Controle a estrutura variável para atenuar modos ressonantes em servomecanismos.

Nesta dissertação é mostrada experimentalmente a existência de modos ressonantes em servomotores de corrente contínua sem núcleo de ferro. Até onde se sabe, não já publicações ou documentos técnicos de fabricantes que relatam esse efeito neste tipo de motor. Foi observado também que a frequência da ressonância é variável e que possivelmente depende da temperatura interna do motor. Conforme e mostrado em simulações técnicas tradicionais para o controle de motores podem não ser eficazes para lidar com esses modos ressonantes. Com o objetivo de amortecer a ressonância e obter o controle de velocidade e posição desses motores, são desenvolvidos controladores por modo deslizante baseados em funções de chaveamento obtidas por observadores de alto ganho. Esse controle e robusto a incertezas paramétricas e perturbações. Com o auxílio de simulações são mostrados os pontos fortes e limitações de cada um dos controladores.

Abordagens estereológica e imunohistoquímica no câncer de próstata: uma reavaliação diagnóstica e possível terapêutica

Os esforços para melhorar o diagnóstico, o prognóstico e a vigilância do câncer de próstata (CaP) são relevantes. A superestimação do Escore de Gleason (GSC) pode submeter os indivíduos a um tratamento agressivo desnecessário. Foi tido como objetivo utilizar a estereologia em avaliações do CaP e investigar se o volume nuclear médio (VNM) correlaciona-se com o padrão primário de Gleason (Gpp), a fim de buscar um método alternativo devido à subjetividade do Escore de Gleason, que seja aquele, um método confiável e objetivo, sem discordância interobservador. Para isso, identificamos 74 amostras de prostatectomia radical, que foram divididos em seis grupos com base no Gpp, de 3 a 5. Controles (C) foram adquiridos em regiões não tumorais pareadas das mesmas amostras. O VNM foi estimado utilizando o método de "intersecção dos pontos amostrados". Diferenças estatísticas do VNM entre os grupos C e os grupos Gpp foram testadas utilizando o teste de Kruskall-Wallis e pós- teste de Dunn. As diferenças entre cada grupo Gpp e seus homólogos foram testados com o teste de Wilcoxon. As correlações foram avaliadas com a correlação de Spearman (R [Spearman]). As correlações entre o antígeno prostático específico (PSA) e o GSC (R [Spearman] de 0,76) e entre o PSA e o VNM (R [Spearman] de 0,78) foram moderadamente forte e altamente significativa, e a correlação entre o VNM e o Gpp (R [Spearman] de 0,53) foi moderada e altamente significativa. O VNM foi significativamente maior em regiões cancerígenas em comparação as regiões de controle-pareado. O planejamento adequado de um estudo, bem como a disponibilidade de equipamentos e softwares para a quantificação morfológica, pode proporcionar incentivo para rapidez e precisão para estimar o VNM como parâmetro auxiliar na avaliação do câncer de próstata. A reprodutibilidade falha interobservador do GSC tem mostrado possíveis conduções equivocadas dos pacientes portadores de CaP. O VNM representa um método reprodutível de classificação objetiva para o câncer de próstata. Portanto, os dados atuais favorecem o uso de VNM associado com GSC e o PSA na avaliação do câncer de próstata.

The calculation of acoustic shielding of engine noise by the Silent Aircraft Airframe

The Silent Aircraft airframe has a flying wing design with a large wing planform and a propulsion system embedded in the rear of the airframe with intake on the upper surface of the wing. In the present paper, boundary element calculations are presented to evaluate acoustic shielding at low frequencies. Besides the three-dimensional geometry of the Silent Aircraft airframe, a few two-dimensional problems are considered that provide some physical insight into the shielding calculations. Mean flow refraction effects due to forward flight motion are accounted for by a simple time transformation that decouples the mean-flow and acoustic-field calculations. It is shown that significant amount of shielding can be obtained in the shadow region where there is no direct line of sight between the source and observer. The boundary element solutions are restricted to low frequencies. We have used a simple physically-based model to extend the solution to higher frequencies. Based on this model, using a monopole acoustic source, we predict at least an 18 dBA reduction in the overall sound pressure level of forward-propagating fan noise because of shielding.

