The Herglotz variational problem on spheres and its optimal control approach

The main goal of this paper is to extend the generalized variational problem of Herglotz type to the more general context of the Euclidean sphere S^n. Motivated by classical results on Euclidean spaces, we derive the generalized Euler-Lagrange equation for the corresponding variational problem defined on the Riemannian manifold S^n. Moreover, the problem is formulated from an optimal control point of view and it is proved that the Euler-Lagrange equation can be obtained from the Hamiltonian equations. It is also highlighted the geodesic problem on spheres as a particular case of the generalized Herglotz problem.

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.

Interplay Between Cell Growth And Cell Cycle In Plants.

The growth of organs and whole plants depends on both cell growth and cell-cycle progression, but the interaction between both processes is poorly understood. In plants, the balance between growth and cell-cycle progression requires coordinated regulation of four different processes: macromolecular synthesis (cytoplasmic growth), turgor-driven cell-wall extension, mitotic cycle, and endocycle. Potential feedbacks between these processes include a cell-size checkpoint operating before DNA synthesis and a link between DNA contents and maximum cell size. In addition, key intercellular signals and growth regulatory genes appear to target at the same time cell-cycle and cell-growth functions. For example, auxin, gibberellin, and brassinosteroid all have parallel links to cell-cycle progression (through S-phase Cyclin D-CDK and the anaphase-promoting complex) and cell-wall functions (through cell-wall extensibility or microtubule dynamics). Another intercellular signal mediated by microtubule dynamics is the mechanical stress caused by growth of interconnected cells. Superimposed on developmental controls, sugar signalling through the TOR pathway has recently emerged as a central control point linking cytoplasmic growth, cell-cycle and cell-wall functions. Recent progress in quantitative imaging and computational modelling will facilitate analysis of the multiple interconnections between plant cell growth and cell cycle and ultimately will be required for the predictive manipulation of plant growth.

Horizontal transmission of Shiga toxin-producing Escherichia coli within groups of dairy calves

To examine the dissemination of Shiga-toxigenic Escherichia coli (STEC) within cattle groups, dairy calves on two farms utilizing different calf-rearing practices were exposed to a traceable STEC strain. Test strain dissemination differed significantly between farms, with a higher prevalence being associated with group penning. Pen floors and calf hides may be the main environmental mechanisms of transmission. Dairy calf husbandry represents a control point for reducing on-farm STEC prevalence.

HACCP numa indústria corticeira: implementação, identificação de pontos críticos e proposta de acções correctivas

Mestrado em Engenharia Química

Estudo comparativo de implementação do sistema HACCP em talhos no Distrito de Setúbal

A carne é um género alimentício com um grande impacte na dieta e nutrição das populações. Porém a carne e os respetivos produtos derivados podem constituir um risco significativo para a saúde do consumidor, caso ocorra uma contaminação microbiológica ou uma alteração decorrente da ação de agentes físicos ou químicos. Assim, torna-se necessário que os locais de venda destes géneros alimentícios cumpram uma série de requisitos, exigidos pela legislação portuguesa e comunitária. Neste enquadramento, o Sistema HACCP (Hazard Analysis and Critical Control Point) surge como uma ferramenta útil e eficaz para prevenção, identificação dos perigos em todas as fases de processamento / produção, e para aplicação de medidas de controlo, podendo assim assegurar-se um elevado nível de segurança e qualidade do produto final. Neste estudo pretende-se caracterizar e comparar as condições de Segurança e Higiene Alimentar de 7 locais de venda de carne e seus produtos no distrito de Setúbal, com o Sistema HACCP já implementado. A colheita de dados foi efetuada a partir de uma lista de verificação, procedendo-se, subsequentemente, a uma análise descritiva dos resultados obtidos. Constatou-se que os talhos apresentam um grau de risco médio. O maior grau de inconformidades detetadas centrou-se nos Domínios: 3 – Condições de Exposição e Venda de Carne; 4 – Preparação e Venda de Carne Picada e Preparados de Carne; 9 – Instalações Sanitárias e Vestiários; 12 – HACCP e Registos. Concluiu-se que subsistem falhas estruturais nas instalações, nos equipamentos e nos utensílios, que comprometem o nível de salubridade do local de venda, porém adicionalmente também se verificou que um dos maiores obstáculos era o próprio manipulador que tende a não cumprir com o código de boas práticas. Neste contexto, aponta-se para a importância da formação / sensibilização no âmbito de Segurança e Higiene Alimentar.

