusalueita.

Spectroradiometry of soil and comparison with orbital sensors

The aim of this study was to characterize and compare the spectral behavior of different soil classes obtained by orbital and terrestrial sensors. For this, an area of 184 ha in Rafard (SP) Brazil was staked on a regular grid of 100x100 m and soil samples were collected and georeferenced. After that, soil spectral curves were obtained with IRIS sensor and the sample points were overlaid at Landsat and ASTER images for spectral data collection. The soil samples were classified and mean soil curves for all sensors were generated by soil classes. The soil classes were differentiated by texture, organic matter and total iron for all sensors studied, the orbital sensors despite the lower spectral resolution, maintained the characteristics of the soil and the curves of reflectance intensity.

Physical models for numerical simulation of Si-based nanoscale FETs and sensors

To continuously improve the performance of metal-oxide-semiconductor field-effect-transistors (MOSFETs), innovative device architectures, gate stack engineering and mobility enhancement techniques are under investigation. In this framework, new physics-based models for Technology Computer-Aided-Design (TCAD) simulation tools are needed to accurately predict the performance of upcoming nanoscale devices and to provide guidelines for their optimization. In this thesis, advanced physically-based mobility models for ultrathin body (UTB) devices with either planar or vertical architectures such as single-gate silicon-on-insulator (SOI) field-effect transistors (FETs), double-gate FETs, FinFETs and silicon nanowire FETs, integrating strain technology and high-κ gate stacks are presented. The effective mobility of the two-dimensional electron/hole gas in a UTB FETs channel is calculated taking into account its tensorial nature and the quantization effects. All the scattering events relevant for thin silicon films and for high-κ dielectrics and metal gates have been addressed and modeled for UTB FETs on differently oriented substrates. The effects of mechanical stress on (100) and (110) silicon band structures have been modeled for a generic stress configuration. Performance will also derive from heterogeneity, coming from the increasing diversity of functions integrated on complementary metal-oxide-semiconductor (CMOS) platforms. For example, new architectural concepts are of interest not only to extend the FET scaling process, but also to develop innovative sensor applications. Benefiting from properties like large surface-to-volume ratio and extreme sensitivity to surface modifications, silicon-nanowire-based sensors are gaining special attention in research. In this thesis, a comprehensive analysis of the physical effects playing a role in the detection of gas molecules is carried out by TCAD simulations combined with interface characterization techniques. The complex interaction of charge transport in silicon nanowires of different dimensions with interface trap states and remote charges is addressed to correctly reproduce experimental results of recently fabricated gas nanosensors.

New techniques for the remote sensing of foliar nitrogen concentration in forest ecosystems.

During my Doctoral study I researched about the remote detection of canopy N concentration in forest stands, its potentials and problems, under many overlapping perspectives. The study consisted of three parts. In S. Rossore 2000 dataset analysis, I tested regressions between N concentration and NIR reflectances derived from different sources (field samples, airborne and satellite sensors). The analysis was further expanded using a larger dataset acquired in year 2009 as part of a new campaign funded by the ESA. In both cases, a good correlation was observed between Landsat NIR, using both TM (2009) and ETM+ (2000) imagery, and N concentration measured by a CHN elemental analyzer. Concerning airborne sensors I did not obtain the same good results, mainly because of the large FOV of the two instruments, and to the anisotropy of vegetation reflectance. We also tested the relation between ground based ASD measures and nitrogen concentration, obtaining really good results. Thus, I decided to expand my study to the regional level, focusing only on field and satellite measures. I analyzed a large dataset for the whole of Catalonia, Spain; MODIS imagery was used, in consideration of its spectral characteristics and despite its rather poor spatial resolution. Also in this case a regression between nitrogen concentration and reflectances was found, but not so good as in previous experiences. Moreover, vegetation type was found to play an important role in the observed relationship. We concluded that MODIS is not the most suitable satellite sensor in realities like Italy and Catalonia, which present a patchy and inhomogeneous vegetation cover; so it could be utilized for the parameterization of eco-physiological and biogeochemical models, but not for really local nitrogen estimate. Thus multispectral sensors similar to Landsat Thematic Mapper, with better spatial resolution, could be the most appropriate sensors to estimate N concentration.