Co-occurrence of bycatch and target species in the groundfish demersal trawl fishery of the U.S. west coast; with special consideration of rebuilding stocks

Bycatch and resultant discard mortality are issues of global concern. The groundfish demersal trawl fishery on the west coast of the United States is a multispecies fishery with significant catch of target and nontarget species. These catches are of particular concern in regard to species that have previously been declared overfished and are currently rebuilding biomass back to target levels. To understand these interactions better, we used data from the West Coast Groundfish Observer Program in a series of cluster analyses to evaluate 3 questions: 1) Are there identifiable associations between species caught in the bottom trawl fishery; 2) Do species that are undergoing population rebuilding toward target biomass levels (“rebuilding species”) cluster with targeted species in a consistent way; 3) Are the relationships between rebuilding bycatch species and target species more resolved at particular spatial scales or are relationships spatially consistent across the whole data set? Two strong species clusters emerged—a deepwater slope cluster and a shelf cluster—neither of which included rebuilding species. The likelihood of encountering rebuilding rockfish species is relatively low. To evaluate whether weak clustering of rebuilding rockfish was attributable to their low rate of occurrence, we specified null models of species occurrence. Results indicated that the ability to predict occurrence of rebuilding rockfish when target species were caught was low. Cluster analyses performed at a variety of spatial scales indicated that the most reliable clustering of rebuilding species was at the spatial scale of individual fishing ports. This finding underscores the value of spatially resolved data for fishery management.

Inferring visuomotor priors for sensorimotor learning.

Sensorimotor learning has been shown to depend on both prior expectations and sensory evidence in a way that is consistent with Bayesian integration. Thus, prior beliefs play a key role during the learning process, especially when only ambiguous sensory information is available. Here we develop a novel technique to estimate the covariance structure of the prior over visuomotor transformations--the mapping between actual and visual location of the hand--during a learning task. Subjects performed reaching movements under multiple visuomotor transformations in which they received visual feedback of their hand position only at the end of the movement. After experiencing a particular transformation for one reach, subjects have insufficient information to determine the exact transformation, and so their second reach reflects a combination of their prior over visuomotor transformations and the sensory evidence from the first reach. We developed a Bayesian observer model in order to infer the covariance structure of the subjects' prior, which was found to give high probability to parameter settings consistent with visuomotor rotations. Therefore, although the set of visuomotor transformations experienced had little structure, the subjects had a strong tendency to interpret ambiguous sensory evidence as arising from rotation-like transformations. We then exposed the same subjects to a highly-structured set of visuomotor transformations, designed to be very different from the set of visuomotor rotations. During this exposure the prior was found to have changed significantly to have a covariance structure that no longer favored rotation-like transformations. In summary, we have developed a technique which can estimate the full covariance structure of a prior in a sensorimotor task and have shown that the prior over visuomotor transformations favor a rotation-like structure. Moreover, through experience of a novel task structure, participants can appropriately alter the covariance structure of their prior.

Computational approaches to motor control.

This review will focus on four areas of motor control which have recently been enriched both by neural network and control system models: motor planning, motor prediction, state estimation and motor learning. We will review the computational foundations of each of these concepts and present specific models which have been tested by psychophysical experiments. We will cover the topics of optimal control for motor planning, forward models for motor prediction, observer models of state estimation arid modular decomposition in motor learning. The aim of this review is to demonstrate how computational approaches, as well as proposing specific models, provide a theoretical framework to formalize the issues in motor control.

