Task-based Hardware Reconfiguration in Mobile Robots Using FPGAs

This paper presents a methodology for the realization of intelligent, task-based reconfiguration of the computational hardware for mobile robot applications. Task requirements are first partitioned into requirements on the system hardware and software. Architecture is proposed that enables these requirements to be addressed through appropriate hardware and software components. Hardware–software co-design and hardware reconfiguration are utilized to design robotic systems that are fault-tolerant and have improved reliability. It is shown that this design enables the implementation of efficient controllers for each task of the robot thereby permitting better operational efficiency using fixed computational resources. The approach is validated through case studies where a team of robots is configured and the behavior of the robots is dynamically modified at run-time. It is demonstrated through this implementation that the design procedure results in increased flexibility in configuration at run-time. The ability to reconfigure the resources also aids collaboration between robots, and results in improved performance and fault tolerance.     

Perceived network externalities and communication technology acceptance

Electronic mail (e-mail) and instant messaging (IM) systems represent two communication technologies that are potentially substitutable. A unique feature of e-mail and IM is that their value to an individual user increases as the number of other people adopting the system grows. This is referred to as a positive network externality. This externality makes it difficult for consumers to switch to other systems because of the potential loss of connectivity with network members. Further, as this externality grows, it has unintended negative consequences in the form of spim and spam. Including these three network externality effects – positive, cross-impact, and negative – the present study investigates the determinants of electronic communication system use based on an extended Technology Acceptance Model. The study findings suggest that user perceptions regarding network externalities have a positive impact on use of electronic communication systems while perceptions of problems associated with unsolicited messages and perceived usefulness of alternative systems do not significantly affect system use. This study contributes to our understanding of the factors that affect use of existing and newer alternative communication technologies.     

Maintaining Spanning Trees of Small Diameter

Given a graph G with m edges and n nodes, a spanning tree T of G , and an edge e that is being deleted from or inserted into G , we give efficient O(n) algorithms to compute a possible swap for e that minimizes the diameter of the new spanning tree. This problem arises in high-speed networks, particularly in optical networks. Received January 1995; revised February 1997.     

Fatigue deformation of silver single crystals

The defect microstructure at saturation of silver single crystals subjected to constant plastic strain amplitude, γ_p, fatigue tests in the range γ_p = ±0.0025 to ±0.025 was studied by transmission electron microscopy. The rate of fatigue hardening and the saturation stress increase with increasing plastic strain amplitude. The dislocation microstructure at saturation changes from an open band structure at small plastic strain amplitudes to a closed cell structure at large plastic strain amplitude. The defect microstructure at saturation can be characterized by the density and distribution of point defect clusters and the dislocation wall spacing along the primary Burgers vector direction. The saturation stress is inversely proportional to the dislocation wall spacing along the primary Burgers vector direction and to the spacing of the point defect clusters on the primary slip plane. There is no significant difference between the fatigue hardening, the cyclic stress-strain curve and the dislocation microstructure at saturation of silver and copper single crystals.     

A media-access protocol for packet-switched wavelength divisionmultiaccess metropolitan area networks

A dynamic time-wavelength division multiaccess protocol (DT-WDMA) is proposed for metropolitan-sized multichannel optical networks employing fixed wavelength transmitters and tunable optical receivers. Control information is sent over a dedicated signaling channel and data are sent over channels owned by the transmitters. Time is divided into slots on each channel and slots on the control channel are further split into mini-slots. Fixed time-division multiaccess (TDM) is used within each slot on the control channel. Transmitters indicate their intention to transmit a packet by transmitting the destination address during their appropriate mini-slot in the control channel and then transmit their packet in the next slot on their data channel. Receivers listen to the control channel and tune to the appropriate channel to receive packets addressed to them. A common but distributed arbitration algorithm is used to resolve conflicts when packets from many transmitters contend for the same receiver. Each receiver executes the same deterministic algorithm to choose one of the contending packets. Each transmitter uses the same algorithm to determine the success or failure of its packet     

Assessing Multicomponent DNAPL Biostabilization.I: Coal Tar

Subsurface spills of high-molecular weight, multicomponent, dense nonaqueous-phase liquids (DNAPLs) are intractable for remediation by conventional techniques. This paper introduces the concept of biostabilization of the DNAPL source region as a means of achieving risk reduction at DNAPL-contaminated sites. Successful biostabilization depends upon the interplay among dissolution, degradability, and toxicity of various DNAPL constituents, difficult to predict a priori for the mixture. Bench-scale screening tests are proposed for identifying those DNAPLs that are amenable to biostabilization. The screening protocols compare four criteria: (1) microbial activity; (2) composition of the DNAPL residue; (3) aqueous phase contaminant concentrations; and (4) aggregate aqueous phase toxicity—across unbiotreated controls and in mixed versus unmixed biometers. The unmixed system represents slow dissolution from DNAPL pools in the quiescent subsurface. The protocols are developed and evaluated with DNAPL coal tar in the first paper of this set (Part I). Unmixed coal tar biometers, characterized by slow mass transfer and low-level microbial activity, exhibited reduced, aqueous-phase contaminant concentrations and aggregate toxicity, as well as stable DNAPL composition, consistently indicating favorable potential for in situ biostabilization.     

Influence of diffusion barriers on the nucleation and growth of CVD Cu for interconnect applications

Nucleation and growth behavior of Cu influence strongly the macroscopic properties of the resultant films. In this work the nucleation of CVD Cu on different underlayer materials is studied. It is found that nucleation on bare diffusion barrier surfaces leads to island growth and, therefore, bad wetting and adhesion. An enrichment of F, O and carbon was found at the interface between the CVD Cu film and the diffusion barrier. However CVD Cu deposited on top of Ta with a 200-Å PVD Cu layer on top results in good wetting. CVD Cu films grown on a PVD Cu layer expose a highly preferred 111 orientation. In this case SIMS analysis reveals a comparably low concentration of oxygen, carbon and flourine at the interface region between the CVD Cu and the barrier. These observations shed light on relevance of surface conditions for the CVD Cu deposition process. They significantly affect both film adhesion and crystal orientation, which are crucial for the use of CVD Cu as interconnect material.     

The effect of plain-weaving on the mechanical properties of warp and weft p-phenylene terephthalamide (PPTA) fibers/yarns

Coarse-grained molecular statics/dynamics methods are first used to investigate degradation in the PPTA fiber/yarn tensile strength, as a result of the prior compressive or tensile loading. PPTA fibers/yarns experience this type of loading in the course of a plain-weaving process, the process which is used in the fabrication of ballistic fabric and flexible armor. The more common all-atom molecular simulations were not used to assess strength degradation for two reasons: (a) the size of the associated computational domain rendering reasonable run-times would be too small and (b) modeling of the mechanical response of multi-fibril PPTA fibers could not be carried out (again due to the limited size of the computational domain). However, all-atom simulations were used to (a) define the coarse-grained particles (referred to as “beads”) and (b) parameterize various components of the bead/bead force-field functions. In the second portion of the work, a simplified finite-element analysis of the plain-weaving process is carried out in order to assess the extent of tensile-strength degradation in warp and weft yarns during the weaving process. In this analysis, a new material model is used for the PPTA fibers/yarns. Specifically, PPTA is considered to be a linearly elastic, transversely isotropic material with degradable longitudinal-tensile strength and the longitudinal Young’s modulus. Equations governing damage and strength/stiffness degradation in this material model are derived and parameterized using the coarse-grained simulation results. Lastly, the finite-element results are compared with their experimental counterparts, yielding a decent agreement.