BaTboT: a biologically inspired flapping and morphing bat robot actuated by SMA-based artificial muscles

Bats are animals that posses high maneuvering capabilities. Their wings contain dozens of articulations that allow the animal to perform aggressive maneuvers by means of controlling the wing shape during flight (morphing-wings). There is no other flying creature in nature with this level of wing dexterity and there is biological evidence that the inertial forces produced by the wings have a key role in the attitude movements of the animal. This can inspire the design of highly articulated morphing-wing micro air vehicles (not necessarily bat-like) with a significant wing-to-body mass ratio. This thesis presents the development of a novel bat-like micro air vehicle (BaTboT) inspired by the morphing-wing mechanism of bats. BaTboT’s morphology is alike in proportion compared to its biological counterpart Cynopterus brachyotis, which provides the biological foundations for developing accurate mathematical models and methods that allow for mimicking bat flight. In nature bats can achieve an amazing level of maneuverability by combining flapping and morphing wingstrokes. Attempting to reproduce the biological wing actuation system that provides that kind of motion using an artificial counterpart requires the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators. Thus, NiTinol Shape Memory Alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. This antagonistic configuration of SMA-muscles response to an electrical heating power signal to operate. This heating power is regulated by a proper controller that allows for accurate and fast SMA actuation. Morphing-wings will enable to change wings geometry with the unique purpose of enhancing aerodynamics performance. During the downstroke phase of the wingbeat motion both wings are fully extended aimed at increasing the area surface to properly generate lift forces. Contrary during the upstroke phase of the wingbeat motion both wings are retracted to minimize the area and thus reducing drag forces. Morphing-wings do not only improve on aerodynamics but also on the inertial forces that are key to maneuver. Thus, a modeling framework is introduced for analyzing how BaTboT should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, an attitude controller is proposed. The attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands. This novel flight control approach is aimed at incrementing net body forces (Fnet) that generate propulsion. Mimicking the way how bats take advantage of inertial and aerodynamical forces produced by the wings in order to both increase lift and maneuver is a promising way to design more efficient flapping/morphing wings MAVs. The novel wing modulation strategy and attitude control methodology proposed in this thesis provide a totally new way of controlling flying robots, that eliminates the need of appendices such as flaps and rudders, and would allow performing more efficient maneuvers, especially useful in confined spaces. As a whole, the BaTboT project consists of five major stages of development: - Study and analysis of biological bat flight data reported in specialized literature aimed at defining design and control criteria. - Formulation of mathematical models for: i) wing kinematics, ii) dynamics, iii) aerodynamics, and iv) SMA muscle-like actuation. It is aimed at modeling the effects of modulating wing inertia into the production of net body forces for maneuvering. - Bio-inspired design and fabrication of: i) skeletal structure of wings and body, ii) SMA muscle-like mechanisms, iii) the wing-membrane, and iv) electronics onboard. It is aimed at developing the bat-like platform (BaTboT) that allows for testing the methods proposed. - The flight controller: i) control of SMA-muscles (morphing-wing modulation) and ii) flight control (attitude regulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BaTboT’s wings. - Experiments: it is aimed at quantifying the effects of properly wing modulation into aerodynamics and inertial production for maneuvering. It is also aimed at demonstrating and validating the hypothesis of improving flight efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Windtunnel experiments will be oriented to discuss and demonstrate how the wings can considerably affect the dynamics/aerodynamics of flight and how to take advantage of wing inertia modulation that the morphing-wings enable to properly change wings’ geometry during flapping. Resumen: Los murciélagos son mamíferos con una alta capacidad de maniobra. Sus alas están conformadas por docenas de articulaciones que permiten al animal maniobrar gracias al cambio geométrico de las alas durante el vuelo. Esta característica es conocida como (alas mórficas). En la naturaleza, no existe ningún especimen volador con semejante grado de dexteridad de vuelo, y se ha demostrado, que las fuerzas inerciales producidas por el batir de las alas juega un papel fundamental en los movimientos que orientan al animal en vuelo. Estas características pueden inspirar el diseño de un micro vehículo aéreo compuesto por alas mórficas con redundantes grados de libertad, y cuya proporción entre la masa de sus alas y el cuerpo del robot sea significativa. Esta tesis doctoral presenta el desarrollo de un novedoso robot aéreo inspirado en el mecanismo de ala mórfica de los murciélagos. El robot, llamado BaTboT, ha sido diseñado con parámetros morfológicos muy similares a los descritos por su símil biológico Cynopterus brachyotis. El estudio biológico de este especimen ha permitido la definición de criterios de diseño y modelos matemáticos que representan el comportamiento del robot, con el objetivo de imitar lo mejor posible la biomecánica de vuelo de los murciélagos. La biomecánica de vuelo está definida por dos tipos de movimiento de las alas: aleteo y cambio de forma. Intentar imitar como los murciélagos cambian la forma de sus alas con un prototipo artificial, requiere el análisis de métodos alternativos de actuación que se asemejen a la biomecánica de los músculos que actúan las alas, y evitar el uso de sistemas convencionales de actuación como servomotores ó motores DC. En este sentido, las aleaciones con memoria de forma, ó por sus siglas en inglés (SMA), las cuales son fibras de NiTinol que se contraen y expanden ante estímulos térmicos, han sido usados en este proyecto como músculos artificiales que actúan como bíceps y tríceps de las alas, proporcionando la funcionalidad de ala mórfica previamente descrita. De esta manera, los músculos de SMA son mecánicamente posicionados en una configuración antagonista que permite la rotación de las articulaciones del robot. Los actuadores son accionados mediante una señal de potencia la cual es regulada por un sistema de control encargado que los músculos de SMA respondan con la precisión y velocidad deseada. Este sistema de control mórfico de las alas permitirá al robot cambiar la forma de las mismas con el único propósito de mejorar el desempeño aerodinámico. Durante la fase de bajada del aleteo, las alas deben estar extendidas para incrementar la producción de fuerzas de sustentación. Al contrario, durante el ciclo de subida del aleteo, las alas deben contraerse para minimizar el área y reducir las fuerzas de fricción aerodinámica. El control de alas mórficas no solo mejora el desempeño aerodinámico, también impacta la generación de fuerzas inerciales las cuales son esenciales para maniobrar durante el vuelo. Con el objetivo de analizar como el cambio de geometría de las alas influye en la definición de maniobras y su efecto en la producción de fuerzas netas, simulaciones y experimentos han sido llevados a cabo para medir cómo distintos patrones de modulación de las alas influyen en la producción de aceleraciones lineales y angulares. Gracias a estas mediciones, se propone un control de vuelo, ó control de actitud, el cual incorpora información inercial de las alas para la definición de referencias de aceleración angular. El objetivo de esta novedosa estrategia de control radica en el incremento de fuerzas netas para la adecuada generación de movimiento (Fnet). Imitar como los murciélagos ajustan sus alas con el propósito de incrementar las fuerzas de sustentación y mejorar la maniobra en vuelo es definitivamente un tópico de mucho interés para el diseño de robots aéros mas eficientes. La propuesta de control de vuelo definida en este trabajo de investigación podría dar paso a una nueva forma de control de vuelo de robots aéreos que no necesitan del uso de partes mecánicas tales como alerones, etc. Este control también permitiría el desarrollo de vehículos con mayor capacidad de maniobra. El desarrollo de esta investigación se centra en cinco etapas: - Estudiar y analizar el vuelo de los murciélagos con el propósito de definir criterios de diseño y control. - Formular modelos matemáticos que describan la: i) cinemática de las alas, ii) dinámica, iii) aerodinámica, y iv) actuación usando SMA. Estos modelos permiten estimar la influencia de modular las alas en la producción de fuerzas netas. - Diseño y fabricación de BaTboT: i) estructura de las alas y el cuerpo, ii) mecanismo de actuación mórfico basado en SMA, iii) membrana de las alas, y iv) electrónica abordo. - Contro de vuelo compuesto por: i) control de la SMA (modulación de las alas) y ii) regulación de maniobra (actitud). - Experimentos: están enfocados en poder cuantificar cuales son los efectos que ejercen distintos perfiles de modulación del ala en el comportamiento aerodinámico e inercial. El objetivo es demostrar y validar la hipótesis planteada al inicio de esta investigación: mejorar eficiencia de vuelo gracias al novedoso control de orientación (actitud) propuesto en este trabajo. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos son realizados utilizando un túnel de viento con la instrumentación necesaria para llevar a cabo las mediciones de desempeño respectivas. En los resultados se discutirá y demostrará que la inercia producida por las alas juega un papel considerable en el comportamiento dinámico y aerodinámico del sistema y como poder tomar ventaja de dicha característica para regular patrones de modulación de las alas que conduzcan a mejorar la eficiencia del robot en futuros vuelos.

