Adaptation of an commercially available stabilised R/C helicopter to a fully autonomous surveillance UAV

This paper presents the development of an autonomous surveillance UAV that competed in the Ministry of Defence Grand Challenge 2008. In order to focus on higher-level mission control, the UAV is built upon an existing commercially available stabilised R/C helicopter platform. The hardware architecture is developed to allow for non-invasion integration with the existing stabilised platform, and to enable to the distributed processing of closed loop control and mission goals. The resulting control system proved highly successful and was capable of flying within 40knott gusts. The software and safety architectures were key to the success of the research and also hold the potential for use in the development of more complex system comprising of multiple UAVs.

Two methods for modelling the propagation of terahertz radiation in a layered structure

Modelling the interaction of terahertz(THz) radiation with biological tissueposes many interesting problems. THzradiation is neither obviously described byan electric field distribution or anensemble of photons and biological tissueis an inhomogeneous medium with anelectronic permittivity that is bothspatially and frequency dependent making ita complex system to model.A three-layer system of parallel-sidedslabs has been used as the system throughwhich the passage of THz radiation has beensimulated. Two modelling approaches havebeen developed a thin film matrix model anda Monte Carlo model. The source data foreach of these methods, taken at the sametime as the data recorded to experimentallyverify them, was a THz spectrum that hadpassed though air only.Experimental verification of these twomodels was carried out using athree-layered in vitro phantom. Simulatedtransmission spectrum data was compared toexperimental transmission spectrum datafirst to determine and then to compare theaccuracy of the two methods. Goodagreement was found, with typical resultshaving a correlation coefficient of 0.90for the thin film matrix model and 0.78 forthe Monte Carlo model over the full THzspectrum. Further work is underway toimprove the models above 1 THz.

Land re-use, complexity and actor-networks: a framework for research

This paper will present a conceptual framework for the examination of land redevelopment based on a complex systems/networks approach. As Alvin Toffler insightfully noted, modern scientific enquiry has become exceptionally good at splitting problems into pieces but has forgotten how to put the pieces back together. Twenty-five years after his remarks, governments and corporations faced with the requirements of sustainability are struggling to promote an ‘integrated’ or ‘holistic’ approach to tackling problems. Despite the talk, both practice and research provide few platforms that allow for ‘joined up’ thinking and action. With socio-economic phenomena, such as land redevelopment, promising prospects open up when we assume that their constituents can make up complex systems whose emergent properties are more than the sum of the parts and whose behaviour is inherently difficult to predict. A review of previous research shows that it has mainly focused on idealised, ‘mechanical’ views of property development processes that fail to recognise in full the relationships between actors, the structures created and their emergent qualities. When reality failed to live up to the expectations of these theoretical constructs then somebody had to be blamed for it: planners, developers, politicians. However, from a ‘synthetic’ point of view the agents and networks involved in property development can be seen as constituents of structures that perform complex processes. These structures interact, forming new more complex structures and networks. Redevelopment then can be conceptualised as a process of transformation: a complex system, a ‘dissipative’ structure involving developers, planners, landowners, state agencies etc., unlocks the potential of previously used sites, transforms space towards a higher order of complexity and ‘consumes’ but also ‘creates’ different forms of capital in the process. Analysis of network relations point toward the ‘dualism’ of structure and agency in these processes of system transformation and change. Insights from actor network theory can be conjoined with notions of complexity and chaos to build an understanding of the ways in which actors actively seek to shape these structures and systems, whilst at the same time are recursively shaped by them in their strategies and actions. This approach transcends the blame game and allows for inter-disciplinary inputs to be placed within a broader explanatory framework that does away with many past dichotomies. Better understanding of the interactions between actors and the emergent qualities of the networks they form can improve our comprehension of the complex socio-spatial phenomena that redevelopment comprises. The insights that this framework provides when applied in UK institutional investment into redevelopment are considered to be significant.

