Neural models for predicting hole diameters in drilling processes

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere's surface and was constructed in a way that always three wheels are in contact with the sphere's metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere's surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.

Modeling and Identification of an Open-frame Underwater Vehicle: The Yaw Motion Dynamics

A semi-autonomous unmanned underwater vehicle (UUV), named LAURS, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions of deep water oil fields. In this work, a method of modeling and identification of yaw motion dynamic system model of an open-frame underwater vehicle is presented. Using an on-board low cost magnetic compass sensor the method is based on the utilization of an uncoupled 1-DOF (degree of freedom) dynamic system equation and the application of the integral method which is the classical least squares algorithm applied to the integral form of the dynamic system equations. Experimental trials with the actual vehicle have been performed in a test tank and diving pool. During these experiments, thrusters responsible for yaw motion are driven by sinusoidal voltage signal profiles. An assessment of the feasibility of the method reveals that estimated dynamic system models are more reliable when considering slow and small sinusoidal voltage signal profiles, i.e. with larger periods and with relatively small amplitude and offset.

Modelling shared attention through relational reinforcement learning

Shared attention is a type of communication very important among human beings. It is sometimes reserved for the more complex form of communication being constituted by a sequence of four steps: mutual gaze, gaze following, imperative pointing and declarative pointing. Some approaches have been proposed in Human-Robot Interaction area to solve part of shared attention process, that is, the most of works proposed try to solve the first two steps. Models based on temporal difference, neural networks, probabilistic and reinforcement learning are methods used in several works. In this article, we are presenting a robotic architecture that provides a robot or agent, the capacity of learning mutual gaze, gaze following and declarative pointing using a robotic head interacting with a caregiver. Three learning methods have been incorporated to this architecture and a comparison of their performance has been done to find the most adequate to be used in real experiment. The learning capabilities of this architecture have been analyzed by observing the robot interacting with the human in a controlled environment. The experimental results show that the robotic head is able to produce appropriate behavior and to learn from sociable interaction.

Computational and experimental characterization of a low-cost piezoelectric valveless diaphragm pump

Flow pumps act as important devices in areas such as Bioengineering, Medicine, and Pharmacy, among other areas of Engineering, mainly for delivering liquids or gases at small-scale and precision flow rate quantities. Principles for pumping fluids based on piezoelectric actuators have been widely studied, since they allow the construction of pump systems for displacement of small fluid volumes with low power consumption. This work studies valveless piezoelectric diaphragm pumps for flow generation, which uses a piezoelectric ceramic (PZT) as actuator to move a membrane (diaphragm) up and down as a piston. The direction of the flow is guaranteed by valveless configuration based on a nozzle-diffuser system that privileges the flow in just one pumping direction. Most research efforts on development of valveless flow pump deal either with computational simulations based on simplified models or with simplified physical approaches based on analytical models. The main objective of this work is the study of a methodology to develop a low-cost valveless piezoelectric diaphragm flow pump using computational simulations, parametric study, prototype manufacturing, and experimental characterization. The parametric study has shown that the eccentricity of PZT layer and metal layer plays a key role in the performance of the pump.

Genome-wide metabolic (re-) annotation of Kluyveromyces lactis

Background: Even before having its genome sequence published in 2004, Kluyveromyces lactis had long been considered a model organism for studies in genetics and physiology. Research on Kluyveromyces lactis is quite advanced and this yeast species is one of the few with which it is possible to perform formal genetic analysis. Nevertheless, until now, no complete metabolic functional annotation has been performed to the proteins encoded in the Kluyveromyces lactis genome. Results: In this work, a new metabolic genome-wide functional re-annotation of the proteins encoded in the Kluyveromyces lactis genome was performed, resulting in the annotation of 1759 genes with metabolic functions, and the development of a methodology supported by merlin (software developed in-house). The new annotation includes novelties, such as the assignment of transporter superfamily numbers to genes identified as transporter proteins. Thus, the genes annotated with metabolic functions could be exclusively enzymatic (1410 genes), transporter proteins encoding genes (301 genes) or have both metabolic activities (48 genes). The new annotation produced by this work largely surpassed the Kluyveromyces lactis currently available annotations. A comparison with KEGG’s annotation revealed a match with 844 (~90%) of the genes annotated by KEGG, while adding 850 new gene annotations. Moreover, there are 32 genes with annotations different from KEGG. Conclusions: The methodology developed throughout this work can be used to re-annotate any yeast or, with a little tweak of the reference organism, the proteins encoded in any sequenced genome. The new annotation provided by this study offers basic knowledge which might be useful for the scientific community working on this model yeast, because new functions have been identified for the so-called metabolic genes. Furthermore, it served as the basis for the reconstruction of a compartmentalized, genome-scale metabolic model of Kluyveromyces lactis, which is currently being finished.

