Fractional control with a smith predictor

The advantageous use of fractional calculus (FC) in the modeling and control of many dynamical systems has been recognized. In this paper, we study the control of a heat diffusion system based on the application of the FC concepts. Several algorithms are investigated and compared, when integrated within a Smith predictor control structure. Simulations are presented assessing the performance of the proposed fractional algorithms.

An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close.

Solving nonlinear equations by a tabu search strategy

Solving systems of nonlinear equations is a problem of particular importance since they emerge through the mathematical modeling of real problems that arise naturally in many branches of engineering and in the physical sciences. The problem can be naturally reformulated as a global optimization problem. In this paper, we show that a metaheuristic, called Directed Tabu Search (DTS) [16], is able to converge to the solutions of a set of problems for which the fsolve function of MATLAB® failed to converge. We also show the effect of the dimension of the problem in the performance of the DTS.

Fractional describing function of systems with nonlinear friction

This paper studies the describing function (DF) of systems consisting in a mass subjected to nonlinear friction. The friction force is composed in three components namely, the viscous, the Coulomb and the static forces. The system dynamics is analyzed in the DF perspective revealing a fractional-order behaviour. The reliability of the DF method is evaluated through the signal harmonic content and the limit cycle prediction.

Long-term dependence in financial prices: evidence from the Belgian stock market returns

This article aims to contribute to the discussion of long-term dependence, focusing on the behavior of the main Belgian stock index. Non-parametric analyzes of the general characteristics of temporal frequency show that daily returns are non-ergodic and non-stationary. Therefore, we use the rescaled-range analysis (R/S) and the detrended fluctuation analysis (DFA), under the fractional Brownian motion approach, and we found slight evidence of long-term dependence. These results refute the random walk hypothesis with i.i.d. increments, which is the basis of the EMH in its weak form, and call into question some theoretical modeling of asset pricing. Other more localized complementary study, to identify the evolution of the degree of dependence over time windows, showed that the index has become less persistent from 2010. This may mean a maturing market by the extension of the effects of current financial crisis.

Performance of fractional PID algorithms controlling nonlinear systems with saturation and backlash phenomena

The development of fractional-order controllers is currently one of the most promising fields of research. However, most of the work in this area addresses the case of linear systems. This paper reports on the analysis of fractional-order control of nonlinear systems. The performance of discrete fractional-order PID controllers in the presence of several nonlinearities is discussed. Some results are provided that indicate the superior robustness of such algorithms.

Análise de fadiga de uma ponte ferroviária com tabuleiro misto vigado sob ação de tráfego de mercadorias

A presente dissertação centra-se no estudo de fadiga de uma ponte ferroviária com tabuleiro misto vigado pertencente a uma via de transporte de mercadorias. O caso de estudo incide sobre a ponte ferroviária sobre o rio do Sonho, localizada na Estrada de Ferro de Carajás situada no nordeste do Brasil. Nesta linha circulam alguns dos maiores comboios de mercadoria do mundo com cerca de 3.7 km de extensão e com cargas por eixo superiores a 300 kN. Numa primeira fase apresentam-se diversas metodologias de análise da fadiga em pontes ferroviárias metálicas. É também descrita a ferramenta computacional FADBridge, desenvolvida em ambiente MATLAB, e que possibilita o cálculo sistematizado e eficiente do dano de fadiga em detalhes construtivos de acordo com as indicações dos eurocódigos. Em seguida são abordadas as metodologias numéricas utilizadas para a realização das análises dinâmicas do sistema ponte-comboio e os aspetos regulamentares a ter em consideração no dimensionamento de pontes ferroviárias. O modelo numérico de elementos finitos da ponte foi realizado com recurso ao programa ANSYS. Com base neste modelo foram obtidos os parâmetros modais, nomeadamente as frequências naturais e os modos de vibração, tendo sido também analisada a importância do efeito compósito via-tabuleiro e a influência do comportamento não linear do balastro. O estudo do comportamento dinâmico da ponte foi realizado por intermédio de uma metodologia de cargas móveis através da ferramenta computacional Train-Bridge Interaction (TBI). As análises dinâmicas foram efetuadas para a passagem dos comboios reais de mercadorias e de passageiros e para os comboios de fadiga regulamentares. Nestas análises foi estudada a influência dos modos de vibração globais e locais, das configurações de carga dos comboios e do aumento da velocidade de circulação, na resposta dinâmica da ponte. Por último, foi avaliado o comportamento à fadiga de diversos detalhes construtivos para os cenários de tráfego regulamentar e reais. Foi ainda analisada a influência do aumento da velocidade, da configuração de cargas dos comboios e da degradação da estrutura nos valores do dano por fadiga e da respetiva vida residual.

