Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory

This paper presents a motion control system for guidance of an underactuated Unmanned Underwater Vehicle (UUV) on a helical trajectory. The control strategy is developed using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Using energy routing, the trajectory of a virtual fully actuated plant is guided onto a vector field. A tracking controller is then used that commands the underactuated plant to follow the velocity of the virtual plant. An integral control is inserted between the two control layers, which adds robustness and disturbance rejection to the design.

Risk assessment of wandering behavior in mild dementia

Objective This prospective longitudinal study aims to determine the risk factors of wandering-related adverse consequences in community-dwelling persons with mild dementia. These adverse consequences include negative outcomes of wandering (falls, fractures, and injuries) and eloping behavior. Methods We recruited 143 dyads of persons with mild dementia and their caregivers from a veteran's hospital and memory clinic in Florida. Wandering-related adverse consequences were measured using the Revised Algase Wandering Scale – Community Version. Variables such as personality (Big Five Inventory), behavioral response to stress, gait, and balance (Tinetti Gait and Balance), wayfinding ability (Wayfinding Effectiveness Scale), and neurocognitive abilities (attention, cognition, memory, language/verbal skills, and executive functioning) were also measured. Bivariate and logistic regression analyses were performed to assess the predictors of these wandering-related adverse consequences. Results A total of 49% of the study participants had falls, fractures, and injuries due to wandering behavior, and 43.7% demonstrated eloping behaviors. Persistent walking (OR = 2.6) and poor gait (OR = 0.9) were significant predictors of negative outcomes of wandering, while persistent walking (OR = 13.2) and passivity (OR = 2.55) predicted eloping behavior. However, there were no correlations between wandering-related adverse consequences and participants' characteristics (age, gender, race, ethnicity, and education), health status (Charlson comorbidity index), or neurocognitive abilities. Conclusion Our results highlight the importance of identifying at-risk individuals so that effective interventions can be developed to reduce or prevent the adverse consequences of wandering.

A Novel Approach for Designing Generator Excitation controllers Using the IDA-PBC Technique

This paper presents a novel approach for designing of generator excitation controllers using Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) technique for a Single Machine Infinite Bus (SMIB) system that can also be directly used in a multi-machine environment. The generator system equations are modified by referencing the rotor angle with respect to the secondary of the transformer bus instead of the infinite bus. For the modified system equations, IDA-PBC is applied to stabilize the system around an operating condition. The IDA-PBC design results in a Lyapunov function for the modified system. The new control law is practically feasible and can be applied directly to multi-machine system without referring to external system parameters. The effectiveness of the proposed controller is tested on a SMIB and a 10 generator 39 bus test system for a range of operating conditions. The Proposed excitation controller has shown good performance for both small and large disturbances when compared to the performance of a conventional static exciter with power system stabilizer.

Characterization of electroless nickel by esca

Eiectroless nickel (EN) deposits obtained from alkaline EN baths employing citrate or glycine as complexing agents and triethanoiamine as an additive are characterized by ESCA. This study reveals that Ni and P in EN are present as Niδ+ and Pδ− species. Besides these, NiO and NiPO4 are present as surface species. They confer passivity on EN and thereby contribute to its corrosion resistance.

“And now to the rest of the trash…” Representations of begging Roma and an ideal society in two Nordic newspapers

