Biologically inspired joint control for a humanoid robot

The GuRm is a 1.2m tall, 23 degree of freedom humanoid consuucted at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRw projcct is the development of appropriate learning strategies for control and coodinadon of the robot’s many joints. The development of learning strategies is Seen as a way to sidestep the inherent intricacy of modeling a multi-DOP biped robot. This paper outlines the approach taken to generate an appmpria*e control scheme for the joinis of the GuRoo. The paper demonsrrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-fonward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on thc CMAC architecture. Results from tats on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.

Setting parameters in MRP for the effective management of bought-out inventory in a JIT assembly environment

In recent years, UK industry has seen an explosive growth in the number of `Computer Aided Production Management' (CAPM) system installations. Of the many CAPM systems, materials requirement planning/manufacturing resource planning (MRP/MRPII) is the most widely implemented. Despite the huge investments in MRP systems, over 80 percent are said to have failed within 3 to 5 years of installation. Many people now assume that Just-In-Time (JIT) is the best manufacturing technique. However, those who have implemented JIT have found that it also has many problems. The author argues that the success of a manufacturing company will not be due to a system which complies with a single technique; but due to the integration of many techniques and the ability to make them complement each other in a specific manufacturing environment. This dissertation examines the potential for integrating MRP with JIT and Two-Bin systems to reduce operational costs involved in managing bought-out inventory. Within this framework it shows that controlling MRP is essential to facilitate the integrating process. The behaviour of MRP systems is dependent on the complex interactions between the numerous control parameters used. Methodologies/models are developed to set these parameters. The models are based on the Pareto principle. The idea is to use business targets to set a coherent set of parameters, which not only enables those business targets to be realised, but also facilitates JIT implementation. It illustrates this approach in the context of an actual manufacturing plant - IBM Havant. (IBM Havant is a high volume electronics assembly plant with the majority of the materials bought-out). The parameter setting models are applicable to control bought-out items in a wide range of industries and are not dependent on specific MRP software. The models have produced successful results in several companies and are now being developed as commercial products.

Flexible Power Control of Photovoltaic Plants Connected to Distribution Networks

This paper presents a system to control the power injected by a photovoltaic (PV) plant on the receiving network. This control is intended to mitigate some of the negative impacts that these units may produce on such networks, while increasing the installed power of the plant. The controlled parameters are the maximum allowed value of injected active power and the corresponding power factor, whose setpoints values may be fixed or dynamic. The developed system allows a local and a remote control. The injected power and the corresponding power factor may be set by following a predetermined profile or by real time adjustments to fulfill specific operation constraints on the receiving network. The system acts by adjusting the control parameters on the PV inverters. The main goal of the system is, in the end, to control the PV plant, ensuring the accomplishment of technical constraints and, at the same time, maximizing the installed power of the PV plant, which may be an important issue concerning the economic performance of such plants

Water Delivery Quality and Automatic Control Modes in Irrigation Canals. A Case Study.

Regarding canal management modernization, water savings and water delivery quality, the study presents two automatic canal control approaches of the PI (Proportional and Integral) type: the distant and the local downstream control modes. The two PI controllers are defined, tuned and tested using an hydraulic unsteady flow simulation model, particularly suitable for canal control studies. The PI control parameters are tuned using optimization tools. The simulations are done for a Portuguese prototype canal and the PI controllers are analyzed and compared considering a demand-oriented-canal operation. The paper presents and analyzes the two control modes answers for five different offtake types – gate controlled weir, gate controlled orifice, weir with or without adjustable height and automatic flow adjustable offtake. The simulation results are compared using water volumes performance indicators (considering the demanded, supplied and the effectives water volumes) and a time indicator, defined taking into account the time during which the demand discharges are effective discharges. Regarding water savings, the simulation results for the five offtake types prove that the local downstream control gives the best results (no water operational losses) and that the distant downstream control presents worse results in connection with the automatic flow adjustable offtakes. Considering the water volumes and time performance indicators, the best results are obtained for the automatic flow adjustable offtakes and the worse for the gate controlled orifices, followed by the weir with adjustable height.

