Experimental model identification of open-frame underwater vehicles

Most of the works published on hydrodynamic parameter identification of open-frame underwater vehicles focus their attention almost exclusively on good coherence between simulated and measured responses, giving less importance to the determination of “actual values” for hydrodynamic parameters. To gain insight into hydrodynamic parameter experimental identification of open-frame underwater vehicles, an experimental identification procedure is proposed here to determine parameters of uncoupled and coupled models. The identification procedure includes: (i) a prior estimation of actual values of the forces/torques applied to the vehicle, (ii) identification of drag parameters from constant velocity tests and (iii) identification of inertia and coupling parameters from oscillatory tests; at this stage, the estimated values of drag parameter obtained in item (ii) are used. The procedure proposed here was used to identify the hydrodynamic parameters of LAURS—an unmanned underwater vehicle developed at the University of São Paulo. The thruster–thruster and thruster–hull interactions and the advance velocity of the vehicle are shown to have a strong impact on the efficiency of thrusters appended to open-frame underwater vehicles, especially for high advance velocities. Results of tests with excitation in 1-DOF and 3-DOF are reported and discussed, showing the feasibility of the developed procedure.

Underwater towed video: a useful tool to rapidly assess elasmobranch populations in large marine protected areas

Elasmobranch stock assessment studies are usually made through fisheries surveys data. However, in large marine protected areas (MPAs) the use of destructive techniques must be dismissed in order to avoid population impacts. In 2005, while conducting a marine habitat survey in two marine Special Areas of Conservation (Sebadales de Playa de Inglés and Franja Marina de Mogán) in south Gran Canary Island (Canary Islands, Spain) with underwater towed video (UTV) and underwater visual census (UVC) transects, we recognized the opportunity rose to assess elasmobranch populations through UTV. Number of observed species and specimens, overall field work effort and total surveyed area were determined and compared between methods. Mean observations per day per unit of time (MOPUT) and mean observations per day per unit of surveyed area (MOPUA) were also compared through Mann–Whitney rank sum statistical test (α=0.05). Data analysis demonstrated that UTV is a very useful tool to rapidly assess elasmobranch populations in large MPAs in good visibility underwater environments. It can assess larger areas than UVC with the same effort (statistically significant difference found for the MOPUT; p=<0.001), leading to more observed species (5 vs 2) and specimens (46 vs 3) per day of work, with no loss in resolution power (MOPUA values were not significantly different between UTV and UVC; p=0.104).

Epi- and mesopelagic fishes, acoustic data, and SST images collected off Lanzarote, Fuerteventura, and Gran Canaria, Canary Islands, during cruise "La Bocaina 04-97"

[ES]Durante la campaña La Bocaina 0497 se llevaron a cabo una serie de 14 lances con una red de arrastre pelágico de tipo comercial entre 20 y 700 m. de profundidad y una porspección acústica con una ecosonda SIMRAD EK-500 en aguas neríticas y oceánicas adyacentes a Lanzarote, Fuerteventura y Gran Canaria. Además se obtuvieron imágenes SST para obtener información de las condiciones hidrológicas en el área de estudio. Los resultados mostraron que la caballa Scomber japonicus presentaba gran variabilidad espacial en biomasa entre las diferentes localidades muestreadas.

Contributions to underwater glider path planning

[ES] La Planificación de Rutas o Caminos es un disciplina de Robótica que trata la búsqueda de caminos factibles u óptimos. Para la mayoría de vehículos y entornos, no es un problema trivial y por tanto nos encontramos con un gran diversidad de algoritmos para resolverlo, no sólo en Robótica e Inteligencia Artificial, sino también como parte de la literatura de Optimización, con Métodos Numéricos y Algoritmos Bio-inspirados, como Algoritmos Genéticos y el Algoritmo de la Colonia de Hormigas. El caso particular de escenarios de costes variables es considerablemente difícil de abordar porque el entorno en el que se mueve el vehículo cambia con el tiempo. El presente trabajo de tesis estudia este problema y propone varias soluciones prácticas para aplicaciones de Robótica Submarina.

