Analysis of open CNC architecture for machine tools

The evolution of digital circuit technology, leadind to higher speeds and more reliability allowed the development of machine controllers adapted to new production systems (e.g., Flexible Manufacturing Systems - FMS). Most of the controllers are developed in agreement with the CNC technology of the correspondent machine tool manufacturer. Any alterations or adaptation of their components are not easy to be implemented. The machine designers face up hardware and software restrictions such as lack of interaction among system's elements and impossibility of adding new function. This is due to hardware incompatibility and to software not allowing alterations in the source program. The introduction of open architecture philosophy propitiated the evolution of a new generation of numeric controllers. This brought the conventional CNC technology to the standard IBM - PC microcomputer. As a consequence, the characteristics of the CNC (positioning) and the microcomputer (easy of programming, system configuration, network communication etc) are combined. Some researchers have addressed a flexible structure of software and hardware allowing changes in the hardware basic configuration and all control software levels. In this work, the development of open architecture controllers in the OSACA, OMAC, HOAM-CNC and OSEC architectures is described.

Open Environmental Information Upon Disclosure Request in China: The Paradox of Legal Mobilization

Taking a realist view that law is one form of politics, this dissertation studies the roles of citizens and organizations in mobilizing the law to request government agencies to disclose environmental information in China, and during this process, how the socio-legal field interacts with the political-legal sphere, and what changes have been brought about during their interactions. This work takes a socio-legal approach and applies methodologies of social science and legal analysis. It aims to understand the paradox of why and how citizens and entities have been invoking the law to access environmental information despite the fact that various obstacles exist and the effectiveness of the new mechanism of environmental information disclosure still remains low. The study is largely based on the 28 cases and eight surveys of environmental information disclosure requests collected by the author. The cases and surveys analysed in this dissertation all occurred between May 2008, when the OGI Regulations and the OEI Measures came into effect, and August 2012 when the case collection was completed. The findings of this study have shown that by invoking the rules of law made by the authorities to demand government agencies disclosing environmental information, the public, including citizens, organizations, law firms, and the media, have strategically created a repercussive pressure upon the authorities to act according to the law. While it is a top-down process that has established the mechanism of open government information in China, it is indeed the bottom-up activism of the public that makes it work. Citizens and organizations’ use of legal tactics to push government agencies to disclose environmental information have formed not only an end of accessing the information but more a means of making government agencies accountable to their legal obligations. Law has thus played a pivotal role in enabling citizen participation in the political process. Against the current situation in China that political campaigns, or politicization, from general election to collective actions, especially contentious actions, are still restrained or even repressed by the government, legal mobilization, or judicialization, that citizens and organizations use legal tactics to demand their rights and push government agencies to enforce the law, become de facto an alternative of political participation. During this process, legal actions have helped to strengthen the civil society, make government agencies act according to law, push back the political boundaries, and induce changes in the relationship between the state and the public. In the field of environmental information disclosure, citizens and organizations have formed a bottom-up social activism, though limited in scope, using the language of law, creating progressive social, legal and political changes. This study emphasizes that it is partial and incomplete to understand China’s transition only from the top-down policy-making and government administration; it is also important to observe it from the bottom-up perspective that in a realistic view law can be part of politics and legal mobilization, even when utterly apolitical, can help to achieve political aims as well. This study of legal mobilization in the field of environmental information disclosure also helps us to better understand the function of law: law is not only a tool for the authorities to regulate and control, but inevitably also a weapon for the public to demand government agencies to work towards their obligations stipulated by the laws issued by themselves.