Since begging East European Roma became a common view in the streets of larger Nordic cities, vivid discussions about their presence and activities have been carried out in the mass media. This thesis examines the public debates in Finland and Norway through a discursive analysis and comparison of press content from the two countries. The aim of the study is firstly to identify the prominent discourses which construct certain images of the beggars, as well as the elements and internal logics that these discourses are constructed around. But in addition to scrutinizing representations of the Roma, also an opposite perspective is applied. In accordance with the theoretical concept of ‘othering’, debates about ‘them’ are assumed to simultaneously reveal something significant about ‘us’. The second research question is thus what kind of images of the ideal Finnish and Norwegian societies are reflected in the data, and which societal values are salient in these images. The analysis comprises 79 texts printed in the main Finnish and Norwegian quality newspapers; Helsingin Sanomat and Aftenposten. The data consists of news articles, editorials, columns and letters to the editor from a three-month period in the summer of 2010. The analysis was carried out within the theoretical and methodological framework of critical discourse analysis as outlined by Norman Fairclough. A customized nine-step coding scheme was developed in order to reach the most central dimensions of the texts. Seven main discourses were identified; the Deprivation-solidarity, Human rights, Order, Crime, Space and majority reactions, Authority control, and Authority critique discourse. These were grouped into two competing normative stances on what an ideal society looks like; the exclusionary and the inclusionary stance. While the exclusionary stance places the begging Roma within a frame of crime, illegitimate use of public space and threat to the social order, the other advocates an attitude of solidarity and humanitarian values. The analysis points to a dominance of the former, although it is challenged by the latter. The Roma are “individualized” by quoting and/or presenting them by name in a fair part of the Finnish news articles. In Norway, the opposite is true; there the beggars are dominantly presented as anonymous and passive. Overall, the begging Roma are subjected to a double bind as they are faced with simultaneous expectations of activity and passivity. Theories relating to moral panics and ‘the good enemy’ provide for a deepened understanding of the intensity of the debates. Keywords: East European Roma, begging, media, newspapers, Helsingin Sanomat, Aftenposten, critical discourse analysis, Norman Fairclough, othering, ideal society, moral panics, good enemy, double bind, Finland, Norway

Moore meets maxwell

Moore's Law has driven the semiconductor revolution enabling over four decades of scaling in frequency, size, complexity, and power. However, the limits of physics are preventing further scaling of speed, forcing a paradigm shift towards multicore computing and parallelization. In effect, the system is taking over the role that the single CPU was playing: high-speed signals running through chips but also packages and boards connect ever more complex systems. High-speed signals making their way through the entire system cause new challenges in the design of computing hardware. Inductance, phase shifts and velocity of light effects, material resonances, and wave behavior become not only prevalent but need to be calculated accurately and rapidly to enable short design cycle times. In essence, to continue scaling with Moore's Law requires the incorporation of Maxwell's equations in the design process. Incorporating Maxwell's equations into the design flow is only possible through the combined power that new algorithms, parallelization and high-speed computing provide. At the same time, incorporation of Maxwell-based models into circuit and system-level simulation presents a massive accuracy, passivity, and scalability challenge. In this tutorial, we navigate through the often confusing terminology and concepts behind field solvers, show how advances in field solvers enable integration into EDA flows, present novel methods for model generation and passivity assurance in large systems, and demonstrate the power of cloud computing in enabling the next generation of scalable Maxwell solvers and the next generation of Moore's Law scaling of systems. We intend to show the truly symbiotic growing relationship between Maxwell and Moore!

12 V / kilo-Farad Range Lead-Carbon Hybrid Ultracapacitors and Their Envisaged Applications

12 V / kilo-Farad (kF) range substrate-integrated lead-carbon hybrid ultracapacitors (HUCs) wherein the conventional positive plates of lead-acid batteries are replaced with substrate-integrated PbO2 positive plates and the negative plates are replaced with carbon-coated graphitic electrodes, providing totally non-faradaic and corrosion-free electrodes, are developed and performance tested. Constant-current discharge data at varying load-currents, constant-power discharge data at varying power values, and the capacitance data at different temperature for a 12 V / kF range substrate-integrated lead-carbon HUC are described along with its resistance, leakage current, self-discharge and cycle-life characteristics.