Underwater mapping using sonar

[ES]El proyecto contiene módulos de simulación, procesado de datos, mapeo y localización, desarrollados en C++ utilizando ROS (Robot Operating System) y PCL (Point Cloud Library). Ha sido desarrollado bajo el proyecto de robótica submarina AVORA.Se han caracterizado el vehículo y el sensor, y se han analizado diferentes tecnologías de sensores y mapeo. Los datos pasan por tres etapas: Conversión a nube de puntos, filtrado por umbral, eliminación de puntos espureos y, opcionalmente, detección de formas. Estos datos son utilizados para construir un mapa de superficie multinivel. La otra herramienta desarrollada es un algoritmo de Punto más Cercano Iterativo (ICP) modificado, que tiene en cuenta el modo de funcionamiento del sonar de imagen utilizado.

Shape design optimization of road acoustic barriers featuring top-edge devices by using Genetic Algotithms and Boundary Elements

[EN] This paper presents a Boundary Elements (BE) approach for the efficiency improvement of road acoustic barriers, mora specifically, for the shape design optimization of top-edge devices in the search for the best designs in terms of screening performance, usually represented by the insertion loss (IL).

Numerical and analytical vibro-acoustic modelling of porous materials: the Cell Method for poroelasticity and the case of inclusions

Porous materials are widely used in many fields of industrial applications, to achieve the requirements of noise reduction, that nowadays derive from strict regulations. The modeling of porous materials is still a problematic issue. Numerical simulations are often problematic in case of real complex geometries, especially in terms of computational times and convergence. At the same time, analytical models, even if partly limited by restrictive simplificative hypotheses, represent a powerful instrument to capture quickly the physics of the problem and general trends. In this context, a recently developed numerical method, called the Cell Method, is described, is presented in the case of the Biot's theory and applied for representative cases. The peculiarity of the Cell Method is that it allows for a direct algebraic and geometrical discretization of the field equations, without any reduction to a weak integral form. Then, the second part of the thesis presents the case of interaction between two poroelastic materials under the context of double porosity. The idea of using periodically repeated inclusions of a second porous material into a layer composed by an original material is described. In particular, the problem is addressed considering the efficiency of the analytical method. A analytical procedure for the simulation of heterogeneous layers based is described and validated considering both conditions of absorption and transmission; a comparison with the available numerical methods is performed. ---------------- I materiali porosi sono ampiamente utilizzati per diverse applicazioni industriali, al fine di raggiungere gli obiettivi di riduzione del rumore, che sono resi impegnativi da norme al giorno d'oggi sempre più stringenti. La modellazione dei materiali porori per applicazioni vibro-acustiche rapprensenta un aspetto di una certa complessità. Le simulazioni numeriche sono spesso problematiche quando siano coinvolte geometrie di pezzi reali, in particolare riguardo i tempi computazionali e la convergenza. Allo stesso tempo, i modelli analitici, anche se parzialmente limitati a causa di ipotesi semplificative che ne restringono l'ambito di utilizzo, rappresentano uno strumento molto utile per comprendere rapidamente la fisica del problema e individuare tendenze generali. In questo contesto, un metodo numerico recentemente sviluppato, il Metodo delle Celle, viene descritto, implementato nel caso della teoria di Biot per la poroelasticità e applicato a casi rappresentativi. La peculiarità del Metodo delle Celle consiste nella discretizzazione diretta algebrica e geometrica delle equazioni di campo, senza alcuna riduzione a forme integrali deboli. Successivamente, nella seconda parte della tesi viene presentato il caso delle interazioni tra due materiali poroelastici a contatto, nel contesto dei materiali a doppia porosità. Viene descritta l'idea di utilizzare inclusioni periodicamente ripetute di un secondo materiale poroso all'interno di un layer a sua volta poroso. In particolare, il problema è studiando il metodo analitico e la sua efficienza. Una procedura analitica per il calcolo di strati eterogenei di materiale viene descritta e validata considerando sia condizioni di assorbimento, sia di trasmissione; viene effettuata una comparazione con i metodi numerici a disposizione.

