Supervisión multidistribuida para el control de procesos de conservación de productos agroalimentarios: optimización de calidad del producto

La presente Tesis está orientada al análisis de la supervisión multidistribuida de tres procesos agroalimentarios: el secado solar, el transporte refrigerado y la fermentación de café, a través de la información obtenida de diferentes dispositivos de adquisición de datos, que incorporan sensores, así como el desarrollo de metodologías de análisis de series temporales, modelos y herramientas de control de procesos para la ayuda a la toma de decisiones en las operaciones de estos entornos. En esta tesis se han utilizado: tarjetas RFID (TemTrip®) con sistema de comunicación por radiofrecuencia y sensor de temperatura; el registrador (i-Button®), con sensor integrado de temperatura y humedad relativa y un tercer prototipo empresarial, módulo de comunicación inalámbrico Nlaza, que integra un sensor de temperatura y humedad relativa Sensirion®. Estos dispositivos se han empleado en la conformación de redes multidistribuidas de sensores para la supervisión de: A) Transportes de producto hortofrutícola realizados en condiciones comerciales reales, que son: dos transportes terrestre de producto de IV gama desde Murcia a Madrid; transporte multimodal (barco-barco) de limones desde Montevideo (Uruguay) a Cartagena (España) y transporte multimodal (barco-camión) desde Montevideo (Uruguay) a Verona (Italia). B) dos fermentaciones de café realizadas en Popayán (Colombia) en un beneficiadero. Estas redes han permitido registrar la dinámica espacio-temporal de temperaturas y humedad relativa de los procesos estudiados. En estos procesos de transporte refrigerado y fermentación la aplicación de herramientas de visualización de datos y análisis de conglomerados, han permitido identificar grupos de sensores que presentan patrones análogos de sus series temporales, caracterizando así zonas con dinámicas similares y significativamente diferentes del resto y permitiendo definir redes de sensores de menor densidad cubriendo las diferentes zonas identificadas. Las metodologías de análisis complejo de las series espacio-temporales (modelos psicrométricos, espacio de fases bidimensional e interpolaciones espaciales) permitieron la cuantificación de la variabilidad del proceso supervisado tanto desde el punto de vista dinámico como espacial así como la identificación de eventos. Constituyendo así herramientas adicionales de ayuda a la toma de decisiones en el control de los procesos. Siendo especialmente novedosa la aplicación de la representación bidimensional de los espacios de fases en el estudio de las series espacio-temporales de variables ambientales en aplicaciones agroalimentarias, aproximación que no se había realizado hasta el momento. En esta tesis también se ha querido mostrar el potencial de un sistema de control basado en el conocimiento experto como es el sistema de lógica difusa. Se han desarrollado en primer lugar, los modelos de estimación del contenido en humedad y las reglas semánticas que dirigen el proceso de control, el mejor modelo se ha seleccionado mediante un ensayo de secado realizado sobre bolas de hidrogel como modelo alimentario y finalmente el modelo se ha validado mediante un ensayo en el que se deshidrataban láminas de zanahoria. Los resultados sugirieron que el sistema de control desarrollado, es capaz de hacer frente a dificultades como las variaciones de temperatura día y noche, consiguiendo un producto con buenas características de calidad comparables a las conseguidas sin aplicar ningún control sobre la operación y disminuyendo así el consumo energético en un 98% con respecto al mismo proceso sin control. La instrumentación y las metodologías de análisis de datos implementadas en esta Tesis se han mostrado suficientemente versátiles y transversales para ser aplicadas a diversos procesos agroalimentarios en los que la temperatura y la humedad relativa sean criterios de control en dichos procesos, teniendo una aplicabilidad directa en el sector industrial ABSTRACT This thesis is focused on the analysis of multi-distributed supervision of three agri-food processes: solar drying, refrigerated transport and coffee fermentation, through the information obtained from different data acquisition devices with incorporated sensors, as well as the development of methodologies for analyzing temporary series, models and tools to control processes in order to help in the decision making in the operations within these environments. For this thesis the following has been used: RFID tags (TemTrip®) with a Radiofrequency ID communication system and a temperature sensor; the recorder (i-Button®), with an integrated temperature and relative humidity and a third corporate prototype, a wireless communication module Nlaza, which has an integrated temperature and relative humidity sensor, Sensirion®. These devices have been used in creating three multi-distributed networks of sensors for monitoring: A) Transport of fruits and vegetables made in real commercial conditions, which are: two land trips of IV range products from Murcia to Madrid; multimodal transport (ship - ship) of lemons from Montevideo (Uruguay) to Cartagena (Spain) and multimodal transport (ship - truck) from Montevideo (Uruguay) to Verona (Italy). B) Two coffee fermentations made in Popayan (Colombia) in a coffee processing plant. These networks have allowed recording the time space dynamics of temperatures and relative humidity of the processed under study. Within these refrigerated transport and fermentation processes, the application of data display and cluster analysis tools have allowed identifying sensor groups showing analogical patterns of their temporary series; thus, featuring areas with similar and significantly different dynamics from the others and enabling the definition of lower density sensor networks covering the different identified areas. The complex analysis methodologies of the time space series (psychrometric models, bi-dimensional phase space and spatial interpolation) allowed quantifying the process variability of the supervised process both from the dynamic and spatial points of view; as well as the identification of events. Thus, building additional tools to aid decision-making on process control brought the innovative application of the bi-dimensional representation of phase spaces in the study of time-space series of environmental variables in agri-food applications, an approach that had not been taken before. This thesis also wanted to show the potential of a control system based on specialized knowledge such as the fuzzy logic system. Firstly, moisture content estimation models and semantic rules directing the control process have been developed, the best model has been selected by an drying assay performed on hydrogel beads as food model; and finally the model has been validated through an assay in which carrot sheets were dehydrated. The results suggested that the control system developed is able to cope with difficulties such as changes in temperature daytime and nighttime, getting a product with good quality features comparable to those features achieved without applying any control over the operation and thus decreasing consumption energy by 98% compared to the same uncontrolled process. Instrumentation and data analysis methodologies implemented in this thesis have proved sufficiently versatile and cross-cutting to apply to several agri-food processes in which the temperature and relative humidity are the control criteria in those processes, having a direct effect on the industry sector.