Sustainable regional development: Reconciling global and local dynamics and stakes in the Swiss Alps

This article explores how global and local dynamics and stakes can be brought together when trying to combine conservation and regional development. For this purpose we analyse a series of studies carried out in the area of the Swiss Alps Jungfrau-Aletsch World Heritage Site (WHS). The approaches used in these studies to analyse the diversity and development of the region included data collection and evaluation of indicators such as population development, number of working places, occupation rates in various economic sectors and commuter balance, as well as interviews with key informants and assessment of existing planning tools. The major challenge of the newly declared World Heritage Region is that it is neither a political or administrative nor a cultural unit but constitutes a completely new type of space that breaks up and crosses traditional boundaries. The studies revealed an economic tertiarisation process and migration of the population from remote areas to regional centres. Tourism was identified as the key economic sector in the region. Regarding regional sustainability, the studies identified a need for quality dialogue and negotiation of interests and stakes. It was shown that in dealing with sustainability at the local level, many key issues cannot be resolved on the ground, as they depend on regional or national decisions, e.g. the conditions for tourism promotion in the region or economic validation of agricultural activity. We conclude from these findings that national or even international factors do not provide a basis for location-specific solutions, as they are often too general, and that the global label does not ensure sustainability in a designated WHS region; this depends entirely on local and regional dynamics.

A comparison of SAR sensors for quantifying Melaleuca biomass on tropical floodplains in northern Australia and New Guinea

Proceedings of the 11th Australasian Remote Sensing and Photogrammetry Conference

Theory and Practice in Sustainability Science: Influence of Urban Form on the Urban Heat Island and Implications for Urban Systems

As the world population continues to grow past seven billion people and global challenges continue to persist including resource availability, biodiversity loss, climate change and human well-being, a new science is required that can address the integrated nature of these challenges and the multiple scales on which they are manifest. Sustainability science has emerged to fill this role. In the fifteen years since it was first called for in the pages of Science, it has rapidly matured, however its place in the history of science and the way it is practiced today must be continually evaluated. In Part I, two chapters address this theoretical and practical grounding. Part II transitions to the applied practice of sustainability science in addressing the urban heat island (UHI) challenge wherein the climate of urban areas are warmer than their surrounding rural environs. The UHI has become increasingly important within the study of earth sciences given the increased focus on climate change and as the balance of humans now live in urban areas.

In Chapter 2 a novel contribution to the historical context of sustainability is argued. Sustainability as a concept characterizing the relationship between humans and nature emerged in the mid to late 20th century as a response to findings used to also characterize the Anthropocene. Emerging from the human-nature relationships that came before it, evidence is provided that suggests Sustainability was enabled by technology and a reorientation of world-view and is unique in its global boundary, systematic approach and ambition for both well being and the continued availability of resources and Earth system function. Sustainability is further an ambition that has wide appeal, making it one of the first normative concepts of the Anthropocene.

Despite its widespread emergence and adoption, sustainability science continues to suffer from definitional ambiguity within the academe. In Chapter 3, a review of efforts to provide direction and structure to the science reveals a continuum of approaches anchored at either end by differing visions of how the science interfaces with practice (solutions). At one end, basic science of societally defined problems informs decisions about possible solutions and their application. At the other end, applied research directly affects the options available to decision makers. While clear from the literature, survey data further suggests that the dichotomy does not appear to be as apparent in the minds of practitioners.

In Chapter 4, the UHI is first addressed at the synoptic, mesoscale. Urban climate is the most immediate manifestation of the warming global climate for the majority of people on earth. Nearly half of those people live in small to medium sized cities, an understudied scale in urban climate research. Widespread characterization would be useful to decision makers in planning and design. Using a multi-method approach, the mesoscale UHI in the study region is characterized and the secular trend over the last sixty years evaluated. Under isolated ideal conditions the findings indicate a UHI of 5.3 ± 0.97 °C to be present in the study area, the magnitude of which is growing over time.

