Time-Based All-Digital Technique for Analog Built-in Self-Test

A scheme for built-in self-test of analog signals with minimal area overhead for measuring on-chip voltages in an all-digital manner is presented. The method is well suited for a distributed architecture, where the routing of analog signals over long paths is minimized. A clock is routed serially to the sampling heads placed at the nodes of analog test voltages. This sampling head present at each test node, which consists of a pair of delay cells and a pair of flip-flops, locally converts the test voltage to a skew between a pair of subsampled signals, thus giving rise to as many subsampled signal pairs as the number of nodes. To measure a certain analog voltage, the corresponding subsampled signal pair is fed to a delay measurement unit to measure the skew between this pair. The concept is validated by designing a test chip in a UMC 130-nm CMOS process. Sub-millivolt accuracy for static signals is demonstrated for a measurement time of a few seconds, and an effective number of bits of 5.29 is demonstrated for low-bandwidth signals in the absence of sample-and-hold circuitry.

Evaluation of airline exercises prescribed to avoid deep vein thrombosis using fiber Bragg grating sensors

Various leg exercises have been recommended to prevent deep vein thrombosis (DVT), a condition where a blood clot forms in the deep veins, especially during long-haul flights. Accessing the benefit of each of these exercises in avoiding the DVT, which can be fatal, is important in the context of suggesting the correct and the most beneficial exercises. Present work aims at demonstrating the fiber Bragg grating (FBG)-based sensing methodology for measuring surface strains generated on the skin of the calf muscle to evaluate the suggested airline exercises to avoid DVT. As the dataset in the experiment involves multiple subjects performing these exercises, an inertial measurement unit has been used to validate the repetitiveness of each of the exercises. The surface strain on the calf muscle obtained using the FBG sensor, which is a measure of the calf muscle deformation, has been compared against the variation of blood velocity in the femoral vein of the thigh measured using a commercial electronic-phased array color Doppler ultrasound system. Apart from analyzing the effectiveness of suggested exercises, a new exercise which is more effective in terms of strain generated to avoid DVT is proposed and evaluated. (C) 2013 Society of Photo-Optical Instrumentation Engineers (SPIE)

Coprocessador para operações quânticas.

A demanda crescente por poder computacional estimulou a pesquisa e desenvolvimento de processadores digitais cada vez mais densos em termos de transistores e com clock mais rápido, porém não podendo desconsiderar aspectos limitantes como consumo, dissipação de calor, complexidade fabril e valor comercial. Em outra linha de tratamento da informação, está a computação quântica, que tem como repositório elementar de armazenamento a versão quântica do bit, o q-bit ou quantum bit, guardando a superposição de dois estados, diferentemente do bit clássico, o qual registra apenas um dos estados. Simuladores quânticos, executáveis em computadores convencionais, possibilitam a execução de algoritmos quânticos mas, devido ao fato de serem produtos de software, estão sujeitos à redução de desempenho em razão do modelo computacional e limitações de memória. Esta Dissertação trata de uma versão implementável em hardware de um coprocessador para simulação de operações quânticas, utilizando uma arquitetura dedicada à aplicação, com possibilidade de explorar o paralelismo por replicação de componentes e pipeline. A arquitetura inclui uma memória de estado quântico, na qual são armazenados os estados individuais e grupais dos q-bits; uma memória de rascunho, onde serão armazenados os operadores quânticos para dois ou mais q-bits construídos em tempo de execução; uma unidade de cálculo, responsável pela execução de produtos de números complexos, base dos produtos tensoriais e matriciais necessários à execução das operações quânticas; uma unidade de medição, necessária à determinação do estado quântico da máquina; e, uma unidade de controle, que permite controlar a operação correta dos componente da via de dados, utilizando um microprograma e alguns outros componentes auxiliares.

Precision biomechanical motion tracking and throw characterisation in professional darts

In professional sports there are in general three steps required to improve performance namely task definition, training and performance assessment. This process is iteratively repeated and feedback generated from quantitative performance measurement is in turn used for task redefinition. Task definition can be achieved in a number of ways including via video streaming or indeed and as is more common, by listening to coaching staff. However non-subjective performance evaluation is difficult due to the complexity of the movements involved. When considering the subset of sports where precision accuracy and repeatability are a necessity this problem becomes inherently more difficult to solve. Until recently sports such as martial arts, fencing and darts, where the smallest deviation from a prescribed movement goal can result in large outcome error, were deemed too difficult to characterise fully. Advances in technology, as illustrated by this study, now make this type of physiometry possible.

