Unificación de los protocolos de multipunto fiable optimizando la escalabilidad y el retardo

Las aplicaciones distribuidas que precisan de un servicio multipunto fiable son muy numerosas, y entre otras es posible citar las siguientes: bases de datos distribuidas, sistemas operativos distribuidos, sistemas de simulación interactiva distribuida y aplicaciones de distribución de software, publicaciones o noticias. Aunque en sus orígenes el dominio de aplicación de tales sistemas distribuidos estaba reducido a una única subred (por ejemplo una Red de Área Local) posteriormente ha surgido la necesidad de ampliar su aplicabilidad a interredes. La aproximación tradicional al problema del multipunto fiable en interredes se ha basado principalmente en los dos siguientes puntos: (1) proporcionar en un mismo protocolo muchas garantías de servicio (por ejemplo fiabilidad, atomicidad y ordenación) y a su vez algunas de éstas en distintos grados, sin tener en cuenta que muchas aplicaciones multipunto que precisan fiabilidad no necesitan otras garantías; y (2) extender al entorno multipunto las soluciones ya adoptadas en el entorno punto a punto sin considerar las características diferenciadoras; y de aquí, que se haya tratado de resolver el problema de la fiabilidad multipunto con protocolos extremo a extremo (protocolos de transporte) y utilizando esquemas de recuperación de errores, centralizados (las retransmisiones se hacen desde un único punto, normalmente la fuente) y globales (los paquetes solicitados se vuelven a enviar al grupo completo). En general, estos planteamientos han dado como resultado protocolos que son ineficientes en tiempo de ejecución, tienen problemas de escalabilidad, no hacen un uso óptimo de los recursos de red y no son adecuados para aplicaciones sensibles al retardo. En esta Tesis se investiga el problema de la fiabilidad multipunto en interredes operando en modo datagrama y se presenta una forma novedosa de enfocar el problema: es más óptimo resolver el problema de la fiabilidad multipunto a nivel de red y separar la fiabilidad de otras garantías de servicio, que pueden ser proporcionadas por un protocolo de nivel superior o por la propia aplicación. Siguiendo este nuevo enfoque se ha diseñado un protocolo multipunto fiable que opera a nivel de red (denominado RMNP). Las características más representativas del RMNP son las siguientes; (1) sigue una aproximación orientada al emisor, lo cual permite lograr un grado muy alto de fiabilidad; (2) plantea un esquema de recuperación de errores distribuido (las retransmisiones se hacen desde ciertos encaminadores intermedios que siempre estarán más cercanos a los miembros que la propia fuente) y de ámbito restringido (el alcance de las retransmisiones está restringido a un cierto número de miembros). Este esquema hace posible optimizar el retardo medio de distribución y disminuir la sobrecarga introducida por las retransmisiones; (3) incorpora en ciertos encaminadores funciones de agregación y filtrado de paquetes de control, que evitan problemas de implosión y reducen el tráfico que fluye hacia la fuente. Con el fin de evaluar el comportamiento del protocolo diseñado, se han realizado pruebas de simulación obteniéndose como principales conclusiones que, el RMNP escala correctamente con el tamaño del grupo, hace un uso óptimo de los recursos de red y es adecuado para aplicaciones sensibles al retardo.---ABSTRACT---There are many distributed applications that require a reliable multicast service, including: distributed databases, distributed operating systems, distributed interactive simulation systems and distribution applications of software, publications or news. Although the application domain of distributed systems of this type was originally confíned to a single subnetwork (for example, a Local Área Network), it later became necessary extend their applicability to internetworks. The traditional approach to the reliable multicast problem in internetworks is based mainly on the following two points: (1) provide a lot of service guarantees in one and the same protocol (for example, reliability, atomicity and ordering) and different levéis of guarantee in some cases, without taking into account that many multicast applications that require reliability do not need other guarantees, and (2) extend solutions adopted in the unicast environment to the multicast environment without taking into account their distinctive characteristics. So, the attempted solutions to the multicast reliability problem were end-to-end protocols (transport protocols) and centralized error recovery schemata (retransmissions made from a single point, normally the source) and global error retrieval schemata (the requested packets are retransmitted to the whole group). Generally, these approaches have resulted in protocols that are inefficient in execution time, have scaling problems, do not make optimum use of network resources and are not suitable for delay-sensitive applications. Here, the multicast reliability problem is investigated in internetworks operating in datagram mode and a new way of approaching the problem is presented: it is better to solve to the multicast reliability problem at network level and sepárate reliability from other service guarantees that can be supplied by a higher protocol or the application itself. A reliable multicast protocol that operates at network level (called RMNP) has been designed on the basis of this new approach. The most representative characteristics of the RMNP are as follows: (1) it takes a transmitter-oriented approach, which provides for a very high reliability level; (2) it provides for an error retrieval schema that is distributed (the retransmissions are made from given intermedíate routers that will always be closer to the members than the source itself) and of restricted scope (the scope of the retransmissions is confined to a given number of members), and this schema makes it possible to optimize the mean distribution delay and reduce the overload caused by retransmissions; (3) some routers include control packet aggregation and filtering functions that prevent implosión problems and reduce the traffic flowing towards the source. Simulation test have been performed in order to evalúate the behaviour of the protocol designed. The main conclusions are that the RMNP scales correctly with group size, makes optimum use of network resources and is suitable for delay-sensitive applications.