Performance of artificial neural networks and genetical evolved artificial neural networks unfolding techniques

With the Bonner spheres spectrometer neutron spectrum is obtained through an unfolding procedure. Monte Carlo methods, Regularization, Parametrization, Least-squares, and Maximum Entropy are some of the techniques utilized for unfolding. In the last decade methods based on Artificial Intelligence Technology have been used. Approaches based on Genetic Algorithms and Artificial Neural Networks have been developed in order to overcome the drawbacks of previous techniques. Nevertheless the advantages of Artificial Neural Networks still it has some drawbacks mainly in the design process of the network, vg the optimum selection of the architectural and learning ANN parameters. In recent years the use of hybrid technologies, combining Artificial Neural Networks and Genetic Algorithms, has been utilized to. In this work, several ANN topologies were trained and tested using Artificial Neural Networks and Genetically Evolved Artificial Neural Networks in the aim to unfold neutron spectra using the count rates of a Bonner sphere spectrometer. Here, a comparative study of both procedures has been carried out.

Using quantitative descriptive analysis and temporal dominance of sensations analysis as complementary methods for profiling commercial blackcurrant squashes

Quantitative descriptive analysis (QDA) is used to describe the nature and the intensity of sensory properties from a single evaluation of a product, whereas temporal dominance of sensation (TDS) is primarily used to identify dominant sensory properties over time. Previous studies with TDS have focused on model systems, but this is the first study to use a sequential approach, i.e. QDA then TDS in measuring sensory properties of a commercial product category, using the same set of trained assessors (n = 11). The main objectives of this study were to: (1) investigate the benefits of using a sequential approach of QDA and TDS and (2) to explore the impact of the sample composition on taste and flavour perceptions in blackcurrant squashes. The present study has proposed an alternative way of determining the choice of attributes for TDS measurement based on data obtained from previous QDA studies, where available. Both methods indicated that the flavour profile was primarily influenced by the level of dilution and complexity of sample composition combined with blackcurrant juice content. In addition, artificial sweeteners were found to modify the quality of sweetness and could also contribute to bitter notes. Using QDA and TDS in tandem was shown to be more beneficial than each just on its own enabling a more complete sensory profile of the products.

Artificial pancreas using a personalized rule-based controller achieves overnight normoglycemia in patients with type 1 diabetes

Objective: This study assessed the efficacy of a closed-loop (CL) system consisting of a predictive rule-based algorithm (pRBA) on achieving nocturnal and postprandial normoglycemia in patients with type 1 diabetes mellitus (T1DM). The algorithm is personalized for each patient’s data using two different strategies to control nocturnal and postprandial periods. Research Design and Methods: We performed a randomized crossover clinical study in which 10 T1DM patients treated with continuous subcutaneous insulin infusion (CSII) spent two nonconsecutive nights in the research facility: one with their usual CSII pattern (open-loop [OL]) and one controlled by the pRBA (CL). The CL period lasted from 10 p.m. to 10 a.m., including overnight control, and control of breakfast. Venous samples for blood glucose (BG) measurement were collected every 20 min. Results: Time spent in normoglycemia (BG, 3.9–8.0 mmol/L) during the nocturnal period (12 a.m.–8 a.m.), expressed as median (interquartile range), increased from 66.6% (8.3–75%) with OL to 95.8% (73–100%) using the CL algorithm (P<0.05). Median time in hypoglycemia (BG, <3.9 mmol/L) was reduced from 4.2% (0–21%) in the OL night to 0.0% (0.0–0.0%) in the CL night (P<0.05). Nine hypoglycemic events (<3.9 mmol/L) were recorded with OL compared with one using CL. The postprandial glycemic excursion was not lower when the CL system was used in comparison with conventional preprandial bolus: time in target (3.9–10.0 mmol/L) 58.3% (29.1–87.5%) versus 50.0% (50–100%). Conclusions: A highly precise personalized pRBA obtains nocturnal normoglycemia, without significant hypoglycemia, in T1DM patients. There appears to be no clear benefit of CL over prandial bolus on the postprandial glycemia

Artificial metaplasticity prediction model for cognitive rehabilitation outcome in acquired brain injury patients