Dual light barrier method for six degrees of freedom tool center point calibration of an industrial robot

Tool center point calibration is a known problem in industrial robotics. The major focus of academic research is to enhance the accuracy and repeatability of next generation robots. However, operators of currently available robots are working within the limits of the robot´s repeatability and require calibration methods suitable for these basic applications. This study was conducted in association with Stresstech Oy, which provides solutions for manufacturing quality control. Their sensor, based on the Barkhausen noise effect, requires accurate positioning. The accuracy requirement admits a tool center point calibration problem if measurements are executed with an industrial robot. Multiple possibilities are available in the market for automatic tool center point calibration. Manufacturers provide customized calibrators to most robot types and tools. With the handmade sensors and multiple robot types that Stresstech uses, this would require great deal of labor. This thesis introduces a calibration method that is suitable for all robots which have two digital input ports free. It functions with the traditional method of using a light barrier to detect the tool in the robot coordinate system. However, this method utilizes two parallel light barriers to simultaneously measure and detect the center axis of the tool. Rotations about two axes are defined with the center axis. The last rotation about the Z-axis is calculated for tools that have different width of X- and Y-axes. The results indicate that this method is suitable for calibrating the geometric tool center point of a Barkhausen noise sensor. In the repeatability tests, a standard deviation inside robot repeatability was acquired. The Barkhausen noise signal was also evaluated after recalibration and the results indicate correct calibration. However, future studies should be conducted using a more accurate manipulator, since the method employs the robot itself as a measuring device.

Dose-response effects of systemic anandamide administration in mice sequentially submitted to the open field and elevated plus-maze tests

The endocannabinoid system is involved in the control of many physiological functions, including the control of emotional states. In rodents, previous exposure to an open field increases the anxiety-like behavior in the elevated plus-maze. Anxiolytic-like effects of pharmacological compounds that increase endocannabinoid levels have been well documented. However, these effects are more evident in animals with high anxiety levels. Several studies have described characteristic inverted U-shaped dose-response effects of drugs that modulate the endocannabinoid levels. However, there are no studies showing the effects of different doses of exogenous anandamide, an endocannabinoid, in animal models of anxiety. Thus, in the present study, we determined the dose-response effects of exogenous anandamide at doses of 0.01, 0.1, and 1.0 mg/kg in C57BL/6 mice (N = 10/group) sequentially submitted to the open field and elevated plus-maze. Anandamide was diluted in 0.9% saline, ethyl alcohol, Emulphor® (18:1:1) and administered ip (0.1 mL/10 g body weight); control animals received the same volume of anandamide vehicle. Anandamide at the dose of 0.1 mg/kg (but not of 0.01 or 1 mg/kg) increased (P < 0.05) the time spent and the distance covered in the central zone of the open field, as well as the exploration of the open arms of the elevated plus-maze. Thus, exogenous anandamide, like pharmacological compounds that increase endocannabinoid levels, promoted a characteristic inverted U-shaped dose-response effect in animal models of anxiety. Furthermore, anandamide (0.1 mg/kg) induced an anxiolytic-like effect in the elevated plus-maze (P < 0.05) after exposing the animals to the open field test.

Occupational therapy in spinocerebellar ataxia type 3: an open-label trial

Occupational therapy (OT) is a profession concerned with promoting health and well-being through occupation, by enabling handicapped people to participate in the activities of everyday life. OT is part of the clinical rehabilitation of progressive genetic neurodegenerative diseases such as spinocerebellar ataxias; however, its effects have never been determined in these diseases. Our aim was to investigate the effect of OT on both physical disabilities and depressive symptoms of spinocerebellar ataxia type 3 (SCA3) patients. Genomically diagnosed SCA3 patients older than 18 years were invited to participate in the study. Disability, as evaluated by functional independence measurement and Barthel incapacitation score, Hamilton Rating Scale for Depression, and World Health Organization Quality of Life questionnaire (WHOQOL-BREF), was determined at baseline and after 3 and 6 months of treatment. Twenty-six patients agreed to participate in the study. All were treated because OT prevents blinding of a control group. Fifteen sessions of rehabilitative OT were applied over a period of 6 months. Difficult access to food, clothing, personal hygiene, and leisure were some of the main disabilities focused by these patients. After this treatment, disability scores and quality of life were stable, and the Hamilton scores for depression improved. Since no medication was started up to 6 months before or during OT, this improvement was related to our intervention. No association was found between these endpoints and a CAG tract of the MJD1 gene (CAGn), age, age of onset, or neurological scores at baseline (Spearman test). Although the possibly temporary stabilization of the downhill disabilities as an effect of OT remains to be established, its clear effect on depressive symptoms confirms the recommendation of OT to any patient with SCA3 or spinocerebellar ataxia.