Long-term memory in financial prices: evidence from the Dutch stock market returns

Prepared for presentation at the Portuguese Finance Network International Conference 2014, Vilamoura, Portugal, June 18-20

Evolution of Drug Resistance: Insight on TEM -Lactamases Structure and Activity and Beta-Lactam Antibiotics

Extended-spectrum β-lactamases (ESBLs) prevalence was studied in the north of Portugal, among 193 clinical isolates belonging to citizens in a district in the boundaries between this country and Spain from a total of 7529 clinical strains. In the present study we recovered some members of Enterobacteriaceae family, producing ESBL enzymes, including Escherichia coli (67.9%), Klebsiella pneumoniae (30.6%), Klebsiella oxytoca (0.5%), Enterobacter aerogenes (0.5%), and Citrobacter freundii (0.5%). β-lactamases genes blaTEM, blaSHV, and blaCTX-M were screened by polymerase chain reaction (PCR) and sequencing approaches. TEM enzymes were among the most prevalent types (40.9%) followed by CTX-M (37.3%) and SHV (23.3%). Among our sample of 193 ESBL-producing strains 99.0% were resistant to the fourth-generation cephalosporin cefepime. Of the 193 isolates 81.3% presented transferable plasmids harboring genes. Clonal studies were performed by PCR for the enterobacterial repetitive intragenic consensus (ERIC) sequences. This study reports a high diversity of genetic patterns. Ten clusters were found for E. coli isolates and five clusters for K. pneumoniae strains by means of ERIC analysis. In conclusion, in this country, the most prevalent type is still the TEM-type, but CTX-M is growing rapidly.

Nonlinear dynamics of the patient’s response to drug effect during general anesthesia

In today’s healthcare paradigm, optimal sedation during anesthesia plays an important role both in patient welfare and in the socio-economic context. For the closed-loop control of general anesthesia, two drugs have proven to have stable, rapid onset times: propofol and remifentanil. These drugs are related to their effect in the bispectral index, a measure of EEG signal. In this paper wavelet time–frequency analysis is used to extract useful information from the clinical signals, since they are time-varying and mark important changes in patient’s response to drug dose. Model based predictive control algorithms are employed to regulate the depth of sedation by manipulating these two drugs. The results of identification from real data and the simulation of the closed loop control performance suggest that the proposed approach can bring an improvement of 9% in overall robustness and may be suitable for clinical practice.

Demand Response Programs Definition Using Demand Price Elasticity to Define Consumers Aggregation for an Improved Remuneration Structure

The positioning of the consumers in the power systems operation has been changed in the recent years, namely due to the implementation of competitive electricity markets. Demand response is an opportunity for the consumers’ participation in electricity markets. Smart grids can give an important support for the integration of demand response. The methodology proposed in the present paper aims to create an improved demand response program definition and remuneration scheme for aggregated resources. The consumers are aggregated in a certain number of clusters, each one corresponding to a distinct demand response program, according to the economic impact of the resulting remuneration tariff. The knowledge about the consumers is obtained from its demand price elasticity values. The illustrative case study included in the paper is based on a 218 consumers’ scenario.

Remuneration Structure Definition for Distributed Generation Units and Demand Response Participants Aggregation

The implementation of competitive electricity markets has changed the consumers’ and distributed generation position power systems operation. The use of distributed generation and the participation in demand response programs, namely in smart grids, bring several advantages for consumers, aggregators, and system operators. The present paper proposes a remuneration structure for aggregated distributed generation and demand response resources. A virtual power player aggregates all the resources. The resources are aggregated in a certain number of clusters, each one corresponding to a distinct tariff group, according to the economic impact of the resulting remuneration tariff. The determined tariffs are intended to be used for several months. The aggregator can define the periodicity of the tariffs definition. The case study in this paper includes 218 consumers, and 66 distributed generation units.