WIMU instrumentation of assassin trainer & skeleton sled

Skeleton is a high‐speed Winter Olympic sport performed on the same twisting, downhill ice tracks used for Bobsleigh & Luge. The single rider sprints and pushes their sled for 20‐30m on a level start section before loading and going through a twisting course of over 1km, at speeds up to 140km/h, experiencing up to 5g. In competition, the top athletes can be within a fraction of a second of each other. The initial short pushing period is believed to be critical to overall performance but it is not well understood. A collaborative project between University of Bath, UK Sport and Tyndall National Institute is instrumenting skeleton athletes, training equipment and test tracks with Tyndall’s Wireless Inertial Measurement Unit technology in order to investigate and improve understanding of this phase of a skeleton run. It is hoped this will lead to improved training regimes and better performance of such elite, Olympic level athletes. This work presents an initial look at the system as implemented and data recorded.

WIMU instrumentation of assassin trainer & skeleton sled – initial data capture

Science Foundation Ireland (CSET - Centre for Science, Engineering and Technology, Grant No. 07/CE/11147)

Synchrophasor Broadcast over Internet Protocol for Distributed Generator Synchronization

Synchronous islanded operation involves continuously holding an islanded power network in virtual synchronism with the main power system to aid paralleling and avoid potentially damaging out-of-synchronism reclosure. This requires phase control of the generators in the island and the transmission of a reference signal from a secure location on the main power system. Global positioning system (GPS) time-synchronized phasor measurements transmitted via an Internet protocol (IP) are used for the reference signal. However, while offering low cost and a readily available solution for distribution networks, IP communications have variable latency and are susceptible to packet loss, which can make time-critical control applications difficult. This paper investigates the ability of the phase-control system to tolerate communications latency. Phasor measurement conditioning algorithms that can tolerate latency are used in the phase-control loop of a 50-kVA diesel generator. © 2010 IEEE.

A modified method for measuring antibiotic use in healthcare settings: implications for antibiotic stewardship and benchmarking

Objectives: To determine whether adjusting the denominator of the common hospital antibiotic use measurement unit (defined daily doses/100 bed-days) by including age-adjusted comorbidity score (100 bed-days/age-adjusted comorbidity score) would result in more accurate and meaningful assessment of hospital antibiotic use. 

Methods: The association between the monthly sum of age-adjusted comorbidity and monthly antibiotic use was measured using time-series analysis (January 2008 to June 2012). For the purposes of conducting internal benchmarking, two antibiotic usage datasets were constructed, i.e. 2004-07 (first study period) and 2008-11 (second study period). Monthly antibiotic use was normalized per 100 bed-days and per 100 bed-days/age-adjusted comorbidity score. 

Results: Results showed that antibiotic use had significant positive relationships with the sum of age-adjusted comorbidity score (P = 0.0004). The results also showed that there was a negative relationship between antibiotic use and (i) alcohol-based hand rub use (P = 0.0370) and (ii) clinical pharmacist activity (P = 0.0031). Normalizing antibiotic use per 100 bed-days contributed to a comparative usage rate of 1.31, i.e. the average antibiotic use during the second period was 31% higher than during the first period. However, normalizing antibiotic use per 100 bed-days per age-adjusted comorbidity score resulted in a comparative usage rate of 0.98, i.e. the average antibiotic use was 2% lower in the second study period. Importantly, the latter comparative usage rate is independent of differences in patient density and case mix characteristics between the two studied populations. 

Conclusions: The proposed modified antibiotic measure provides an innovative approach to compare variations in antibiotic prescribing while taking account of patient case mix effects. 

