Minimal Configuration Research Articles

Robust and Accurate Hand-Eye Calibration Method Based on Schur Matric Decomposition.

To improve the accuracy and robustness of hand–eye calibration, a hand–eye calibration method based on Schur matric decomposition is proposed in this paper. The accuracy of these methods strongly depends on the quality of observation data. Therefore, preprocessing observation data is essential. As with traditional two-step hand–eye calibration methods, we first solve the rotation parameters and then the translation vector can be immediately determined. A general solution was obtained from one observation through Schur matric decomposition and then the degrees of freedom were decreased from three to two. Observation data preprocessing is one of the basic unresolved problems with hand–eye calibration methods. A discriminant equation to delete outliers was deduced based on Schur matric decomposition. Finally, the basic problem of observation data preprocessing was solved using outlier detection, which significantly improved robustness. The proposed method was validated by both simulations and experiments. The results show that the prediction error of rotation and translation was 0.06 arcmin and 1.01 mm respectively, and the proposed method performed much better in outlier detection. A minimal configuration for the unique solution was proven from a new perspective.

Developing a FHIR-based EHR phenotyping framework: A case study for identification of patients with obesity and multiple comorbidities from discharge summaries.

Standards-based clinical data normalization has become a key component of effective data integration and accurate phenotyping for secondary use of electronic healthcare records (EHR) data. HL7 Fast Healthcare Interoperability Resources (FHIR) is an emerging clinical data standard for exchanging electronic healthcare data and has been used in modeling and integrating both structured and unstructured EHR data for a variety of clinical research applications. The overall objective of this study is to develop and evaluate a FHIR-based EHR phenotyping framework for identification of patients with obesity and its multiple comorbidities from semi-structured discharge summaries leveraging a FHIR-based clinical data normalization pipeline (known as NLP2FHIR). We implemented a multi-class and multi-label classification system based on the i2b2 Obesity Challenge task to evaluate the FHIR-based EHR phenotyping framework. Two core parts of the framework are: (a) the conversion of discharge summaries into corresponding FHIR resources - Composition, Condition, MedicationStatement, Procedure and FamilyMemberHistory using the NLP2FHIR pipeline, and (b) the implementation of four machine learning algorithms (logistic regression, support vector machine, decision tree, and random forest) to train classifiers to predict disease state of obesity and 15 comorbidities using features extracted from standard FHIR resources and terminology expansions. We used the macro- and micro-averaged precision (P), recall (R), and F1 score (F1) measures to evaluate the classifier performance. We validated the framework using a second obesity dataset extracted from the MIMIC-III database. Using the NLP2FHIR pipeline, 1237 clinical discharge summaries from the 2008 i2b2 obesity challenge dataset were represented as the instances of the FHIR Composition resource consisting of 5677 records with 16 unique section types. After the NLP processing and FHIR modeling, a set of 244,438 FHIR clinical resource instances were generated. As the results of the four machine learning classifiers, the random forest algorithm performed the best with F1-micro(0.9466)/F1-macro(0.7887) and F1-micro(0.9536)/F1-macro(0.6524) for intuitive classification (reflecting medical professionals' judgments) and textual classification (reflecting the judgments based on explicitly reported information of diseases), respectively. The MIMIC-III obesity dataset was successfully integrated for prediction with minimal configuration of the NLP2FHIR pipeline and machine learning models. The study demonstrated that the FHIR-based EHR phenotyping approach could effectively identify the state of obesity and multiple comorbidities using semi-structured discharge summaries. Our FHIR-based phenotyping approach is a first concrete step towards improving the data aspect of phenotyping portability across EHR systems and enhancing interpretability of the machine learning-based phenotyping algorithms.