Fish lost at sea: the effect of soak time on pelagic longline catches

Our analyses of observer records reveal that abundance estimates are strongly influenced by the timing of longline operations in relation to dawn and dusk and soak time— the amount of time that baited hooks are available in the water. Catch data will underestimate the total mortality of several species because hooked animals are “lost at sea.” They fall off, are removed, or escape from the hook before the longline is retrieved. For example, longline segments with soak times of 20 hours were retrieved with fewer skipjack tuna and seabirds than segments with soak times of 5 hours. The mortality of some seabird species is up to 45% higher than previously estimated. The effects of soak time and timing vary considerably between species. Soak time and exposure to dusk periods have strong positive effects on the catch rates of many species. In particular, the catch rates of most shark and billfish species increase with soak time. At the end of longline retrieval, for example, expected catch rates for broadbill swordfish are four times those at the beginning of retrieval. Survival of the animal while it is hooked on the longline appears to be an important factor determining whether it is eventually brought on board the vessel. Catch rates of species that survive being hooked (e.g. blue shark) increase with soak time. In contrast, skipjack tuna and seabirds are usually dead at the time of retrieval. Their catch rates decline with time, perhaps because scavengers can easily remove hooked animals that are dead. The results of our study have important implications for fishery management and assessments that rely on longline catch data. A reduction in soak time since longlining commenced in the 1950s has introduced a systematic bias in estimates of mortality levels and abundance. The abundance of species like seabirds has been over-estimated in recent years. Simple modifications to procedures for data collection, such as recording the number of hooks retrieved without baits, would greatly improve mortality estimates.

Bycatch of billfishes by the European tuna purse-seine fishery in the Atlantic Ocean

Billfishes are a component of offshore ecosystems; thus it is important to quantify the impact of the tuna fishery on these species in the world’s ocean. The aim of this study was to assess the bycatch of billfishes generated by the tropical tuna purse-seine fishery in the eastern Atlantic Ocean. Information on bycatch was collected by observers at sea during the European Union Bigeye Program. With a total of 62 observers’ trips, conducted on Spanish and French vessels between June 1997 and May 1999, this project is the biggest observer program ever carried out in the European tuna purse-seine fishery. This study showed that billfish bycatch by the purse seiners is very low (less than 0.021% of the total tuna catches and less than 10% of the total billfish catches currently reported). A Monte Carlo simulation was performed to account for some uncertainties in the fishing strategies of purse seiners operating in this ocean. One of the findings of this study indicated that the temporary moratorium on fishing with FADs (fish aggregating devices), adopted by the European purse-seine fishery in the eastern Atlantic Ocean, produced a decrease in incidental catches of marlins from 600–700 metric tons (t) to less than 300 t. In contrast, this trend was reversed for sailfishes, for which the bycatch increased from 25 t to 45 t. The difficulty of defining indices that express the conservation status in marine fishes and that gauge key ecosystem parameters and the need to promote an ecosystem approach for large-pelagic-resource management which takes into account biologic and socioeconomic criteria are briefly discussed.

Designing MPC controllers by reverse-engineering existing LTI controllers

This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when constraints are inactive. The baseline controller is cast into an observer-compensator form and an inverse-optimal cost function is used as the basis of the MPC controller. The available degrees of design freedom are explored, and some guidelines provided for the selection of an appropriate observer-compensator realisation that will best allow exploitation of the constraint-handling and redundancy management capabilities of MPC. Consideration is given to output setpoint tracking, and the method is demonstrated with three different multivariable plants of varying complexity.

Comparison of different scheduling techniques for H-infinity controllers

Several approaches to designing schedule H-infinity control systems are compared. These include a controller switching approach and also parameter scheduling of an observer representation of the controller. They are illustrated by application to a Generic VSTOI. Aircraft Model (GVAM) supplied by The Royal Aerospace Establishment (RAE) at Bedford. The switched design has been tested on the simulator at RAE Bedford. The linear H-infinity designs make use of a loop-shaping followed by robust stabilisation to additive perturbations of a normalised coprime factorisation of the shaped plans. The different scheduling approaches are compared with respect to achieved robust stability levels. performance and complexity of implementation.

An aerial survey for surface tuna resources in the seas around Ceylon

An aerial survey of the off shore range around Ceylon, for a quick evaluation of the potential surface tuna resources, for commercial exploitation, was organised by Mr. Manuel R. Cintas of Ocean Blazer Inc. (Commercial tuna), San Diego, California and his associate Mr. R. Perera. The organisers offered, through the Hon'ble Minister of Fisheries, to take an officer of the Fisheries Research Station, Ceylon, as an observer and the author participated in that capacity. Dr. V. Arkely served as the photographer. The survey period was within the South-West monsoon season and extremely bad weather with high speed winds were experienced particularly off the North-West and South coasts. Except during these two trips, an average altitude of 1,000 ft. and a flying speed of 110-115 m.p.h. were maintained. The program was to cover the off shore range between 15 miles and 50 miles, from shore. The total number of hours of flying was eighteen. Details of the flight plan are shown in figure 1.

