A contribution on modeling methodologies for multibody systems.

Multibody System Dynamics has been responsible for revolutionizing Mechanical Engineering Design by using mathematical models to simulate and optimize the dynamic behavior of a wide range of mechanical systems. These mathematical models not only can provide valuable informations about a system that could otherwise be obtained only by experiments with prototypes, but also have been responsible for the development of many model-based control systems. This work represents a contribution for dynamic modeling of multibody mechanical systems by developing a novel recursive modular methodology that unifies the main contributions of several Classical Mechanics formalisms. The reason for proposing such a methodology is to motivate the implementation of computational routines for modeling complex multibody mechanical systems without being dependent on closed source software and, consequently, to contribute for the teaching of Multibody System Dynamics in undergraduate and graduate levels. All the theoretical developments are based on and motivated by a critical literature review, leading to a general matrix form of the dynamic equations of motion of a multibody mechanical system (that can be expressed in terms of any set of variables adopted for the description of motions performed by the system, even if such a set includes redundant variables) and to a general recursive methodology for obtaining mathematical models of complex systems given a set of equations describing the dynamics of each of its uncoupled subsystems and another set describing the constraints among these subsystems in the assembled system. This work also includes some discussions on the description of motion (using any possible set of motion variables and admitting any kind of constraint that can be expressed by an invariant), and on the conditions for solving forward and inverse dynamics problems given a mathematical model of a multibody system. Finally, some examples of computational packages based on the novel methodology, along with some case studies, are presented, highlighting the contributions that can be achieved by using the proposed methodology.

Controlador integrado baseado em conceito híbrido e controle geométrico para embarcações posicionadas dinamicamente.

O conceito de controle híbrido é aplicado à operação de alívio entre um FPWSO e um navio aliviador. Ambos os navios mantêm suas posições e aproamentos pelo resultado da ação do seu Sistema de Posicionamento Dinâmico (SPD). O alívio dura cerca de 24 horas para ser concluído. Durante este período, o estado de mar pode se alterar e os calados estão sendo constantemente alterados. Um controlador híbrido é projetado para permitir modificacões dos parâmetros de controle/observação se alguma alteração significante do estado de mar e/ou calado das embarcações ocorrer. O principal objetivo dos controladores é manter o posicionamento relativo entre os navios com o intuito de evitar perigosa proximidade ou excesso de tensão no cabo. Com isto em mente, uma nova estratégia de controle que atue integradamente em ambos os navios é proposta baseda em geometria diferencial. Observadores não lineares baseados em passividade são aplicados para estimar a posição, a velocidade e as forças externas de mares calmos até extremos. O critério para troca do controle/observação é baseado na variação do calado e no estado de mar. O calado é assumido conhecido e o estado de mar é estimado pela frequência de pico do espectro do movimento de primeira ordem dos navios. Um modelo de perturbação é proposto para encontrar o número de controladores do sistema híbrido. A equivalência entre o controle geométrico e o controlador baseado em Multiplicadores de Lagrange é demonstrada. Assumindo algumas hipóteses, a equivalência entre os controladores geométrico e o PD é também apresentada. O desempenho da nova estratégia é avaliada por meio de simulações numéricas e comparada a um controlador PD. Os resultados apresentam muito bom desempenho em função do objetivo proposto. A comparação entre a abordagem geométrica e o controlador PD aponta um desempenho muito parecido entre eles.

Scabies: more than just an irritation

Human scabies, caused by skin infestation with the arthropod mite, Sarcoptes scabiei, typically results in a papular, intensely pruritic eruption involving the interdigital spaces, and flexure creases. Recent research has led to a reassessment of the morbidity attributable to this parasite in endemic communities, particularly resulting from secondary skin sepsis and postinfective complications including glomerulonephritis. This has led to studies of the benefits of community based control programmes, and to concerns regarding the emergence of drug resistance when such strategies are employed. The renewed research interest into the biology of this infection has resulted in the application of molecular tools. This has established that canine and human scabies populations are genetically distinct, a finding with major implications for the formulation of public health control policies. Further research is needed to increase understanding of drug resistance, and to identify new drug targets and potential vaccine candidates.