Determinants and impact of suboptimal asthma control in Europe : The INTERNATIONAL CROSS-SECTIONAL AND LONGITUDINAL ASSESSMENT ON ASTHMA CONTROL (LIAISON) study

Acknowledgements We are grateful to THERAmetrics for the study management, data collection and analysis. The authors would like to thank the following investigators for their contribution (>30 patients enrolled): F. Fohler, A.G. Haider, J. Hesse-Tonsa, J. Messner, W. Pohl (Austria); G. Joos, J.L. Halloy, R. Peche, H. Simonis, P. Van den Brande (Belgium); B. Bugnas, J.M. Chavaillon, P. Debove, S. Dury, L. Mathieu, O. Lagrange, A. Prudhomme, S. Verdier (France); A. Benedix, O. Kestermann, A. Deimling, G. Eckhardt, M. Gernhold, V. Grimm-Sachs, M. Hoefer, G. Hoheisel, C. Stolpe, C. Schilder, M. John, J. Uerscheln, K.H. Zeisler (Germany); A. Chaniotou, P. Demertzis, V. Filaditaki-Loverdou, A. Gaga, E. Georgatou-Papageorgiou, S. Michailidis, G. Pavkalou, M. Toumpis (Greece); K. Csicsari, K. Hajdu, M. Póczi, M. Kukuly, T. Kecskes, C. Hangonyi, J. Schlezak, E. Takács, M. Szabo,G. Szabó, C. Szabo (Hungary); G.W. Canonica, W. Castellani, A. Cirillo, M.P. Foschino Barbaro, M. Gjomarkaj, G. Guerra, G. Idotta, D. Legnani, M. Lo Schiavo, R. Maselli, F. Mazza, S. Nutini, P. Paggiaro, A. Pietra, O. Resta, S. Salis, N.A. Scichilone, M.C. Zappa, A. Zedda (Italy); M. Goosens, R. Heller, K. Mansour, C. Meek, J. van den Berg (The Netherlands); A. Antczak, M. Faber, D. Madra-Rogacka, G. Mincewicz, M. Michnar, D. Olejniczak, G. Pulka, Z. Sankowski, K. Kowal, I. Krupa-Borek, B. Kubicka Kozik, K. Kuczynska, P. Kuna, A. Kwasniewski, M. Wozniak (Poland); F. Casas Maldonado, C. Cisneros, J. de Miguel Díez, L.M. Entrenas Costa, B. Garcìa-Cosio, M.V. Gonzales, L. Lores, M. Luengo, C. Martinez, C. Melero, I. Mir, X. Munoz, A. Pacheco, V. Plaza, J. Serra, J. Serrano, J.G. Soto Campos (Spain); T. Bekci, R. Demir, N. Dursunoglu, D. Ediger, A. Ekici, O. Goksel, H. Gunen, I.K. Oguzulgen, Z.F. Ozseker, (Turkey); L. Barnes, T. Hall, S. Montgomerie, J. Purohit, J. Ryan (United Kingdom). The authors would also like to thank P. Galletti (THERAMetrics S.p.A., Sesto San Giovanni, Italy) and K. Stockmeyer (THERAMetrics GmbH, Essen, Germany) for providing editorial assistance in the preparation of this manuscript. Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