Objective The main purpose of this research is the novel use of artificial metaplasticity on multilayer perceptron (AMMLP) as a data mining tool for prediction the outcome of patients with acquired brain injury (ABI) after cognitive rehabilitation. The final goal aims at increasing knowledge in the field of rehabilitation theory based on cognitive affectation. Methods and materials The data set used in this study contains records belonging to 123 ABI patients with moderate to severe cognitive affectation (according to Glasgow Coma Scale) that underwent rehabilitation at Institut Guttmann Neurorehabilitation Hospital (IG) using the tele-rehabilitation platform PREVIRNEC©. The variables included in the analysis comprise the neuropsychological initial evaluation of the patient (cognitive affectation profile), the results of the rehabilitation tasks performed by the patient in PREVIRNEC© and the outcome of the patient after a 3–5 months treatment. To achieve the treatment outcome prediction, we apply and compare three different data mining techniques: the AMMLP model, a backpropagation neural network (BPNN) and a C4.5 decision tree. Results The prediction performance of the models was measured by ten-fold cross validation and several architectures were tested. The results obtained by the AMMLP model are clearly superior, with an average predictive performance of 91.56%. BPNN and C4.5 models have a prediction average accuracy of 80.18% and 89.91% respectively. The best single AMMLP model provided a specificity of 92.38%, a sensitivity of 91.76% and a prediction accuracy of 92.07%. Conclusions The proposed prediction model presented in this study allows to increase the knowledge about the contributing factors of an ABI patient recovery and to estimate treatment efficacy in individual patients. The ability to predict treatment outcomes may provide new insights toward improving effectiveness and creating personalized therapeutic interventions based on clinical evidence.

BR3: a biologically inspired fish-like robot actuated by SMA-based artificial muscles