Automation, rationalisation and concentration : a case study in the British chemical industry

This thesis is based upon a case study of the adoption of digital, electronic, microprocessor-based control systems by Albright & Wilson Limited - a UK chemical producer. It offers an explanation of the company's changing technology policy between 1978 and 1981, by examining its past development, internal features and industrial environment. Part One of the thesis gives an industry-level analysis which relates the development of process control technology to changes in the economic requirements of production . The rapid diffusion of microcomputers and other microelectronic equipment in the chemical industry is found to be a response to general need to raise the efficiency of all processes, imposed by the economic recession following 1973. Part Two examines the impaot of these technical and eoonomic ohanges upon Albright & Wilson Limited. The company's slowness in adopting new control technology is explained by its long history in which trends are identified whlich produced theconservatism of the 1970s. By contrast, a study of Tenneco Incorporated, a much more successful adoptor of automating technology, is offered with an analysis of the new technology policy of adoption of such equipment which it imposed upon Albright & Wilson, following the latter's takeover by Tenneco in 1978. Some indications of the consequences by this new policy of widespread adoptions of microprocessor-based control equipment are derived from a study of the first Albright & Wilson plant to use such equipment. The thesis concludes that companies which fail to adopt rapidly the new control technology may not survive in the recessionary environment, the long- established British companies may lack the flexibility to make such necessary changes and that multi-national companies may have an important role jn the planned transfer and adoption of new production technology through their subsidiaries in the UK.

An FTO variant is associated with Type 2 diabetes in South Asian populations after accounting for body mass index and waist circumference

Aims - A common variant, rs9939609, in the FTO (fat mass and obesity) gene is associated with adiposity in Europeans, explaining its relationship with diabetes. However, data are inconsistent in South Asians. Our aim was to investigate the association of the FTO rs9939609 variant with obesity, obesity-related traits and Type 2 diabetes in South Asian individuals, and to use meta-analyses to attempt to clarify to what extent BMI influences the association of FTO variants with diabetes in South Asians. Methods - We analysed rs9939609 in two studies of Pakistani individuals: 1666 adults aged = 40 years from the Karachi population-based Control of Blood Pressure and Risk Attenuation (COBRA) study and 2745 individuals of Punjabi ancestry who were part of a Type 2 diabetes case–control study (UK Asian Diabetes Study/Diabetes Genetics in Pakistan; UKADS/DGP). The main outcomes were BMI, waist circumference and diabetes. Regression analyses were performed to determine associations between FTO alleles and outcomes. Summary estimates were combined in a meta-analysis of 8091 South Asian individuals (3919 patients with Type 2 diabetes and 4172 control subjects), including those from two previous studies. Results - In the 4411 Pakistani individuals from this study, the age-, sex- and diabetes-adjusted association of FTO variant rs9939609 with BMI was 0.45 (95% CI 0.24–0.67) kg/m2 per A-allele (P = 3.0 × 10-5) and with waist circumference was 0.88 (95% CI 0.36–1.41) cm per A-allele (P = 0.001). The A-allele (30% frequency) was also significantly associated with Type 2 diabetes [per A-allele odds ratio (95% CI) 1.18 (1.07–1.30); P = 0.0009]. A meta-analysis of four South Asian studies with 8091 subjects showed that the FTO A-allele predisposes to Type 2 diabetes [1.22 (95% CI 1.14–1.31); P = 1.07 × 10-8] even after adjusting for BMI [1.18 (95% CI 1.10–1.27); P = 1.02 × 10-5] or waist circumference [1.18 (95% CI 1.10–1.27); P = 3.97 × 10-5]. Conclusions - The strong association between FTO genotype and BMI and waist circumference in South Asians is similar to that observed in Europeans. In contrast, the strong association of FTO genotype with diabetes is only partly accounted for by BMI.

