Análise da robustez e aplicações de controle com modos deslizantes em sistemas incertos com atraso no controle

Pós-graduação em Engenharia Elétrica - FEIS

Coherence characteristics of random lasing in a dye doped hybrid powder

The photon statistics of the random laser emission of a Rhodamine B doped di-ureasil hybrid powder is investigated to evaluate its degree of coherence above threshold. Although the random laser emission is a weighted average of spatially uncorrelated radiation emitted at different positions in the sample, a spatial coherence control was achieved due to an improved detection configuration based on spatial filtering. By using this experimental approach, which also allows for fine mode discrimination and timeresolved analysis of uncoupled modes from mode competition, an area not larger than the expected coherence size of the random laser is probed. Once the spectral and temporal behavior of nonoverlapping modes is characterized, an assessment of the photon-number probability distribution and the resulting second-order correlation coefficient as a function of time delay and wavelength was performed. The outcome of our single photon counting measurements revealed a high degree of temporal coherence at the time of maximum pump intensity and at wavelengths around the Rhodamine B gain maximum.

Desenvolvimento de um simulador virtual de vazamento para testar correlacionadores acústicos comerciais

Pós-graduação em Engenharia Mecânica - FEIS

Fenotipagem para estudos de estudos de tolerância à deficiência hídrica em eucalipto

Pós-graduação em Agronomia (Genética e Melhoramento de Plantas) - FCAV

Perfil de aptidão cardiorrespiratória em corredores jovens pela cinética do VO2 em testes progressivos e retangulares

Pós-graduação em Desenvolvimento Humano e Tecnologias - IBRC

Leveraging wireless devices for networked control systems in industrial applications

Networked control systems (NCSs) are distributed control system in which sensors, actuators and controllers are physically separated and connected through communication networks. NCS represent the evolution of networked control architectures providing greater modularity and control decentralization, ease maintenance and diagnosis and lower cost of implementation. A recent trend in this research topic is the development of NCS using wireless networks(WNCS)which enable interoperability between existing wiredand wireless systems. This paper presents the feasibility analysis of using serial to wireless converter as a wireless sensor link in NCS. In order to support this investigation, relevant performance metrics for wireless control applications such as jitter, time delay and messages lost are highlighted and calculated to evaluate the wireless converter capabilities. In addition the control performance of an implemented motor control system using the converter is analyzed. Experimental results led to the conclusion that serial ZigBee device isrecommended against the Bluetooth as it provided better metrics for control applications. However, bothdevices can be used to implement WNCS providing transmission rates and closed control loop times which are acceptable for NCS applications.Moreoverthe use of thewireless device delay in the PID controller discretization can improve the control performance of the system.

A matheuristic for the selection of beam directions and dose distribution in radiotherapy planning

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

The influence of connectivity on the firing rate in a neuronal network with electrical and chemical synapses

We study the firing rate properties of a cellular automaton model for a neuronal network with chemical synapses. We propose a simple mechanism in which the nonlocal connections are included, through electrical and chemical synapses. In the latter case, we introduce a time delay which produces self-sustained activity. Nonlocal connections, or shortcuts, are randomly introduced according to a specified connection probability. There is a range of connection probabilities for which neuron firing occurs, as well as a critical probability for which the firing ceases in the absence of time delay. The critical probability for nonlocal shortcuts depends on the network size according to a power-law. We also compute the firing rate amplification factor by varying both the connection probability and the time delay for different network sizes. (C) 2011 Elsevier B.V. All rights reserved.