Development and experimental validation of a knock induced damage model and real-time implementation of model-based strategies to control knock intensity in boosted gasoline engines

This PhD thesis reports the main activities carried out during the 3 years long “Mechanics and advanced engineering sciences” course, at the Department of Industrial Engineering of the University of Bologna. The research project title is “Development and analysis of high efficiency combustion systems for internal combustion engines” and the main topic is knock, one of the main challenges for boosted gasoline engines. Through experimental campaigns, modelling activity and test bench validation, 4 different aspects have been addressed to tackle the issue. The main path goes towards the definition and calibration of a knock-induced damage model, to be implemented in the on-board control strategy, but also usable for the engine calibration and potentially during the engine design. Ionization current signal capabilities have been investigated to fully replace the pressure sensor, to develop a robust on-board close-loop combustion control strategy, both in knock-free and knock-limited conditions. Water injection is a powerful solution to mitigate knock intensity and exhaust temperature, improving fuel consumption; its capabilities have been modelled and validated at the test bench. Finally, an empiric model is proposed to predict the engine knock response, depending on several operating condition and control parameters, including injected water quantity.

Feedback control of underactuated cable-driven parallel robots

In this work an Underactuated Cable-Driven Parallel Robot (UACDPR) that operates in the three dimensional Euclidean space is considered. The End-Effector has 6 degrees of freedom and is actuated by 4 cables, therefore from a mechanical point of view the robot is defined underconstrained. However, considering only three controlled pose variables, the degree of redundancy for the control theory can be considered one. The aim of this thesis is to design a feedback controller for a point-to-point motion that satisfies the transient requirements, and is capable of reducing oscillations that derive from the reduced number of constraints. A force control is chosen for the positioning of the End-Effector, and error with respect to the reference is computed through data measure of several sensors (load cells, encoders and inclinometers) such as cable lengths, tension and orientation of the platform. In order to express the relation between pose and cable tension, the inverse model is derived from the kinematic and dynamic model of the parallel robot. The intrinsic non-linear nature of UACDPRs systems introduces an additional level of complexity in the development of the controller, as a result the control law is composed by a partial feedback linearization, and damping injection to reduce orientation instability. The fourth cable allows to satisfy a further tension distribution constraint, ensuring positive tension during all the instants of motion. Then simulations with different initial conditions are presented in order to optimize control parameters, and lastly an experimental validation of the model is carried out, the results are analysed and limits of the presented approach are defined.

Estimating cardiovascular risk in patients with type 2 diabetes: a national multicenter study in Brazil

According to Brazilian National Data Survey diabetes is the fifth cause for hospitalization and is one of the ten major causes of mortality in this country. Aims to stratify the estimated cardiovascular risk (eCVR) in a population of type 2 diabetics (T2DM) according to the Framingham prediction equations as well as to determine the association between eCVR with metabolic and clinical control of the disease. Methods From 2000 to 2001 a cross-sectional multicenter study was conducted in 13 public out-patients diabetes/endocrinology clinics from 8 Brazilian cities. The 10-year risk of developing coronary heart disease (CHD) was estimated by the prediction equations described by Wilson et al (Circulation 1998). LDL equations were preferably used; when patients missed LDL data we used total cholesterol equations instead. Results Data from 1382 patients (59.0% female) were analyzed. Median and inter-quartile range (IQ) of age and duration of diabetes were 57.4 (51-65) and 8.8 (3-13) years, respectively without differences according to the gender. Forty-two percent of these patients were overweight and 35.4% were obese (the prevalence of higher BMI and obesity in this T2DM group was significantly higher in women than in men; p < 0.001). The overall estimated eCVR in T2DM patients was 21.4 (13.5-31.3). The eCVR was high (> 20%) in 738 (53.4%), intermediate in 202 (14.6%) and low in 442 (32%) patients. Men [25.1(15.4-37.3)] showed a higher eCVR than women [18.8 (12.4-27.9) p < 0.001]. The most common risk factor was high LDL-cholesterol (80.8%), most frequently found in women than in men (p = 0.01). The median of risk factors present was three (2-4) without gender differences. Overall we observed that 60 (4.3%) of our patients had none, 154(11.1%) one, 310 (22.4%) two, 385 (27.9%) three, 300 (21.7%) four, 149 (10.5%) five and six, (2%) six risk factors. A higher eCVR was noted in overweight or obese patients (p = 0.01 for both groups). No association was found between eCVR with age or a specific type of diabetes treatment. A correlation was found between eCVR and duration of diabetes (p < 0.001), BMI (p < 0.001), creatinine (p < 0.001) and triglycerides levels (p < 0.001) but it was not found with HbA1c, fasting blood glucose and postprandial glucose. A higher eCVR was observed in patients with retinopathy (p < 0.001) and a tendency in patients with microalbuminuria (p = 0.06). Conclusion: our study showed that in this group of Brazilian T2DM the eCVR was correlated with the lipid profile and it was higher in patients with microvascular chronic complications. No correlation was found with glycemic control parameters. These data could explain the failure of intensive glycemic control programs aiming to reduce cardiovascular events observed in some studies.