A Reinforcement Learning-Based Markov-Decision Process (MDP) Implementation for SRAM FPGAs

Full coverage of interconnect resources for SRAM FPGAs has been a challenge for research and engineering topics like test and diagnosis, fault tolerance. These issues are Nondeterministic polynomial complete (NP-complete) and it is hard to search for the best solution in the solution-space. Further, the basic requirement of covering as many interconnect resources as possible with minimal configuration numbers should be followed. In this brief, reinforcement learning, one of areas of machine learning, has been utilized to address full coverage problems for FPGAs. Implementation of interconnect resource configurations of an FPGA formulated as a Markov decision process (MDP) is presented. Full coverage of interconnect resources for FPGAs has been achieved by solving the MDP with Dynamic Programming. Experimental results demonstrate that not only configuration numbers can be optimized to approach a theoretic number with full coverage achieved, but the method is applicable to NP-complete issue such as FPGA testing as well.

RSBST: an Accelerated Automated Software-Based Self-Test Synthesis for Processor Testing

Software-based test (SBST) techniques are increasingly being used for testing of modern processors because of the ease of synthesis using evolutionary approaches, coverage for difficult to test faults, non-intrusive nature, low hardware overhead, etc. However, the test synthesis time required by SBST is high. In this paper, an advanced SBST technique, termed as Rapid SBST (RSBST) is proposed that reduces the overall test synthesis time by reusing the simulation responses of existing test programs of identical observability. The test codes, developed using the evolutionary process, that produce similar fault simulation results are reused for the fault evaluation. We exploit this reusability to enhance the speed of the test synthesis process. The efficacy of the proposed scheme is demonstrated on a 32-bit MIPS processor and on a minimal configuration of 7-stage SPARC V8 Leon3 soft processor. The traditional SBST synthesis requires 122 hours for the MIPS processor and 142 hours for the Leon3 processor to develop test program sets that cover 93.9% and 92.9% of the behavioral-level faults of these processors, respectively. An existing enhanced greedy-cover method, that also detects the hard-to-test faults, improves the coverage towards 96.3% for the MIPS processor and 95.8% for the Leon3 processor, but this slower test development consumes 168 hours and 172 hours, respectively. In the proposed RSBST scheme, the synthesized test codes achieve an adequate fault coverage of 96.1% for the MIPS processor and 95.5% for the Leon3 processor. This accelerated test pattern generation takes 90 hours and 98 hours for these two processors. So it may be concluded that the proposed RSBST technique speeds up the traditional SBST synthesis by a factor of 1.35 while maintaining the fault coverage above 95.5%. To validate the test quality evaluation using behavioral fault models, a strong correlation (94.8%) between the behavioral faults and gate-level faults of MIPS processor is demonstrated and verified for the proposed RSBST scheme. Also, the simulation responses of the test programs synthesized by RSBST scheme consumes only 14.25% of storage space when compared with the storage consumption of the actual simulation used by the existing test code generation methods.

A Trust based Multipath Routing for Black Hole Attacks with Group Search Optimization Routing

The Mobile Ad hoc Network (MANET) is the collection of some mobile devices that communicate with one another without any help from a centralized administration. For this, the energy is an important issue that has to be addressed since the ad-hoc network nodes have a limited battery power. A secure routing in the MANETs is an area of research that is emerging. The designing of a security protocol which is trustworthy for the ad hoc routing is an extremely challenging task owing to all its unique traits. Due to its minimal configuration and its quick deployment, the MANETs are found to be well-suited for situations in the case of an emergency such as the natural disasters or the military applications. This way, a transfer of data among two nodes need some security. A MANET black-hole attack will occur owing to the malicious nodes attracting data packets by means of a false advertisement of a fresh route to its destination. For this work, the trust-based routing along with the packet forwarding probability. For this work, the Ad hoc On-Demand Multipath Distance Vector Routing (AOMDV) protocol is used and for finding the routing path a trust value will be piggybacked with a route request packet. There was yet another novel algorithm for optimization known as the Group Search Optimizer (GSO) algorithm that was proposed inspired by the behaviour of animals. This GSO-AOMDV was for the purpose of improving the performance of the network. The results of the experiment proved that this method proposed could achieve a better performance compared to the other method.