Order-Disorder Transitions Govern Kinetic Cooperativity and Allostery of Monomeric Human Glucokinase

Glucokinase (GCK) catalyzes the rate-limiting step of glucose catabolism in the pancreas, where it functions as the body's principal glucose sensor. GCK dysfunction leads to several potentially fatal diseases including maturity-onset diabetes of the young type II (MODY-II) and persistent hypoglycemic hyperinsulinemia of infancy (PHHI). GCK maintains glucose homeostasis by displaying a sigmoidal kinetic response to increasing blood glucose levels. This positive cooperativity is unique because the enzyme functions exclusively as a monomer and possesses only a single glucose binding site. Despite nearly a half century of research, the mechanistic basis for GCK's homotropic allostery remains unresolved. Here we explain GCK cooperativity in terms of large-scale, glucose-mediated disorder-order transitions using 17 isotopically labeled isoleucine methyl groups and three tryptophan side chains as sensitive nuclear magnetic resonance (NMR) probes. We find that the small domain of unliganded GCK is intrinsically disordered and samples a broad conformational ensemble. We also demonstrate that small-molecule diabetes therapeutic agents and hyperinsulinemia-associated GCK mutations share a strikingly similar activation mechanism, characterized by a population shift toward a more narrow, well-ordered ensemble resembling the glucose-bound conformation. Our results support a model in which GCK generates its cooperative kinetic response at low glucose concentrations by using a millisecond disorder-order cycle of the small domain as a "time-delay loop," which is bypassed at high glucose concentrations, providing a unique mechanism to allosterically regulate the activity of human GCK under physiological conditions.

3C 273 variability at 7 mm: evidence of shocks and precession in the jet

We report on four years of observations of 3C 273 at 7mm obtained with the Itapetinga radio telescope, in Brazil, between 2009 and 2013. We detected a flare in 2010 March, when the flux density increased by 50 per cent and reached 35 Jy. After the flare, the flux density started to decrease and reached values lower than 10 Jy. We suggest that the 7-mm flare is the radio counterpart of the γ -ray flare observed by the Fermi Large Area Telescope in 2009 September, in which the flux density at high energies reached a factor of 50 of its average value. A delay of 170 d between the radio and γ -ray flares was revealed using the discrete correlation function (DCF) that can be interpreted in the context of a shock model, in which each flare corresponds to the formation of a compact superluminal component that expands and becomes optically thin at radio frequencies at latter epochs. The differences in flare intensity between frequencies and at different times are explained as a consequence of an increase in the Doppler factor δ, as predicted by the 16-yr precession model proposed by Abraham & Romero. This increase has a large effect on boosting at high frequencies while it does not affect the observed optically thick radio emission too much. We discuss other observable effects of the variation in δ, such as the increase in the formation rate of superluminal components, the variations in the time delay between flares and the periodic behaviour of the radio light curve that we have found to be compatible with changes in the Doppler factor.

Muscular and pulmonary O2 uptake kinetics during moderate- and high-intensity sub-maximal knee-extensor exercise in humans

[EN] The purpose of this investigation was to determine the contribution of muscle O(2) consumption (mVO2) to pulmonary O(2) uptake (pVO2) during both low-intensity (LI) and high-intensity (HI) knee-extension exercise, and during subsequent recovery, in humans. Seven healthy male subjects (age 20-25 years) completed a series of LI and HI square-wave exercise tests in which mVO2 (direct Fick technique) and pVO2 (indirect calorimetry) were measured simultaneously. The mean blood transit time from the muscle capillaries to the lung (MTTc-l) was also estimated (based on measured blood transit times from femoral artery to vein and vein to artery). The kinetics of mVO2 and pVO2 were modelled using non-linear regression. The time constant (tau) describing the phase II pVO2 kinetics following the onset of exercise was not significantly different from the mean response time (initial time delay + tau) for mVO2 kinetics for LI (30 +/- 3 vs 30 +/- 3 s) but was slightly higher (P < 0.05) for HI (32 +/- 3 vs 29 +/- 4 s); the responses were closely correlated (r = 0.95 and r = 0.95; P < 0.01) for both intensities. In recovery, agreement between the responses was more limited both for LI (36 +/- 4 vs 18 +/- 4 s, P < 0.05; r = -0.01) and HI (33 +/- 3 vs 27 +/- 3 s, P > 0.05; r = -0.40). MTTc-l was approximately 17 s just before exercise and decreased to 12 and 10 s after 5 s of exercise for LI and HI, respectively. These data indicate that the phase II pVO2 kinetics reflect mVO2 kinetics during exercise but not during recovery where caution in data interpretation is advised. Increased mVO2 probably makes a small contribution to during the first 15-20 s of exercise.