Synchrophasor-Based Islanding Detection for Distributed Generation Systems Using Systematic Principal Component Analysis Approaches

Systematic principal component analysis (PCA) methods are presented in this paper for reliable islanding detection for power systems with significant penetration of distributed generations (DGs), where synchrophasors recorded by Phasor Measurement Units (PMUs) are used for system monitoring. Existing islanding detection methods such as Rate-of-change-of frequency (ROCOF) and Vector Shift are fast for processing local information, however with the growth in installed capacity of DGs, they suffer from several drawbacks. Incumbent genset islanding detection cannot distinguish a system wide disturbance from an islanding event, leading to mal-operation. The problem is even more significant when the grid does not have sufficient inertia to limit frequency divergences in the system fault/stress due to the high penetration of DGs. To tackle such problems, this paper introduces PCA methods for islanding detection. Simple control chart is established for intuitive visualization of the transients. A Recursive PCA (RPCA) scheme is proposed as a reliable extension of the PCA method to reduce the false alarms for time-varying process. To further reduce the computational burden, the approximate linear dependence condition (ALDC) errors are calculated to update the associated PCA model. The proposed PCA and RPCA methods are verified by detecting abnormal transients occurring in the UK utility network.

A Microgrid Testbed for Interdisciplinary Research on Cyber-Secure Industrial Control in Power Systems

This paper describes a smart grid test bed comprising embedded generation, phasor measurement units (PMUs), and supporting ICT components and infrastructure. The test bed enables the development of a use case focused on a synchronous islanding scenario, where the embedded generation becomes islanded from the mains supply. Due to the provisioned control components, control strategy, and best-practice ICT support infrastructure, the islanded portion of the grid is able to continue to operate in a secure and dependable manner.

Gestão da sustentabilidade nas organizações: uma nova metodologia

O presente trabalho pretende auxiliar o processo de consolidação do conceito de sustentabilidade no seio das organizações. Partindo de ferramentas de gestão e avaliação já existentes, esta tese sugere a sua integração numa única metodologia, ultrapassando desse modo as limitações e potenciando as suas capacidades enquanto ferramentas isoladas. O modelo proposto para o Sistema de Gestão da Sustentabilidade (SGS) integra assim: o conceito de melhoria contínua característico dos sistemas de gestão normalizados; a capacidade de tradução da perspetiva estratégica da gestão para o plano operacional, característica do Business Scorecard (BSC); e, por fim, a avaliação emergética é ainda utilizada como uma ferramenta de avaliação da sustentabilidade de sistemas. Um objetivo secundário desta tese prende-se com o desenvolvimento de um procedimento para a realização da análise emergética de um sistema. Depois de analisada a literatura referente à utilização da análise emergética, identificou-se como necessária a definição de um procedimento normalizado, adotando um conjunto de tarefas e um formato de apresentação de resultados que permita disseminar o conceito e tornar a ferramenta mais “utilizável”. Por outro lado, procurou-se dotar o procedimento com um conjunto de indicações que permitem ultrapassar limitações e inconvenientes apontados pelos críticos mas também utilizadores do método, nomeadamente: problemas de dupla contagem, cálculo da incerteza da análise e critérios de qualidade da informação utilizada. O modelo dos sistemas de gestão normalizados apresenta um papel central na metodologia proposta. O conceito de “melhoria contínua” afigura-se como fundamental num sistema que pretende implementar o conceito “desenvolvimento sustentável” e avaliar o seu desempenho à luz do mesmo. Assim, o ciclo Plan-Do-check-Act (PDCA) deve ser utilizado para implementar o SGS de acordo com uma Política para a Sustentabilidade que a organização deve desenvolver. Definida a Política, o modelo baseia-se então no ciclo PDCA: fase de planeamento; fase de implementação; fase de verificação; e fase de revisão. É na fase de planeamento do SGS que se sugere a introdução das outras duas ferramentas: a análise emergética (AEm) e o BSC. A fase de planeamento do modelo de SGS proposto neste trabalho foi aplicada à Universidade de Aveiro (UA), incluindo a definição de uma Política para a Sustentabilidade e o planeamento estratégico e operacional. A avaliação emergética à UA foi realizada recorrendo ao procedimento desenvolvido nesta tese e permitiu caracterizar e avaliar os fluxos de recursos que a “alimentam” sob uma só unidade, atribuindo deste modo graus de importância aos diferentes recursos utilizados. A informação representa 96% do total de recursos utilizados na UA, quando avaliados sob o ponto de vista emergética. Para além da informação, os fluxos financeiros representam a maior fatia do orçamento emergético da UA, grande parte dos quais serve para sustentar os serviços prestados pelo corpo docente da UA. Analisando valores históricos de 3 indicadores de desempenho emergético, observa-se que a UA não regista uma evolução positiva em nenhum dos indicadores: a emergia utilizada nos edifícios tem-se mantido mais ou menos constante; a retribuição emergética da UA para a sociedade, avaliada sobre a forma de diplomados, tem diminuído; e a relação emergética entre professores e alunos tem também diminuído, facto que pode refletir-se na qualidade dos “produtos” da UA. Da aplicação do SGS à UA regista-se: a adequabilidade do ciclo PDCA à implementação de um SGS; a capacidade da AEm “obrigar” a organização a adotar uma abordagem sistémica da sua atividade, resultando numa visão mais aprofundada da sua relação com o contexto ambiental, económico e social em que se insere; a importância da visão estratégica e da sua tradução em termos operacionais na fase de planeamento de um SGS; e, por fim, a capacidade de adaptação e dupla funcionalidade (implementação e avaliação) do modelo de SGS proposto. A metodologia de SGS proposta nesta tese, sendo direcionada para todo o tipo de organizações, não se desvirtua quando aplicada ao contexto específico das instituições de ensino superior e permite implementar e avaliar o conceito “desenvolvimento sustentável” nas quatro dimensões da universidade (Educação, Investigação, Operação; Relação com as partes interessadas).

