Mobility: a double-edged sword for HSPA networks

This paper presents an empirical study on the performance of mobile High Speed Packet Access (HSPA, a 3.5G cellular standard) networks in Hong Kong via extensive field tests. Our study, from the viewpoint of end users, covers virtually all possible mobile scenarios in urban areas, including subways, trains, off-shore ferries and city buses. We have confirmed that mobility has largely negative impacts on the performance of HSPA networks, as fast-changing wireless environment causes serious service deterioration or even interruption. Meanwhile our field experiment results have shown unexpected new findings and thereby exposed new features of the mobile HSPA networks, which contradict commonly held views. We surprisingly find out that mobility can improve fairness of bandwidth sharing among users and traffic flows. Also the triggering and final results of handoffs in mobile HSPA networks are unpredictable and often inappropriate, thus calling for fast reacting fallover mechanisms. We have conducted in-depth research to furnish detailed analysis and explanations to what we have observed. We conclude that mobility is a double-edged sword for HSPA networks. To the best of our knowledge, this is the first public report on a large scale empirical study on the performance of commercial mobile HSPA networks

Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

Point trajectory planning of flexible redundant robot manipulators using genetic algorithms

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable

Modelling Low Power Compute Clusters for Cloud Simulation

In order to minimise their energy use, data centre operators are constantly exploring new ways to construct computing infrastructures. As low power CPUs, exemplified by ARM-based devices, are becoming increasingly popular, there is a growing trend for the large scale deployment of low power servers in data centres. For example, recent research has shown promising results on constructing small scale data centres using Raspberry Pi (RPi) single-board computers as their building blocks. To enable larger scale experimentation and feasibility studies, cloud simulators could be utilised. Unfortunately, state-of-the-art simulators often need significant modification to include such low power devices as core data centre components. In this paper, we introduce models and extensions to estimate the behaviour of these new components in the DISSECT-CF cloud computing simulator. We show that how a RPi based cloud could be simulated with the use of the new models. We evaluate the precision and behaviour of the implemented models using a Hadoop-based application scenario executed both in real life and simulated clouds

Remote surface inspection system

This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported

Suppression of Dynamic Stall by Steady and Pulsed Upper-Surface Blowing

The Boeing-Vertol VR-7 airfoil was experimentally studied with steady and pulsed upper-surface blowing for sinusoidal pitching oscillations described by alpha = alpha(sub m) + 10 deg sin(omega t). The tests were conducted in the U.S. Army Aeroflightdynamics Directorate's Water Tunnel at NASA Ames Research Center. The experiment was performed at a Reynolds number of 100,000. Pitch oscillations with alpha(sub m) = 10 deg and 15 deg and with reduced frequencies ranging from k = 0.005 to 0.15 were examined. Blowing conditions ranged from C(sub mu) = 0.03 to 0.66 and F(+) = 0 to 3. Unsteady lift, drag, and pitching-moment loads were measured, and fluorescent-dye flow visualizations were obtained. Steady, upper-surface blowing was found to be capable of trapping a separation bubble near the leading edge during a portion of the airfoil's upward rotation. When this occurred, the lift was increased significantly and stall was averted. In all cases, steady blowing reduced the hysteresis amplitudes present in the loads and produced a large thrust force. The benefits of steady blowing diminished as the reduced frequency and mean angle of oscillation increased. Pulsed blowing showed only marginal benefits for the conditions tested. The greatest gains from pulsed blowing were achieved at F(+) = 0.9

Negative Electron-electron Drag Between Narrow Quantum Hall Channels

Momentum transfer due to Coulomb interaction between two parallel, two-dimensional, narrow, and spatially separated layers, when a current I_{drive} is driven through one layer, is studied in the presence of a perpendicular magnetic field B. The current induced in the drag layer, I_{drag}, is evaluated self-consistently with I_{drive} as a parameter. I_{drag} can be positive or negative depending on the value of the filling factor \nu of the highest occupied bulk Landau level (LL). For a fully occupied LL, I_{drag} is negative, i.e., it flows opposite to I_{drive}, whereas it is positive for a half-filled LL. When the circuit is opened in the drag layer, a voltage \Delta V_{drag} develops in it; it is negative for a half-filled LL and positive for a fully occupied LL. This positive \Delta V_{drag}, expressing a negative Coulomb drag, results from energetically favored near-edge inter-LL transitions that occur when the highest occupied bulk LL and the LL just above it become degenerate.Comment: Text file in Latex/Revtex/preprint format, 7 separate PS figures, Physical Review B, in pres

Understanding the Performance of Low Power Raspberry Pi Cloud for Big Data

Nowadays, Internet-of-Things (IoT) devices generate data at high speed and large volume. Often the data require real-time processing to support high system responsiveness which can be supported by localised Cloud and/or Fog computing paradigms. However, there are considerably large deployments of IoT such as sensor networks in remote areas where Internet connectivity is sparse, challenging the localised Cloud and/or Fog computing paradigms. With the advent of the Raspberry Pi, a credit card-sized single board computer, there is a great opportunity to construct low-cost, low-power portable cloud to support real-time data processing next to IoT deployments. In this paper, we extend our previous work on constructing Raspberry Pi Cloud to study its feasibility for real-time big data analytics under realistic application-level workload in both native and virtualised environments. We have extensively tested the performance of a single node Raspberry Pi 2 Model B with httperf and a cluster of 12 nodes with Apache Spark and HDFS (Hadoop Distributed File System). Our results have demonstrated that our portable cloud is useful for supporting real-time big data analytics. On the other hand, our results have also unveiled that overhead for CPU-bound workload in virtualised environment is surprisingly high, at 67.2%. We have found that, for big data applications, the virtualisation overhead is fractional for small jobs but becomes more significant for large jobs, up to 28.6%

Analysis of pultrusion processing for long fiber reinforced thermoplastic composite system

Pultrusion is one of the composite processing technology, commonly recognized as a simple and cost-effective means for the manufacturing of fiber-reinforced, resin matrix composite parts with different regular geometries. Previously, because the majority of the pultruded composite parts were made of thermosetting resin matrix, emphasis of the analysis on the process has been on the conservation of energy from various sources, such as heat conduction and the curing kinetics of the resin system. Analysis on the flow aspect of the process was almost absent in the literature for thermosetting process. With the increasing uses of thermoplastic materials, it is desirable to obtain the detailed velocity and pressure profiles inside the pultrusion die. Using a modified Darcy's law for flow through porous media, closed form analytical solutions for the velocity and pressure distributions inside the pultrusion die are obtained for the first time. This enables us to estimate the magnitude of viscous dissipation and it's effects on the pultruded parts. Pulling forces refined in the pultrusion processing are also analyzed. The analytical model derived in this study can be used to advance our knowledge and control of the pultrusion process for fiber reinforced thermoplastic composite parts