A Trust Based Multipath Routing for Black Hole Attacks with Group Search Optimization Routing

The Mobile Ad hoc Network (MANET) is the collection of some mobile devices that communicate with one another without any help from a centralized administration. For this, the energy is an important issue that has to be addressed since the ad-hoc network nodes have a limited battery power. A secure routing in the MANETs is an area of research that is emerging. The designing of a security protocol which is trustworthy for the ad hoc routing is an extremely challenging task owing to all its unique traits. Due to its minimal configuration and its quick deployment, the MANETs are found to be well-suited for situations in the case of an emergency such as the natural disasters or the military applications. This way, a transfer of data among two nodes need some security. A MANET black-hole attack will occur owing to the malicious nodes attracting data packets by means of a false advertisement of a fresh route to its destination. For this work, the trust-based routing along with the packet forwarding probability. For this work, the Ad hoc On-Demand Multipath Distance Vector Routing (AOMDV) protocol is used and for finding the routing path a trust value will be piggybacked with a route request packet. There was yet another novel algorithm for optimization known as the Group Search Optimizer (GSO) algorithm that was proposed inspired by the behaviour of animals. This GSO-AOMDV was for the purpose of improving the performance of the network. The results of the experiment proved that this method proposed could achieve a better performance compared to the other methods.

Oblate to prolate transition of a vesicle in shear flow.

Vesicles are micrometric soft particles whose membrane is a two-dimensional incompressible fluid governed by bending resistance leading to a zoology of shapes. The dynamics of deflated vesicles in shear flow with a bottom wall, a first minimal configuration to consider confined vesicles, is investigated using numerical simulations. Coexistence under flow of oblate (metastable) and prolate (stable) shapes is studied in details. In particular, we discuss the boundaries of the region of coexistence in the (v, Ca -plane where v is the reduced volume of the vesicle and Ca the Capillary number. We characterize the transition from oblate to prolate and analyse the divergence of the transition time near the critical capillary number. We then analyse the lift dynamics of an oblate vesicle in the weak flow regime.

K¯D¯N molecular state as a “ uudsc¯ pentaquark” in a three-body calculation

We predict a new three-body hadronic molecule composed of antikaon $\overline{K}$, anticharm meson $\overline{D}$, and nucleon $N$ with spin-parity ${J}^{P}=1/{2}^{+}$ and isospin $I=1/2$. This state behaves like an explicit pentaquark state because its minimal quark configuration is $uuds\overline{c}$ or $udds\overline{c}$. Owing to the attraction between every pair of two hadrons, in particular the $\overline{K}\overline{D}$ attraction which dynamically generates ${D}_{s0}{(2317)}^{\ensuremath{-}}$ and $\overline{K}N$ attraction which dynamically generates $\mathrm{\ensuremath{\Lambda}}(1405)$, the $\overline{K}\overline{D}N$ system is bound, and the real (imaginary) part of its eigenenergy is calculated as $3253\phantom{\rule{4.pt}{0ex}}\text{MeV}$ (minus a few MeV) in a nonrelativistic three-body potential model. We discuss properties of this $\overline{K}\overline{D}N$ quasibound state which emerge uniquely in three-body dynamics.

LAB-QA2GO: A Free, Easy-to-Use Toolbox for the Quality Assessment of Magnetic Resonance Imaging Data.

Image characteristics of magnetic resonance imaging (MRI) data (e.g., signal-to-noise ratio, SNR) may change over the course of a study. To monitor these changes a quality assurance (QA) protocol is necessary. QA can be realized both by performing regular phantom measurements and by controlling the human MRI datasets (e.g., noise detection in structural or movement parameters in functional datasets). Several QA tools for the assessment of MRI data quality have been developed. Many of them are freely available. This allows in principle the flexible set-up of a QA protocol specifically adapted to the aims of one’s own study. However, setup and maintenance of these tools takes substantial time, in particular since the installation and operation often require a fair amount of technical knowledge. In this article we present a light-weighted virtual machine, named LAB–QA2GO, which provides scripts for fully automated QA analyses of phantom and human datasets. This virtual machine is ready for analysis by starting it the first time. With minimal configuration in the guided web-interface the first analysis can start within 10 min, while adapting to local phantoms and needs is easily possible. The usability and scope of LAB–QA2GO is illustrated using a data set from the QA protocol of our lab. With LAB–QA2GO we hope to provide an easy-to-use toolbox that is able to calculate QA statistics without high effort.