Out-of-plane behavior of masonry infill walls

In order to investigate the out-of-plane behaviour of masonry infill walls, quasi-static testing was performed on a masonry infill walls built inside a reinforced concrete frame by means of an airbag system to apply the uniform out-of-plane load to each component of the infill. The main advantage of this testing setup is that the out-of-plane loading can be applied more uniformly in the walls, contrarily to point load configuration. The test was performed under displacement control by selecting the mid-point of the infill as control point. Input and output air in the airbag was controlled by using a software to apply a specific displacement in the control point of the infill wall. The effect of the distance between the reaction frame of the airbag and the masonry infill on the effective contact area was previously analysed. Four load cells were attached to the reaction frame to measure the out-of-plane force. The effective contact area of the airbag was calculated by dividing the load measured in load cells by the pressure inside the airbag. When the distance between the reaction walls and the masonry infill wall is smaller, the effective area is closer to the nominal area of the airbag. Deformation and crack patterns of the infill confirm the formation of arching mechanism and two-way bending of the masonry infill. Until collapse of the horizontal interface between infill and upper beam in RC frame, the infill bends in two directions but the failure of that interface which is known as weakest interface due to difficulties in filling the mortar between bricks of last row and upper beam results in the crack opening trough a well-defined path and the consequent collapse of the infill.

In-plane and out-of plane experimental characterization of rc masonry infilled frames

Seismic investigations of typical south European masonry infilled frames were performed by testing two reduced scale specimens: one in the in-plane direction and another in the out-ofplane direction. Information about geometry and reinforcement scheme of those structures constructed in 1980s were obtained by [1]. The specimen to be tested in the in-plane direction was constructed as double leaf masonry while the specimen for testing in the out-of-plane direction is constructed with only its exterior leaf since the recent earthquakes have highlighted the vulnerability of the external leaf of the infills in out-of-plane direction [2]. The tests were performed by applying the pre-defined values of displacements in the in-plane and out-of-plane directions in the control points. For in-plane testing it was done by hydraulic actuator and for out-of-plane testing through the application of an airbag. Input and output air in the airbag was controlled by using a software to apply a specific displacement in the control point of the infill wall. Mid-point of the infill was assumed as a control point for outof- plane testing. Deformation and crack patterns of the infill confirm the formation of two-way arching mechanism of the masonry infill until collapse of the upper horizontal interface between infill and frame which is known as weakest interface due to difficulties in filling the mortar between bricks of last row and upper beam. This results in the crack opening through a welldefined path and the consequent collapse of the infill.

Implementação de um sistema de gestão e monitorização de embalagens retornáveis em ambiente industrial

Dissertação de mestrado em Engenharia de Sistemas

Aplicación de programas de gestión sanitaria en criaderos marinos

La primera necesidad de los peces es la higiene. La elaboración de Programas de Gestión Sanitaria (PGS) aplicables a la industria, dentro de un marco realista y eficiente, pueden contribuir positivamente a la mejora sistemática de la productividad, afectando no sólo a la cantidad y calidad del producto, sino directamente a la eficiencia económica de la empresa. Las principales normas deben quedar reflejadas dentro de un Plan de Control Sanitario (PCS) de la instalación, normas que deben ser de obligado cumplimiento, tanto para los trabajadores como para las visitas. El seguimiento del PCS se realiza mediante la aplicación de un Sistema de Análisis de Peligros y Puntos Críticos de Control (APPCC), sistema que forma parte, a su vez, del Sistema de Gestión de la Calidad (SGC). No será factible la aplicación de ninguno de estos programas, planes y sistemas sin un uso racional del autocontrol. Hygiene is the first need that fish have. The elaboration of the Sanitary Management Programs (SMP) which industrial application, inside a realistic and efficient framework, could contribute positively to the systematic improvement of the production, affecting not only to the quantity and quality of the product, but that affect directly to the economic efficiency of the company. The main norms will be reflected in a Sanitary Control Plan (SCP) of the facilities, these norms must be obligatory fulfilment for the workers and visits. The monitoring of the SCP will do meanly the application of the Hazard Analysis and Critical Control Point (HACCP), system that it is a part, also, of the Quality Management System (QMS). It is not possible, the application of any of this programs, plans and systems, without a rational use of the auto control processes.