Smart object for 3D interaction

This paper reports on the creation of an interface for 3D virtual environments, computer-aided design applications or computer games. Standard computer interfaces are bound to 2D surfaces, e.g., computer mouses, keyboards, touch pads or touch screens. The Smart Object is intended to provide the user with a 3D interface by using sensors that register movement (inertial measurement unit), touch (touch screen) and voice (microphone). The design and development process as well as the tests and results are presented in this paper. The Smart Object was developed by a team of four third-year engineering students from diverse scientific backgrounds and nationalities during one semester.

Bio-inspired autonomous visual vertical control of a quadrotor UAV

Near ground maneuvers, such as hover, approach and landing, are key elements of autonomy in unmanned aerial vehicles. Such maneuvers have been tackled conventionally by measuring or estimating the velocity and the height above the ground often using ultrasonic or laser range finders. Near ground maneuvers are naturally mastered by flying birds and insects as objects below may be of interest for food or shelter. These animals perform such maneuvers efficiently using only the available vision and vestibular sensory information. In this paper, the time-to-contact (Tau) theory, which conceptualizes the visual strategy with which many species are believed to approach objects, is presented as a solution for Unmanned Aerial Vehicles (UAV) relative ground distance control. The paper shows how such an approach can be visually guided without knowledge of height and velocity relative to the ground. A control scheme that implements the Tau strategy is developed employing only visual information from a monocular camera and an inertial measurement unit. To achieve reliable visual information at a high rate, a novel filtering system is proposed to complement the control system. The proposed system is implemented on-board an experimental quadrotor UAV and shown not only to successfully land and approach ground, but also to enable the user to choose the dynamic characteristics of the approach. The methods presented in this paper are applicable to both aerial and space autonomous vehicles.

Bioinspired autonomous visual vertical control of a quadrotor unmanned aerial vehicle

Near-ground maneuvers, such as hover, approach, and landing, are key elements of autonomy in unmanned aerial vehicles. Such maneuvers have been tackled conventionally by measuring or estimating the velocity and the height above the ground, often using ultrasonic or laser range finders. Near-ground maneuvers are naturally mastered by flying birds and insects because objects below may be of interest for food or shelter. These animals perform such maneuvers efficiently using only the available vision and vestibular sensory information. In this paper, the time-tocontact (tau) theory, which conceptualizes the visual strategy with which many species are believed to approach objects, is presented as a solution for relative ground distance control for unmanned aerial vehicles. The paper shows how such an approach can be visually guided without knowledge of height and velocity relative to the ground. A control scheme that implements the tau strategy is developed employing only visual information from a monocular camera and an inertial measurement unit. To achieve reliable visual information at a high rate, a novel filtering system is proposed to complement the control system. The proposed system is implemented onboard an experimental quadrotor unmannedaerial vehicle and is shown to not only successfully land and approach ground, but also to enable the user to choose the dynamic characteristics of the approach. The methods presented in this paper are applicable to both aerial and space autonomous vehicles.

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory