Integrable Hamiltonian systems defined on the Lie groups SO(3) and SU(2): an application to the attitude control of a spacecraft

This paper considers left-invariant control systems defined on the Lie groups SU(2) and SO(3). Such systems have a number of applications in both classical and quantum control problems. The purpose of this paper is two-fold. Firstly, the optimal control problem for a system varying on these Lie Groups, with cost that is quadratic in control is lifted to their Hamiltonian vector fields through the Maximum principle of optimal control and explicitly solved. Secondly, the control systems are integrated down to the level of the group to give the solutions for the optimal paths corresponding to the optimal controls. In addition it is shown here that integrating these equations on the Lie algebra su(2) gives simpler solutions than when these are integrated on the Lie algebra so(3).

Singularities of optimal control problems on some 6-D lie groups

This paper considers the motion planning problem for oriented vehicles travelling at unit speed in a 3-D space. A Lie group formulation arises naturally and the vehicles are modeled as kinematic control systems with drift defined on the orthonormal frame bundles of particular Riemannian manifolds, specifically, the 3-D space forms Euclidean space E-3, the sphere S-3, and the hyperboloid H'. The corresponding frame bundles are equal to the Euclidean group of motions SE(3), the rotation group SO(4), and the Lorentz group SO (1, 3). The maximum principle of optimal control shifts the emphasis for these systems to the associated Hamiltonian formalism. For an integrable case, the extremal curves are explicitly expressed in terms of elliptic functions. In this paper, a study at the singularities of the extremal curves are given, which correspond to critical points of these elliptic functions. The extremal curves are characterized as the intersections of invariant surfaces and are illustrated graphically at the singular points. It. is then shown that the projections, of the extremals onto the base space, called elastica, at these singular points, are curves of constant curvature and torsion, which in turn implies that the oriented vehicles trace helices.

Soil attributes and efficiency of sulfentrazone on control of purple nutsedge (Cyperus rotundus L.)

Herbicidas aplicados ao solo são submetidos à adsorção, lixiviação e degradação por processos físicos, químicos e biológicos, além da absorção pelas plantas. Todos esses processos são afetados pela classe dos solos onde foram aplicados e das condições climáticas reinantes logo após a aplicação, que afetarão a eficiência dos produtos no controle de plantas daninhas. Investigaram-se as influências dos atributos de solos e condições de cultivo na eficiência do herbicida sulfentrazone no controle da planta daninha tiririca (Cyperus rotundus L.). O Latossolo Vermelho-Amarelo Distrófico (LVAd), o Latossolo Vermelho (LVd - Distrófico; LVdf - Distroférrico; LVef - Eutroférrico) e o Nitossolo Vermelho Eutrófico (NVe) foram coletados sob duas condições de cultivo, visando obter solos com teores diferenciados de argila, óxido de ferro e matéria orgânica. As amostras dos solos foram submetidas à caracterização granulométrica, química e mineralógica e, em seguida, utilizadas no bioensaio de avaliação da eficiência do sulfentrazone (1,6 L p.c. ha-1) no controle da tiririca em condições de pré-emergência. O sulfentrazone apresentou comportamento diferenciado entre as classes de solos estudados e a sua eficiência diminuiu com o aumento do teor de óxido de ferro nos solos, na seguinte ordem: LVAd, LVd, NVe, LVef e LVdf, sendo que as variações nos teores de argila (240 a 640 g kg-1) e da matéria orgânica (12 a 78 g kg-1) dos solos não interferiram na eficiência do sulfentrazone.

Numeric simulation of pollutant dispersion by a control-volume based on finite element method

The dispersion of pollutants in the environment is an issue of great interest as it directly affects air quality, mainly in large cities. Experimental and numerical tools have been used to predict the behavior of pollutant species dispersion in the atmosphere. A software has been developed based on the control-volume based on the finite element method in order to obtain two-dimensional simulations of Navier-Stokes equations and heat or mass transportation in regions with obstacles, varying position of the pollutant source. Numeric results of some applications were obtained and, whenever possible, compared with literature results showing satisfactory accordance. Copyright (C) 2010 John Wiley & Sons, Ltd.

