Justice-based service recovery in a service guarantee context

Although many service organisations have committed resources to developing service guarantee programmes, empirical research assessing their influence of consumers' post purchase evaluations is limited. This thesis addresses this deficiency in the guarantee literature by adapting and extending an established model of perceived justice and consumer satisfactionto the service guarantee context.

Fast recovery from node compromise in wireless sensor networks

Wireless Sensor Networks (WSNs) are susceptible to a wide range of security attacks in hostile environments due to the limited processing and energy capabilities of sensor nodes. Consequently, the use of WSNs in mission critical applications requires reliable detection and fast recovery from these attacks. While much research has been devoted to detecting security attacks, very little attention has been paid yet to the recovery task. In this paper, we present a novel mechanism that is based on dynamic network reclustering and node reprogramming for recovering from node compromise. In response to node compromise, the proposed recovery approach reclusters the network excluding compromised nodes; thus allowing normal network operation while initiating node recovery procedures. We propose a novel reclustering algorithm that uses 2-hop neighbourhood information for this purpose. For node reprogramming we propose the modified Deluge protocol. The proposed node recovery mechanism is both decentralized and scalable. Moreover, we demonstrate through its implementation on a TelosB-based sensor network testbed that the proposed recovery method performs well in a low-resource WSN.

Lightweight authentication for recovery in wireless sensor networks

Wireless sensor networks (WSNs) suffer from a wide range of security attacks due to their limited processing and energy capabilities. Their use in numerous mission critical applications, however, requires that fast recovery from such attacks be achieved. Much research has been completed on detection of security attacks, while very little attention has been paid to recovery from an attack. In this paper, we propose a novel, lightweight authentication protocol that can secure network and node recovery operations such as re-clustering and reprogramming. Our protocol is based on hash functions and we compare the performance of two well-known lightweight hash functions, SHA-1 and Rabin. We demonstrate that our authentication protocol can be implemented efficiently on a sensor network test-bed with TelosB motes. Further, our experimental results show that our protocol is efficient both in terms of computational overhead and execution times which makes it suitable for low resourced sensor devices.

Neck strength recovery after a single bout of specific strengthening exercise

Objective : To determine the level of neck strength decrement and the rate of strength recovery of the neck muscles after a single bout of specific neck conditioning exercise in both males and females.

Hypothesis : A decrement in neck strength may be evident after a bout of strengthening exercise.

Design : Intervention study with pre-and-post design.

Setting : Biomechanics laboratory.

Participants : Twenty healthy participants (10 male and 10 female, mean ± standard deviation age 22 ± 1.2 years).

Main Outcome Measures : Participants performed a single bout of neck strengthening exercise. Neck strength testing using an isokinetic dynamometer was performed pre and at five time points (1 h, one, three, five and seven days) post-exercise to assess the level of neck strength decrement and neck strength recovery rate from pre-exercise levels.

Results : Statistically significant (p ≥ 0.036) decreases in neck extension strength were recorded in all participants 1 h and one day post-exercise. The level of neck extension strength returned to pre-exercise levels three days post-exercise and surpassed pre-exercise levels five and seven days post-exercise. The male participants' neck flexion strength decrement and recovery followed a similar pattern to that displayed in neck extension but more variability in neck flexion strength recovery rates were recorded in the female participants in this study.

Conclusion : The consistent strength recovery times for the male participants recorded in this study idealise the prescription of neck strengthening exercises in a periodised fashion. More investigation needs to be instigated for the female neck musculature as consistent strength recovery rates were not identified in this study.

Robust functional estimation and fault diagnosis for complex uncertain systems

System monitoring and fault diagnosis capabilities are the most important aspects in improving safety and reliability of automatic control systems. This research proposed new methodologies on fault diagnosis and estimation for complex uncertain systems. As a result of this research, complex industrial plants can now be more effectively controlled.

Designing optimal fault tolerant Jacobian for robotic manipulators

Fault tolerance of robotic manipulators is determined based on the fault tolerance measures. In this study a Jacobian of a 7DOF optimal fault tolerant manipulator is designed based on optimality of worse case relative manipulability and worse case dexterity from geometric perspective instead of numerical solution of constrained optimisation problem or construction of optimal Jacobean through a desired null space. The proposed Jacobean matrix is optimal and equally fault tolerant for a single joint failure within any joint of the manipulators.

Fault tolerance force for redundant manipulators

Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating joint torques of the healthy joints to maintain the force. This paper addresses the optimal mapping to minimize the force jump due to a fault, which is the maximum effort to maintain the force when a fault occurs. The paper studies the locked joint fault/s of the redundant manipulators and it relates the force jump at the end-effector to the faults within the joints. Adding on a previous study to maintain the trajectory, in here the objective is to providing fault tolerant force at the end-effector of the redundant manipulators. This optimal mapping with minimum force jump is presented using matrix perturbation model. And the force jump is calculated through this model for single and multiple joints fault. The proposed optimal mapping is used in different fault scenarios for a 5-DOF manipulator; also it is deployed to compensate the force at the end-effector for the 5-DOF manipulator through simulation study and the results are presented.