A New Generation of X Ray Irradiators for Insect Sterilization

Recent fears of terrorism have provoked an increase in delays and denials of transboundary shipments of radioisotopes. This represents a serious constraint to sterile insect technique (SIT) programs around the world as they rely on the use of ionizing radiation from radioisotopes for insect sterilization. To validate a novel X ray irradiator, a series of studies on Ceratitis capitata (Wiedemann) and Anastrepha fraterculus (Wiedemann) (Diptera: Tephritidae) were carried out, comparing the relative biological effectiveness (RBE) between X rays and traditional gamma radiation from (60)Co. Male C. capitata pupae and pupae of both sexes of A. fraterculus, both 24 - 48 h before adult emergence, were irradiated with doses ranging from 15 to 120 Gy and 10-70 Gy, respectively. Estimated mean doses of 91.2 Gy of X and 124.9 Gy of gamma radiation induced 99% sterility in C. capitata males, Irradiated A. fraterculus were 99% sterile at approximate to 40-60 Gy for both radiation treatments. Standard quality control parameters and mating indices were not significantly affected by the two types of radiation. The RBE did not differ significantly between the tested X and gamma radiation, and X rays are as biologically effective for SIT purposes as gamma rays are. This work confirms the suitability of this new generation of X ray irradiators for pest control programs that integrate the SIT.

Care during freeze-drying of bovine pericardium tissue to be used as a biomaterial: A comparative study

Bovine pericardium (BP) tissue is widely used in the manufacture of bioprosthetics. The effects of freeze-drying on the BP tissue have been studied by some researchers in order to decrease their cytotoxicity due to preservation in formaldehyde solution, and to increase the lifetime of the product in storage. This study was undertaken in order to study the effect of freeze-drying in the structure of BP. To perform this study BP samples were freeze-dried in two different types of freeze-dryers available in our laboratory: a laboratory freeze-dryer, in which it was not possible to control parameters and a pilot freeze-dryer, wherein all parameters during freezing and drying were controlled. After freeze-drying processes, samples were analyzed by SEM, Raman spectroscopy, tensile strength, water uptake tests and TEM. In summary, it has been demonstrated that damages occur in collagen fibers by the loss of bulk water of collagen structure implicating in a drastic decreasing of BP mechanical properties due to its structural alterations. Moreover, it was proven that the collagen fibrils suffered breakage at some points, which can be attributed to the uncontrolled parameters during drying. (C) 2011 Elsevier Inc. All rights reserved.

Metodologias e Ferramentas da Gestão da Manutenção e da Metrologia numa Unidade Hospitalar

A metrologia na saúde tem um elevado grau de importância no quotidiano hospitalar dado que muitas decisões são tomadas com base em medições. Além disso, a constante evolução tecnológica na área da saúde e o número crescente de parâmetros fisiológicos dos equipamentos médicos exige a constante preocupação com o controlo metrológico. Assim, o funcionamento eficiente destes poderá contribuir para a segurança, uma melhor e mais rápida recuperação do doente e, consequentemente, um aumento do tempo de vida do equipamento, o que por sua vez se reflete numa maior economia de custos. A otimização de protocolos de metrologia em saúde, a elaboração de planos de controlo para validação de equipamentos médicos-hospitalares, a sensibilização de profissionais de saúde para o controlo metrológico, assim como o conhecimento das aplicações informáticas da organização são essenciais para uma eficaz gestão da manutenção hospitalar. O Serviço de Instalações e Equipamentos do Centro Hospitalar do Tâmega e Sousa, trabalha no sentido de assegurar uma resposta rápida, otimizada e eficiente para satisfazer as necessidades hospitalares através da aplicação de metodologias e ferramentas da qualidade destinadas à metrologia em saúde. Assim, o objetivo principal deste trabalho é apresentar metodologias e ferramentas aplicadas no controlo de parâmetros de equipamentos médico-hospitalares tais como, dispositivos de infusão, monitores de sinais vitais, eletrocardiógrafos, cardiotocógrafos, desfibrilhadores, incubadoras, aparelhos de fototerapia, bem como, o processo de gestão da manutenção aplicado pelo Serviço de Instalações e Equipamentos. Neste sentido foi possível demonstrar que o controlo metrológico é de extrema importância para uma instituição hospitalar.

