Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Q-enhancement with on-chip inductor optimization for reconfigurable Δ-Σ radio-frequency ADC

The paper details on-chip inductor optimization for a reconfigurable continuous-time delta-sigma (Δ-Σ) modulator based radio-frequency analog-to-digital converter. Inductor optimisation enables the Δ-Σ modulator with Q enhanced LC tank circuits employing a single high Q-factor on-chip inductor and lesser quantizer levels thereby reducing the circuit complexity for excess loop delay, power dissipation and dynamic element matching. System level simulations indicate at a Q-factor of 75 Δ- Σ modulator with a 3-level quantizer achieves dynamic ranges of 106, 82 dB and 84 dB for RFID, TETRA, and Galileo over bandwidths of 200 kHz, 10 MHz and 40 MHz respectively.

Computing, Design, Art: Reflections on an Innovative Moment in History

The paper is concerned with the role of art and design in the history and philosophy of computing. It offers insights arising from research into a period in the 1960s and 70s, particularly in the UK, when computing became more available to artists and designers, focusing on John Lansdown (1929-1999) and Bruce Archer (1922-2005) in London. Models of computing interacted with conceptualisations of art, design and related creative activities in important ways.

Soft-computing techniques applied to artificial tissue temperature estimation

Tese dout., Engenharia electrónica e computação - Processamento de sinal, Universidade do Algarve, 2008

A soft-computing approach for non-invasive temperature estimation

The domain of thermal therapies applications can be improved with the development of accurate non-invasive timespatial temperature models. These models should represent the non-linear tissue thermal behaviour and be capable of tracking temperature at both time-instant and spatial position. If such estimators exist then efficient controllers for the therapeutic instrumentation could be developed, and the desired safety and effectiveness reached.

Métodos de soft computing para la estimación no invasiva de la temperatura en medios multicapa empleando ultrasonido retrodisperso

La seguridad y eficacia de las terapias térmicas están ligadas con la determinación exacta de la temperatura, es por ello que la retroalimentacón de la temperatura en los métodos computacionales es de vital importancia.

Introducing Game Development into the Computing Curriculum: a Progressive Methodology

The Computer Game industry is big business, the demand for graduates is high, indeed there is a continuing shortage of skilled employees. As with most professions, the skill set required is both specific and diverse. There are currently over 30 Higher Education Institutions (HEIs) in the UK offering Computer games related courses. We expect that as the demand from the industry is sustained, more HEIs will respond with the introduction of game-related degrees. This is quite a considerable undertaking involving many issues from integration of new modules or complete courses within the existing curriculum, to staff development. In this paper we share our experiences of introducing elements of game development into our curriculum. This has occurred over the past two years, starting with the inclusion of elements of game development into existing programming modules, followed by the validation of complete modules, and culminating in a complete degree course. Our experience is that our adopting a progressive approach to development, spread over a number of years, was crucial in achieving a successful outcome.

Optically reconfigurable CPW filters for UWB applications

A miniature optically reconfigurable ultra-wideband CPW bandpass filter is proposed. With the optical switch in the ON state (200W), the circuit behaves as a bandpass filter while in the OFF state (0W), the circuit behaves as a bandstop filter within the same frequency band. The simulation results of the proposed bandpass/bandstop filter are presented.

Nonlinear distortion evaluation of reconfigurable RF circuits in wireless communication systems

A compact highly linear microstrip dual - mode optically switchable filter and a reconfigurable power amplifier are presented. The key characteristics of the dual - mode switchable filter are investigated and described. A second order filter design procedure is outlined to facilitate the realisation of Butterworth and Chebyshev functions. The proposed filter was built and tested with an optical switch, which comprised of a silicon dice acti vated using near infrared light. The measured and simulated results are in good agreement. The measured insertion loss in the ON state was 3.0 dB the isolation in the OFF state was 45 dB at the centre frequency. An evaluation of filter distortion is presen ted for digitally modulated M - QAM and M - QAM OFDM singals.

Optically reconfigurable E-plane waveguide resonators and filters

This paper presents an optically reconfigurable E-plane waveguide resonator and filter. N-type silicon dice doped with phosphorus is used as the switching element and is connected to the edge of a metallic fin. Illumination of the silicon dice allows realization of a different length of the fin, thus creating a shift in resonant frequency of the structure. Frequency tuning range up to about 5.2% is achieved for the resonator as well as the filter. Measurements on a fabricated optically reconfigurable resonator confirm the accuracy of the design procedure. Measured responses show good agreement with simulation.

Miniaturised sharp rejection bandpass filter with reconfigurable bandwidth for UWB applications

A novel, compact and highly selective microstrip bandpass filter with bandwidth reconfigurability for ultra-wideband (UWB) applications is presented. The proposed design uses stepped impedance resonator (SIR) for realization of bandpass filter (BPF) and employs a single varactor diode (BB135-NXP) for the purpose of reconfiguring bandwidth. Additionally, to improve the selectivity between passband edges, a cross-coupling between I/O feed lines is introduced which generated pairs of attenuation poles at each side of the passband. Measurements on a fabricated reconfigurable filter confirm the accuracy of the design procedure. Measured responses show good agreement with simulation. The proposed filter is able to achieve significant size reduction (8.5 mm × 7.1 mm excluding the feeding ports) as compared to the conventional bandpass filters with reconfigurable bandwidth.

Business Models for Cloud Computing: Experiences from Developing Modeling & Simulation as a Service Applications in Industry

The potential of cloud computing is gaining significant interest in Modeling & Simulation (M&S). The underlying concept of using computing power as a utility is very attractive to users that can access state-of-the-art hardware and software without capital investment. Moreover, the cloud computing characteristics of rapid elasticity and the ability to scale up or down according to workload make it very attractive to numerous applications including M&S. Research and development work typically focuses on the implementation of cloud-based systems supporting M&S as a Service (MSaaS). Such systems are typically composed of a supply chain of technology services. How is the payment collected from the end-user and distributed to the stakeholders in the supply chain? We discuss the business aspects of developing a cloud platform for various M&S applications. Business models from the perspectives of the stakeholders involved in providing and using MSaaS and cloud computing are investigated and presented.