Towards an Energy-Aware Cloud Architecture for Smart Grids

Energy consumption in Cloud computing is a significant issue in regards to aspects such as the cost of energy, cooling in the data center and the environmental impact of cloud data centers. Smart grids offers the prospect of dynamic costs for a data center’s energy usage. These dynamic costs can be passed on to Cloud users providing incentives for users to moderate their load while also ensuring the Cloud providers are insulated from fluctuations in the cost of energy. The first step towards this is an architecture that focuses on energy monitoring and usage prediction. We provide such an architecture at both the PaaS and IaaS layers, resulting in energy metrics for applications, VMs and physical hosts, which is key to enabling active demand in cloud data centers. This architecture is demonstrated through our initial results utilising a generic use case, providing energy consumption information at the PaaS and IaaS layers. Such monitoring and prediction provides the groundwork for providers passing on energy consumption costs to end users. It is envisaged that the resulting varying price associated with energy consumption can help motivate the formation of methods and tools to support software developers aiming to optimise energy efficiency and minimise the carbon footprint of Cloud applications

SLAM algorithm applied to robotics assistance for navigation in unknown environments

<p>Abstract</p> <p>Background</p> <p>The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI).</p> <p>Methods</p> <p>In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents.</p> <p>Results</p> <p>The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface.</p> <p>Conclusions</p> <p>The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.</p

Pembauran Budaya di Desa Rantau Sakti Kecamatan Tambusai Utara Kabupaten Rokan Hulu

This study is to research how the intercourse of culture that existed in the Rantau Sakti village Tambusai Utara District and Rokan Hulu Regent intertribal nasions of Java, Medan Java, Batak, Minang, and Melayu. Theres a launching factors and hindrance factors too in culture intercourse. The data tekhnic collection with the koesioner, interview, and documentation. And the analisys of data is descriptive where the data presented in the form of a diagrams, percentages, pictures, and explanations. The research results show that The lives of the multicultural that could lead to the occurrence of intercourse of culture through assimilation, acculturation, and amalgamation. The intercourse of culture through three aspects of it can run well theres happened in Rantau Sakti village on seven principles like language, system of knowledge , a social organization , celebration life and technologi, means of subsistence, religion, and art . There is also intercourse of culture with amalgamation culture that leads to assimilation and acculturation. Its launching factor are the attitude of tolerance and open, in common religion, and the same occasion in the economic field. While the hindrance factor are differences of religion and stereotype (ethnic prejudice). Those two factors each happened to the process of changing culture with assimilation, acculturation, and amalgamation That leads to a positive thing.Keyword: The Culture Intercourse, Inter-ethnic

Androgen receptor expression in male breast carcinoma: lack of clinicopathological association

Androgen receptor (AR) expression was retrospectively analysed in 47 primary male breast carcinomas (MBCs) using a monoclonal antibody on formalin-fixed, paraffin-embedded tissues. AR immunopositivity was detected in 16 out of 47 (34%) cases. No association was found with patient age, tumour stage, progesterone receptor (PGR) or p53 protein expression. Well-differentiated MBCs tended to be AR positive more often than poorly differentiated ones (P= 0.08). A negative association was found between ARs and cell proliferative activity: MIB-1 scores were higher (25.4%) in AR-negative than in AR-positive cases (21.11%; P= 0.04). A strong positive association (P= 0.0001) was found between ARs and oestrogen receptors (ERs). In univariate analysis, ARs (as well as ERs and PGRs) were not correlated with overall survival; tumour histological grade (P= 0.02), size (P= 0.01), p53 expression (P= 0.0008) and MIB-1 scores (P= 0.0003) had strong prognostic value. In multivariate survival analysis, only p53 expression (P= 0.002) and histological grade (P= 0.02) retained independent prognostic significance. In conclusion, the lack of association between AR and most clinicopathological features and survival, together with the absence of prognostic value for ER/PGR status, suggest that MBCs are biologically different from female breast carcinomas and make it questionable to use antihormonal therapy for patients with MBC. © 1999 Cancer Research Campaig

Scattering of conformal higher spin fields

We develop a formalism for describing the most general notion of tree-level scattering amplitudes in 4d conformal higher spin theory. As conformal higher spin fields obey higher-derivative equations of motion, there are many distinct on-shell external states which may contribute to their scattering, some of which grow polynomially with time, leading to ill-defined amplitudes. We characterize the set of admissible scattering states which produce finite tree amplitudes, noting that there are more such states than just standard massless higher spins obeying two-derivative equations of motion. We use conformal gravity as a prime example, where the set of scattering states includes the usual Einstein graviton and a `ghost' massless spin 1 particle. An extension of the usual spinor helicity formalism allows us to encode these scattering states efficiently in terms of `twistor-spinors'. This leads to compact momentum space expressions for all finite tree-level 3-point amplitudes of conformal higher spin theory. While some of these 3-point amplitudes vanish (including all those with only standard two-derivative higher spin external states), there are many others which are non-vanishing. We also comment on the generalization to scattering of conformal higher spins in AdS$_4$.Comment: 40 pages, no figures. v2: references adde

Conformal higher spin scattering amplitudes from twistor space

We use the formulation of conformal higher spin (CHS) theories in twistor space to study their tree-level scattering amplitudes, finding expressions for all three-point anti-MHV amplitudes and all MHV amplitudes involving positive helicity conformal gravity particles and two negative helicity higher spins. This provides the on-shell analogue for the covariant coupling of CHS fields to a conformal gravity background. We discuss the restriction of the theory to a ghost-free unitary subsector, analogous to restricting conformal gravity to general relativity with a cosmological constant. We study the flat-space limit and show that the restricted amplitudes vanish, supporting the conjecture that in the unitary sector the S-matrix of CHS theories is trivial. However, by appropriately rescaling the amplitudes we find non-vanishing results which we compare with chiral flat-space higher spin theories.Comment: 31 pages, no figures. v2: comments added, published versio