Prehistoric activity in Peterstone Great Wharf Palaeochannels: field survey 2005-6

This is an interim report on research carried out at the intertidal site of Peterstone Great Wharf, located on the Wentlooge Levels, c. 7 km east of Cardiff. The project is the first detailed survey and excavation of a site originally recorded in 1996-7 as part of a larger survey of the intertidal zone from Cardiff to the Second Severn Crossing. The 1997 survey produced important evidence for prehistoric human activity preserved within four palaeochannels. Significant erosion has taken place since then. A new survey of the foreshore has identified additional palaeochannels not seen in 1997 which form part of a more complex system of inter-cutting channels, many containing wood structures including short lines of timbers on the channel edge. Artefacts include a wooden axe handle, antler artefacts, an animal bone assemblage and some pottery of Beaker and Bronze Age date. The finds are thought to derive from a nearby, possibly eroded, settlement. The channels have trapped artefacts and preserved evidence of a range of activities, including what are interpreted as possible boat landings and fishing structures.

CASCADE: An Agent Based Framework For Modeling The Dynamics Of Smart Electricity Systems

The Complex Adaptive Systems, Cognitive Agents and Distributed Energy (CASCADE) project is developing a framework based on Agent Based Modelling (ABM). The CASCADE Framework can be used both to gain policy and industry relevant insights into the smart grid concept itself and as a platform to design and test distributed ICT solutions for smart grid based business entities. ABM is used to capture the behaviors of diff erent social, economic and technical actors, which may be defi ned at various levels of abstraction. It is applied to understanding their interactions and can be adapted to include learning processes and emergent patterns. CASCADE models ‘prosumer’ agents (i.e., producers and/or consumers of energy) and ‘aggregator’ agents (e.g., traders of energy in both wholesale and retail markets) at various scales, from large generators and Energy Service Companies down to individual people and devices. The CASCADE Framework is formed of three main subdivisions that link models of electricity supply and demand, the electricity market and power fl ow. It can also model the variability of renewable energy generation caused by the weather, which is an important issue for grid balancing and the profi tability of energy suppliers. The development of CASCADE has already yielded some interesting early fi ndings, demonstrating that it is possible for a mediating agent (aggregator) to achieve stable demandfl attening across groups of domestic households fi tted with smart energy control and communication devices, where direct wholesale price signals had previously been found to produce characteristic complex system instability. In another example, it has demonstrated how large changes in supply mix can be caused even by small changes in demand profi le. Ongoing and planned refi nements to the Framework will support investigation of demand response at various scales, the integration of the power sector with transport and heat sectors, novel technology adoption and diffusion work, evolution of new smart grid business models, and complex power grid engineering and market interactions.

An isotope dilution model for partitioning phenylalanine and tyrosine uptake by the mammary gland of lactating dairy cows

An isotope dilution model for partitioning phenylalanine and tyrosine uptake by the mammary gland of the lactating dairy cow is constructed and solved in the steady state. The model contains four intracellular and four extracellular pools and conservation of mass principles are applied to generate the fundamental equations describing the behaviour of the system. The experimental measurements required for model solution are milk secretion and plasma flow rate across the gland in combination with phenylalanine and tyrosine concentrations and plateau isotopic enrichments in arterial and venous plasma and free and protein bound milk during a constant infusion of [1-(13)C]phenylalanine and [2,3,5,6-(2)H]tyrosine tracer. If assumptions are made, model solution enables determination of steady state flows for phenylalanine and tyrosine inflow to the gland, outflow from it and bypass, and flows representing the synthesis and degradation of constitutive protein and hydroxylation. The model is effective in providing information about the fates of phenylalanine and tyrosine in the mammary gland and could be used as part of a more complex system describing amino acid metabolism in the whole ruminant.