Los peces son animales, donde en la mayoría de los casos, son considerados como nadadores muy eficientes y con una alta capacidad de maniobra. En general los peces se caracterizan por su capacidad de maniobra, locomoción silencioso, giros y partidas rápidas y viajes de larga distancia. Los estudios han identificado varios tipos de locomoción que los peces usan para generar maniobras y natación constante. A bajas velocidades la mayoría de los peces utilizan sus aletas pares y / o impares para su locomoción, que ofrecen una mayor maniobrabilidad y mejor eficiencia de propulsión. A altas velocidades la locomoción implica el cuerpo y / o aleta caudal porque esto puede lograr un mayor empuje y aceleración. Estas características pueden inspirar el diseo y fabricación de una piel muy flexible, una aleta caudal mórfica y una espina dorsal no articulada con una gran capacidad de maniobra. Esta tesis presenta el desarrollo de un novedoso pez robot bio-inspirado y biomimético llamado BR3, inspirado en la capacidad de maniobra y nado constante de los peces vertebrados. Inspirado por la morfología de los peces Micropterus salmoides o también conocido como lubina negra, el robot BR3 utiliza su fundamento biológico para desarrollar modelos y métodos matemáticos precisos que permiten imitar la locomoción de los peces reales. Los peces Largemouth Bass pueden lograr un nivel increíble de maniobrabilidad y eficacia de la propulsión mediante la combinación de los movimientos ondulatorios y aletas morficas. Para imitar la locomoción de los peces reales en una contraparte artificial se necesita del análisis de tecnologías de actuación alternativos, como arreglos de fibras musculares en lugar de servo actuadores o motores DC estándar, así como un material flexible que proporciona una estructura continua sin juntas. Las aleaciones con memoria de forma (SMAs) proveen la posibilidad de construir robots livianos, que no emiten ruido, sin motores, sin juntas y sin engranajes. Asi es como un pez robot submarino se ha desarrollado y cuyos movimientos son generados mediante SMAs. Estos actuadores son los adecuados para doblar la espina dorsal continua del pez robot, que a su vez provoca un cambio en la curvatura del cuerpo. Este tipo de arreglo estructural está inspirado en los músculos rojos del pescado, que son usados principalmente durante la natación constante para la flexión de una estructura flexible pero casi incompresible como lo es la espina dorsal de pescado. Del mismo modo la aleta caudal se basa en SMAs y se modifica para llevar a cabo el trabajo necesario. La estructura flexible proporciona empuje y permite que el BR3 nade. Por otro lado la aleta caudal mórfica proporciona movimientos de balanceo y guiada. Motivado por la versatilidad del BR3 para imitar todos los modos de natación (anguilliforme, carangiforme, subcarangiforme y tunniforme) se propone un controlador de doblado y velocidad. La ley de control de doblado y velocidad incorpora la información del ángulo de curvatura y de la frecuencia para producir el modo de natación deseado y a su vez controlar la velocidad de natación. Así mismo de acuerdo con el hecho biológico de la influencia de la forma de la aleta caudal en la maniobrabilidad durante la natación constante se propone un control de actitud. Esta novedoso robot pescado es el primero de su tipo en incorporar sólo SMAs para doblar una estructura flexible continua y sin juntas y engranajes para producir empuje e imitar todos los modos de natación, así como la aleta caudal que es capaz de cambiar su forma. Este novedoso diseo mecatrónico presenta un futuro muy prometedor para el diseo de vehículos submarinos capaces de modificar su forma y nadar mas eficientemente. La nueva metodología de control propuesto en esta tesis proporcionan una forma totalmente nueva de control de robots basados en SMAs, haciéndolos energéticamente más eficientes y la incorporación de una aleta caudal mórfica permite realizar maniobras más eficientemente. En su conjunto, el proyecto BR3 consta de cinco grandes etapas de desarrollo: • Estudio y análisis biológico del nado de los peces con el propósito de definir criterios de diseño y control. • Formulación de modelos matemáticos que describan la: i) cinemática del cuerpo, ii) dinámica, iii) hidrodinámica iv) análisis de los modos de vibración y v) actuación usando SMA. Estos modelos permiten estimar la influencia de modular la aleta caudal y el doblado del cuerpo en la producción de fuerzas de empuje y fuerzas de rotación necesarias en las maniobras y optimización del consumo de energía. • Diseño y fabricación de BR3: i) estructura esquelética de la columna vertebral y el cuerpo, ii) mecanismo de actuación basado en SMAs para el cuerpo y la aleta caudal, iii) piel artificial, iv) electrónica embebida y v) fusión sensorial. Está dirigido a desarrollar la plataforma de pez robot BR3 que permite probar los métodos propuestos. • Controlador de nado: compuesto por: i) control de las SMA (modulación de la forma de la aleta caudal y regulación de la actitud) y ii) control de nado continuo (modulación de la velocidad y doblado). Está dirigido a la formulación de los métodos de control adecuados que permiten la modulación adecuada de la aleta caudal y el cuerpo del BR3. • Experimentos: está dirigido a la cuantificación de los efectos de: i) la correcta modulación de la aleta caudal en la producción de rotación y su efecto hidrodinámico durante la maniobra, ii) doblado del cuerpo para la producción de empuje y iii) efecto de la flexibilidad de la piel en la habilidad para doblarse del BR3. También tiene como objetivo demostrar y validar la hipótesis de mejora en la eficiencia de la natación y las maniobras gracias a los nuevos métodos de control presentados en esta tesis. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos en canales de agua estarán orientados a discutir y demostrar cómo la aleta caudal y el cuerpo pueden afectar considerablemente la dinámica / hidrodinámica de natación / maniobras y cómo tomar ventaja de la modulación de curvatura que la aleta caudal mórfica y el cuerpo permiten para cambiar correctamente la geometría de la aleta caudal y del cuerpo durante la natación constante y maniobras. ABSTRACT Fishes are animals where in most cases are considered as highly manoeuvrable and effortless swimmers. In general fishes are characterized for his manoeuvring skills, noiseless locomotion, rapid turning, fast starting and long distance cruising. Studies have identified several types of locomotion that fish use to generate maneuvering and steady swimming. At low speeds most fishes uses median and/or paired fins for its locomotion, offering greater maneuverability and better propulsive efficiency At high speeds the locomotion involves the body and/or caudal fin because this can achieve greater thrust and accelerations. This can inspire the design and fabrication of a highly deformable soft artificial skins, morphing caudal fins and non articulated backbone with a significant maneuverability capacity. This thesis presents the development of a novel bio-inspired and biomimetic fishlike robot (BR3) inspired by the maneuverability and steady swimming ability of ray-finned fishes (Actinopterygii, bony fishes). Inspired by the morphology of the Largemouth Bass fish, the BR3 uses its biological foundation to develop accurate mathematical models and methods allowing to mimic fish locomotion. The Largemouth Bass fishes can achieve an amazing level of maneuverability and propulsive efficiency by combining undulatory movements and morphing fins. To mimic the locomotion of the real fishes on an artificial counterpart needs the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators as well as a bendable material that provides a continuous structure without joins. The Shape Memory Alloys (SMAs) provide the possibility of building lightweight, joint-less, noise-less, motor-less and gear-less robots. Thus a swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. Likewise the caudal fin is based on SMAs and is customized to provide the necessary work out. The bendable structure provides thrust and allows the BR3 to swim. On the other hand the morphing caudal fin provides roll and yaw movements. Motivated by the versatility of the BR3 to mimic all the swimming modes (anguilliform, caranguiform, subcaranguiform and thunniform) a bending-speed controller is proposed. The bending-speed control law incorporates bend angle and frequency information to produce desired swimming mode and swimming speed. Likewise according to the biological fact about the influence of caudal fin shape in the maneuverability during steady swimming an attitude control is proposed. This novel fish robot is the first of its kind to incorporate only SMAs to bend a flexible continuous structure without joints and gears to produce thrust and mimic all the swimming modes as well as the caudal fin to be morphing. This novel mechatronic design is a promising way to design more efficient swimming/morphing underwater vehicles. The novel control methodology proposed in this thesis provide a totally new way of controlling robots based on SMAs, making them more energy efficient and the incorporation of a morphing caudal fin allows to perform more efficient maneuvers. As a whole, the BR3 project consists of five major stages of development: • Study and analysis of biological fish swimming data reported in specialized literature aimed at defining design and control criteria. • Formulation of mathematical models for: i) body kinematics, ii) dynamics, iii) hydrodynamics, iv) free vibration analysis and v) SMA muscle-like actuation. It is aimed at modelling the e ects of modulating caudal fin and body bend into the production of thrust forces for swimming, rotational forces for maneuvering and energy consumption optimisation. • Bio-inspired design and fabrication of: i) skeletal structure of backbone and body, ii) SMA muscle-like mechanisms for the body and caudal fin, iii) the artificial skin, iv) electronics onboard and v) sensor fusion. It is aimed at developing the fish-like platform (BR3) that allows for testing the methods proposed. • The swimming controller: i) control of SMA-muscles (morphing-caudal fin modulation and attitude regulation) and ii) steady swimming control (bend modulation and speed modulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BR3’s caudal fin and body. • Experiments: it is aimed at quantifying the effects of: i) properly caudal fin modulation into hydrodynamics and rotation production for maneuvering, ii) body bending into thrust generation and iii) skin flexibility into BR3 bending ability. It is also aimed at demonstrating and validating the hypothesis of improving swimming and maneuvering efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Waterchannel experiments will be oriented to discuss and demonstrate how the caudal fin and body can considerably affect the dynamics/hydrodynamics of swimming/maneuvering and how to take advantage of bend modulation that the morphing-caudal fin and body enable to properly change caudal fin and body’ geometry during steady swimming and maneuvering.