Real time monitoring of DNA hybridization and replication using optical and acoustic biosensors

Während in den letzten Jahren zahlreiche Biosensoren zum spezifischen Nachweis von DNA entwickelt wurden, ist die Anwendung oberflächen-sensitiver Methoden auf enzymatische Reaktionen ein vergleichsweise neues Forschungsgebiet. Trotz der hohen Empfindlichkeit und der Möglichkeit zur Echtzeit-Beobachtung molekularer Prozesse, ist die Anwendung dieser Methoden nicht etabliert, da die Enzymaktivität durch die Nähe zur Oberfläche beeinträchtigt sein kann. Im Rahmen dieser Arbeit wurde die enzymatische Verlängerung immobilisierter DNA durch eine DNA Polymerase mit Hilfe von Oberflächenplasmonen-Fluoreszenzspektroskopie (SPFS) und einer Quarzkristall-Mikrowaage (QCM) untersucht. Die Synthese von DNA wurde im Fall der QCM als Massenzuwachs detektiert, der sich im Abfall der Resonanzfrequenz des Schwingquarzes und einem Anstieg seiner Dissipationsenergie ausdrückte. Die viskoelastischen Eigenschaften der DNA-Schichten wurden bestimmt, indem die erhaltenen Daten mit einem auf Voigt basierenden Modell ausgewertet wurden. SPFS nutzt das evaneszente elektromagnetische Feld, das mit Oberflächenplasmonen einhergeht, zur oberflächen-sensitiven Anregung von Chromophoren. Auf diese Weise wurde der Einbau von Farbstoff-markierten Nukleotiden in die entstehende DNA-Sequenz als Indikator für das Voranschreiten der Reaktion ausgenutzt. Beide Meßtechniken konnten erfolgreich zum Nachweis der DNA-Synthese herangezogen werden, wobei die katalytische Aktivität des Enzyms vergleichbar zu der in Lösung gemessenen war.

Space charge and dielectric response measurements to assess insulation aging of low-voltage cables used in nuclear power plants

The current design life of nuclear power plant (NPP) could potentially be extended to 80 years. During this extended plant life, all safety and operationally relevant Instrumentation & Control (I&C) systems are required to meet their designed performance requirements to ensure safe and reliable operation of the NPP, both during normal operation and subsequent to design base events. This in turn requires an adequate and documented qualification and aging management program. It is known that electrical insulation of I&C cables used in safety related circuits can degrade during their life, due to the aging effect of environmental stresses, such as temperature, radiation, vibration, etc., particularly if located in the containment area of the NPP. Thus several condition monitoring techniques are required to assess the state of the insulation. Such techniques can be used to establish a residual lifetime, based on the relationship between condition indicators and ageing stresses, hence, to support a preventive and effective maintenance program. The object of this thesis is to investigate potential electrical aging indicators (diagnostic markers) testing various I&C cable insulations subjected to an accelerated multi-stress (thermal and radiation) aging.

Dynamics of epithelial monolayers assessed by acoustic and impedimetric whole cell biosensors

Mit der Zielsetzung der vorliegenden Arbeit wurde die detailierten Analyse von Migrationsdynamiken epithelilaler Monolayer anhand zweier neuartiger in vitro Biosensoren verfolgt, der elektrischen Zell-Substrat Impedanz Spektroskopie (electrical cell-substrate impedance sensing, ECIS) sowie der Quarz Kristall Mikrowaage (quartz crystal microbalance, QCM). Beide Methoden erwiesen sich als sensitiv gegenüber der Zellmotilität und der Nanozytotoxizität.rnInnerhalb des ersten Projektes wurde ein Fingerprinting von Krebszellen anhand ihrer Motilitätsdynamiken und der daraus generierten elektrischen oder akkustischen Fluktuationen auf ECIS oder QCM Basis vorgenommen; diese Echtzeitsensoren wurdene mit Hilfe klassicher in vitro Boyden-Kammer Migrations- und Invasions-assays validiert. Fluktuationssignaturen, also Langzeitkorrelationen oder fraktale Selbstähnlichkeit aufgrund der kollektiven Zellbewegung, wurden über Varianz-, Fourier- sowie trendbereinigende Fluktuationsanalyse quantifiziert. Stochastische Langzeitgedächtnisphänomene erwiesen sich als maßgebliche Beiträge zur Antwort adhärenter Zellen auf den QCM und ECIS-Sensoren. Des weiteren wurde der Einfluss niedermolekularer Toxine auf die Zytoslelettdynamiken verfolgt: die Auswirkungen von Cytochalasin D, Phalloidin und Blebbistatin sowie Taxol, Nocodazol und Colchicin wurden dabei über die QCM und ECIS Fluktuationsanalyse erfasst.rnIn einem zweiten Projektschwerpunkt wurden Adhäsionsprozesse sowie Zell-Zell und Zell-Substrat Degradationsprozesse bei Nanopartikelgabe charackterisiert, um ein Maß für Nanozytotoxizität in Abhangigkeit der Form, Funktionalisierung Stabilität oder Ladung der Partikel zu erhalten.rnAls Schlussfolgerung ist zu nennen, dass die neuartigen Echtzeit-Biosensoren QCM und ECIS eine hohe Zellspezifität besitzen, auf Zytoskelettdynamiken reagieren sowie als sensitive Detektoren für die Zellvitalität fungieren können.