Displacement of Biomfhalaria glabrata by thiara granifera under natural conditions in the Dominican Republic

After a study of the population dynamics of Biomphalaria glabrata snails in several breeding places in the Dominican Republic, the snail Thiara granifera was introduced in some B. glabrata habitats. T. granifera became established in one point in one habitat in the townof Quisqueya, in the east of the country. Around this point of establishment 6 points were selected in order to observe the population dynamics of both species of snails and the chemical and biological characteristics at each point. Four of these points already harbored B. glabrata. One control point was selected also harboring B. glabrata. After 14 months of observations, the results showed that T. granifera was competing with and displacing B. glabrata. This competition does not seem to be competition for food or vital space. Rather, B. glabrata avoids the presence of T. granifera and moves away to new areas, and this is possibly due to a chemical substance(s) secreted by T. granifera or by physical contact with the large number of individuals of T. granifera.

The degradation of HFR1, a putative bHLH class transcription factor involved in light signaling, is regulated by phosphorylation and requires COP1.

All developmental transitions throughout the life cycle of a plant are influenced by light. In Arabidopsis, multiple photoreceptors including the UV-A/blue-sensing cryptochromes (cry1-2) and the red/far-red responsive phytochromes (phyA-E) monitor the ambient light conditions. Light-regulated protein stability is a major control point of photomorphogenesis. The ubiquitin E3 ligase COP1 (constitutively photomorphogenic 1) regulates the stability of several light-signaling components. HFR1 (long hypocotyl in far-red light) is a putative transcription factor with a bHLH domain acting downstream of both phyA and the cryptochromes. HFR1 is closely related to PIF1, PIF3, and PIF4 (phytochrome interacting factor 1, 3 and 4), but in contrast to the latter three, there is no evidence for a direct interaction between HFR1 and the phytochromes. Here, we show that the protein abundance of HFR1 is tightly controlled by light. HFR1 is an unstable phosphoprotein, particularly in the dark. The proteasome and COP1 are required in vivo to degrade phosphorylated HFR1. In addition, HFR1 can interact with COP1, consistent with the idea of COP1 directly mediating HFR1 degradation. We identify a domain, conserved among several bHLH class proteins involved in light signaling , as a determinant of HFR1 stability. Our physiological experiments indicate that the control of HFR1 protein abundance is important for a normal de-etiolation response.

Assessing The Effectiveness of HACCP Implementation and Maintenance

The primary objective of the study was to assess the effectiveness with which HACCP (Hazard Analysis Critical Control Point) has been implemented and maintained in food manufacturing plants in Northern Ireland and the Republic of Ireland. Where inadequacies in implementation or maintenance of the HACCP system were highlighted the study sought to identify the contributory factors, with a view to making specific recommendations to overcome these limitations.

Local transient myocardial liposomal gene transfer of inducible nitric oxide synthase does not aggravate myocardial function and fibrosis and leads to moderate neovascularization in chronic myocardial ischemia in pigs.

Microcirculation (2010) 17, 69-78. doi: 10.1111/j.1549-8719.2010.00002.x Abstract Background: This study was designed to explore the effect of transient inducible nitric oxide synthase (iNOS) overexpression via cationic liposome-mediated gene transfer on cardiac function, fibrosis, and microvascular perfusion in a porcine model of chronic ischemia. Methods and Results: Chronic myocardial ischemia was induced using a minimally invasive model in 23 landrace pigs. Upon demonstration of heart failure, 10 animals were treated with liposome-mediated iNOS-gene-transfer by local intramyocardial injection and 13 animals received a sham procedure to serve as control. The efficacy of this iNOS-gene-transfer was demonstrated for up to 7 days by reverse transcriptase-polymerase chain reaction in preliminary studies. Four weeks after iNOS transfer, magnetic resonance imaging showed no effect of iNOS overexpression on cardiac contractility at rest and during dobutamine stress (resting ejection fraction: control 27%, iNOS 26%; P = ns). Late enhancement, infarct size, and the amount of fibrosis were similar between groups. Although perfusion and perfusion reserve in response to adenosine and dobutamine were not significantly modified by iNOS-transfer, both vessel number and diameter were significantly increased in the ischemic area in the iNOS-treated group versus control (point score: control 15.3, iNOS 34.7; P < 0.05). Conclusions: Our findings demonstrate that transient iNOS overexpression does not aggravate cardiac dysfunction or postischemic fibrosis, while potentially contributing to neovascularization in the chronically ischemic heart.

Airborne GPS, 1996

The paper gives the theory of airborne GPs related to Photogrammetry and the results of a self calibration used to validate the theory. Accordingly, no ground control points are required for mapping using a strip or block of photographs provided the site is within 10 Km of the calibration site.