Experimental system of safe distances and vehicle speed dynamic stabilization

One of the most promising direction for improving the level of traffic safety is various active safety systems creation. This area is intensively developed by leading foreign automakers and it is not complete. The relevance of researches aimed at effective active safety systems creating is determined by the world importance level of the traffic safety problem. Current study aims at the scientific substantiation of new technical solutions for the integrated vehicle active safety intelligent system. To conduct the research system analysis methods and modern control theory were used. The problem of structured set typical collisions prevention is reduced to the problem of vehicle state variables dynamic stabilization. The obtained result is the new technical solution scientific substantiation for the integrated intelligent system that combines the functions from several active safety systems. The high limit of the mass center velocity is defined as the minimum speed of the obstacle, wheels understeer or oversteer, turnover, slippage of the driving wheels and speed limits set by road signs, etc. To assess the control quality a modified quadratic functional is used that takes into account the operation costs as well as the software hardware initial cost. Analysis of the study results allows us to conclude that the intellectual properties developed by the system are acquired through the use of mathematical models and algorithms for indirect measurements performed in a minimal configuration of primary information sensors and actuators.

Creation concept and architecture principle for vehicle motion control competitive systems under road and climatic conditions of the Russian Federation

The urgency of traffic safety improvement is determined by the global significance level of this problem. Current research provides the scientific substantiation of the creation concept and building principles for competitive motion control systems (MCSs) under road and climatic conditions of the Russian Federation. The study was carried out using system analysis methods and modern control theory. The safe vehicle control task is formulated as prevention of collisions with moving and stationary obstacles on the route taking into account the road and climatic conditions of the Russian Federation. To estimate the quality of the dynamic stabilization solution modified quadratic functional is introduced. The results of the study are presented as an analysis of properties of the modified quadratic control quality functional and associated consumer indicators. Based on the analysis of results of the minimization problem for control quality quadratic functional and the multicriteria problem could be solved by software and hardware modification of intelligent systems realized in the minimal configuration of hardware. The novelty of the work is the scientific substantiation of the concept for the competitive vehicle MCSs creation based on virtual information sensors, the use of new mathematical models and control algorithms to solve the problem of collision avoidance.

The experimental system of automatic wheel drift and vehicle rollover prevention

The research topic relevance is determined by the global significance level of traffic safety improvement. The purpose of the work is to create mathematical model and software for the active vehicle safety experimental intelligent system. To solve this problem, methods of indirect vehicle state variables measurements were used. As a mathematical model, we used a system of equations for the wheels rotation speed on a bend. For estimating the parameters of the mass center and the wheels motion, standard wheel speed sensors and algorithms for processing the measurement data are used. The task of angular drift velocity determining based on wheels rotation frequency measurements is ill-posed and additional conditions are introduced to solve it. To predict the wheel drift and car rollover, extrapolate algorithms are used. These phenomena are prevented by the certain brake formation that limit the object speed at the predicted boundaries level. The research novelty is to create algorithms for an experimental system that provides the solution to the wheel drift and rollover prevention problem in a minimal configuration of technical means.

Методология видеоанализа в диагностике нарушений локомоторной функции у детей с церебральным параличом при использовании ограниченного числа светоотражающих камер (обзор литературы)

This paper presents a review on the methodology used to enable capturing pathological gait data via clinical video analysis which is used in diagnosis and treatment of individuals with functional disorders of the musculoskeletal system. Available literature sources were used to formulate recommendations for researchers and doctors in clinical study of walking and gait. Main patterns of placement of passive markers used in the clinical analysis of the gait in children with cerebral palsy were described. It was found that the IOR model is optimal for clinical analysis of the gait in patients that have low walking speed using a minimal capture system configuration (6 cameras). The method of Oxford Foot Model is described which is able to reflect in detail the biomechanics of foot parts during walking.