Translational research and therapeutic applications of neural crest-derived stem cells in regenerative periodontology

Regeneration of periodontal tissues aims to utilize tissue engineering techniques to restore lost periodontal tissues including the cementum, periodontal ligament and alveolar bone. Regenerative dentistry and its special field regenerative periodontology represent relatively new and emerging branches of translational stem cell biology and regenerative medicine focusing on replacing and regenerating dental tissues to restore or re-establish their normal function lost during degenerative diseases or acute lesions. The regeneration itself can be achieved through transplantation of autologous or allogenic stem cells, or by improving the tissue self-repair mechanisms (e.g. by application of growth factors). In addition, a combination of stem cells or stem cell-containing tissue with bone implants can be used to improve tissue integration and the clinical outcome. As the oral cavity represents a complex system consisting of teeth, bone, soft tissues and sensory nerves, regenerative periodontology relies on the use of stem cells with relatively high developmental potential. Notably, the potential use of pluripotent stem cell types such as human embryonic stem cells or induced pluripotent stem cells is still aggravated by ethical and practical problems. Thus, other cellular sources such as those readily available in the postnatal craniofacial area and particularly in oral structures offer a much better and realistic alternative as cellular regenerative sources. In this review, we summarize current knowledge on the oral neural crest-derived stem cell populations (oNCSCs) and discuss their potential in regenerative periodontology.

Skull Modularity in Neotropical Marsupials and Monkeys: Size Variation and Evolutionary Constraint and Flexibility

An organism is built through a series of contingent factors, yet it is determined by historical, physical, and developmental constraints. A constraint should not be understood as an absolute obstacle to evolution, as it may also generate new possibilities for evolutionary change. Modularity is, in this context, an important way of organizing biological information and has been recognized as a central concept in evolutionary biology bridging on developmental, genetics, morphological, biochemical, and physiological studies. In this article, we explore how modularity affects the evolution of a complex system in two mammalian lineages by analyzing correlation, variance/covariance, and residual matrices (without size variation). We use the multivariate response to selection equation to simulate the behavior of Eutheria and Metharia skulls in terms of their evolutionary flexibility and constraints. We relate these results to classical approaches based on morphological integration tests based on functional/developmental hypotheses. Eutherians (Neotropical primates) showed smaller magnitudes of integration compared with Metatheria (didelphids) and also skull modules more clearly delimited. Didelphids showed higher magnitudes of integration and their modularity is strongly influenced by within-groups size variation to a degree that evolutionary responses are basically aligned with size variation. Primates still have a good portion of the total variation based on size; however, their enhanced modularization allows a broader spectrum of responses, more similar to the selection gradients applied (enhanced flexibility). Without size variation, both groups become much more similar in terms of modularity patterns and magnitudes and, consequently, in their evolutionary flexibility. J. Exp. Zool. (Mol. Dev. Evol.) 314B:663-683, 2010. (C) 2010 Wiley-Liss, Inc.

Head shape evolution in Tropidurinae lizards: does locomotion constrain diet?

Different components of complex integrated systems may be specialized for different functions, and thus the selective pressures acting on the system as a whole may be conflicting and can ultimately constrain organismal performance and evolution. The vertebrate cranial system is one of the most striking examples of a complex system with several possible functions, being associated to activities as different as locomotion, prey capture, display and defensive behaviours. Therefore, selective pressures on the cranial system as a whole are possibly complex and may be conflicting. The present study focuses on the influence of potentially conflicting selective pressures (diet vs. locomotion) on the evolution of head shape in Tropidurinae lizards. For example, the expected adaptations leading to flat heads and bodies in species living on vertical structures may conflict with the need for improved bite performance associated with the inclusion of hard or tough prey into the diet, a common phenomenon in Tropidurinae lizards. Body size and six variables describing head shape were quantified in preserved specimens of 23 species, and information on diet and substrate usage was obtained from the literature. No phylogenetic signal was observed in the morphological data at any branch length tested, suggesting adaptive evolution of head shape in Tropidurinae. This pattern was confirmed by both factor analysis and independent contrast analysis, which suggested adaptive co-variation between the head shape and the inclusion of hard prey into the diet. In contrast to our expectations, habitat use did not constrain or drive head shape evolution in the group.

Dynamic pacing strategies during the cycle phase of an ironman triathlon

Introduction: A nonlinear dynamic systems model has previously been proposed to explain pacing strategies employed during exercise.

Purpose: This study was conducted to examine the pacing strategies used under varying conditions during the cycle phase of an Ironman triathlon.