Mathematical study of complex networks : brain, internet, and power grid

The dissertation is concerned with the mathematical study of various network problems. First, three real-world networks are considered: (i) the human brain network (ii) communication networks, (iii) electric power networks. Although these networks perform very different tasks, they share similar mathematical foundations. The high-level goal is to analyze and/or synthesis each of these systems from a “control and optimization” point of view. After studying these three real-world networks, two abstract network problems are also explored, which are motivated by power systems. The first one is “flow optimization over a flow network” and the second one is “nonlinear optimization over a generalized weighted graph”. The results derived in this dissertation are summarized below.

Brain Networks: Neuroimaging data reveals the coordinated activity of spatially distinct brain regions, which may be represented mathematically as a network of nodes (brain regions) and links (interdependencies). To obtain the brain connectivity network, the graphs associated with the correlation matrix and the inverse covariance matrix—describing marginal and conditional dependencies between brain regions—have been proposed in the literature. A question arises as to whether any of these graphs provides useful information about the brain connectivity. Due to the electrical properties of the brain, this problem will be investigated in the context of electrical circuits. First, we consider an electric circuit model and show that the inverse covariance matrix of the node voltages reveals the topology of the circuit. Second, we study the problem of finding the topology of the circuit based on only measurement. In this case, by assuming that the circuit is hidden inside a black box and only the nodal signals are available for measurement, the aim is to find the topology of the circuit when a limited number of samples are available. For this purpose, we deploy the graphical lasso technique to estimate a sparse inverse covariance matrix. It is shown that the graphical lasso may find most of the circuit topology if the exact covariance matrix is well-conditioned. However, it may fail to work well when this matrix is ill-conditioned. To deal with ill-conditioned matrices, we propose a small modification to the graphical lasso algorithm and demonstrate its performance. Finally, the technique developed in this work will be applied to the resting-state fMRI data of a number of healthy subjects.

Communication Networks: Congestion control techniques aim to adjust the transmission rates of competing users in the Internet in such a way that the network resources are shared efficiently. Despite the progress in the analysis and synthesis of the Internet congestion control, almost all existing fluid models of congestion control assume that every link in the path of a flow observes the original source rate. To address this issue, a more accurate model is derived in this work for the behavior of the network under an arbitrary congestion controller, which takes into account of the effect of buffering (queueing) on data flows. Using this model, it is proved that the well-known Internet congestion control algorithms may no longer be stable for the common pricing schemes, unless a sufficient condition is satisfied. It is also shown that these algorithms are guaranteed to be stable if a new pricing mechanism is used.

Electrical Power Networks: Optimal power flow (OPF) has been one of the most studied problems for power systems since its introduction by Carpentier in 1962. This problem is concerned with finding an optimal operating point of a power network minimizing the total power generation cost subject to network and physical constraints. It is well known that OPF is computationally hard to solve due to the nonlinear interrelation among the optimization variables. The objective is to identify a large class of networks over which every OPF problem can be solved in polynomial time. To this end, a convex relaxation is proposed, which solves the OPF problem exactly for every radial network and every meshed network with a sufficient number of phase shifters, provided power over-delivery is allowed. The concept of “power over-delivery” is equivalent to relaxing the power balance equations to inequality constraints.

Flow Networks: In this part of the dissertation, the minimum-cost flow problem over an arbitrary flow network is considered. In this problem, each node is associated with some possibly unknown injection, each line has two unknown flows at its ends related to each other via a nonlinear function, and all injections and flows need to satisfy certain box constraints. This problem, named generalized network flow (GNF), is highly non-convex due to its nonlinear equality constraints. Under the assumption of monotonicity and convexity of the flow and cost functions, a convex relaxation is proposed, which always finds the optimal injections. A primary application of this work is in the OPF problem. The results of this work on GNF prove that the relaxation on power balance equations (i.e., load over-delivery) is not needed in practice under a very mild angle assumption.