Two RND proteins involved in heavy metal efflux in Caulobacter crescentus belong to separate clusters within proteobacteria

Abstract Background Heavy metal Resistance-Nodulation-Division (HME-RND) efflux systems help Gram-negative bacteria to keep the intracellular homeostasis under high metal concentrations. These proteins constitute the cytoplasmic membrane channel of the tripartite RND transport systems. Caulobacter crescentus NA1000 possess two HME-RND proteins, and the aim of this work was to determine their involvement in the response to cadmium, zinc, cobalt and nickel, and to analyze the phylogenetic distribution and characteristic signatures of orthologs of these two proteins. Results Expression assays of the czrCBA operon showed significant induction in the presence of cadmium and zinc, and moderate induction by cobalt and nickel. The nczCBA operon is highly induced in the presence of nickel and cobalt, moderately induced by zinc and not induced by cadmium. Analysis of the resistance phenotype of mutant strains showed that the ΔczrA strain is highly sensitive to cadmium, zinc and cobalt, but resistant to nickel. The ΔnczA strain and the double mutant strain showed reduced growth in the presence of all metals tested. Phylogenetic analysis of the C. crescentus HME-RND proteins showed that CzrA-like proteins, in contrast to those similar to NczA, are almost exclusively found in the Alphaproteobacteria group, and the characteristic protein signatures of each group were highlighted. Conclusions The czrCBA efflux system is involved mainly in response to cadmium and zinc with a secondary role in response to cobalt. The nczCBA efflux system is involved mainly in response to nickel and cobalt, with a secondary role in response to cadmium and zinc. CzrA belongs to the HME2 subfamily, which is almost exclusively found in the Alphaproteobacteria group, as shown by phylogenetic analysis. NczA belongs to the HME1 subfamily which is more widespread among diverse Proteobacteria groups. Each of these subfamilies present distinctive amino acid signatures.

Human skeletal muscle and erythrocyte proteins involved in acid-base homeostasis: adaptations to chronic hypoxia

[EN] Chronic hypoxia is accompanied by changes in blood and skeletal muscle acid-base control. We hypothesized that the underlying mechanisms include altered protein expression of transport systems and the enzymes involved in lactate, HCO3- and H+ fluxes in skeletal muscle and erythrocytes. Immunoblotting was used to quantify densities of the transport systems and enzymes. Muscle and erythrocyte samples were obtained from eight Danish lowlanders at sea level and after 2 and 8 weeks at 4100 m (Bolivia). For comparison, samples were obtained from eight Bolivian natives. In muscle membranes there were no changes in fibre-type distribution, lactate dehydrogenase isoforms, Na+,K+-pump subunits or in the lactate-H+ co-transporters MCT1 and MCT4. The Na+-H+ exchanger protein NHE1 was elevated by 39 % in natives compared to lowlanders. The Na+-HCO3- co-transporter density in muscle was elevated by 47-69 % after 2 and 8 weeks at altitude. The membrane-bound carbonic anhydrase (CA) IV in muscle increased in the lowlanders by 39 %, whereas CA XIV decreased by 23-47 %. Levels of cytosolic CA II and III in muscle and CA I and II in erythrocytes were unchanged. The erythrocyte lactate-H+ co-transporter MCT1 increased by 230-405 % in lowlanders and was 324 % higher in natives. The erythrocyte inorganic anion exchanger (Cl--HCO3- exchanger AE1) was increased by 149-228 %. In conclusion, chronic hypoxia induces dramatic changes in erythrocyte proteins, but only moderate changes in muscle proteins involved in acid-base control. Together, these changes suggest a hypoxia-induced increase in the capacity for lactate, HCO3- and H+ fluxes from muscle to blood and from blood to erythrocytes.