Design and acoustic characterization of a new listening room

Il presente lavoro tratta la progettazione e caratterizzazione di una nuova "listening room" ad acustica controllata partendo dai requisiti dettati dalle norme tecniche ITU-R BS 1116-1 e EBU/UER Tech. doc. 3276. Ad oggi è presente un'ampia letteratura, che tratta approcci per valutazione acustica delle sale di ascolto. Essa inizialmente era volta a trovare proporzioni ideali tra le dimensioni della camera, poi la ricerca si è spostata sull'elaborazione di modelli previsionali. Purtroppo tali metodi spesso non riescono a garantire le prestazioni desiderate, mentre le prove sperimentali dettate dalle norme risultano essere di comprovata validità. L'ambiente oggetto di studio è stato progettato all'interno dello spazio dei laboratori CIRI. La tecnologia costruttiva è frutto di uno studio approfondito, in particolare la scelta di fibre di poliestere termolegate, per il rivestimento delle pareti interne, è stata valutata attraverso misure in camera riverberante secondo UNI-EN-ISO 354. Si è poi seguita una metodologia iterativa che coinvolgesse messa in opera, misurazioni in situ e valutazione tramite confronto con i parametri consigliati dalle normative tecniche sopra citate. In quest'ottica sono state effettuate acquisizioni di risposte all'impulso monoaurali e dei livelli di pressione sonora per verificare la qualità di isolamento e il comportamento alle basse frequenze. La validazione restituisce indicazioni positive per gli utilizzi dell'ambiente ipotizzati e risulta compatibile con le stringenti richieste delle norme tecniche.

Hand and ultrasonic instrumentation for orthograde root canal treatment of permanent teeth

Root canal treatment is a frequently performed dental procedure and is carried out on teeth in which irreversible pulpitis has led to necrosis of the dental pulp. Removal of the necrotic tissue remnants and cleaning and shaping of the root canal are important phases of root canal treatment. Treatment options include the use of hand and rotary instruments and methods using ultrasonic or sonic equipment. OBJECTIVES: The objectives of this systematic review of randomized controlled trials were to determine the relative clinical effectiveness of hand instrumentation versus ultrasonic instrumentation alone or in conjunction with hand instrumentation for orthograde root canal treatment of permanent teeth. MATERIAL AND METHODS: The search strategy retrieved 226 references from the Cochrane Oral Health Group Trials Register (7), the Cochrane Central Register of Controlled Trials (CENTRAL) (12), MEDLINE (192), EMBASE (8) and LILACS (7). No language restriction was applied. The last electronic search was conducted on December 13th, 2007. Screening of eligible studies was conducted in duplicate and independently. RESULTS: Results were to be expressed as fixed-effect or random-effects models using mean differences for continuous outcomes and risk ratios for dichotomous outcomes with 95% confidence intervals. Heterogeneity was to be investigated including both clinical and methodological factors. No eligible randomized controlled trials were identified. CONCLUSIONS: This review illustrates the current lack of published or ongoing randomized controlled trials and the unavailability of high-level evidence based on clinically relevant outcomes referring to the effectiveness of ultrasonic instrumentation used alone or as an adjunct to hand instrumentation for orthograde root canal treatment. In the absence of reliable research-based evidence, clinicians should base their decisions on clinical experience, individual circumstances and in conjunction with patients' preferences where appropriate. Future randomized controlled trials might focus more closely on evaluating the effectiveness of combinations of these interventions with an emphasis on not only clinically relevant, but also patient-centered outcomes.