Methods: The bicycles of six well-trained male triathletes were equipped with SRM power meters set to record power output, cadence, speed, and heart rate. The flat, three-lap, out-and-back cycle course, coupled with relatively consistent wind conditions (17-30 km·h-1), enabled comparisons to be made between three consecutive 60-km laps and relative wind direction (headwind vs tailwind).

Results: Participants finished the cycle phase (180 km) with consistently fast performance times (5 h, 11 ± 2 min; top 10% of all finishers). Average power output (239 ± 25 to 203 ± 20 W), cadence (89 ± 6 to 82 ± 8 rpm), and speed (36.5 ± 0.8 to 33.1 ± 0.8 km·h-1) all significantly decreased with increasing number of laps (P < 0.05). These variables, however, were not significantly different between headwind and tailwind sections. The deviation (SD) in power output and cadence did not change with increasing number of laps; however, the deviations in torque (6.8 ± 1.6 and 5.8 ± 1.3 N·m) and speed (2.1 ± 0.5 and 1.6 ± 0.3 km·h-1) were significantly greater under headwind compared with tailwind conditions, respectively. The median power frequency tended to be lower in headwind (0.0480 ± 0.0083) compared with tailwind (0.0531 ± 0.0101) sections.

Conclusion: These data show evidence that a nonlinear dynamic pacing strategy is used by well-trained triathletes throughout various segments and conditions of the Ironman cycle phase. Moreover, an increased variation in torque and speed was found in the headwind versus the tailwind condition.

Architectural information

Through a study of architectural information as a complex system, a theoretical model relating critical information elements and project knowledge is proposed. The Project Specific Information model articulates distinct information integrities (intellectual, contextual, structural and spatial) that support the knowledge-based decision-making processes controlling information quality in architectural projects.

A multi-level approach to planning and scheduling resources for aviation training

This paper describes a multi-level system dynamics (SD) / discrete event simulation (DES) approach for assessing planning and scheduling problems within an aviation training continuum. The aviation training continuum is a complex system, consisting of multiple aviation schools interacting through interschool student and instructor flows that are affected by external triggers such as resource availability and the weather.
SD was used to model the overall training continuum at a macro level to ascertain relationships between system entities. SD also assisted in developing a shared understanding of the training continuum, which involves constructing the definitions of the training requirements, resources and policy objectives. An end-to-end model of the continuum is easy to relate to, while dynamic visualisation of system behaviour provides a method for exploration of the model.
DES was used for micro level exploration of an individual school within the training continuum to capture the physical aspects of the system including resource capacity requirements, bottlenecks and student waiting times. It was also used to model stochastic events such as weather and student availability. DES has the advantage of being able to represent system variability and accurately reflect the limitations imposed on a system by resource constraints.
Through sharing results between the models, we demonstrate a multi-level approach to the analysis of the overall continuum. The SD model provides the school’s targeted demand to the DES model. The detailed DES model is able to assess schedules in the presence of resource constraints and variability and provide the expected capacity of a school to the high level SD model, subjected to constraints such as instructor availability or budgeted number of training systems. The SD model allows stakeholders to assess how policy and planning affect the continuum, both in the short and the long term.
The development of this approach permits moving the analysis of the continuum between SD and DES models as appropriate for given system entities, scales and tasks. The resultant model outcomes are propagated between the continuum and the detailed DES model, iteratively generating an assessment of the entire set of plans and schedule across the continuum. Combining data and information between SD and DES models and techniques assures relevance to the stakeholder needs and effective problem scoping and scaling that can also evolve with dynamic architecture and policy requirements.
An example case study shows the combined use of the two models and how they are used to evaluate a typical scenario where increased demand is placed on the training continuum. The multi-level approach provides a high level indication of training requirements to the model of the new training school, where the detailed model indicates the resources required to achieve those particular student levels.