Design of traction transmission and suspension systems for an omni-directional mobile robot

This project aims to design and manufacture a mobile robot with two Universal Robot UR10 mainly used indoors. In order to obtain omni-directional maneuverability, the mobile robot is constructed with Mecanum wheels. The Mecanum wheel can move in any direction with a series of rollers attached to itself. These rollers are angled at 45º about the hub’s circumference. This type of wheels can be used in both driving and steering with their any-direction property. This paper is focused on the design of traction system and suspension system, and the velocity control of Mecanum wheels in the close-loop control system. The mechanical design includes selection of bearing housing, couplers which are act as connection between shafts, motor parts, and other needed components. The 3D design software SolidWorks is utilized to assemble all the components in order to get correct tolerance. The driving shaft is designed based on assembled structure via the software as well. The design of suspension system is to compensate the assembly error of Mecanum wheels to guarantee the stability of the robot. The control system of motor drivers is realized through the Robot Operating System (ROS) on Ubuntu Linux. The purpose of inverse kinematics is to obtain the relationship among the movements of all Mecanum wheels. Via programming and interacting with the computer, the robot could move with required speed and direction.

Diseño de un observador Backstepping para un robot con articulación rotaria flexible

Tesis (Maestro en Ciencias de la Ingeniería Eléctrica con Especialidad en Control) UANL, 2001.

A proteome-wide strategy reveals a novel mechanism of control of cell cycle progression through modulation of cyclin mRNA stability

La quantité de données générée dans le cadre d'étude à grande échelle du réseau d'interaction protéine-protéine dépasse notre capacité à les analyser et à comprendre leur sens; d'une part, par leur complexité et leur volume, et d'un autre part, par la qualité du jeu de donnée produit qui semble bondé de faux positifs et de faux négatifs. Cette dissertation décrit une nouvelle méthode de criblage des interactions physique entre protéines à haut débit chez Saccharomyces cerevisiae, la complémentation de fragments protéiques (PCA). Cette approche est accomplie dans des cellules intactes dans les conditions natives des protéines; sous leur promoteur endogène et dans le respect des contextes de modifications post-traductionnelles et de localisations subcellulaires. Une application biologique de cette méthode a permis de démontrer la capacité de ce système rapporteur à répondre aux questions d'adaptation cellulaire à des stress, comme la famine en nutriments et un traitement à une drogue. Dans le premier chapitre de cette dissertation, nous avons présenté un criblage des paires d'interactions entre les protéines résultant des quelques 6000 cadres de lecture de Saccharomyces cerevisiae. Nous avons identifié 2770 interactions entre 1124 protéines. Nous avons estimé la qualité de notre criblage en le comparant à d'autres banques d'interaction. Nous avons réalisé que la majorité de nos interactions sont nouvelles, alors que le chevauchement avec les données des autres méthodes est large. Nous avons pris cette opportunité pour caractériser les facteurs déterminants dans la détection d'une interaction par PCA. Nous avons remarqué que notre approche est sous une contrainte stérique provenant de la nécessité des fragments rapporteurs à pouvoir se rejoindre dans l'espace cellulaire afin de récupérer l'activité observable de la sonde d'interaction. L'intégration de nos résultats aux connaissances des dynamiques de régulations génétiques et des modifications protéiques nous dirigera vers une meilleure compréhension des processus cellulaires complexes orchestrés aux niveaux moléculaires et structuraux dans les cellules vivantes. Nous avons appliqué notre méthode aux réarrangements dynamiques opérant durant l'adaptation de la cellule à des stress, comme la famine en nutriments et le traitement à une drogue. Cette investigation fait le détail de notre second chapitre. Nous avons déterminé de cette manière que l'équilibre entre les formes phosphorylées et déphosphorylées de l'arginine méthyltransférase de Saccharomyces cerevisiae, Hmt1, régulait du même coup sont assemblage en hexamère et son activité enzymatique. L'activité d'Hmt1 a directement un impact dans la progression du cycle cellulaire durant un stress, stabilisant les transcrits de CLB2 et permettant la synthèse de Cln3p. Nous avons utilisé notre criblage afin de déterminer les régulateurs de la phosphorylation d'Hmt1 dans un contexte de traitement à la rapamycin, un inhibiteur de la kinase cible de la rapamycin (TOR). Nous avons identifié la sous-unité catalytique de la phosphatase PP2a, Pph22, activé par l'inhibition de la kinase TOR et la kinase Dbf2, activé durant l'entrée en mitose de la cellule, comme la phosphatase et la kinase responsable de la modification d'Hmt1 et de ses fonctions de régulations dans le cycle cellulaire. Cette approche peut être généralisée afin d'identifier et de lier mécanistiquement les gènes, incluant ceux n'ayant aucune fonction connue, à tout processus cellulaire, comme les mécanismes régulant l'ARNm.

