Evaluation of salmon farming effects on marine systems in the inner seas of southern Chile : a large-scale mensurative experiment

The impact of salmon farming on the environment has been widely studied; there is, however, no consensus on the magnitude and quality of these effects and little information on their extent over large salmon farming areas. Forty-three salmon farm sites of which 29 are in full operation and grouped in nine locations in southern Chile were evaluated. Using statistical methods (two-way anova), no effects were found on water column variables such as nitrate, ammonia, orthophosphate and chlorophyll, whereas they were significant on sediment variables such as nitrogen (N), phosphorus (P) and organic carbon (OC), among others. Natural variability evaluation of some parameters revealed that P in sediments had the lowest coefficient of variation (23.2%) when compared with N (65.2%), particulate organic matter (POM) (139%) and OC (39%), and showed more marked salmon farming effects with no locality effects. Four of the nine locations showed stronger effects on sediments, with average P values ranging from 150 to 230 mmol that were six to nine times higher than in control sites (25 mmol). Nitrogen and carbon in sediments, while showing significant effects on salmon farming, also showed locality effects that revealed other biogenic processes influencing sediment composition. Thus, P in sediments was proposed as a promising indicator of impact on salmon farming, although the relationship with fauna in sediments was not linear and somewhat variable; more research is therefore needed to understand such connections. Considering entire geographical locations, no relationship was found between sediment conditions under salmon cages and the condition of the water column at a farm. This may indicate the possibility of high dilution rates and recycling processes, which so far preclude the detection of more global impacts beyond the cages shadow.

Force measurement capability for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasive measurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems_ is introduced in this paper. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of this paper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this paper. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

ε-bounded state estimation for time-delay systems with bounded disturbances

A new problem on ε-bounded functional state estimation for time-delay systems with unknown bounded disturbances is studied in this paper. In the presence of unknown bounded disturbances, the common assumption regarding the observers matching condition is no longer required. In this regard, instead of achieving asymptotic convergence for the observer error, the error is now required to converge exponentially within a ball with a small radius ε > 0. This means that the estimate converges exponentially within an ε-bound of the true value. A general observer that utilises multiple-delayed output and input information is proposed. Sufficient conditions for the existence of the proposed observer are first given. We then employ an extended Lyapunov-Krasovskii functional which combines the delay-decomposition technique with a triple-integral term to study the ε-convergence problem of the observer error system. Moreover, the obtained results are shown to be more effective than the existing results for the cases with no disturbances and/or no time delay. Three numerical examples are given to illustrate the obtained results.

H∞ observer-based control for discrete-time one-sided Lipschitz systems with unknown inputs

This paper investigates the problem of robust observer-based stabilization for a class of one-sided nonlinear discrete-time systems subjected to unknown inputs. We propose a simple simultaneous state and input estimator. A nonlinear controller is then proposed to compensate for the effects of unknown inputs and to ensure asymptotic stability in a closed loop. Several mathematical artifacts are used to deduce stability conditions expressed in terms of linear matrix inequalities. To show high performances of the proposed technique, a relevant example is provided with comparisons to recent results.

Full-order observer design for nonlinear complex large-scale systems with unknown time-varying delayed interactions

This article is concerned with the problem of state observer for complex large-scale systems with unknown time-varying delayed interactions. The class of large-scale interconnected systems under consideration is subjected to interval time-varying delays and nonlinear perturbations. By introducing a set of argumented Lyapunov–Krasovskii functionals and using a new bounding estimation technique, novel delay-dependent conditions for existence of state observers with guaranteed exponential stability are derived in terms of linear matrix inequalities (LMIs). In our design approach, the set of full-order Luenberger-type state observers are systematically derived via the use of an efficient LMI-based algorithm. Numerical examples are given to illustrate the effectiveness of the result

Evaluating non-deterministic retrieval systems

The use of sampling, randomized algorithms, or training based on the unpredictable inputs of users in Information Retrieval often leads to non-deterministic outputs. Evaluating the effectiveness of systems incorporating these methods can be challenging since each run may produce different effectiveness scores. Current IR evaluation techniques do not address this problem. Using the context of distributed information retrieval as a case study for our investigation, we propose a solution based on multivariate linear modeling. We show that the approach provides a consistent and reliable method to compare the effectiveness of non-deterministic IR algorithms, and explain how statistics can safely be used to show that two IR algorithms have equivalent effectiveness. Copyright 2014 ACM.

Improved robust Kalman filtering for uncertain systems with missing measurements

In this paper, a novel robust finite-horizon Kalman filter is developed for discrete linear time-varying systems with missing measurements and normbounded parameter uncertainties. The missing measurements are modelled by a Bernoulli distributed sequence and the system parameter uncertainties are in the state and output matrices. A two stage recursive structure is considered for the Kalman filter and its parameters are determined guaranteeing that the covariances of the state estimation errorsare not more than the known upper bound. Finally, simulation results are presented to illustrate the outperformance of the proposed robust estimator compared with the previous results in the literature.

Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasivemeasurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this chapter. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of thispaper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this chapter. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

Modular synthesis of linear Bis- and Tris-monodentate fused [6]Polynorbornane-Based Ligands and their assembly into coordination cages

A modular approach has been developed for the synthesis of rigid linear di- and tritopic ligands based on a fused [6]polynorbornane scaffold. The design provides up to three sites for installing functionality, including both "ends" and a "central" position with the advantage that each region can be independently addressed during synthesis. To illustrate the utility of the approach, both pyridyl and picolyl units were incorporated to provide six new ligands, with centers and ends either matched or mismatched. Indeed, both [M2 L4 ] cages with endohedral functionality and [M3 L4 ] complexes were cleanly produced from these ligands with assembled structures confirmed by using (1) H NMR spectroscopy, HRMS, and molecular modelling.

Discrete inequalities based on multiple auxiliary functions and their applications to stability analysis of time-delay systems

Abstract
This paper presents new discrete inequalities for single summation and double summation. These inequalities are based on multiple auxiliary functions and include the Jensen discrete inequality and the discrete Wirtinger-based inequality as special cases. An application of these discrete inequalities to analyse stability of linear discrete systems with an interval time-varying delay is studied and a less conservative stability condition is obtained. Three numerical examples are given to show the effectiveness of the obtained stability condition.

Linear approximation of Karnik-Mendel type reduction algorithm

Karnik-Mendel (KM) algorithm is the most used and researched type reduction (TR) algorithm in literature. This algorithm is iterative in nature and despite consistent long term effort, no general closed form formula has been found to replace this computationally expensive algorithm. In this research work, we demonstrate that the outcome of KM algorithm can be approximated by simple linear regression techniques. Since most of the applications will have a fixed range of inputs with small scale variations, it is possible to handle those complexities in design phase and build a fuzzy logic system (FLS) with low run time computational burden. This objective can be well served by the application of regression techniques. This work presents an overview of feasibility of regression techniques for design of data-driven type reducers while keeping the uncertainty bound in FLS intact. Simulation results demonstrates the approximation error is less than 2%. Thus our work preserve the essence of Karnik-Mendel algorithm and serves the requirement of low
computational complexities.