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.

Molecular mechanisms of sound amplification in the mammalian cochlea

Mammalian hearing depends on the enhanced mechanical properties of the basilar membrane within the cochlear duct. The enhancement arises through the action of outer hair cells that act like force generators within the organ of Corti. Simple considerations show that underlying mechanism of somatic motility depends on local area changes within the lateral membrane of the cell. The molecular basis for this phenomenon is a dense array of particles that are inserted into the basolateral membrane and that are capable of sensing membrane potential field. We show here that outer hair cells selectively take up fructose, at rates high enough to suggest that a sugar transporter may be part of the motor complex. The relation of these findings to a recent candidate for the molecular motor is also discussed.

Estimativa da incidência de câncer nas redes regionais de saúde e municípios do estado de São Paulo, 2010

Introdução: Estatísticas sobre a ocorrência de casos novos de câncer são fundamentais para o planejamento e monitoramento das ações de controle da doença. No estado de São Paulo, a incidência de câncer é obtida indiretamente por meio de estimativas oficiais (para o estado como um todo e sua capital) e, de forma direta, em municípios cobertos por Registro de Câncer de Base Populacional (RCBP). Existem, atualmente, três RCBP ativos (São Paulo, Jaú e Santos), um inativo (Barretos) e um em reimplantação (Campinas). Dado o desconhecimento do panorama da incidência de câncer em áreas não cobertas por RCBP, este estudo teve como objetivo estimar a incidência de câncer, calcular taxas brutas e padronizadas por idade, específicas por sexo e localização primária do tumor para as 17 Redes Regionais de Atenção à Saúde (RRAS) de São Paulo e municípios, em 2010. Método: Utilizou-se como estimador da incidência de câncer a razão Incidência/Mortalidade (I/M), por sexo, grupo etário quinquenal dos 0 aos 80 anos e localização primária do tumor. O numerador da razão foi formado pelo número agregado de casos novos entre 2006-2010, em dois RCBP ativos (Jaú e São Paulo, respectivamente, com cobertura correspondente a 0,3 por cento e 27,3 por cento da população estadual). No denominador, o número de óbitos oficial nas respectivas áreas e período. O número estimado de casos novos resultou da multiplicação das I/M pelo número de óbitos por câncer registrados em 2010 para o conjunto de municípios formadores de cada uma das RRAS ou para cada município. O método de referência foi aquele utilizado no Globocan series, da Agência Internacional de Pesquisa contra o Câncer. O ajuste por idade das taxas de incidência ocorreu pelo método direto, tendo como padrão a população mundial. Resultados: Estimaram-se 53.476 casos novos de câncer para o sexo masculino e 55.073 casos para o feminino (excluindo-se os casos de câncer de pele não melanoma), com taxas padronizadas de 261/100.000 e 217/100.000, respectivamente. No sexo masculino, a RRAS 6 apresentou para todos os cânceres a maior taxa de incidência padronizada (285/100.000), e a RRAS 10, a menor (207/100.000). Os cânceres mais incidentes em homens foram próstata (77/100.000), cólon/reto/anus (27/100.000) e traqueia/brônquio/pulmão (16/100.000). Entre as mulheres, as taxas de incidência padronizadas por idade foram de 170/100.000 (RRAS 11) a 252/100.000 (RRAS 07); o câncer de mama foi o mais incidente (58/100.000), seguido pelos tumores de cólon/reto/anus (23/100.000) e de colo uterino (9/100.000). Conclusões: Os resultados apontaram diferentes padrões de incidência com taxas que ultrapassaram a magnitude estadual. Dados provenientes de RCBP locais podem ser usados na obtenção indireta de estimativas regionais e locais. Neste estudo, as taxas de incidência apresentadas podem estar sub ou superestimadas refletindo a qualidade, completitude e padrões observados no RCBP de maior representatividade considerado na análise.