The impact of topical prostaglandin analogs on the biomechanical properties of the cornea in patients with open angle glaucoma

Justification: Le glaucome entraîne une perte progressive de la vision causée par la détérioration du nerf optique. Le glaucome est répandu dans le monde et cause la cécité dans environ sept millions de personnes. Le glaucome touche plus de 400 000 Canadiens et sa prévalence augmente avec le vieillissement de la population.1,2 Il s'agit d'une maladie chronique surnoise dont les symptômes se manifestent uniquement lors des stades avancés et qui peuvent mener à la cécité. Présentement, le seul moyen possible d’arrêter la progression du glaucome au stade initial est de diminuer la pression intra-oculaire (PIO). Les analogues de prostaglandines (APG) topiques sont fréquemment utilisées comme traitement de première ligne. Cependant, la recherche démontre que cette classe de médicaments peut changer certaines propriétés de la cornée, et possiblement influencer la mesure de la PIO.3 Objectif: À déterminer si l'utilisation d'APG affecte les propriétés biomécaniques de la cornée. La conclusion sera basée sur l'analyse intégrée des résultats obtenus de l'analyseur Reichert oculaire Réponse (ORA), la tonométrie par applanation de Goldmann (TAG) et la pachymétrie ultrasonographique. Le deuxième objectif potentiel de cette étude est de déterminer la corrélation, le cas échéant, entre les propriétés biomécaniques de la cornée, l'épaisseur de la cornée centrale (ECC) et la PIO chez les patients subissant un traitement d’APG topique. L'hypothèse principale de cette étude est que l’APG influence les propriétés de la cornée telles que l'épaisseur centrale, l'élasticité et la résistance. Patients et méthodes : Soixante-dix yeux de 35 patients, âgés de 50-85 ans, atteints de glaucome à angle ouvert (GAO) et traités avec APG topique ont été examinés. Seulement les sujets avec une réfraction manifeste entre -6,00 D et +4,25 D ont été inclus. Les critères d'exclusion sont: patients avec n'importe quelle autre maladie de la cornée de l’œil, telles que la dystrophie endothéliale de Fuch’s et kératocône, ou tout antécédent de traumatisme ou d'une chirurgie de la cornée, ainsi que le port de lentilles de contact. Nous avons demandé aux patients atteints du glaucome qui ont des paramètres stables et qui utilisent l’APG dans les deux yeux de cesser l’APG dans l'œil moins affecté par la PIO, et de continuer l’utilisation d’APG dans l'œil contralatéral. Le meilleur œil est défini comme celui avec moins de dommage sur le champ visuel (CV) (déviation moyenne (DM), le moins négatif) ou une PIO maximale historique plus basse si la DM est égale ou encore celui avec plus de dommage sur la tomographie par cohérence optique (TCO, Cirrus, CA) ou la tomographie confocale par balayage laser (HRT, Heidelberg, Allemagne). Toutes les mesures ont été prises avant la cessation d’APG et répétées 6 semaines après l’arrêt. Les patients ont ensuite recommencé l’utilisation d’APG et toutes les mesures ont été répétées encore une fois après une période supplémentaire de 6 semaines. Après commencer ou de changer le traitement du glaucome, le patient doit être vu environ 4-6 semaines plus tard pour évaluer l'efficacité de la goutte.4 Pour cette raison, on été décidé d'utiliser 6 semaines d'intervalle. Toutes les mesures ont été effectuées à l’institut du glaucome de Montréal par le même technicien, avec le même équipement et à la même heure de la journée. L'œil contralatéral a servi comme œil contrôle pour les analyses statistiques. La tonométrie par applanation de Goldmann a été utilisée pour mesurer la PIO, la pachymétrie ultrasonographique pour mesurer l'ECC, et l’ORA pour mesurer les propriétés biomécaniques de la cornée, incluant l'hystérèse cornéenne (HC). L’hypothèse de l'absence d'effet de l'arrêt de l’APG sur les propriétés biomécaniques a été examiné par un modèle linéaire à effets mixtes en utilisant le logiciel statistique R. Les effets aléatoires ont été définies à deux niveaux: le patient (niveau 1) et l'œil de chaque patient (niveau 2). Les effets aléatoires ont été ajoutés au modèle pour tenir compte de la variance intra-individuelle. L’âge a également été inclus dans le modèle comme variable. Les contrastes entre les yeux et les temps ont été estimés en utilisant les valeurs p ajustées pour contrôler les taux d'erreur internes de la famille en utilisant multcomp paquet dans R. Résultats: Une augmentation statistiquement significative due l 'HC a été trouvée entre les visites 1 (sur APG) et 2 (aucun APG) dans les yeux de l'étude, avec une moyenne (±erreur standard) des valeurs de 8,98 ± 0,29 mmHg et 10,35 ± 0,29 mmHg, respectivement, correspondant à une augmentation moyenne de 1,37 ± 0,18 mmHg (p <0,001). Une réduction significative de 1,25 ± 0,18 mmHg (p <0,001) a été observée entre les visites 2 et 3, avec une valeur moyenne HC finale de 9,09 ± 0,29 mmHg. En outre, une différence statistiquement significative entre l’oeil d’étude et le contrôle n'a été observée que lors de la visite 2 (1,01 ± 0,23 mmHg, p <0,001) et non lors des visites 1 et 3. Une augmentation statistiquement significative du facteur de résistance conréen (FRC) a été trouvée entre les visites 1 et 2 dans les yeux de l'étude, avec des valeurs moyennes de 10,23 ± 0,34 mmHg et 11,71 ± 0,34 mmHg, respectivement. Le FRC a ensuite été réduit de 1,90 ± 0,21 mmHg (p <0,001) entre les visites 2 et 3, avec une valeur moyenne FRC finale de 9,81 ± 0,34 mmHg. Une différence statistiquement significative entre l’oeil d’étude et le contrôle n'a été observée que lors de la visite 2 (1,46 ± 0,23 mmHg, p <0,001). Une augmentation statistiquement significative de l'ECC a été trouvée entre les visites 1 et 2 dans les yeux de l'étude, avec des valeurs moyennes de 541,83 ± 7,27 µm et 551,91 ± 7,27 µm, respectivement, ce qui correspond à une augmentation moyenne de 10,09 ± 0,94 µm (p <0,001). L'ECC a ensuite diminué de 9,40 ± 0,94 µm (p <0,001) entre les visites 2 et 3, avec une valeur moyenne finale de 542,51 ± 7,27 µm. Une différence entre l’étude et le contrôle des yeux n'a été enregistré que lors de la visite 2 (11,26 ± 1,79 µm, p <0,001). De même, on a observé une augmentation