Generalized Weighted Graphs: Motivated by power optimizations, this part aims to find a global optimization technique for a nonlinear optimization defined over a generalized weighted graph. Every edge of this type of graph is associated with a weight set corresponding to the known parameters of the optimization (e.g., the coefficients). The motivation behind this problem is to investigate how the (hidden) structure of a given real/complex valued optimization makes the problem easy to solve, and indeed the generalized weighted graph is introduced to capture the structure of an optimization. Various sufficient conditions are derived, which relate the polynomial-time solvability of different classes of optimization problems to weak properties of the generalized weighted graph such as its topology and the sign definiteness of its weight sets. As an application, it is proved that a broad class of real and complex optimizations over power networks are polynomial-time solvable due to the passivity of transmission lines and transformers.

Do efeito fantástico na ficção contemporânea

O fantástico tem se desenvolvido ao longo dos séculos, contudo, ainda constatamos dificuldades em se definir as características que o constituem. É certo que, hoje, o elemento fantástico aparece de diferentes formas, com a convivência pacífica de elementos naturais e sobrenaturais. Aqui, o insólito se dissolve na rotina e na banalidade das situações comuns, gerando o efeito fantástico, abordagem da presente dissertação. Não há mais sustos ou sobressaltos diante de um evento sobrenatural, ao contrário do chamado fantástico clássico, que prevê a hesitação como elemento principal. Nesse emaranhado de eventos sobrenaturais, uma figura se destaca, a personagem. Ela tem como principal função ser instrumento para comunicar e confirmar ao leitor a ocorrência dos eventos sobrenaturais. No caso do fantástico contemporâneo ela acaba por auxiliar na naturalização dos eventos sobrenaturais, pois retrata a passividade e a aceitação de tais eventos. Através dela também é possível identificar reações diante desses eventos: incerteza, dúvida, sufocamento, angústia e medo. Nosso principal objetivo com essa dissertação é costurar teoria e texto, buscando identificar o efeito fantástico, através da análise da reação das personagens, em autores contemporâneos, mais especificamente em contos. Utilizaremos para essa exemplificação contos de Amilcar Bettega Barbosa (Deixe o quarto como está), Jorge Luis Borges (O livro de areia) e Murilo Rubião (Contos Reunidos). Para realizar tal desafio, buscaremos trazer questões que enriqueçam a discussão sobre o fantástico contemporâneo, demonstrando com isso, também, sua permanência no cenário literário atual. Com isso esperamos contribuir para a propagação das discussões sobre o fantástico, levando, quem sabe, a um novo posicionamento crítico sobre esses textos