Ending uncertainty: recapitalisation under European Central Bank supervision. Bruegel Policy Contribution 2013/18, 17 December 2013

Estimates of the recapitalisation needs of the euro-area banking system vary between €50 and €600 billion. The range shows the considerable uncertainty about the quality of banks’ balance sheets and about the parameters of the forthcoming European Central Bank stress tests, including the treatment of sovereign debt and systemic risk. Uncertainty also prevails about the rules and discretion that will applyto bank recapitalisation, bank restructuring and bank resolution in 2014 and beyond. The ECB should communicate the relevant parameters of its exercise early and in detail to give time to the private sector to find solutions. The ECB should establish itself as a tough supervisor and force non-viable banks into restructuring. This could lead to short-term financial volatility, but it should be weighed against the cost of a durably weak banking system and the credibility risk to the ECB. The ECB may need to provide large amounts of liquidity to the financial system. Governments should support the ECB, accept cross-border bank mergers and substantial creditor involvement under clear bail-in rules and should be prepared to recapitalise banks. Governments should agree on the eventual creation of a single resolution mechanism with efficient and fast decision-making procedures, and which can exercise discretion where necessary. A resolution fund, even when fully built-up, needs to have a common fiscal backstop to be credible.

The Asset Quality Review and Capital Needs: Why re-capitalise banks with public money? CEPS Policy Brief No. 311, 19 December 2013

It is generally assumed that any capital needs discovered by the Asset Quality Review the ECB is scheduled to finish by the end of 2014 should be filled by public funding (= fiscal backstop). This assumption is wrong, however. Banks that do not have enough capital should be asked to obtain it from the market; or be restructured using the procedures and rules recently agreed. The Directorate-General for Competition at the European Commission should be particularly vigilant to ensure that no further state aid flows to an already oversized European banking system. The case for a public backstop was strong when the entire euro area banking system was under stress, but this is no longer the case. Banks with a viable business model can find capital; those without should be closed because any public-sector re-capitalisation would likely mean throwing good money after bad.

Essays on Personal Bankruptcy Law and Small Business Financing

Thesis (Ph.D.)--University of Washington, 2016-06

Implications of social capital for the inclusion of people with disabilities and families in community life

This paper seeks to ascertain the usefulness of the theory of social capital as a framework for developing and sustaining the inclusion of people with disabilities and families in community life. We discuss the theoretical elements of social capital and assess its relevance when understanding both the experiences of people with disabilities and their families and the possible implications for policy and programme efforts to promote inclusion. Preliminary findings from two studies of the experiences and social networks of people with disabilities and their families in communities in regional and rural Australia are presented. It is argued that to date, people with disabilities and their families have largely been excluded from the broader social capital debate and that social capital thinking has had minimal influence on efforts to achieve the inclusion of people with disabilities into community life. It is further argued that new paradigms of support are needed that build capacity and social capital through working alongside individuals and families to influence not only outcomes for them, but also for the communities on which they live. The local area coordination model as it has developed in Australia since 1989 provides some instructive signposts for integrating individual, family and community approaches. It is concluded that social capital theory can make a contribution to inclusion theory and practice but we should use it with circumspection.