Women outperform men in remembering to remember

The study of gender differences in prospective memory (i.e., remembering to remember) has received modest attention in the literature. The few reported studies investigating either subjective or objective evaluations of prospective memory have shown inconsistent data. In this study, we aimed to verify the presence of gender differences during the performance of an objective prospective memory test by considering the weight of specific variables such as length of delay, type of response, and type of cue. We submitted a sample of 100 healthy Italian participants (50 men and 50 women) to a test expressly developed to assess prospective memory: The Memory for Intentions Screening Test. Women performed better than men in remembering to do an event-based task (i.e., prompted by an external event) and when the task required a physical response modality. We discuss the behavioural differences that emerged by considering the possible role of sociological, biological, neuroanatomical, and methodological variables.

A multi-modular second life hybrid battery energy storage system for utility grid applications

The modern grid system or the smart grid is likely to be populated with multiple distributed energy sources, e.g. wind power, PV power, Plug-in Electric Vehicle (PEV). It will also include a variety of linear and nonlinear loads. The intermittent nature of renewable energies like PV, wind turbine and increased penetration of Electric Vehicle (EV) makes the stable operation of utility grid system challenging. In order to ensure a stable operation of the utility grid system and to support smart grid functionalities such as, fault ride-through, frequency response, reactive power support, and mitigation of power quality issues, an energy storage system (ESS) could play an important role. A fast acting bidirectional energy storage system which can rapidly provide and absorb power and/or VARs for a sufficient time is a potentially valuable tool to support this functionality. Battery energy storage systems (BESS) are one of a range suitable energy storage system because it can provide and absorb power for sufficient time as well as able to respond reasonably fast. Conventional BESS already exist on the grid system are made up primarily of new batteries. The cost of these batteries can be high which makes most BESS an expensive solution. In order to assist moving towards a low carbon economy and to reduce battery cost this work aims to research the opportunities for the re-use of batteries after their primary use in low and ultra-low carbon vehicles (EV/HEV) on the electricity grid system. This research aims to develop a new generation of second life battery energy storage systems (SLBESS) which could interface to the low/medium voltage network to provide necessary grid support in a reliable and in cost-effective manner. The reliability/performance of these batteries is not clear, but is almost certainly worse than a new battery. Manufacturers indicate that a mixture of gradual degradation and sudden failure are both possible and failure mechanisms are likely to be related to how hard the batteries were driven inside the vehicle. There are several figures from a number of sources including the DECC (Department of Energy and Climate Control) and Arup and Cenex reports indicate anything from 70,000 to 2.6 million electric and hybrid vehicles on the road by 2020. Once the vehicle battery has degraded to around 70-80% of its capacity it is considered to be at the end of its first life application. This leaves capacity available for a second life at a much cheaper cost than a new BESS Assuming a battery capability of around 5-18kWhr (MHEV 5kWh - BEV 18kWh battery) and approximate 10 year life span, this equates to a projection of battery storage capability available for second life of >1GWhrs by 2025. Moreover, each vehicle manufacturer has different specifications for battery chemistry, number and arrangement of battery cells, capacity, voltage, size etc. To enable research and investment in this area and to maximize the remaining life of these batteries, one of the design challenges is to combine these hybrid batteries into a grid-tie converter where their different performance characteristics, and parameter variation can be catered for and a hot swapping mechanism is available so that as a battery ends it second life, it can be replaced without affecting the overall system operation. This integration of either single types of batteries with vastly different performance capability or a hybrid battery system to a grid-tie 3 energy storage system is different to currently existing work on battery energy storage systems (BESS) which deals with a single type of battery with common characteristics. This thesis addresses and solves the power electronic design challenges in integrating second life hybrid batteries into a grid-tie energy storage unit for the first time. This study details a suitable multi-modular power electronic converter and its various switching strategies which can integrate widely different batteries to a grid-tie inverter irrespective of their characteristics, voltage levels and reliability. The proposed converter provides a high efficiency, enhanced control flexibility and has the capability to operate in different operational modes from the input to output. Designing an appropriate control system for this kind of hybrid battery storage system is also important because of the variation of battery types, differences in characteristics and different levels of degradations. This thesis proposes a generalised distributed power sharing strategy based on weighting function aims to optimally use a set of hybrid batteries according to their relative characteristics while providing the necessary grid support by distributing the power between the batteries. The strategy is adaptive in nature and varies as the individual battery characteristics change in real time as a result of degradation for example. A suitable bidirectional distributed control strategy or a module independent control technique has been developed corresponding to each mode of operation of the proposed modular converter. Stability is an important consideration in control of all power converters and as such this thesis investigates the control stability of the multi-modular converter in detailed. Many controllers use PI/PID based techniques with fixed control parameters. However, this is not found to be suitable from a stability point-of-view. Issues of control stability using this controller type under one of the operating modes has led to the development of an alternative adaptive and nonlinear Lyapunov based control for the modular power converter. Finally, a detailed simulation and experimental validation of the proposed power converter operation, power sharing strategy, proposed control structures and control stability issue have been undertaken using a grid connected laboratory based multi-modular hybrid battery energy storage system prototype. The experimental validation has demonstrated the feasibility of this new energy storage system operation for use in future grid applications.