Esperança e sentido de vida em pacientes com neoplasia maligna

O trabalho tem como tema central o estudo teórico e a pesquisa empírica das variáveis esperança, crenças esperançosas e sentido de vida em pacientes com diagnóstico de câncer. No plano teórico, objetivou estudar a Teoria Antropológica La Espera y la Esperanza, de Laín Entralgo, procurando aplicá-la à experiência profissional em Psico-Oncologia; estabelecer uma relação teórica entre o conceito de esperança, de Laín Entralgo, e o conceito psicológico de crença; buscar um vínculo entre o conceito de esperança de Laín Entralgo e o conceito de sentido da vida de Viktor Frankl; e, desvelar a complementaridade da contribuição de Buber ao conceito de sentido de vida, de Frankl, no sentido de que a análise do encontro seria favorecedora do sentido da vida ou de uma mudança de um sentido já acolhido. No plano empírico, investigou os possíveis efeitos psicológicos e sua repercussão no estado de saúde geral do paciente oncológico, decorrente de uma intervenção psicológica fundamentada por esses princípios teóricos. Foi conduzido um estudo exploratório, de natureza qualitativa, baseado na estratégia da pesquisa-ação. Participaram, voluntariamente, quatro homens, com diagnóstico de neoplasia maligna (câncer de próstata = 2; câncer de intestino = 1; câncer de língua = 1), média de idade 62,8 (4,3) e escolaridade 6,8 (3,4). As informações foram coletadas através de entrevistas individuais semi-estruturadas, com frequência semanal e duração de 1h30. Empregou-se o Mini-Exame do Estado Mental (MEEM) para rastreio de déficit cognitivo e o Inventário Beck de Depressão (BDI) para identificação de presença de sintomatologia depressiva. O resultados obtidos no MEEM (28,31,7) revelaram ausência de declínio cognitivo. Os escores do BDI indicaram ausência de sintomas significativos de depressão. Os depoimentos dos participantes foram analisados com base no método de Análise de Conteúdo (Bardin), através da técnica de Análise Temática. Os achados indicam que: crenças esperançosas vinculam o sentido da vida à esperança; a busca de um sentido para a existência é variável importante quando se trata das condutas consequentes da esperança: passividade e atividade; o caráter complementar da contribuição de Buber ao conceito de sentido de vida de Frankl evidencia-se na convivência, em especial na relação dialógica, que se mostra favorecedora da descoberta do sentido da vida ou de uma mudança de um sentido já acolhido; os pacientes esperançosos são mais ativos sob diversos aspectos no sentido físico, psicológico e social, quando o seu estado físico assim o permite, do que aqueles que se mostram desesperançados; as pessoas esperançosas tendem a resignar-se e a encontrar alternativas psicologicamente mais saudáveis em face da doença do que aquelas que se mostram mais desesperançadas. Considerando a natureza da pesquisa, o reduzido número de participantes, usuários do SUS e sob os cuidados do mesmo médico, estes achados devem ser examinados com cautela posto que representam indícios reveladores de que exista uma relação entre crenças esperançosas e a evolução do câncer, favorecida pelo sentido da vida.

The activity view of inner speech

We distinguish two general approaches to inner speech (IS) the "format" and the "activity" views and defend the activity view. The format view grounds the utility of IS on features of the representational format of language, and is related to the thesis that the proper function of IS is to make conscious thinking possible. IS appears typically as a product constituted by representations of phonological features. The view also has implications for the idea that passivity phenomena in cognition may be misat-tributed IS. The activity view sees IS as a speaking activity that does not have a proper function in cognition. It simply inherits the array of functions of outer speech. We argue that it is methodologically advisable to start from this variety of uses, which suggests commonalities between internal and external activities. The format view has several problems; it has to deny "unsymbolized thinking"; it cannot easily explain how IS makes thoughts available to consciousness, and it cannot explain those uses of IS where its format features apparently play no role. The activity view not only lacks these problems but also has explanatory advantages: construing IS as an activity allows it to be integrally constituted by its content; the view is able to construe unsymbolized thinking as part of a continuum of phenomena that exploit the same mechanisms, and it offers a simple explanation for the variety of uses of IS

O contraditório no procedimento fiscal para o lançamento de ofício: legitimação democrática, transparência e eficiência administrativa

Esse trabalho se propõe a demonstração que o atual procedimento fiscal para o lançamento de ofício carece de um realinhado com os valores constitucionais da democracia e eficiência através da introdução do direito ao contraditório antes da constituição do crédito tributário. Apesar da redemocratização do país e o reconhecimento e valorização do constitucionalismo como sistema jurídico, ainda se adota no Brasil um sistema inquisitório no procedimento de constituição dos créditos tributários pelo lançamento de ofício. O que significa a vedação ao contribuinte da iniciativa de manifestação para demonstrar a inocorrência dos fatos lhe imputados pela fiscalização. A sua participação durante o procedimento se caracteriza pela passividade, quando se limita ao atendimento das intimações para a apresentação das provas e esclarecimentos do interesse da administração tributária; portanto, o contribuinte não participa da formação do ato administrativo de lançamento tributário, apenas cumpre deveres legais. Assim, procuramos demonstrar que apesar da existência de um processo administrativo fiscal após o lançamento e a suspensão da cobrança, o crédito tributário constituído provoca efeitos jurídicos imediatos negativos aos contribuintes, o que justifica o contraditório durante o próprio procedimento de lançamento e não apenas durante o processo que se forma posteriormente. Também enfatiza-se o reconhecimento desse direito ao apontar a contradição entre a necessária colaboração do contribuinte para a revelação dos fatos geradores de efeitos tributários contra si mesmo e a adoção no Brasil de um sistema inquisitório tomado emprestado dos inquéritos policiais.