Although urban heat islands (UHI) are well studied, there remain no panaceas for local scale mitigation and adaptation methods, therefore continued attention to characterization of the phenomenon in urban centers of different scales around the globe is required. In Chapter 5, a local scale analysis of the canopy layer and surface UHI in a medium sized city in North Carolina, USA is conducted using multiple methods including stationary urban sensors, mobile transects and remote sensing. Focusing on the ideal conditions for UHI development during an anticyclonic summer heat event, the study observes a range of UHI intensity depending on the method of observation: 8.7 °C from the stationary urban sensors; 6.9 °C from mobile transects; and, 2.2 °C from remote sensing. Additional attention is paid to the diurnal dynamics of the UHI and its correlation with vegetation indices, dewpoint and albedo. Evapotranspiration is shown to drive dynamics in the study region.

Finally, recognizing that a bridge must be established between the physical science community studying the Urban Heat Island (UHI) effect, and the planning community and decision makers implementing urban form and development policies, Chapter 6 evaluates multiple urban form characterization methods. Methods evaluated include local climate zones (LCZ), national land cover database (NCLD) classes and urban cluster analysis (UCA) to determine their utility in describing the distribution of the UHI based on three standard observation types 1) fixed urban temperature sensors, 2) mobile transects and, 3) remote sensing. Bivariate, regression and ANOVA tests are used to conduct the analyses. Findings indicate that the NLCD classes are best correlated to the UHI intensity and distribution in the study area. Further, while the UCA method is not useful directly, the variables included in the method are predictive based on regression analysis so the potential for better model design exists. Land cover variables including albedo, impervious surface fraction and pervious surface fraction are found to dominate the distribution of the UHI in the study area regardless of observation method.

Chapter 7 provides a summary of findings, and offers a brief analysis of their implications for both the scientific discourse generally, and the study area specifically. In general, the work undertaken does not achieve the full ambition of sustainability science, additional work is required to translate findings to practice and more fully evaluate adoption. The implications for planning and development in the local region are addressed in the context of a major light-rail infrastructure project including several systems level considerations like human health and development. Finally, several avenues for future work are outlined. Within the theoretical development of sustainability science, these pathways include more robust evaluations of the theoretical and actual practice. Within the UHI context, these include development of an integrated urban form characterization model, application of study methodology in other geographic areas and at different scales, and use of novel experimental methods including distributed sensor networks and citizen science.

Adherence to cervical and breast cancer programs is crucial to improving screening performance

Introduction: Cervical and breast cancer are the most common malignancies among women worldwide. Effective screening can facilitate early detection and dramatically reduce mortality rates. The interface between those screening patients and patients most needing screening is complex, and women in remote areas of rural counties face additional barriers that limit the effectiveness of cancer prevention programs. This study compared various methods to improve compliance with mass screening for breast and cervical cancer among women in a remote, rural region of Brazil. Methods: In 2003, a mobile unit was used to perform 10 156 mammograms and Papanicolaou smear tests for women living in the Barretos County region of Sao Paulo state, Brazil (consisting of 19 neighbouring cities). To reach the women, the following community outreach strategies were used: distribution of flyers and pamphlets; media broadcasts (via radio and car loudspeakers); and community healthcare agents (CHCAs) making home visits. Results: The most useful intervention appeared to be the home visits by healthcare agents or CHCAs. These agents of the Family Health Programme of the Brazilian Ministry of Health reached an average of 45.6% of those screened, with radio advertisements reaching a further 11.9%. The great majority of the screened women were illiterate or had elementary level schooling (80.9%) and were of 'poor' or 'very poor' socioeconomic class (67.2%). Conclusions: Use of a mobile screening unit is a useful strategy in developing countries where local health systems have inadequate facilities for cancer screening in underserved populations. A multimodal approach to community outreach strategies, especially using CHCAs and radio advertisements, can improve the uptake of mass screening in low-income, low-educational background female populations.