Simplified architecture of a neurofuzzy controller applied on industrial systems for fluid flow control

This work presents a simplified architecture of a neurofuzzy controller for general purpose applications that tries to minimize the processing used in the several stages of hazy modeling of systems. The basic procedures of fuzzification and defuzzification are simplified to the maximum while the inference procedures are computed in a private way. The simplified architecture allows a fast and easy configuration of the neurofuzzy controller and the structuring rules that define the control actions is automatic. Th controller's Limits and performance are standardized and the control actions are previously calculated. For application, the industrial systems of fluid flow control will be considered.

Toward pH-controllable bioelectrocatalysis for hydrogen peroxide based on polymer brushes

In the present work, a biosensor was built with smart material based on polymer brushes. The biosensor demonstrated a pH-sensitive on-off property, and it was further used to control or modulate the electrochemical responses of the biosensor. This property could be used to realize pH-controlled electrochemical reaction of hydrogen peroxide and HRP immobilized on polymer brushes. The composite film also showed excellent amperometric i-t response toward hydrogen peroxide in the concentration range of 0-13 μM. In future, this platform might be used for self-regulating targeted diagnostic, drug delivery and biofuel cell based on controllable bioelectrocatalysis. © 2013 Elsevier B.V.

Stimuli-Responsive Biointerface Based on Polymer Brushes for Glucose Detection

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Impact of insecticide resistance on the field control of Aedes aegypti in the State of São Paulo

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Effects of Water-Based and Callisthenic Exercise on Freezing of Gait, Postural Control, and Functional Independence in Patients With Mild to Moderate Parkinson Disease

Objective: This study aimed to analyze and compare the role of a water-based exercise program versus a combination of water and callisthenic exercises on postural control, functional independence, and freezing of gait (FOG) in patients with mild to moderate Parkinson disease.Methods: Twenty-five community-dwelling participants with idiopathic Parkinson disease were recruited. Of these, 9 participants took part in a water-based program of physical exercises and the other 16 participants took part in a combined program that consisted of callisthenic exercises plus an aquatic exercise session. Both programs were 16 weeks in duration. The clinical evaluation assessed the festination by means of the FOG score test; postural control was verified by means of the balance test of the short physical performance battery, and the Spanish validated version of the Unified Parkinson's Disease Rating Scale part 2 was used to assess functional independence. Participants were evaluated before and after 16 weeks of both proposed programs.Results: The results showed improvement in FOG for both groups, although a significant main effect was observed only in the patients who performed the callisthenic exercise plus an aquatic exercise program. Postural control did not show significant improvements after both proposed physical exercise programs as soon as functional autonomy. Our preliminary results suggest that training sessions with the combination of water plus callisthenic exercises may be a useful physical rehabilitation strategy for individuals with mild to moderate Parkinson disease who have FOG.

Effects of elevated atmospheric carbon dioxide on the biological control of coffee leaf rust under controlled conditions

The effect of elevated atmospheric CO2 concentration on biological control of coffee leaf rust, caused by Hemileia vastatrix, was evaluated by leaf disc assay, under controlled conditions. The biocontrol agents Bacillus subtilis, Bacillus pumilus and Lecanicillium longisporum were applied 24h before, 24h after, and simultaneously with the H. vastatrix on leaf discs (diameter of 1.5cm). The CO2 concentrations tested were: 380, 430, 700 and 1300ppm for B. subtilis and B. pumilus; and 380, 430, 670 and 1200ppm for L. longisporum. The antagonists were not affected by CO2 concentrations. B. subtilis was the most effective in controlling the disease when applied before and simultaneously with pathogen.

The Constitutional-Judicial Control of the Legislative and Executive Powers in Central and Eastern European Countries