Transparência, a resposta institucional à pressão social: o caso do Tribunal de Contas do Estado do Rio de Janeiro

The present work aims to identify emerging organizational changes in the Court of Accounts of the State of Rio de Janeiro - TCE/RJ that are happening in the contemporary scenery known as the Age of Information. The search for the comprehension of the institutional dynamics is oriented by concepts originated from the theory of complexity, which believe that the public services external control system can be understood in a political, technical and legal environment with growing levels of learning and innovation. While chasing the possible causes of these changes, we try to prove the hypothesis that the TCE/RJ is turning into a more transparent organization. For this purpose, we define the outlines and reaches of the principle of transparency, based in bibliographical and documental researches, and analyze the phenomenon perceived in a explanation research through semi-structured interviews performed with two groups: a sample representing the universe under jurisdiction entities top level directors and the other obtained in the universe of formal and informal leaderships existing in the educational body of the institution. The conclusion of the present work confirms the initial questions, indicating that the organization is really becoming more and more transparent. The social-technical changes that are happening today at the TCE/RJ are caused by the growing social pressure for more effective results in the control of public expenditures. Under the systemic point of view, we observe cracks in the protective bell-glass that evolves the institution - previously hermetic to the external contingencies and that works today as a SAC - Adaptive Complex System. Aspects such as organization structural changes, the introduction of strategic planning and the growing democratization of the decision process are producing a new organizational culture. The seniority of the Technical Headcount contributes to establish the pre-conditions for the development of a administration where the participation of the TCE/RJ technical employees adds importance to its development as an institution that generates republican effects in the society from its less hermetic decision process.

Plano de carreira versus crescimento do indivíduo e eficácia das organizações - o caso Instituto Batista de Educação de Vitória (ES)

A temática aqui proposta tem por objetivo analisar até que ponto a implementação de um plano de carreira pode vir a ser um fator de crescimento do indivíduo e de maior eficácia no Instituto Batista de Educação de Vitória (ffiEV). Assim, no presente Estudo de Caso foram realizadas pesquisas bibliográficas e pesquisa de campo mediante aplicação de questionário (entrevistas focalizadas, semi-estruturadas) de forma a embasar conceitualmente a temática e com informações relevantes caracterizar a Instituição, para estabelecer a relação entre plano de carreira, plano de vida e a utilização do capital humano como um fator de crescimento do indivíduo e de maior eficácia organizacional. Os elementos que compõem o quadro de recursos humanos do ffiEV serão apresentados e interpretados sob um enfoque dialético compatível com as proposições de plano de carreira e plano de vida, dos autores elencados na bibliografia No transcorrer dessa dissertação serão contracenados os conceitos de plano de carreira e plano de vida que por um longo período de tempo e talvez ainda hoje, são pensados como não correlacionados. Isto acontece porque, para conseguirmos correlacionar estes conceitos e sistemas, necessitamos aprender a analisá-los de uma perspectiva macro. Neste ponto, pode-se juntar estes conceitos e entender as suas correlações. É claro que estes relacionamentos são complexos, o que é uma das razões pelas quais eles não são enxergados. Olhando para este quadro geral através do conceito plano de carreira/plano de vida, é fácil concluir que o ffiEV é um sistema complexo com subsistemas ativos (humano e técnico) e uma estrutura geral (estrutura). Esta estrutura irá prover meios com os quais os subsistemas irão interagir, e conseqüentemente prover diferentes possibilidades de interação. As interações entre os atores do sistema terão conseqüências que poderão ser medidas através de investigações quantitativas e qualitativas. Estas conseqüências são, por exemplo, qualidade, eficiência organizacional, lucro, satisfação com o trabalho, comprometimento com a organização, ou pode-se dizer de maneira mais geral que estas conseqüências são referentes à saúde do indivíduo e à saúde da organização. Este sistema complexo chamado ffiEV existe e interage em um sistema maior, chamado mercado, que por sua vez é parte de outro sistema, que é a sociedade. O ser humano é também um componente destes dois outros sistemas. Este, então, age e interage em ambientes distintos e correlacionados, que são a instituição (como funcionário), o mercado (como consumidor) e a sociedade (como membro). Por se constatar que o sistema humano em questão interage uma certa quantidade de horas exclusivamente ou quase exclusivamente com a instituição, e uma mesma ou maior quantidade de horas com a sociedade, então não podem ser excluídas realidades da vida de alguém, do seu trabalho na organização ou do seu convívio com família e amigos.