Synchronization and Detection Techniques for Navigation and Communication Systems

Synchronization is a key issue in any communication system, but it becomes fundamental in the navigation systems, which are entirely based on the estimation of the time delay of the signals coming from the satellites. Thus, even if synchronization has been a well known topic for many years, the introduction of new modulations and new physical layer techniques in the modern standards makes the traditional synchronization strategies completely ineffective. For this reason, the design of advanced and innovative techniques for synchronization in modern communication systems, like DVB-SH, DVB-T2, DVB-RCS, WiMAX, LTE, and in the modern navigation system, like Galileo, has been the topic of the activity. Recent years have seen the consolidation of two different trends: the introduction of Orthogonal Frequency Division Multiplexing (OFDM) in the communication systems, and of the Binary Offset Carrier (BOC) modulation in the modern Global Navigation Satellite Systems (GNSS). Thus, a particular attention has been given to the investigation of the synchronization algorithms in these areas.

Untersuchungen zur Visuomotorik des Menschen

Motorische Bewegungen werden über die visuelle Rückmeldung auf ihre Genauigkeit kontrolliert und ggf. korrigiert. Über einen technischen Eingriff, wie beispielsweise einer Prismenbrille, kann man eine Differenz zwischen optisch wahrgenommener und haptisch erlebter Umwelt erzeugen, um die Fähigkeiten des visuomotorischen Systems zu testen. In dieser Arbeit wurde eine computergestützte Methode entwickelt, eine solche visuomotorische Differenz zu simulieren. Die Versuchspersonen führen eine ballistische Bewegung mit Arm und Hand aus in der Absicht, ein vorgegebenes Ziel zu treffen. Die Trefferpunkte werden durch einen Computer mit Hilfe eines Digitalisierungstablettes aufgenommen. Die visuelle Umwelt, welche den Versuchspersonen präsentiert wird, ist auf einem Monitor dargestellt. Das Monitorabbild – ein Kreuz auf weißem Hintergrund – betrachten die Testpersonen über einen Spiegel. Dieser ist in einem entsprechenden Winkel zwischen Monitor und Digitalisierungstablett angebracht, so dass das Zielbild auf dem Digitalisierungstablett projiziert wird. Die Testpersonen nehmen das Zielkreuz auf dem Digitalisierungstablett liegend wahr. Führt die Versuchsperson eine Zielbewegung aus, können die aufgenommenen Koordinaten als Punkte auf dem Monitor dargestellt werden und die Testperson erhält über diese Punktanzeige ein visuelles Feedback ihrer Bewegung. Der Arbeitsbereich des Digitalisierungstabletts kann über den Computer eingerichtet und so motorische Verschiebungen simuliert werden. Die verschiedenartigen Möglichkeiten dieses Aufbaus wurden zum Teil in Vorversuchen getestet um Fragestellungen, Methodik und technische Einrichtungen aufeinander abzustimmen. Den Hauptversuchen galt besonderes Interesse an der zeitlichen Verzögerung des visuellen Feedbacks sowie dem intermanuellen Transfer. Hierbei ergaben sich folgende Ergebnisse: ● Die Versuchspersonen adaptieren an eine räumlich verschobene Umwelt. Der Adaptationsverlauf lässt sich mit einer Exponentialfunktion mathematisch berechnen und darstellen. ● Dieser Verlauf ist unabhängig von der Art des visuellen Feedbacks. Die Beobachtung der Handbewegung während der Adaptation zeigt die gleiche Zielabfolge wie eine einfache Punktprojektion, die den Trefferort der Bewegung darstellt. ● Der exponentielle Verlauf der Adaptationsbewegung ist unabhängig von den getesteten zeitlichen Verzögerungen des visuellen Feedbacks. ● Die Ergebnisse des Folgeeffektes zeigen, dass bei zunehmender zeitlicher Verzögerung des visuellen Feedbacks während der Adaptationsphase, die Größe des Folgeeffektwertes geringer wird, d.h. die anhaltende Anpassungsleistung an eine visuomotorische Differenz sinkt. ● Die Folgeeffekte weisen individuelle Eigenheiten auf. Die Testpersonen adaptieren verschieden stark an eine simulierte Verschiebung. Ein Vergleich mit den visuomotorischen Herausforderungen im Vorleben der Versuchspersonen ließ vermuten, dass das visuomotorische System des Menschen trainierbar ist und sich - je nach Trainingszustand – unterschiedlich an wahrgenommene Differenzen anpasst. ● Der intermanuelle Transfer konnte unter verschiedenen Bedingungen nachgewiesen werden. ● Ein deutlich stärkerer Folgeeffekt kann beobachtet werden, wenn die wahrgenommene visuomotorische Differenz zwischen Ziel und Trefferpunkt in eine Gehirnhälfte projiziert wird und der Folgeeffekt mit der Hand erfolgt, welche von dieser Hirnhemisphäre gesteuert wird. Der intermanuelle Transfer wird demnach begünstigt, wenn die visuelle Projektion der Fehlerbeobachtung in die Gehirnhälfte erfolgt, die während der Adaptationsphase motorisch passiv ist.