significative de la PIO entre les visites 1 et 2 dans les yeux de l'étude, avec des valeurs moyennes de 15,37 ± 0,54 mmHg et 18,37 ± 0,54 mmHg, respectivement, ce qui correspond à une augmentation moyenne de 3,0 ± 0,49 mmHg (p <0,001). Une réduction significative de 2,83 ± 0,49 mmHg (p <0,001) a été observée entre les visites 2 et 3, avec une valeur moyenne de la PIO finale de 15,54 ± 0,54 mmHg. L’oeil de contrôle et d’étude ne différaient que lors de la visite 2 (1,91 ± 0,49 mmHg, p <0,001), ce qui confirme l'efficacité du traitement de l’APG. Lors de la visite 1, le biais de la PIO (PIOcc - PIO Goldmann) était similaire dans les deux groupes avec des valeurs moyennes de 4,1 ± 0,54 mmHg dans les yeux de contrôles et de 4,8 ± 0,54 mmHg dans les yeux d’études. Lors de la visite 2, après un lavage de 6 semaines d’APG, le biais de la PIO dans l'œil testé a été réduit à 1,6 ± 0,54 mmHg (p <0,001), ce qui signifie que la sous-estimation de la PIO par TAG était significativement moins dans la visite 2 que de la visite 1. La différence en biais PIO moyenne entre l'étude et le contrôle des yeux lors de la visite 2, en revanche, n'a pas atteint la signification statistique (p = 0,124). On a observé une augmentation peu significative de 1,53 ± 0,60 mmHg (p = 0,055) entre les visites 2 et 3 dans les yeux de l'étude, avec une valeur de polarisation finale de la PIO moyenne de 3,10 ± 0,54 mmHg dans les yeux d'études et de 2,8 ± 0,54 mmHg dans les yeux de contrôles. Nous avons ensuite cherché à déterminer si une faible HC a été associée à un stade de glaucome plus avancé chez nos patients atteints du glaucome à angle ouvert traités avec l’APG. Lorsque l'on considère tous les yeux sur l’APG au moment de la première visite, aucune association n'a été trouvée entre les dommages sur le CV et l'HC. Cependant, si l'on considère seulement les yeux avec un glaucome plus avancé, une corrélation positive significative a été observée entre la DM et l'HC (B = 0,65, p = 0,003). Une HC inférieure a été associé à une valeur de DM de champ visuelle plus négative et donc plus de dommages liés au glaucome. Conclusions : Les prostaglandines topiques affectent les propriétés biomécaniques de la cornée. Ils réduisent l'hystérèse cornéenne, le facteur de résistance cornéen et l'épaisseur centrale de la cornée. On doit tenir compte de ces changements lors de l'évaluation des effets d’APG sur la PIO. Plus de recherche devrait être menées pour confirmer nos résultats. De plus, d’autres études pourraient être réalisées en utilisant des médicaments qui diminuent la PIO sans influencer les propriétés biomécaniques de la cornée ou à l'aide de tonomètre dynamique de Pascal ou similaire qui ne dépend pas des propriétés biomécaniques de la cornée. En ce qui concerne l'interaction entre les dommages de glaucome et l'hystérésis de la cornée, nous pouvons conclure qu' une HC inférieure a été associé à une valeur de DM de CV plus négative. Mots Clés glaucome - analogues de prostaglandines - hystérèse cornéenne – l’épaisseur de la cornée centrale - la pression intraoculaire - propriétés biomécaniques de la cornée.