Methods and Techniques for Segmentation of Consumers in Social Media

Los medios sociales han revolucionado la manera en la que los consumidores se relacionan entre sí y con las marcas. Las opiniones publicadas en dichos medios tienen un poder de influencia en las decisiones de compra tan importante como las campañas de publicidad. En consecuencia, los profesionales del marketing cada vez dedican mayores esfuerzos e inversión a la obtención de indicadores que permitan medir el estado de salud de las marcas a partir de los contenidos digitales generados por sus consumidores. Dada la naturaleza no estructurada de los contenidos publicados en los medios sociales, la tecnología usada para procesar dichos contenidos ha menudo implementa técnicas de Inteligencia Artificial, tales como algoritmos de procesamiento de lenguaje natural, aprendizaje automático y análisis semántico. Esta tesis, contribuye al estado de la cuestión, con un modelo que permite estructurar e integrar la información publicada en medios sociales, y una serie de técnicas cuyos objetivos son la identificación de consumidores, así como la segmentación psicográfica y sociodemográfica de los mismos. La técnica de identificación de consumidores se basa en la huella digital de los dispositivos que utilizan para navegar por la Web y es tolerante a los cambios que se producen con frecuencia en dicha huella digital. Las técnicas de segmentación psicográfica descritas obtienen la posición en el embudo de compra de los consumidores y permiten clasificar las opiniones en función de una serie de atributos de marketing. Finalmente, las técnicas de segmentación sociodemográfica permiten obtener el lugar de residencia y el género de los consumidores. ABSTRACT Social media has revolutionised the way in which consumers relate to each other and with brands. The opinions published in social media have a power of influencing purchase decisions as important as advertising campaigns. Consequently, marketers are increasing efforts and investments for obtaining indicators to measure brand health from the digital content generated by consumers. Given the unstructured nature of social media contents, the technology used for processing such contents often implements Artificial Intelligence techniques, such as natural language processing, machine learning and semantic analysis algorithms. This thesis contributes to the State of the Art, with a model for structuring and integrating the information posted on social media, and a number of techniques whose objectives are the identification of consumers, as well as their socio-demographic and psychographic segmentation. The consumer identification technique is based on the fingerprint of the devices they use to surf the Web and is tolerant to the changes that occur frequently in such fingerprint. The psychographic profiling techniques described infer the position of consumer in the purchase funnel, and allow to classify the opinions based on a series of marketing attributes. Finally, the socio-demographic profiling techniques allow to obtain the residence and gender of consumers.