An agent-based evolutionary approach for manufacturing system layout design

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

MAC regenerative analysis of wireless Ad-Hoc networks

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

Artificial diets for the production of natural enemies (predators and parasitoids) of greenhouse pest insects

The aim of this contract was to finalise in vitro rearing on artificial diets of entomophagous insects useful to control insect pests mainly in greenhouses through an analytical and rational approach. The work focuses on the development and optimisation of artificial diets for one coccinellid (Harmonia axyridis), two heteropteran predators (Orius laevigatus, Dicyphus tamaninii), and a braconid parasitoid of aphids (Aphidius ervi). The definition of the artificial diets was based on biochemical analyses of their natural food (aphids) or substitution food for the predators (Ephestia kuehniella eggs). Reliable quality control parameters of the entomophages produced were used in order to adjust dietary composition and formulation of the different diets tested.

Visual binding abilities in the initial and advanced stages of schizophrenia

OBJECTIVE: The study tests the hypothesis that intramodal visual binding is disturbed in schizophrenia and should be detectable in all illness stages as a stable trait marker. METHOD: Three groups of patients (rehospitalized chronic schizophrenic, first admitted schizophrenic and schizotypal patients believed to be suffering from a pre-schizophrenic prodrome) and a group of normal control subjects were tested on three tasks targeting visual 'binding' abilities (Muller-Lyer's illusion and two figure detection tasks) in addition to control parameters such as reaction time, visual selective attention, Raven's test and two conventional cortical tasks of spatial working memory (SWM) and a global local test. RESULTS: Chronic patients had a decreased performance on the binding tests. Unexpectedly, the prodromal group exhibited an enhanced Gestalt extraction on these tests compared both to schizophrenic patients and to healthy subjects. Furthermore, chronic schizophrenia was associated with a poor performance on cortical tests of SWM, global local and on Raven. This association appears to be mediated by or linked to the chronicity of the illness. CONCLUSION: The study confirms a variety of neurocognitive deficits in schizophrenia which, however, in this sample seem to be linked to chronicity of illness. However, certain aspects of visual processing concerned with Gestalt extraction deserve attention as potential vulnerability- or prodrome- indicators. The initial hypothesis of the study is rejected.

Disseny i muntatge d'un mòdul d'entrades digitals per comunicació modbus

Actualment l’exigència i la competitivitat del mercat, obliguen les industries a modernitzar-se i automatitzar tots els seus processos productius. En aquests processos les dades i paràmetres de control són dades fonamentals a verificar. Amb aquest treball final de carrera, es pretén realitzar un mòdul d’entrades digitals, per tal de gestionar les dades rebudes d’un procés automatitzat. L’objectiu d’aquest TFC ha estat dissenyar un mòdul d’entrades digitals capaç de gestionar dades de qualsevol tipus de procés automatitzat i transmetre-les a un mestremitjançant un bus de comunicació Modbus. El projecte però, s’ha centrat en el cas específic d’un procés automatitzat per al tractament de la fusta. El desenvolupament d’aquest sistema, comprèn el disseny del circuit, la realització de la placa, el software de lectura de dades i la implementació del protocol Modbus. Tot el mòdul d’entrades està controlat per un microcontrolador PIC 18F4520. El disseny és un sistema multiplataforma per tal d’adaptar-se a qualsevol procés automàtic i algunes de les seves característiques més rellevants són: entrades aïllades multitensió, control de fugues, sortides a relé, i memòria externa de dades, entre altres. Com a conclusions cal dir que s’han assolit els objectius proposats amb èxit. S’ha aconseguit un disseny robust, fiable, polivalent i altament competitiu en el mercat. A nivell acadèmic, s’han ampliat els coneixements en el camp del disseny i de la programació.