Ensuring the dependability of technical facilities through triplication and quadrupling

Redundancy, e.g. structural redundancy, is one of the primary methods of improving the dependability, ensures failsafety and fault tolerance of components, devices and systems. According to the International Patent Classification (IPC), the class of systems and methods G06F11/18 is defined as «using passive fault-masking of the redundant circuits, e.g. by quadrupling or by majority decision circuits». Obviously, «fault-masking» masks not only faults, but failures as well. The majority decision circuits (MDC) in the minimal configuration implements a «2-out-of-3» choice. According to the above definition, such redundancy should not require a special decision circuit. However, that is not always the case. In cases when the resulting signal out of a quadruple logic is delivered to, for instance, an executive device, a «3-outof-4» selection circuit is required anyway. Another dependability-improving solution is defined by class G06F 11/20, «using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements». The word «active» is missing here, thus we have active and passive fault tolerance. The paper examines passive fault tolerance that uses triplication and quadrupling and compares the respective probabilities of no-failure.The Weibull distribution is used that most adequately describes dependability in terms of radiation durability under the effects of heavy ions. It shows that in a number of cases quadrupling has a lower redundancy than triplication. A formula is proposed that describes the conditions of preferability of quadrupling at transistor level.

The Key Factors in Physical Activity Type Detection Using Real-Life Data: A Systematic Review.

Background: Physical activity (PA) is paramount for human health and well-being. However, there is a lack of information regarding the types of PA and the way they can exert an influence on functional and mental health as well as quality of life. Studies have measured and classified PA type in controlled conditions, but only provided limited insight into the validity of classifiers under real-life conditions. The advantage of utilizing the type dimension and the significance of real-life study designs for PA monitoring brought us to conduct a systematic literature review on PA type detection (PATD) under real-life conditions focused on three main criteria: methods for detecting PA types, using accelerometer data collected by portable devices, and real-life settings.Method: The search of the databases, Web of Science, Scopus, PsycINFO, and PubMed, identified 1,170 publications. After screening of titles, abstracts and full texts using the above selection criteria, 21 publications were included in this review.Results: This review is organized according to the three key elements constituting the PATD process using real-life datasets, including data collection, preprocessing, and PATD methods. Recommendations regarding these key elements are proposed, particularly regarding two important PA classes, i.e., posture and motion activities. Existing studies generally reported high to near-perfect classification accuracies. However, the data collection protocols and performance reporting schemes used varied significantly between studies, hindering a transparent performance comparison across methods.Conclusion: Generally, considerably less studies focused on PA types, compared to other measures of PA assessment, such as PA intensity, and even less focused on real-life settings. To reliably differentiate the basic postures and motion activities in real life, two 3D accelerometers (thigh and hip) sampling at 20 Hz were found to provide the minimal sensor configuration. Decision trees are the most common classifier used in practical applications with real-life data. Despite the significant progress made over the past year in assessing PA in real-life settings, it remains difficult, if not impossible, to compare the performance of the various proposed methods. Thus, there is an urgent need for labeled, fully documented, and openly available reference datasets including a common evaluation framework.

Design and test of an astigmatism compensated dynamical stable ring resonator for a subjoule class Nd:YAG laser without external elements

An astigmatism compensated isosceles triangular ring resonator is designed and tested for a subjoule class Nd:YAG laser, considering the thermal lensing effects. The ABCD approach is used and the laser rod is considered as a lens like media whose optical power is induced by dissipated heat in the rod. The beam spot size, divergence angle, and some other parameters were studied for both sagittal and tangential planes and a minimal astigmatic configuration is designed applying dynamic stability condition. It is shown practically that the designed resonator emits a circular TEM00 Gaussian beam (using an aperture). Comparative studies were also done considering a linear resonator especially for alignment sensitivity of the linear and ring resonator.