Options for guaranteeing the effective management of the world's protected areas

A rapid increase in the number and size of protected areas has prompted interest in their effectiveness and calls for guarantees that they are providing a good return on investment by maintaining their values. Research reviewed here suggests that many remain under threat and a significant number are already suffering deterioration. One suggestion for encouraging good management is to develop a protected-area certification system: however this idea remains controversial and has created intense debate. We list a typology of options for guaranteeing good protected-area management, and give examples, including: danger lists; self-reporting systems against individual or standardised criteria; and independent assessment including standardised third-party reporting, use of existing certification systems such as those for forestry and farming and certification tailored specifically to protected areas. We review the arguments for and against certification and identify some options, such as: development of an accreditation scheme to ensure that assessment systems meet minimum standards; building up experience from projects that are experimenting with certification in protected areas; and initiating certification schemes for specific users such as private protected areas or institutions like the World Heritage Convention.

Short-Term Perturbations and Tourism Effects: The case of SARS in China

In China, protected areas are one of the main destinations attracting tourists and homeland for many poor people living in and around them. Based on a case study, the paper focuses on correlation between tourism and poverty alleviation by tracing the cash flows to the local poor. It also reviews the social and environmental effects of tourism on local area. The case study is conducted in a group of protected areas in Qinling Mountain Region in Shaanxi, a western province in China. Qinling Mountain is one of the most important distribution zones for Giant Panda and some other endangered wildlife such as Golden Takin and Golden Monkey. The tourism development in the region is happening. Research indicates that there is 29.33%, of tourist expenditure is going to local households, directly or indirectly. Tourist spends US$7.11 (13.67%) in food and beverage, and US$6.39 (12.23%) in accommodation service, which are the greatest contributors to local households in terms of tourism benefits. Local households can get US$8.15 from food/beverage and accommodation sectors, taking 56.64% of total income from tourism. Generally, tourism development benefits all stakeholders. However, poor people get less benefit. The paper analyses the barriers for the poor to be involved in tourism development, and discusses the government roles, major issues in implementation of Sustainable Tourism-Eliminating Poverty (ST-EP) model.

How the west was once: vegetation change in south-west Queensland from 1930 to 1995

Conflicting perceptions of past and present rangeland condition and limited historical data have led to debate regarding the management of vegetation in pastoral landscapes both internationally and in Australia. In light of this controversy we have sought to provide empirical evidence to determine the trajectory of vegetational change in a semi-arid rangeland for a significant portion of the 20th century using a suite of proxy measures. Ambathala Station, approximately 780 km west of Brisbane, in the semi-arid rangelands of south-western Queensland, Australia. We excavated stratified deposits of sheep manure which had accumulated beneath a shearing shed between the years 1930 and 1995. Multi-proxy data, including pollen and leaf cuticle analyses and analysis of historical aerial photography were coupled with a fine resolution radiocarbon chronology to generate a near annual history of vegetation on the property and local area. Aerial photography indicates that minor (< 5%) increases in the density of woody vegetation took place between 1951 and 1994 in two thirds of the study area not subjected to clearing. Areas that were selectively or entirely cleared prior to the 1950s (approximately 16% of the study area) had recovered to almost 60% of their original cover by the 1994 photo period. This slight thickening is only partially evident from pollen and leaf cuticle analyses of sheep faeces. Very little change in vegetation is revealed over the nearly 65 years based on the relative abundances of pollen taxonomic groups. Microhistological examination of sheep faeces provides evidence of dramatic changes in sheep diet. The majority of dietary changes are associated with climatic events of sustained above-average rainfall or persistent drought. Most notable in the dietary analysis is the absence of grass during the first two decades of the record. In contrast to prevailing perceptions and limited research into long-term vegetation change in the semi-arid areas of eastern Australia, the record of vegetation change at the Ambathala shearing shed indicates only a minor increase in woody vegetation cover and no decrease in grass cover on the property over the 65 years of pastoral activity covered by the study. However, there are marked changes in the abundance of grass cuticles in sheep faeces. The appearance and persistence of grass in sheep diets from the late 1940s can be attributed to the effects of periods of high rainfall and possibly some clearing and thinning of vegetation. Lower stock numbers may have allowed grass to persist through later drought years. The relative abundances of major groups of plant pollen have not changed significantly over the past 65 years.