A new method for generating point mutations in bacterial artificial chromosomes by homologous recombination in Escherichia coli

Bacterial artificial chromosomes (BACs) and P1 artificial chromosomes (PACs), which contain large fragments of genomic DNA, have been successfully used as transgenes to create mouse models of dose-dependent diseases. They are also potentially valuable as transgenes for dominant diseases given that point mutations and/or small rearrangements can be accurately introduced. Here, we describe a new method to introduce small alterations in BACs, which results in the generation of point mutations with high frequency. The method involves homologous recombination between the original BAC and a shuttle vector providing the mutation. Each recombination step is monitored using positive and negative selection markers, which are the Kanamycin-resistance gene, the sacB gene and temperature-sensitive replication, all conferred by the shuttle plasmid. We have used this method to introduce four different point mutations and the insertion of the β-galactosidase gene in a BAC, which has subsequently been used for transgenic animal production.

Assembly of large genomic segments in artificial chromosomes by homologous recombination in Escherichia coli

We developed a method for the reconstruction of a 100 kb DNA fragment into a bacterial artificial chromosome (BAC). The procedure makes use of iterative rounds of homologous recombination in Escherichia coli. Smaller, overlapping fragments of cloned DNA, such as cosmid clones, are required. They are transferred first into a temperature-sensitive replicon and then into the BAC of choice. We demonstrated the usefulness of this procedure by assembling a 90 kb genomic segment into an E.coli–Streptomyces artificial chromosome (ESAC). Using this procedure, ESACs are easy to handle and remarkably more stable than the starting cosmids.

High-resolution physical mapping by combined Alu-hybridization/PCR screening: construction of a yeast artificial chromosome map covering 31 centimorgans in 3p21-p14.

We describe an integrated approach to large-scale physical mapping using an Alu-PCR hybridization screening strategy in conjunction with direct PCR-based screening to construct a continuous yeast artificial chromosome map covering >20 mb in human chromosome 3, bands p14-p21, composed of 205 loci, connected by 480 yeast artificial chromosomes, with average interlocus distance of approximately equal to 100 kb. We observe an inverse distribution of Alu-PCR and (CA)n markers. These results suggest that the two screening methods may be complementary and demonstrate the utility of Alu-PCR hybridization screening in the closure of high-resolution human physical maps.

Artificial regulation of gene expression in Escherichia coli by RNase P.

Plasmids encoding various external guide sequences (EGSs) were constructed and inserted into Escherichia coli. In strains harboring the appropriate plasmids, the expression of fully induced beta-galactosidase and alkaline phosphatase activity was reduced by more than 50%, while no reduction in such activity was observed in strains with non-specific EGSs. The inhibition of gene expression was virtually abolished at restrictive temperatures in strains that were temperature-sensitive for RNase P (EC 3.1.26.5). Northern blot analysis showed that the steady-state copy number of EGS RNAs was several hundred per cell in vivo. A plasmid that contained a gene for M1 RNA covalently linked to a specific EGS reduced the level of expression of a suppressor tRNA that was encoded by a separate plasmid. Similar methods can be used to regulate gene expression in E. coli and to mimic the properties of cold-sensitive mutants.

Aplicação de uma rede neural artificial para a avaliação da rugosidade e soprosidade vocal