Enhancing visibility in EPCIS governing agri-food supply chains via linked pedigrees

Data integration for the purposes of tracking, tracing and transparency are important challenges in the agri-food supply chain. The Electronic Product Code Information Services (EPCIS) is an event-oriented GS1 standard that aims to enable tracking and tracing of products through the sharing of event-based datasets that encapsulate the Electronic Product Code (EPC). In this paper, the authors propose a framework that utilises events and EPCs in the generation of "linked pedigrees" - linked datasets that enable the sharing of traceability information about products as they move along the supply chain. The authors exploit two ontology based information models, EEM and CBVVocab within a distributed and decentralised framework that consumes real time EPCIS events as linked data to generate the linked pedigrees. The authors exemplify the usage of linked pedigrees within the fresh fruit and vegetables supply chain in the agri-food sector.

A knowledge driven approach towards the validation of externally acquired traceability datasets in supply chain business processes

The sharing of near real-time traceability knowledge in supply chains plays a central role in coordinating business operations and is a key driver for their success. However before traceability datasets received from external partners can be integrated with datasets generated internally within an organisation, they need to be validated against information recorded for the physical goods received as well as against bespoke rules defined to ensure uniformity, consistency and completeness within the supply chain. In this paper, we present a knowledge driven framework for the runtime validation of critical constraints on incoming traceability datasets encapuslated as EPCIS event-based linked pedigrees. Our constraints are defined using SPARQL queries and SPIN rules. We present a novel validation architecture based on the integration of Apache Storm framework for real time, distributed computation with popular Semantic Web/Linked data libraries and exemplify our methodology on an abstraction of the pharmaceutical supply chain.

Detecting EPCIS exceptions in linked traceability streams across supply chain business processes

The EPCIS specification provides an event oriented mechanism to record product movement information across stakeholders in supply chain business processes. Besides enabling the sharing of event-based traceability datasets, track and trace implementations must also be equipped with the capabilities to validate integrity constraints and detect runtime exceptions without compromising the time-to-deliver schedule of the shipping and receiving parties. In this paper we present a methodology for detecting exceptions arising during the processing of EPCIS event datasets. We propose an extension to the EEM ontology for modelling EPCIS exceptions and show how runtime exceptions can be detected and reported. We exemplify and evaluate our approach on an abstraction of pharmaceutical supply chains.

Modelling and linking transformations in EPCIS governing supply chain business processes

Supply chains comprise of complex processes spanning across multiple trading partners. The various operations involved generate large number of events that need to be integrated in order to enable internal and external traceability. Further, provenance of artifacts and agents involved in the supply chain operations is now a key traceability requirement. In this paper we propose a Semantic web/Linked data powered framework for the event based representation and analysis of supply chain activities governed by the EPCIS specification. We specifically show how a new EPCIS event type called "Transformation Event" can be semantically annotated using EEM - The EPCIS Event Model to generate linked data, that can be exploited for internal event based traceability in supply chains involving transformation of products. For integrating provenance with traceability, we propose a mapping from EEM to PROV-O. We exemplify our approach on an abstraction of the production processes that are part of the wine supply chain.