Evolution of Drug Resistance: Insight on TEM β-Lactamases Structure and Activity and β-Lactam Antibiotics

Since the discovery of the first penicillin bacterial resistance to β-lactam antibiotics has spread and evolved promoting new resistances to pathogens. The most common mechanism of resistance is the production of β-lactamases that have spread thorough nature and evolve to complex phenotypes like CMT type enzymes. New antibiotics have been introduced in clinical practice, and therefore it becomes necessary a concise summary about their molecular targets, specific use and other properties. β-lactamases are still a major medical concern and they have been extensively studied and described in the scientific literature. Several authors agree that Glu166 should be the general base and Ser70 should perform the nucleophilic attack to the carbon of the carbonyl group of the β-lactam ring. Nevertheless there still is controversy on their catalytic mechanism. TEMs evolve at incredible pace presenting more complex phenotypes due to their tolerance to mutations. These mutations lead to an increasing need of novel, stronger and more specific and stable antibiotics. The present review summarizes key structural, molecular and functional aspects of ESBL, IRT and CMT TEM β-lactamases properties and up to date diagrams of the TEM variants with defined phenotype. The activity and structural characteristics of several available TEMs in the NCBI-PDB are presented, as well as the relation of the various mutated residues and their specific properties and some previously proposed catalytic mechanisms.

Desenvolvimento de programa em linguagem Matlab® para cálculo pelo método de elementos finitos

Para o projeto de qualquer estrutura existente (edifícios, pontes, veículos, máquinas, etc.) é necessário conhecer as condições de carga, geometria e comportamento de todas as suas partes, assim como respeitar as normativas em vigor nos países nos quais a estrutura será aplicada. A primeira parte de qualquer projeto nesta área passa pela fase da análise estrutural, onde são calculadas todas as interações e efeitos de cargas sobre as estruturas físicas e os seus componentes de maneira a verificar a aptidão da estrutura para o seu uso. Inicialmente parte-se de uma estrutura de geometria simplificada, pondo de parte os elementos físicos irrelevantes (elementos de fixação, revestimentos, etc.) de maneira a simplificar o cálculo de estruturas complexas e, em função dos resultados obtidos da análise estrutural, melhorar a estrutura se necessário. A análise por elementos finitos é a ferramenta principal durante esta primeira fase do projeto. E atualmente, devido às exigências do mercado, é imprescindível o suporte computorizado de maneira a agilizar esta fase do projeto. Existe para esta finalidade uma vasta gama de programas que permitem realizar tarefas que passam pelo desenho de estruturas, análise estática de cargas, análise dinâmica e vibrações, visualização do comportamento físico (deformações) em tempo real, que permitem a otimização da estrutura em análise. Porém, estes programas demostram uma certa complexidade durante a introdução dos parâmetros, levando muitas vezes a resultados errados. Assim sendo, é essencial para o projetista ter uma ferramenta fiável e simples de usar que possa ser usada para fins de projeto de estruturas e otimização. Sobre esta base nasce este projeto tese onde se elaborou um programa com interface gráfica no ambiente Matlab® para a análise de estruturas por elementos finitos, com elementos do tipo Barra e Viga, quer em 2D ou 3D. Este programa permite definir a estrutura por meio de coordenadas, introdução de forma rápida e clara, propriedades mecânicas dos elementos, condições fronteira e cargas a aplicar. Como resultados devolve ao utilizador as reações, deformações e distribuição de tensões nos elementos quer em forma tabular quer em representação gráfica sobre a estrutura em análise. Existe ainda a possibilidade de importação de dados e exportação dos resultados em ficheiros XLS e XLSX, de maneira a facilitar a gestão de informação. Foram realizados diferentes testes e análises de estruturas de forma a validar os resultados do programa e a sua integridade. Os resultados foram todos satisfatórios e convergem para os resultados de outros programas, publicados em livros, e para cálculo a mão feitos pelo autor.

Nonlinear dynamics of the patient’s response to drug effect during general anesthesia

In today’s healthcare paradigm, optimal sedation during anesthesia plays an important role both in patient welfare and in the socio-economic context. For the closed-loop control of general anesthesia, two drugs have proven to have stable, rapid onset times: propofol and remifentanil. These drugs are related to their effect in the bispectral index, a measure of EEG signal. In this paper wavelet time–frequency analysis is used to extract useful information from the clinical signals, since they are time-varying and mark important changes in patient’s response to drug dose. Model based predictive control algorithms are employed to regulate the depth of sedation by manipulating these two drugs. The results of identification from real data and the simulation of the closed loop control performance suggest that the proposed approach can bring an improvement of 9% in overall robustness and may be suitable for clinical practice.