Step synchronization and third person speed perception in virtual environment locomotion simulators

Human locomotion is known to be influenced by observation of another person's gait. For example, athletes often synchronize their step in long distance races. However, how interaction with a virtual runner affects the gait of a real runner has not been studied. We investigated this by creating an illusion of running behind a virtual model (VM) using a treadmill and large screen virtual environment showing a video of a VM. We looked at step synchronization between the real and virtual runner and at the role of the step frequency (SF) in the real runner's perception of VM speed. We found that subjects match VM SF when asked to match VM speed with their own (Figure 1). This indicates step synchronization may be a strategy of speed matching or speed perception. Subjects chose higher speeds when VMSF was higher (though VM was 12km/h in all videos). This effect was more pronounced when the speed estimate was rated verbally while standing still. (Figure 2). This may due to correlated physical activity affecting the perception of VM speed [Jacobs et al. 2005]; or step synchronization altering the subjects' perception of self speed [Durgin et al. 2007]. Our findings indicate that third person activity in a collaborative virtual locomotive environment can have a pronounced effect on an observer's gait activity and their perceptual judgments of the activity of others: the SF of others (virtual or real) can potentially influence one's perception of self speed and lead to changes in speed and SF. A better understanding of the underlying mechanisms would support the design of more compelling virtual trainers and may be instructive for competitive athletics in the real world. © 2009 ACM.

Population phylogenomic analysis of mitochondrial DNA in wild boars and domestic pigs revealed multiple domestication events in East Asia

Background: Previously reported evidence indicates that pigs were independently domesticated in multiple places throughout the world. However, a detailed picture of the origin and dispersal of domestic pigs in East Asia has not yet been reported. Results:

Initial modelling and controller design for active control of spacecraft microvibrations

Microvibrations, at frequencies between 1 and 1000 Hz, generated by on board equipment, propagate throughout a spacecraft structure affecting the performance of sensitive payloads. The purpose of this work is to investigate strategies to model and reduce these dynamic disturbances by active control. Initial studies were performed by considering a mass loaded panel where the disturbance excitation source consisted of point forces, the objective being to minimise the displacement at an arbitrary output location. Piezoelectric patches acting as sensors and actuators were used. The equations of motion are derived by using Lagrange's equation with modal shapes as Ritz functions. The number of sensors/actuators and their location is variable. The set of equations obtained is then transformed into state variables and some initial controller design studies have been undertaken. These are based on feedback control implemented using a full state feedback and an observer which reconstructs the state vector from the available sensor signal. Here, the basics behind the structural modelling and controller design will be described. This preliminary analysis will also be used to identify short to medium term further work.

Internal representations of temporal statistics and feedback calibrate motor-sensory interval timing.

Humans have been shown to adapt to the temporal statistics of timing tasks so as to optimize the accuracy of their responses, in agreement with the predictions of Bayesian integration. This suggests that they build an internal representation of both the experimentally imposed distribution of time intervals (the prior) and of the error (the loss function). The responses of a Bayesian ideal observer depend crucially on these internal representations, which have only been previously studied for simple distributions. To study the nature of these representations we asked subjects to reproduce time intervals drawn from underlying temporal distributions of varying complexity, from uniform to highly skewed or bimodal while also varying the error mapping that determined the performance feedback. Interval reproduction times were affected by both the distribution and feedback, in good agreement with a performance-optimizing Bayesian observer and actor model. Bayesian model comparison highlighted that subjects were integrating the provided feedback and represented the experimental distribution with a smoothed approximation. A nonparametric reconstruction of the subjective priors from the data shows that they are generally in agreement with the true distributions up to third-order moments, but with systematically heavier tails. In particular, higher-order statistical features (kurtosis, multimodality) seem much harder to acquire. Our findings suggest that humans have only minor constraints on learning lower-order statistical properties of unimodal (including peaked and skewed) distributions of time intervals under the guidance of corrective feedback, and that their behavior is well explained by Bayesian decision theory.