Fault tolerance operation of cooperative manipulators

Autonomous or teleoperation of critical tasks in space applications require fault tolerant robotic manipulators. These manipulators are able to maintain their tasks even if a joint fails. If it is presumed that the manipulator is fault tolerant on its trajectory, then the next step is to provide a fault tolerant force at the end-effector of the manipulator. The problem of cooperative fault tolerant force is addressed in this paper within the operation of two manipulators. The cooperative manipulators are used to compensate the force jump which occurs on the force of the end-effector of one manipulator due to a joint failure. To achieve fault tolerant operation, the contribution of the faulty joint for the force of the end-effector of the faulty manipulator is required to be optimally mapped into the torque of the faulty and healthy manipulators. The optimal joint torque reconfigurations of both manipulators for compensating this force jump are illustrated. The proposed frameworks are deployed for two cooperative PUMA560 manipulators. The results of the case studies validate the fault tolerant cooperation strategies.

Joint velocity redistribution for fault tolerant manipulators

If the end-effector of a robotic manipulator moves on a specified trajectory, then for the fault tolerant operation, it is required that the end-effector continues the trajectory with a minimum velocity jump when a fault occurs within a joint. This problem is addressed in the paper. A way to tolerate the fault is to find new joint velocities for the faulty manipulator in which results into the same end-effector velocity provided by the healthy manipulator. The aim of this study is to find a strategy which optimally redistributes the joint velocities for the remained healthy joints of the manipulators. The optimality is defined by the minimum end-effector velocity jump. A solution of the problem is presented and it is applied to a robotics manipulator. Then through a case study and a simulation study it is validated. The paper shows that if would be possible the joint velocity redistribution results into a zero velocity jump.

Continued population recovery by Australian fur seals

Australian fur seals (Arctocephalus pusillus doriferus) are conspicuous, top-level predators in coastal waters of south-eastern Australia that were over-harvested during the 1800s and have had a delayed recovery. A previous species-wide estimate of live pups in 2002 recorded a near-doubling of annual pup production and a 5% annual growth rate since the 1980s. To determine if pup production increased after 2002, we estimated live pup numbers in 2007. Pups were recorded at 20 locations: 10 previously known colonies, three newly recognised colonies and seven haul-out sites where pups are occasionally born. Two colonies adjacent to the Victorian coast accounted for 51% of live pups estimated: Seal Rocks (5660 pups, 25.9%) and Lady Julia Percy Island (5574 pups, 25.5%). Although some colonies were up and some were down in pup numbers, the 2007 total of 21 882±187 (s.e.) live pups did not differ significantly from a recalculated estimate of 21 545±184 in 2002, suggesting little change to overall population size. However, the colonisation of three new sites between 2002 and 2007 indicates population recovery has continued.

Oxygen (O2) kinetics during early recovery from peak exercise in patients with type 2 diabetes

Aims To examine the oxygen (O₂) kinetics during early recovery from peak exercise in patients with Type 2 diabetes and to examine whether oxygen O₂ recovery is associated with fasting glucose and HbA_1c in this population.

Methods Eighty-nine participants (52 men) aged 51.8 ± 7.1 years (mean ± sd) were divided into three groups: normal weight (BMI ≤ 25.0 kg/m²), overweight/obese without diabetes (BMI ≥ 26 kg/m²) and overweight/obese with Type 2 diabetes. Participants were assessed for their aerobic power (VO_2peak) on a cycle ergometer, provided a fasting blood sample and underwent a series of anthropometric measurements. Early recovery period was measured for 60 s from cessation of exercise and expressed as percentage of VO_2peak (higher percentage represents slower recovery).

Results No significant differences were observed for age between the three study groups. Both the overweight/obese groups without diabetes and with Type 2 diabetes had higher BMI than the normal weight group, with no significant differences between overweight/obese participants without diabetes and those with diabetes. Participants with Type 2 diabetes had lower VO_2peak than overweight/obese participants without diabetes and normal weight individuals (19.6 ± 4.8, 22.6 ± 5.4 and 25.7 ± 5.3 ml kg⁻¹ min⁻¹, respectively, P < 0.004 for overall trends). Participants with Type 2 diabetes also had slower recovery in oxygen O₂ kinetics after exercise, compared with both normal weight and overweight/obese individuals without diabetes (56.5 ± 7.7, 49.2 ± 7.2, 47.7 ± 7.4%, P < 0.004 for overall trends). Multiple regression analysis revealed that percentage of oxygen O₂ recovery was a stronger predictor than VO_2peak, BMI or age for fasting glucose and HbA_1c.

Conclusions Patients with Type 2 diabetes have lower VO_2peak and prolonged oxygen O₂ recovery from peak exercise. However, only prolonged oxygen O₂ recovery was associated with fasting glucose and HbA_1c.

Fault-tolerant scheduling with dynamic number of replicas in heterogeneous systems

In the existing studies on fault-tolerant scheduling, the active replication schema makes use of ε + 1 replicas for each task to tolerate ε failures. However, in this paper, we show that it does not always lead to a higher reliability with more replicas. Besides, the more replicas implies more resource consumption and higher economic cost. To address this problem, with the target to satisfy the user’s reliability requirement with minimum resources, this paper proposes a new fault tolerant scheduling algorithm: MaxRe. In the algorithm, we incorporate the reliability analysis into the active replication schema and the theoretical analysis and experiments prove that the MaxRe algorithm’s schedule can certainly satisfy user’s reliability requirements. And the MaxRe scheduling algorithm can achieve the corresponding reliability with at most 70% fewer resources than the FTSA algorithm.

Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control

This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.