Differential Evolution Based Probabilistic Model to Support Quality Aware Best Path Routing Scheme for Mobile Ad-Hoc Networks

The mobile ad hoc networks have made the source and the influenced shortest path routing extremely challenging owing to their unstable and dynamic topology. Even though the nodes keep moving and this increases the packets and their retransmission and this brings down the delivery ratio. The Ad hoc networks with their quick deployment and minimal configuration are well-suited for these emergency situations such as disasters that are human-induced, medical situations or emergency, military conflicts and so on. Every mobile node found in a Mobile Ad hoc Network (MANET) can perform a routing function to establish some communication among various nodes, their "death" and also of some nodes owing to the exhaustion of energy that can disrupt service of the whole network. The ad hoc on-demand distance vector routing (AODV) is that routing protocol which gets established at a time there is a demand for another new route. It is found to be similar to the energy and the other parameters of Quality of Service that includes throughput, security, jitter and end-to-end delay. For this work, there is a probabilistic routing scheme which is quality aware for enhancing and improving the mobile ad hoc network and its throughput and this is known as a Differential Evolution (DE). As opposed to looking out for a path that is the shortest, this heuristic has proposed the best path to ensure that there is an overall quality of service that is ensured. This algorithm which is based on the DE has improved the chances of selecting the ideal route for data transmission.

Compressive Force Location Estimation with SuRE Method for Additively Manufactured Parts

Electromechanical Impedance (EMI) approach is a widely used Structural Health Monitoring (SHM) method. The EMI of a piezoelectric disk is monitored with an impedance analyzer or impedance measurement chip. In addition to the cracks, EMI may monitor compressive forces and may be used for detection of loose bolts. Surface Response to Excitation (SuRE) method is a low-cost alternative to the EMI method. The SuRE method uses one piezoelectric disk for excitation and a sensor to monitor the surface wave propagation. Digitization and Fast Fourier Transformation (FFT) of the signal of the sensor, such as another piezoelectric disk, is satisfactory to monitor the characteristics of the system. The important weakness of both approaches is not being able to estimate the location of the defect at their minimal configuration. Recently, Additive Manufacturing (AM) has been used for the manufacturing of parts for various reasons. The layer by layer part building techniques of the AM methods allow for the hiding of geometric features behind the part’s exposed skin. Use of the hidden features of the additively manufactured parts is proposed in the paper to help the SuRE method for estimation of the location of defects. Experimental studies verified the validity of the proposed approach. In addition, the EMI methods may benefit from this same approach.

General methodology for building of OPC UA gateways

This article describes an original generalized methodology for building OPC UA bridges for different industrial communications and internal command protocols. This methodology is aimed for fast development of OPC UA gateways for less popular data transferring communications which are not available on the market. A final gateway can be added to existing solutions without modification of data source control devices. This gateway needs only a minimal configuration and obtains information about data source automatically. This design has been already implemented in three different solutions with various communication (REXYGEN, PerNet, a Keysight middleware protocol). The solutions has been deployed in various projects and proved to be efficient and reliable.

Improving Network Formation in 6TiSCH Networks

The industrial Internet of Things (IIoT) is expected to revolutionize the current industry. The capillary introduction of sensors and actuators for real-time monitoring and remote control and their seamless integration into existing information systems will represent a technological breakthrough that will help to reshape the industrial processes. To this aim, the definition of wireless communication standards will play a crucial role in reducing deployment costs and minimizing the time for installation. In this context, the new IPv6 over the TSCH mode of IEEE 802.15.4e communication stack, 6TiSCH, represents the current leading standardization effort that aims at achieving both reliable and timed wireless communication and integration within IPv6 communication networks for industrial systems. In this paper, the network formation dynamics of 6TiSCH networks are assessed, considering the current guidelines for the so-called minimal configuration, a static initial configuration pre-configured to guarantee control communication during network bootstrap. It is shown that the minimal configuration might lead to long network formation and suboptimal performance of the routing algorithm which may result into a disconnected network. In order to overcome this issue, a dynamic resource management algorithm to be executed during network bootstrap is proposed. Simulation and experimental results show that the proposed solution allows to minimize the network formation time and also helps in optimizing routing operations leading to the discovery of better routes.