The parameterless self-organizing map algorithm

The parameterless self-organizing map (PLSOM) is a new neural network algorithm based on the self-organizing map (SOM). It eliminates the need for a learning rate and annealing schemes for learning rate and neighborhood size. We discuss the relative performance of the PLSOM and the SOM and demonstrate some tasks in which the SOM fails but the PLSOM performs satisfactory. Finally we discuss some example applications of the PLSOM and present a proof of ordering under certain limited conditions.

A community-based wildlife survey: the knowledge and attitudes of residents of suburban Brisbane, with a focus on bandicoots

Within the expanding city of Brisbane in south-east Queensland, numerous fragments of native and regrowth vegetation are scattered across the largely urbanised landscape. These fragments provide refuge to a great diversity of native wildlife, and, provide residents with the opportunity to experience nature on their doorstep. To assess the diversity and abundance of this wildlife, recent changes in these parameters, and the value of wildlife and bushland fragments to residents of Brisbane, a questionnaire survey was distributed to 300 households each located adjacent to one of 38 urban bushland fragments. A total of 172 surveys (57%) were returned, producing 768 records of 83 fauna species, dominated by birds and mammals; bandicoots were widely reported from the 38 fragments. Several historical records provided evidence of recent local extinctions within fragments, highlighting the continuing declines in various species of native wildlife within Brisbane. Several human-wildlife conflicts were identified, but overall residents were tolerant of such conflicts. Bandicoots were disliked by a small minority (3%) of residents owing to the holes they dig in lawns and gardens in search of food. and their potential as vectors of ticks. Most respondents expressed ail appreciation for the presence of native wildlife (96%) and bushland fragments (97%) in their local area, emphasising the importance of incorporating human dimension values into the management of this urban biodiversity.

A design pattern for efficient retrieval of large data sets from remote data sources

Retrieving large amounts of information over wide area networks, including the Internet, is problematic due to issues arising from latency of response, lack of direct memory access to data serving resources, and fault tolerance. This paper describes a design pattern for solving the issues of handling results from queries that return large amounts of data. Typically these queries would be made by a client process across a wide area network (or Internet), with one or more middle-tiers, to a relational database residing on a remote server. The solution involves implementing a combination of data retrieval strategies, including the use of iterators for traversing data sets and providing an appropriate level of abstraction to the client, double-buffering of data subsets, multi-threaded data retrieval, and query slicing. This design has recently been implemented and incorporated into the framework of a commercial software product developed at Oracle Corporation.

Hop selection in peer-to-peer WPAN networks

Currently, wireless technology is revolutionizing the way we share information and communicate. The demands for mobility have made wireless technology the primary source for voice communication. Code-division multiple-access (CDMA) is a very popular spread spectrum application due to its claims of low transmission power, higher system capacity, ability to mitigate multipath fading and user interference. In that case, frequency-hopping code-division multiple access (FH-CDMA) has received considerable attention over the past few years. This technique will allow a better performance over a fading channel, message privacy, and immunity to narrowband interference. This paper addresses the characteristics of FH-CDMA in WPAN networks, with an emphasis on frequency-hopped Bluetooth systems. A performance evaluation of FH-CDMA is discussed and simulated. The analysis shows the interaction between the designed parameters and their effect on the network system. Most specifically, the FH-CDMA scheme provides frequency and temporal diversity to combat the effects of interference.