This project looked at the nature, contents, methods, means and legal and political effects of the influence that constitutional courts exercise upon the legislative and executive powers in the newly established democracies of Central and Eastern Europe. The basic hypothesis was that these courts work to provide a limitation of political power within the framework of the principal constitutional values and that they force the legislature and executive to exercise their powers and duties in strict accordance with the constitution. Following a study of the documentary sources, including primarily the relevant constitutional and statutory provisions and decisions of constitutional courts, Mr. Cvetkovski prepared a questionnaire on various aspects of the topics researched and sent it to the respective constitutional courts. A series of direct interviews with court officials in six of the ten countries then served to clarify a large number of questions relating to differences in procedures etc. that arose from the questionnaires. As a final stage, the findings were compared with those described in recent publications on constitutional control in general and in Central and Eastern Europe in particular. The study began by considering the constitutional and political environment of the constitutional courts' activities in controlling legislative and executive powers, which in all countries studied are based on the principles of the rule of law and the separation of powers. All courts are separate bodies with special status in terms of constitutional law and are independent of other political and judicial institutions. The range of matters within their jurisdiction is set by the constitution of the country in question but in all cases can be exercised only with the framework of procedural rules. This gives considerable significance to the question of who sets these rules and different countries have dealt with it in different ways. In some there is a special constitutional law with the same legal force as the constitution itself (Croatia), the majority of countries allow for regulation by an ordinary law, Macedonia gives the court the autonomy to create and change its own rules of procedure, while in Hungary the parliament fixes the rules on procedure at the suggestion of the constitutional court. The question of the appointment of constitutional judges was also considered and of the mechanisms for ensuring their impartiality and immunity. In the area of the courts' scope for providing normative control, considerable differences were found between the different countries. In some cases the courts' jurisdiction is limited to the normative acts of the respective parliaments, and there is generally no provision for challenging unconstitutional omissions by legislation and the executive. There are, however, some situations in which they may indirectly evaluate the constitutionality of legislative omissions, as when the constitution contains provision for a time limit on enacting legislation, when the parliament has made an omission in drafting a law which violates the constitutional provisions, or when a law grants favours to certain groups while excluding others, thereby violating the equal protection clause of the constitution. The control of constitutionality of normative acts can be either preventive or repressive, depending on whether it is implemented before or after the promulgation of the law or other enactment being challenged. In most countries in the region the constitutional courts provide only repressive control, although in Hungary and Poland the courts are competent to perform both preventive and repressive norm control, while in Romania the court's jurisdiction is limited to preventive norm control. Most countries are wary of vesting constitutional courts with preventive norm control because of the danger of their becoming too involved in the day-to-day political debate, but Mr. Cvetkovski points out certain advantages of such control. If combined with a short time limit it can provide early clarification of a constitutional issue, secondly it avoids the problems arising if a law that has been in force for some years is declared to be unconstitutional, and thirdly it may help preserve the prestige of the legislation. Its disadvantages include the difficulty of ascertaining the actual and potential consequences of a norm without the empirical experience of the administration and enforcement of the law, the desirability of a certain distance from the day-to-day arguments surrounding the political process of legislation, the possible effects of changing social and economic conditions, and the danger of placing obstacles in the way of rapid reactions to acute situations. In the case of repressive norm control, this can be either abstract or concrete. The former is initiated by the supreme state organs in order to protect abstract constitutional order and the latter is initiated by ordinary courts, administrative authorities or by individuals. Constitutional courts cannot directly oblige the legislature and executive to pass a new law and this remains a matter of legislative and executive political responsibility. In the case of Poland, the parliament even has the power to dismiss a constitutional court decision by a special majority of votes, which means that the last word lies with the legislature. As the current constitutions of Central and Eastern European countries are newly adopted and differ significantly from the previous ones, the courts' interpretative functions should ensure a degree of unification in the application of the constitution. Some countries (Bulgaria, Hungary, Poland, Slovakia and Russia) provide for the constitutional courts' decisions to have a binding role on the constitutions. While their decisions inevitably have an influence on the actions of public bodies, they do not set criteria for political behaviour, which depends rather on the overall political culture and traditions of the society. All constitutions except that of Belarus, provide for the courts to have jurisdiction over conflicts arising from the distribution of responsibilities between different organs and levels in the country, as well for impeachment procedures against the head of state, and for determining the constitutionality of political parties (except in Belarus, Hungary, Russia and Slovakia). All the constitutions studied guarantee individual rights and freedoms and most courts have jurisdiction over complaints of violation of these rights by the constitution. All courts also have some jurisdiction over international agreements and treaties, either directly (Belarus, Bulgaria and Hungary) before the treaty is ratified, or indirectly (Croatia, Czech Republic, Macedonia, Romania, Russia and Yugoslavia). In each country the question of who may initiate proceedings of norm control is of central importance and is usually regulated by the constitution itself. There are three main possibilities: statutory organs, normal courts and private individuals and the limitations on each of these is discussed in the report. Most courts are limited in their rights to institute ex officio a full-scale review of a point of law, and such rights as they do have rarely been used. In most countries courts' decisions do not have any binding force but must be approved by parliament or impose on parliament the obligation to bring the relevant law into conformity within a certain period. As a result, the courts' position is generally weaker than in other countries in Europe, with parliament remaining the supreme body. In the case of preventive norm control a finding of unconstitutionality may act to suspend the law and or to refer it back to the legislature, where in countries such as Romania it may even be overturned by a two-thirds majority. In repressive norm control a finding of unconstitutionality generally serves to take the relevant law out of legal force from the day of publication of the decision or from another date fixed by the court. If the law is annulled retrospectively this may or may not bring decisions of criminal courts under review, depending on the provisions laid down in the relevant constitution. In cases relating to conflicts of competencies the courts' decisions tend to be declaratory and so have a binding effect inter partes. In the case of a review of an individual act, decisions generally become effective primarily inter partes but is the individual act has been based on an unconstitutional generally binding normative act of the legislature or executive, the findings has quasi-legal effect as it automatically initiates special proceedings in which the law or other regulation is to be annulled or abrogated with effect erga omnes. This wards off further application of the law and thus further violations of individual constitutional rights, but also discourages further constitutional complaints against the same law. Thus the success of one individual's complaint extends to everyone else whose rights have equally been or might have been violated by the respective law. As the body whose act is repealed is obliged to adopt another act and in doing so is bound by the legal position of the constitutional court on the violation of constitutionally guaranteed freedoms and rights of the complainant, in this situation the decision of the constitutional court has the force of a precedent.