A avaliação perceptivo-auditiva tem papel fundamental no estudo e na avaliação da voz, no entanto, por ser subjetiva está sujeita a imprecisões e variações. Por outro lado, a análise acústica permite a reprodutibilidade de resultados, porém precisa ser aprimorada, pois não analisa com precisão vozes com disfonias mais intensas e com ondas caóticas. Assim, elaborar medidas que proporcionem conhecimentos confiáveis em relação à função vocal resulta de uma necessidade antiga dentro desta linha de pesquisa e atuação clínica. Neste contexto, o uso da inteligência artificial, como as redes neurais artificiais, indica ser uma abordagem promissora. Objetivo: Validar um sistema automático utilizando redes neurais artificiais para a avaliação de vozes rugosas e soprosas. Materiais e métodos: Foram selecionadas 150 vozes, desde neutras até com presença em grau intenso de rugosidade e/ou soprosidade, do banco de dados da Clínica de Fonoaudiologia da Faculdade de Odontologia de Bauru (FOB/USP). Dessas vozes, 23 foram excluídas por não responderem aos critérios de inclusão na amostra, assim utilizaram-se 123 vozes. Procedimentos: avaliação perceptivo-auditiva pela escala visual analógica de 100 mm e pela escala numérica de quatro pontos; extração de características do sinal de voz por meio da Transformada Wavelet Packet e dos parâmetros acústicos: jitter, shimmer, amplitude da derivada e amplitude do pitch; e validação do classificador por meio da parametrização, treino, teste e avaliação das redes neurais artificiais. Resultados: Na avaliação perceptivo-auditiva encontrou-se, por meio do teste Coeficiente de Correlação Intraclasse (CCI), concordâncias inter e intrajuiz excelentes, com p = 0,85 na concordância interjuízes e p variando de 0,87 a 0,93 nas concordâncias intrajuiz. Em relação ao desempenho da rede neural artificial, na discriminação da soprosidade e da rugosidade e dos seus respectivos graus, encontrou-se o melhor desempenho para a soprosidade no subconjunto composto pelo jitter, amplitude do pitch e frequência fundamental, no qual obteve-se taxa de acerto de 74%, concordância excelente com a avaliação perceptivo-auditiva da escala visual analógica (0,80 no CCI) e erro médio de 9 mm. Para a rugosidade, o melhor subconjunto foi composto pela Transformada Wavelet Packet com 1 nível de decomposição, jitter, shimmer, amplitude do pitch e frequência fundamental, no qual obteve-se 73% de acerto, concordância excelente (0,84 no CCI), e erro médio de 10 mm. Conclusão: O uso da inteligência artificial baseado em redes neurais artificiais na identificação, e graduação da rugosidade e da soprosidade, apresentou confiabilidade excelente (CCI > 0,80), com resultados semelhantes a concordância interjuízes. Dessa forma, a rede neural artificial revela-se como uma metodologia promissora de avaliação vocal, tendo sua maior vantagem a objetividade na avaliação.

Assessment of Natural and Manmade Materials in US Artificial Reef Programs

Natural coral reefs are in a state of serious decline worldwide. The pressures of over fishing, recreational activities, environmental pollutants, and global warming have stressed these marine ecosystems to the breaking point. One of the oldest methods of augmenting natural reef systems is the implementation of artificial reefs. These projects are not as simple as dumping waste or scrap materials in offshore areas. Proper material selection is vital to produce a healthy artificial marine habitat that is completed on schedule and on budget. This Capstone Project will evaluate the most commonly used materials and provide a comparison of their strengths and weaknesses. This comparison provides a valuable tool for project managers as they begin the reef planning process.

Artificial nutritional support registries: systematic review

Introduction: The nutritional registries are data bases through which we obtain the information to understand the nutrition of populations. Several main nutrition societies of the world have these types of registries, outstanding the NADYA (Home artificial and Ambulatory nutrition) group in Spain. The object of this study is to determine by means of a systematic review, the existent scientific production in the international data bases referred to nutritional support registries. Methods: Descriptive transversal study of the results of a critical bibliographic research done in the bioscience data bases: MEDLINE, EMBASE, The Cochrane Library, ISI (Web of Sciences), LILACS, CINHAL. Results: A total of 20 original articles related to nutritional registries were found and recovered. Eleven registries of eight countries were identified: Australia, Germany, Italy, Japan, Spain, Sweden, United Status and United Kingdom. The Price Index was of 65% and all the articles were published in the last 20 years. Conclusions: The Price Index highlights the innovativeness of this practice. The articles related to nutritional support are heterogeneous with respect to data and population, which exposes this as a limitation for a combined analysis.

Sequential and parallel synchronous alternating iterative methods

The so-called parallel multisplitting nonstationary iterative Model A was introduced by Bru, Elsner, and Neumann [Linear Algebra and its Applications 103:175-192 (1988)] for solving a nonsingular linear system Ax = b using a weak nonnegative multisplitting of the first type. In this paper new results are introduced when A is a monotone matrix using a weak nonnegative multisplitting of the second type and when A is a symmetric positive definite matrix using a P -regular multisplitting. Also, nonstationary alternating iterative methods are studied. Finally, combining Model A and alternating iterative methods, two new models of parallel multisplitting nonstationary iterations are introduced. When matrix A is monotone and the multisplittings are weak nonnegative of the first or of the second type, both models lead to convergent schemes. Also, when matrix A is symmetric positive definite and the multisplittings are P -regular, the schemes are also convergent.