OntoPedigree:modelling pedigrees for traceability in supply chains

The sharing of product and process information plays a central role in coordinating supply chains operations and is a key driver for their success. "Linked pedigrees" - linked datasets, that encapsulate event based traceability information of artifacts as they move along the supply chain, provide a scalable mechanism to record and facilitate the sharing of track and trace knowledge among supply chain partners. In this paper we present "OntoPedigree" a content ontology design pattern for the representation of linked pedigrees, that can be specialised and extended to define domain specific traceability ontologies. Events captured within the pedigrees are specified using EPCIS - a GS1 standard for the specification of traceability information within and across enterprises, while certification information is described using PROV - a vocabulary for modelling provenance of resources. We exemplify the utility of OntoPedigree in linked pedigrees generated for supply chains within the perishable goods and pharmaceuticals sectors.

Stress events in the Hungarian stock market

Central clearing and the role of central counterparties (CCP) has gained on importance in the financial sector, since counterparty risk of the trading is to be managed by them. The regulation has turned towards them lately, by defining several processes, how CCPs should measure and manage their risk. Stress situation is an important term of the regulation, however it is not specified clearly, how stress should be identified. This paper provides a possible definition of stress event based on the existing risk management methodology: the usage of risk measure oversteps, and investigates the potential stress periods of the last years on the Hungarian stock market. According to the results the definition needs further calibration based on the magnitude of the cross-sectional data. The paper examines furthermore whether stress is to be predicted from market liquidity. The connection of liquidity and market turmoil proved to be contrary to the expectations; liquidity shortage was rather a consequence, than a forecaster phenomenon in the tested period.

A search for an exotic meson in the gamma + P decaying to delta++ + pi- + eta reaction

A Partial Waves Analysis (PWA) of γp → Δ ++X → pπ+ π - (η) data taken with the CLAS detector at Jefferson Lab is presented in this work. This reaction is of interest because the Δ++ restricts the isospin of the possible X states, leaving the PWA with a smaller combination of partial waves, making it ideal to look for exotic mesons. It was proposed by Isgur and Paton that photoproduction is a plausible source for the Jpc=1–+ state through flux tube excitation. The π1(1400) is such a state that has been produced with the use of hadron production but it has yet to be seen in photoproduction. A mass independent amplitude analysis of this channel was performed, followed by a mass dependent fit to extract the resonance parameters. The procedure used an event-based maximum likelihood method to maintain all correlations in the kinematics. The intensity and phase motion is mapped out for the contributing signals without requiring assumptions about the underlying processes. The strength of the PWA is in the analysis of the phase motion, which for resonance behavior is well defined. In the data presented, the ηπ– invariant mass spectrum shows contributions from the a0(980) and a2(1320) partial waves. No π1 was observed under a clear a2 signal after the angular distributions of the decay products were analyzed using an amplitude analysis. In addition, this dissertation discusses trends in the data, along with the implemented techniques.

Design and development of a one-degree-of-freedom force-reflecting manual controller prototype for teleoperation

The present research is carried out from the viewpoint of primarily space applications where human lives may be in danger if they are to work under these conditions. This work proposes to develop a one-degree-of-freedom (1-DOF) force-reflecting manual controller (FRMC) prototype for teleoperation, and address the effects of time delays commonly found in space applications where the control is accomplished via the earth-based control stations. To test the FRMC, a mobile robot (PPRK) and a slider-bar were developed and integrated to the 1-DOF FRMC. The software developed in Visual Basic is able to telecontrol any platform that uses an SV203 controller through the internet and it allows the remote system to send feedback information which may be in the form of visual or force signals. Time delay experiments were conducted on the platform and the effects of time delay on the FRMC system operation have been studied and delineated.