Computer simulations of charged systems in partially periodic geometries

This work presents algorithms for the calculation of the electrostatic interaction in partially periodic systems. The framework for these algorithms is provided by the simulation package ESPResSo, of which the author was one of the main developers. The prominent features of the program are listed and the internal structure is described. In the following, algorithms for the calculation of the Coulomb sum in three dimensionally periodic systems are described. These methods are the foundations for the algorithms for partially periodic systems presented in this work. Starting from the MMM2D method for systems with one non-periodic coordinate, the ELC method for these systems is developed. This method consists of a correction term which allows to use methods for three dimensional periodicity also for the case of two periodic coordinates. The computation time of this correction term is neglible for large numbers of particles. The performance of MMM2D and ELC are demonstrated by results from the implementations contained in ESPResSo. It is also discussed, how different dielectric constants inside and outside of the simulation box can be realized. For systems with one periodic coordinate, the MMM1D method is derived from the MMM2D method. This method is applied to the problem of the attraction of like-charged rods in the presence of counterions, and results of the strong coupling theory for the equilibrium distance of the rods at infinite counterion-coupling are checked against results from computer simulations. The degree of agreement between the simulations at finite coupling and the theory can be characterized by a single parameter gamma_RB. In the special case of T=0, one finds under certain circumstances flat configurations, in which all charges are located in the rod-rod plane. The energetically optimal configuration and its stability are determined analytically, which depends on only one parameter gamma_z, similar to gamma_RB. These findings are in good agreement with results from computer simulations.

Cooperative teleoperation systems

This thesis deals with the studies on the Cooperative Teleoperation Systems. The literature on cooperative teleoperation did not take into account control architectures composed of pairs of wave-based bilateral teleoperators operating in a shared environment. In this work The author two cooperative control schemes based on wave variables by considering two pairs of single-master/single-slave devices collaborating to carry out operations in a shared remote environment are proposed. Such architectures have been validated both with simulations and experimental tests. Ch. 2 introduces a description of the two control architectures proposed and presents some simulation results where the cooperative teleoperation systems evolve in free space and in contact with a stiff wall. In the Ch. 3 some experimental results which confirm the positive results of the control schemes are illustred. Such results have been achieved by using a prototype custom built at Laboratory of Automaiton and Robotics of University of Bologna, which is also illustrated in this chapter. In Ch. 4 the problem of defining proper tools and procedures for an analysis, and possibly a comparison, of the performances of cooperative teleoperation systems is addressed. In particular, a novel generalization of criteria adopted for classical (i.e. one master-one slave) teleoperators is presented and illustrated on the basis of the force-position and the position-position cooperative control schemes proposed in Ch. 2, both from a transparency and stability point of view, and by assuming a null time delay in the communication channel.