The compensatory potential of increased immigration following intensive American mink population control is diluted by male-biased dispersal

Acknowledgments This research was funded by NERC Grants NE/J01396X/1; NE/E006434/1 to XL. Y. M. was funded by a Marie Curie FP7-PEOPLE-2011-IEF 300288. We profusely thank the Scottish Mink Initiative, staff, funders and multiple mink volunteers for the continued effort, samples and enthusiasm. The Scottish Water Vole Conservation Project was funded by The Tubney Charitable trust, Scottish Natural Heritage, the Cairngorms National Park Authority and the People’s Trust for Endangered Species. We also thank the Associate Editor and two anonymous referees for their thoughtful reviews.

On the controllability of distributed systems

To “control” a system is to make it behave (hopefully) according to our “wishes,” in a way compatible with safety and ethics, at the least possible cost. The systems considered here are distributed—i.e., governed (modeled) by partial differential equations (PDEs) of evolution. Our “wish” is to drive the system in a given time, by an adequate choice of the controls, from a given initial state to a final given state, which is the target. If this can be achieved (respectively, if we can reach any “neighborhood” of the target) the system, with the controls at our disposal, is exactly (respectively, approximately) controllable. A very general (and fuzzy) idea is that the more a system is “unstable” (chaotic, turbulent) the “simplest,” or the “cheapest,” it is to achieve exact or approximate controllability. When the PDEs are the Navier–Stokes equations, it leads to conjectures, which are presented and explained. Recent results, reported in this expository paper, essentially prove the conjectures in two space dimensions. In three space dimensions, a large number of new questions arise, some new results support (without proving) the conjectures, such as generic controllability and cases of decrease of cost of control when the instability increases. Short comments are made on models arising in climatology, thermoelasticity, non-Newtonian fluids, and molecular chemistry. The Introduction of the paper and the first part of all sections are not technical. Many open questions are mentioned in the text.

Robotic control systems based on bioinspired multi-agent systems: application of the principles of neuroscience to robotics

Robotics is a field that presents a large number of problems because it depends on a large number of disciplines, devices, technologies and tasks. Its expansion from perfectly controlled industrial environments toward open and dynamic environment presents a many new challenges, such as robots household robots or professional robots. To facilitate the rapid development of robotic systems, low cost, reusability of code, its medium and long term maintainability and robustness are required novel approaches to provide generic models and software systems who develop paradigms capable of solving these problems. For this purpose, in this paper we propose a model based on multi-agent systems inspired by the human nervous system able to transfer the control characteristics of the biological system and able to take advantage of the best properties of distributed software systems.

Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback

Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

A Survey on FPGA-Based Sensor Systems: Towards Intelligent and Reconfigurable Low-Power Sensors for Computer Vision, Control and Signal Processing

The current trend in the evolution of sensor systems seeks ways to provide more accuracy and resolution, while at the same time decreasing the size and power consumption. The use of Field Programmable Gate Arrays (FPGAs) provides specific reprogrammable hardware technology that can be properly exploited to obtain a reconfigurable sensor system. This adaptation capability enables the implementation of complex applications using the partial reconfigurability at a very low-power consumption. For highly demanding tasks FPGAs have been favored due to the high efficiency provided by their architectural flexibility (parallelism, on-chip memory, etc.), reconfigurability and superb performance in the development of algorithms. FPGAs have improved the performance of sensor systems and have triggered a clear increase in their use in new fields of application. A new generation of smarter, reconfigurable and lower power consumption sensors is being developed in Spain based on FPGAs. In this paper, a review of these developments is presented, describing as well the FPGA technologies employed by the different research groups and providing an overview of future research within this field.

Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.

Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home

This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.

Organic distributed feedback laser to monitor solvent extraction upon thermal annealing in solution-processed polymer films

Solution-processed polymer films are used in multiple technological applications. The presence of residual solvent in the film, as a consequence of the preparation method, affects the material properties, so films are typically subjected to post-deposition thermal annealing treatments aiming at its elimination. Monitoring the amount of solvent eliminated as a function of the annealing parameters is important to design a proper treatment to ensure complete solvent elimination, crucial to obtain reproducible and stable material properties and therefore, device performance. Here we demonstrate, for the first time to our knowledge, the use of an organic distributed feedback (DFB) laser to monitor with high precision the amount of solvent extracted from a spin-coated polymer film as a function of the thermal annealing time. The polymer film of interest, polystyrene in the present work, is doped with a small amount of a laser dye as to constitute the active layer of the laser device and deposited over a reusable DFB resonator. It is shown that solvent elimination translates into shifts in the DFB laser wavelength, as a consequence of changes in film thickness and refractive index. The proposed method is expected to be applicable to other types of annealing treatments, polymer-solvent combinations or film deposition methods, thus constituting a valuable tool to accurately control the quality and reproducibility of solution-processed polymer thin films.

Fault development and interaction in distributed strike-slip shear zones: an experimental approach

Analogue model experiments using both brittle and viscous materials were performed to investigate the development and interaction of strike-slip faults in zones of distributed shear deformation. At low strain, bulk dextral shear deformation of an initial rectangular model is dominantly accommodated by left-stepping, en echelon strike-slip faults (Riedel shears, R) that form in response to the regional (bulk) stress field. Push-up zones form in the area of interaction between adjacent left-stepping Riedel shears. In cross sections, faults bounding push-up zones have an arcuate shape or merge at depth. Adjacent left-stepping R shears merge by sideways propagation or link by short synthetic shears that strike subparallel to the bulk shear direction. Coalescence of en echelon R shears results in major, through-going faults zones (master faults). Several parallel master faults develop due to the distributed nature of deformation. Spacing between master faults is related to the thickness of the brittle layers overlying the basal viscous layer. Master faults control to a large extent the subsequent fault pattern. With increasing strain, relatively short antithetic and synthetic faults develop mostly between old, but still active master faults. The orientation and evolution of the new faults indicate local modifications of the stress field. In experiments lacking lateral borders, closely spaced parallel antithetic faults (cross faults) define blocks that undergo clockwise rotation about a vertical axis with continuing deformation. Fault development and fault interaction at different stages of shear strain in our models show similarities with natural examples that have undergone distributed shear.

Export control implementation issues with respect to high-performance computers : hearing before Committee on Governmental Affairs, United States Senate, One Hundred Sixth Congress, second session, May 26, 2000.

Shipping list no.: 2000-0347-P.

President's Private Sector Survey on Cost Control : report on personnel management.

Distributed to depository libraries in microfiche.

Decentralized control of street networks /

"September 1982."

The evaluation and application of chemically regenerative atmospheric control systems.

" Report ; no. TDR-269 (4560-50)-2)."