Hypoglycin A concentrations in seeds of Acer pseudoplatanus trees growing on atypical myopathy-affected and control pastures.

BACKGROUND Hypoglycin A, found in seeds of Acer negundo, appears to cause seasonal pasture myopathy (SPM) in North America and is implicated in atypical myopathy (AM) in Europe. Acer negundo is uncommon in Europe. Thus, the potential source of hypoglycin A in Europe is unknown. HYPOTHESIS AND OBJECTIVES We hypothesized that seeds of Acer pseudoplatanus were the source of hypoglycin A in Europe. Our objective was to determine the concentration of hypoglycin A in seeds of A. pseudoplatanus trees located in pastures where previous cases of AM had occurred. ANIMALS None. METHODS University of Berne records were searched to retrospectively identify 6 farms with 10 AM cases and 11 suspected AM deaths between 2007 and 2011. During October 2012, A. pseudoplatanus seeds were collected from 2 to 6 trees per pasture on 6 AM farms (7 pastures) from trees in or close to 2 pastures on 2 control farms where AM had not been previously reported. Hypoglycin A in seeds was analyzed by GC-MS. RESULTS Acer pseudoplatanus trees were identified on all AM pastures. Hypoglycin A was detected in all A. pseudoplatanus seeds in highly variable concentrations ranging from 0.04 to 2.81 μg/mg (mean 0.69) on AM farms and 0.10 to 9.12 μg/mg (mean 1.59) on control farms. CONCLUSION AND CLINICAL IMPORTANCE Preventing horses from grazing pastures containing A. pseudoplatanus seeds during late fall and early spring might be the best means to prevent AM.

Ecotoxicity of insecticides of frequent use in tomatoes on Trichogramma achaeae (Hymenoptera: Trichogrammatidae)

Since Tuta absoluta(Meyrick) (Lepidoptera: Gelechiidae) was detected in 2006 as a new pest in tomato crops in Spain, several natural enemies have been reported tocontrol this pest. In biological control programs, the native parasitoid Trichogramma achaeae Nagaraja&Nagarkatti (Hymenoptera: Trichogrammatidae) is used against T.absoluta. However, the most common control practice is based on use of pesticides,and in the frame of Integrated Pest Management (IPM) programs, the knowledge on the activity of insecticides towards beneficial insects is needed for its joint use. In thiswork, we evaluated lethal and sublethal effects of insecticides commonly applied on tomato crops on adults of T. achaeae. Pesticides were sprayed on tomato plants or T. Absoluta eggs till run off at their maximum field recommended concentration. Mortality was scored after 24, 48 and 72 hours, as well as beneficial capacity and percentage of emergence.

Report on State sediment control institutes program.

Appendices (p. 1-14): A. Model state act for soil erosion and sediment control--B. Selected bibliography on sediment control.

Bibliography of textbooks and journals on statistics and statistical quality control.

"Compiled by a task group under the chairmanship of E. J. Delate."