A Beacon based Localization System for Autonomous Mobile Robots and its Applications in Traffic and Transport Control

ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.

Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Studies on arbuscular mycorrhiza (AM) in the Alentejo (Portugal) using pea mutants resistant to AM fungi as a control tool for field conditions

The utilization and management of arbuscular mycorrhiza (AM) symbiosis may improve production and sustainability of the cropping system. For this purpose, native AM fungi (AMF) were sought and tested for their efficiency to increase plant growth by enhanced P uptake and by alleviation of drought stress. Pot experiments with safflower (Carthamus tinctorius) and pea (Pisum sativum) in five soils (mostly sandy loamy Luvisols) and field experiments with peas were carried out during three years at four different sites. Host plants were grown in heated soils inoculated with AMF or the respective heat sterilized inoculum. In the case of peas, mutants resistant to AMF colonization were used as non-mycorrhizal controls. The mycorrhizal impact on yields and its components, transpiration, and P and N uptake was studied in several experiments, partly under varying P and N levels and water supply. Screening of native AMF by most probable number bioassays was not very meaningful. Soil monoliths were placed in the open to simulate field conditions. Inoculation with a native AMF mix improved grain yield, shoot and leaf growth variables as compared to control. Exposed to drought, higher soil water depletion of mycorrhizal plants resulted in a haying-off effect. The growth response to this inoculum could not be significantly reproduced in a subsequent open air pot experiment at two levels of irrigation and P fertilization, however, safflower grew better at higher P and water supply by multiples. The water use efficiency concerning biomass was improved by the AMF inoculum in the two experiments. Transpiration rates were not significantly affected by AM but as a tendency were higher in non-mycorrhizal safflower. A fundamental methodological problem in mycorrhiza field research is providing an appropriate (negative) control for the experimental factor arbuscular mycorrhiza. Soil sterilization or fungicide treatment have undesirable side effects in field and greenhouse settings. Furthermore, artificial rooting, temperature and light conditions in pot experiments may interfere with the interpretation of mycorrhiza effects. Therefore, the myc- pea mutant P2 was tested as a non-mycorrhizal control in a bioassay to evaluate AMF under field conditions in comparison to the symbiotic isogenetic wild type of var. FRISSON as a new integrative approach. However, mutant P2 is also of nod- phenotype and therefore unable to fix N2. A 3-factorial experiment was carried out in a climate chamber at high NPK fertilization to examine the two isolines under non-symbiotic and symbiotic conditions. P2 achieved the same (or higher) biomass as wild type both under good and poor water supply. However, inoculation with the AMF Glomus manihot did not improve plant growth. Differences of grain and straw yields in field trials were large (up to 80 per cent) between those isogenetic pea lines mainly due to higher P uptake under P and water limited conditions. The lacking N2 fixation in mutants was compensated for by high mineral N supply as indicated by the high N status of the pea mutant plants. This finding was corroborated by the results of a major field experiment at three sites with two levels of N fertilization. The higher N rate did not affect grain or straw yields of the non-fixing mutants. Very efficient AMF were detected in a Ferric Luvisol on pasture land as revealed by yield levels of the evaluation crop and by functional vital staining of highly colonized roots. Generally, levels of grain yield were low, at between 40 and 980 kg ha-1. An additional pot trial was carried out to elucidate the strong mycorrhizal effect in the Ferric Luvisol. A triplication of the plant equivalent field P fertilization was necessary to compensate for the mycorrhizal benefit which was with five times higher grain yield very similar to that found in the field experiment. However, the yield differences between the two isolines were not always plausible as the evaluation variable because they were also found in (small) field test trials with apparently sufficient P and N supply and in a soil of almost no AMF potential. This similarly occurred for pea lines of var. SPARKLE and its non-fixing mycorrhizal (E135) and non-symbiotic (R25) isomutants, which were tested in order to exclude experimentally undesirable benefits by N2 fixation. In contrast to var. FRISSON, SPARKLE was not a suitable variety for Mediterranean field conditions. This raises suspicion putative genetic defects other than symbiotic ones may be effective under field conditions, which would conflict with the concept of an appropriate control. It was concluded that AMF resistant plants may help to overcome fundamental problems of present research on arbuscular mycorrhiza, but may create new ones.