Leitura e produção de textos no ensino médio: da estaticidade conservadora ao dinamismo de uma proposta dialógica

Considerando-se a linguagem um elemento de interação social, concebe-se o texto, em todas as suas manifestações, como objeto norteador do ensino da Língua Materna, cujo objetivo, segundo orientações dos PCN de Língua Portuguesa, é formar cidadãos reflexivos e críticos, proficientes na prática da leitura e da escrita. Entretanto, face a um currículo extenso e limitada carga horária, as aulas de produção textual, não raras vezes, deixam de propiciar uma formação autônoma e reproduzem práticas que visam apenas à apropriação da norma padrão e à apreensão de modelos de escrita, gerando um aprendizado desvinculado da realidade do educando. Dessa forma, a presente dissertação pretende mostrar os desafios enfrentados por professores do Ensino Médio para desconstruir a passividade que se instaura no educando, ao longo do Ensino Fundamental II, perante seu próprio texto, seja no ato de exposição do tema proposto para a redação, seja na etapa destinada à avaliação da mesma, na qual pouco se estimula sua participação. Com base na perspectiva sociointeracionista de Bakhtin (2009), este trabalho defende a ideia de que o envolvimento do educando com seu texto deve se iniciar na fase de elaboração do tema, de modo que este possa ser integrado à vivência do aluno, até a fase de revisão e correção, em que o acompanhamento do processo visa a garantir ao autor o direito à analise e à reescritura de sua produção, momentos imprescindíveis ao desenvolvimento da competência leitora e escritora. O corpus desta pesquisa é formado por produções textuais de estudantes do primeiro e do segundo anos do Ensino Médio de uma escola da rede particular do município do Rio de Janeiro. Foram analisadas 64 redações, sendo 28 produzidas a partir de temas determinados pelo professor, focando procedimentos relativos à análise do tema e à reescrita, e 36 relacionadas à construção de temas a partir de textos não verbais, buscando-se maior amplitude interpretativa. Além disso, também foram aplicados questionários, nos quais os alunos expuseram seus pontos de vista sobre as aulas de redação na escola. A análise do corpus demonstrou que a escrita é um processo e que o ensino de produção de textos se torna mais produtivo na medida em que se possibilita maior participação dos educandos em todas as etapas.

Global state synchronization in networks of cyclic feedback systems

This technical note studies global asymptotic state synchronization in networks of identical systems. Conditions on the coupling strength required for the synchronization of nodes having a cyclic feedback structure are deduced using incremental dissipativity theory. The method takes advantage of the incremental passivity properties of the constituent subsystems of the network nodes to reformulate the synchronization problem as one of achieving incremental passivity by coupling. The method can be used in the framework of contraction theory to constructively build a contracting metric for the incremental system. The result is illustrated for a network of biochemical oscillators. © 2011 IEEE.

Large scale heterogeneous networks, the Davis-Wielandt shell, and graph separation

We consider a large scale network of interconnected heterogeneous dynamical components. Scalable stability conditions are derived that involve the input/output properties of individual subsystems and the interconnection matrix. The analysis is based on the Davis-Wielandt shell, a higher dimensional version of the numerical range with important convexity properties. This can be used to allow heterogeneity in the agent dynamics while relaxing normality and symmetry assumptions on the interconnection matrix. The results include small gain and passivity approaches as special cases, with the three dimensional shell shown to be inherently connected with corresponding graph separation arguments. © 2012 Society for Industrial and Applied Mathematics.