Precautious-RM: a predictable non-preemptive scheduling algorithm for harmonic tasks

A major requirement of many real-time embedded systems is to have time-predictable interaction with the environment. More specifically, they need fixed or small sampling and I/O delays, and they cannot cope with large delay jitters. Non-preemptive execution is a known method to reduce the latter delay; however, the corresponding scheduling problem is NP-Hard for periodic tasks. In this paper, we present Precautious-RM as a predictable linear-time online non-preemptive scheduling algorithm for harmonic tasks which can also deal with the former delay, namely sampling delay. We derive conditions of optimality of Precautious-RM and show that satisfying those conditions, tight bounds for best- and worst-case response times of the tasks can be calculated in polynomial-time. More importantly, response time jitter of the tasks is analyzed and it is proven that under specific conditions, each task has either one or two values for response time, which leads to improving the predictability of the system interaction with the environment. Simulation results demonstrate efficiency of Precautious-RM in increasing accuracy of control applications.     

A process model for robotic disc grinding

Automation of deburring and cleaning of castings is desirable for many reasons. The major reasons are dangerous working conditions, difficulties in finding workers for cleaning sections, and improved profitability. A suitable robot cell capable of using different tools, such as cup grinders, disc grinders and rotary files, is the solution. This robot should be completed with sensors in order to keep the quality of the cleaned surface at an acceptable level. Although using sensors simplifies both the programming and quality control there are still other problems that need to be solved. These involve selection of machining data, e.g. feeding rate and grinding force in a force controlled operation based on parameters such as tool type, disc grinder and geometry. In order to decrease the programming time, a process model for disc grinders has been developed. This article investigates this process model and pays attention to problems such as wavy or burned surfaces and the effect of a robot's repetition accuracy in the results obtained. Many aspects treated in this article are quite general, and can be applied in other types of grinding operations.     

A comprehensive survey of industry practice in real-time systems

Real-Time Systems - This paper presents results and observations from a survey of 120 industry practitioners in the field of real-time embedded systems. The survey provides insights into the...     

Interpolating meshes of boundary intersecting curves by subdivision surfaces

C ⁰ (creases) or C ¹ continuity across the interpolated curves.     

Interpolating an Unlimited Number of Curves Meeting at Extraordinary Points on Subdivision Surfaces*

Interpolating curves by subdivision surfaces is one of the major constraints that is partially addressed in the literature. So far, no more than two intersecting curves can be interpolated by a subdivision surface such as Doo‐Sabin or Catmull‐Clark surfaces. One approach that has been used in both of theses surfaces is the polygonal complex approach where a curve can be defined by a control mesh rather than a control polygon. Such a definition allows a curve to carry with it cross derivative information which can be naturally embodied in the mesh of a subdivision surface. This paper extends the use of this approach to interpolate an unlimited number of curves meeting at an extraordinary point on a subdivision surface. At that point, the curves can all meet with either C ⁰ or C ¹ continuity, yet still have common tangent plane. A straight forward application is the generation of subdivision surfaces through 3‐regular meshes of curves for which an easy interface can be used.     

The induced damage in the hepatopancreas of Orchestia species after exposure to a mixture of Cu/Zn—An ultrastructural study

The hepatopancreas of crustaceans species has been recognized as an essential target organ to assess trace elements' effects. Due to its dynamic and capability of detoxifying trace metal, this organ often indicates distinct pathological disturbances. In the present work, we intend to evaluate the bioaccumulation of trace metal in three Orchestia species (Orchestia montagui, Orchestia gammarellus, and Orchestia mediterranea) living in symmetry in the banks of Bizerte lagoon (37°13′8″N 09°55′1″E) after their exposure during 14 days to a mixture of copper and zinc, and to highlight the effect of these metals on their hepatopancreas ultrastructure using transmission electron microscopy. At the end of the experiment, results showed that the mortality and the body mass varied according to the used nominal concentrations. Significant alterations were noted in all the treatment groups. The degree of these alterations depends on the used concentration, and they are represented especially by the cells remoteness and the border lyses, the reduction of the nuclear volume, the increase in the cytoplasm density with the presence of trace metal in the nucleus as well as in the vacuole, the disorganization and the destruction of microvilli, the condensation of the majority of cellular organelles and mitochondria swelling. Through this study, Orchestia genus could be an attractive candidate for the biochemical study of trace metal toxicity in Tunisian wetlands.     

Insight into the Impact of Oxidative Stress on the Barrier Properties of Lipid Bilayer Models

As a new field of oxidative stress-based therapy, cold physical plasma is a promising tool for several biomedical applications due to its potential to create a broad diversity of reactive oxygen and nitrogen species (RONS). Although proposed, the impact of plasma-derived RONS on the cell membrane lipids and properties is not fully understood. For this purpose, the changes in the lipid bilayer functionality under oxidative stress generated by an argon plasma jet (kINPen) were investigated by electrochemical techniques. In addition, liquid chromatography-tandem mass spectrometry was employed to analyze the plasma-induced modifications on the model lipids. Various asymmetric bilayers mimicking the structure and properties of the erythrocyte cell membrane were transferred onto a gold electrode surface by Langmuir-Blodgett/Langmuir-Schaefer deposition techniques. A strong impact of cholesterol on membrane permeabilization by plasma-derived species was revealed. Moreover, the maintenance of the barrier properties is influenced by the chemical composition of the head group. Mainly the head group size and its hydrogen bonding capacities are relevant, and phosphatidylcholines are significantly more susceptible than phosphatidylserines and other lipid classes, underlining the high relevance of this lipid class in membrane dynamics and cell physiology.     

Bioconversion of shrimp shell waste for the production of antioxidant and chitosan used as fruit juice clarifier

The pH, proteolytic activity, extent of demineralisation and deprotenisation of shrimp waste were studied during 7 days of fermentation using Pseudomonas aeruginosa A2. After 3 days, pH dropped from 7.0 to 4.4 and then remained constant. Simultaneously, a demineralisation of 92% was achieved. However, protease activity reached its highest level (1230 U mL^?1) after 1 day of incubation, and a protein removal of 90% was achieved. Chitin obtained was converted to chitosan. This chitosan, with 73% deacetylation, was tested for clarification of different fruit juices. It was observed that low concentrations of chitosan (below to 1%) greatly increase the clarity of juices without affecting the nutritional value. The antioxidant activity of the hydrolysates produced during fermentation was tested. Hydrolysate obtained after 3 days showed the strongest scavenging activity (90%), which was comparable to the positive control BHA; however, that obtained after 1 day exhibited the highest ferric‐reducing antioxidant power (OD 700 nm = 1.7).     

Implicit Decals: Interactive Editing of Repetitive Patterns on Surfaces

Texture mapping is an essential component for creating 3D models and is widely used in both the game and the movie industries. Creating texture maps has always been a complex task and existing methods carefully balance flexibility with ease of use. One difficulty in using texturing is the repeated placement of individual textures over larger areas. In this paper, we propose a method which uses decals to place images onto a model. Our method allows the decals to compete for space and to deform as they are being pushed by other decals. A spherical field function is used to determine the position and the size of each decal and the deformation applied to fit the decals. The decals may span multiple objects with heterogeneous representations. Our method does not require an explicit parametrization of the model. As such, varieties of patterns, including repeated patterns like rocks, tiles and scales can be mapped. We have implemented the method using the GPU where placement, size and orientation of thousands of decals are manipulated in real time.