Sistema purinérgico em plaquetas de ratos adultos e interações com o sistema renina-angiotensina

As plaquetas sangüíneas são fragmentos citoplasmáticos, oriundos da ruptura dos megacariócitos, cuja principal função está relacionada à manutenção da integridade vascular. Os nucleotídeos extracelulares, ATP e ADP, bem como a adenosina, têm sido implicados em um grande número de funções fisiológicas: o ADP é o principal fator recrutador de plaquetas, enquanto que o ATP é um inibidor competitivo da agregação induzida por ADP. A adenosina é uma molécula capaz de induzir vasodilatação e inibir a agregação plaquetária. Desta maneira, a manutenção da sinalização purinérgica normal tem se mostrado importante para o tratamento de doenças cardiovasculares. Os nucleosídeos di e trifosfatos circulantes podem ser hidrolisados por membros de várias famílias de ectonucleotidases de membrana e solúveis, incluindo as ecto-nucleosídeo trifosfato difosfoidrolases (E-NTPDases) e ecto-nucleotídeo pirofosfatase/fosfodiesterases (E-NPPs), que em conjunto com a ecto-5’-nucleotidase, levam à formação de adenosina. Na superfície das plaquetas, ambas enzimas, E-NTPDase e ecto-5’-nucleotidase, estão descritas. O sistema renina-angiotensina é o principal regulador da função renal e cardiovascular, desenvolvendo um papel fundamental na homeostasia da pressão arterial e do balanço eletrolítico. A angiotensina II (ANGII) induz fisiologicamente a ativação das plaquetas, possivelmente devido às suas propriedades vasoconstritoras. Os objetivos deste trabalho foram, portanto: 1) caracterizar cineticamente a enzima E-NPP em plaquetas de ratos, utilizando o substrato marcador p-Nph-5’TMP e 2) esclarecer, mesmo que em parte, os possíveis efeitos da ANGII sobre a hidrólise extracelular de nucleotídeos por plaquetas de ratos. No primeiro capítulo deste trabalho, descrevemos uma atividade enzimática em plaquetas de ratos que compartilha as principais características bioquímicas já descritas para as E-NPPs: pH ótimo alcalino; valores de KM e Vmax calculados de aproximadamente 106.22 ± 17.83 μM e 3.44 ± 0.18 nmol p-nitrophenol/min/mg, respectivamente; e dependência de cátions divalentes. Além disso, o AMP inibiu somente a hidrólise do p-Nph-5’TMP. Por outro lado, a azida de sódio, em altas concentrações, a angiotensina II e o cloreto de gadolínio alteraram apenas as hidrólises de ATP ou ADP ou de ambos. No segundo capítulo, mostramos que a ANGII foi capaz de aumentar as hidrólises de ATP, ADP e AMP em plaquetas em todas as doses testadas (5, 50, 500 e 5000 picomóis). Entretanto, nenhuma alteração foi observada com relação à hidrólise do p-Nph-5'TMP. Em adição, observamos um aumento na hidrólise de AMP e uma diminuição na hidrólise de p-Nph-5'TMP em plaquetas de ratos espontaneamente hipertensos (SHR) quando comparados a ratos Wistar normotensos. De maneira geral, esta dissertação traz a caracterização bioquímica da enzima E-NPP na superfície de plaquetas intactas de ratos como sendo parte de um complexo sistema para a hidrólise de nucleotídeos nestes fragmentos citoplasmáticos, podendo, assim, contribuir para o desenvolvimento de terapias antiplaquetárias e para o tratamento de doenças vasculares. Adicionalmente, apresentamos alguns resultados demonstrando interações entre os sistemas angiotensinérgico e adenosinérgico de plaquetas de ratos, o que poderá contribuir para o entendimento e o tratamento de doenças cardiovasculares como hipertensão e arteriosclerose.