Optimal control theory for a unitary operation under dissipative evolution

We show that optimizing a quantum gate for an open quantum system requires the time evolution of only three states irrespective of the dimension of Hilbert space. This represents a significant reduction in computational resources compared to the complete basis of Liouville space that is commonly believed necessary for this task. The reduction is based on two observations: the target is not a general dynamical map but a unitary operation; and the time evolution of two properly chosen states is sufficient to distinguish any two unitaries. We illustrate gate optimization employing a reduced set of states for a controlled phasegate with trapped atoms as qubit carriers and a iSWAP gate with superconducting qubits.

Optimizing Robust Quantum Gates in Open Quantum Systems

We are currently at the cusp of a revolution in quantum technology that relies not just on the passive use of quantum effects, but on their active control. At the forefront of this revolution is the implementation of a quantum computer. Encoding information in quantum states as “qubits” allows to use entanglement and quantum superposition to perform calculations that are infeasible on classical computers. The fundamental challenge in the realization of quantum computers is to avoid decoherence – the loss of quantum properties – due to unwanted interaction with the environment. This thesis addresses the problem of implementing entangling two-qubit quantum gates that are robust with respect to both decoherence and classical noise. It covers three aspects: the use of efficient numerical tools for the simulation and optimal control of open and closed quantum systems, the role of advanced optimization functionals in facilitating robustness, and the application of these techniques to two of the leading implementations of quantum computation, trapped atoms and superconducting circuits. After a review of the theoretical and numerical foundations, the central part of the thesis starts with the idea of using ensemble optimization to achieve robustness with respect to both classical fluctuations in the system parameters, and decoherence. For the example of a controlled phasegate implemented with trapped Rydberg atoms, this approach is demonstrated to yield a gate that is at least one order of magnitude more robust than the best known analytic scheme. Moreover this robustness is maintained even for gate durations significantly shorter than those obtained in the analytic scheme. Superconducting circuits are a particularly promising architecture for the implementation of a quantum computer. Their flexibility is demonstrated by performing optimizations for both diagonal and non-diagonal quantum gates. In order to achieve robustness with respect to decoherence, it is essential to implement quantum gates in the shortest possible amount of time. This may be facilitated by using an optimization functional that targets an arbitrary perfect entangler, based on a geometric theory of two-qubit gates. For the example of superconducting qubits, it is shown that this approach leads to significantly shorter gate durations, higher fidelities, and faster convergence than the optimization towards specific two-qubit gates. Performing optimization in Liouville space in order to properly take into account decoherence poses significant numerical challenges, as the dimension scales quadratically compared to Hilbert space. However, it can be shown that for a unitary target, the optimization only requires propagation of at most three states, instead of a full basis of Liouville space. Both for the example of trapped Rydberg atoms, and for superconducting qubits, the successful optimization of quantum gates is demonstrated, at a significantly reduced numerical cost than was previously thought possible. Together, the results of this thesis point towards a comprehensive framework for the optimization of robust quantum gates, paving the way for the future realization of quantum computers.

Exploiting non-Markovianity for quantum control

Quantum technology, exploiting entanglement and the wave nature of matter, relies on the ability to accurately control quantum systems. Quantum control is often compromised by the interaction of the system with its environment since this causes loss of amplitude and phase. However, when the dynamics of the open quantum system is non-Markovian, amplitude and phase flow not only from the system into the environment but also back. Interaction with the environment is then not necessarily detrimental. We show that the back-flow of amplitude and phase can be exploited to carry out quantum control tasks that could not be realized if the system was isolated. The control is facilitated by a few strongly coupled, sufficiently isolated environmental modes. Our paradigmatic example considers a weakly anharmonic ladder with resonant amplitude control only, restricting realizable operations to SO(N). The coupling to the environment, when harnessed with optimization techniques, allows for full SU(N) controllability.