Potential respiration is a better respiratory predictor than biomass in young Artemia salina

[EN] These experiments test whether respiration can be predicted better from biomass or from potential respiration, a measurement of the mitochondrial and microsomal respiratory electron transport systems. For nearly a century Kleiber's law or a similar precursor have argued the importance of biomass in predicting respiration. In the last decade, a version of the Metabolic Theory of Ecology has elaborated on Kleiber's Law adding emphasis to the importance of biomass in predicting respiration. We argue that Kleiber's law works because biomass packages mitochondria and microsomal electron transport complexes. On a scale of five orders of magnitude we have shown previously that potential respiration predicts respiration aswell as biomass inmarine zooplankton. Here, using cultures of the branchiopod, Artemia salina and on a scale of less than 2 orders of magnitude,we investigated the power of biomass and potential respiration in predicting respiration.We measured biomass, respiration and potential respiration in Artemia grown in different ways and found that potential respiration (Ф) could predict respiration (R), both in μlO2h−1 (R=0.924Φ+0.062, r2=0.976), but biomass (as mg dry mass) could not (R=27.02DM+8.857, r2=0.128). Furthermore the R/Ф ratio appeared independent of age and differences in the food source.

Transportation theory and planning

The aim of this research is to analyze the transport system and its subcomponents in order to highlight which are the design tools for physical and/or organizational projects related to transport supply systems. A characteristic of the transport systems is that the change of their structures can recoil on several entities, groups of entities, which constitute the community. The construction of a new infrastructure can modify both the transport service characteristic for all the user of the entire network; for example, the construction of a transportation infrastructure can change not only the transport service characteristics for the users of the entire network in which it is part of, but also it produces economical, social, and environmental effects. Therefore, the interventions or the improvements choices must be performed using a rational decision making approach. This approach requires that these choices are taken through the quantitative evaluation of the different effects caused by the different intervention plans. This approach becomes even more necessary when the decisions are taken in behalf of the community. Then, in order to understand how to develop a planning process in Transportation I will firstly analyze the transport system and the mathematical models used to describe it: these models provide us significant indicators which can be used to evaluate the effects of possible interventions. In conclusion, I will move on the topics related to the transport planning, analyzing the planning process, and the variables that have to be considered to perform a feasibility analysis or to compare different alternatives. In conclusion I will perform a preliminary analysis of a new transit system which is planned to be developed in New York City.

Entwicklung einer Anordnung zur Nutzung von Massenschwerebewegungen beim Quarzitabbau im Rheinischen Schiefergebirge

Die (Wieder-)Nutzung auf Schwerkraft basierender Fördertechniken, die insbesondere durch das niedrige Energiepreisniveau in den Jahrzehnten nach dem 2. Weltkrieg in der Tagebautechnik nahezu vollständig verdrängt wurden, ist bei den heutigen wirtschaftlichen Randbedingungen und anzustrebenden ökologischen Standards eine Herausforderung für die bergbautreibende Industrie. Seit Aufnahme der Entwicklung des Förderkonzeptes – Geführte Versturztechnik – Mitte der 1990er Jahre haben sich die Kosten für Rohöl vor Steuern nach dem Tiefstand um das Jahr 1998 bis heute mehr als verdreifacht, alleine seit 2004 mehr als verdoppelt. Gesetzliche Regelwerke wie die europäische IVU-Richtlinie 96/61/EG zur „integrierten Vermeidung und Verminderung der Umweltverschmutzung“ fordern, Genehmigungen nur noch bei Einsatz der besten verfügbaren Techniken (BVT oder BAT: „best available techniques“) zu erteilen. Die Umsetzung in nationale Vorschriften wie das Bundes-Immissionsschutzgesetz und nachgeordnete Regelwerke fordern hierauf aufbauend, dass Umweltbelastungen nicht in andere Medien verlagert werden dürfen. Die Anordnung einer Versturzrinne zur Nutzung von Massenschwerebewegungen am Beispiel von Quarzitabbau im Rheinischen Schiefergebirge bei denen die Förderbezugsebene unterhalb der Strossen liegt, die zur sichern und selektiven Gewinnung des Rohstoffs aufgefahren werden müssen, erfüllt durch Rückgriff auf ein vermeintlich „archaisches“ Förderkonzept durch Nutzung der Schwerkraft die obigen Anforderungen. Offenkundige Umweltbelastungen, die alleine durch die Verbrennung von Dieselkraftstoff und hieraus resultierender Schadstoff- und Wärmeeinträge in die Luft beim verbreiteten Einsatz von SLKW zur Abwärtsförderung entstehen, können erheblich vermindert werden. Der Aspekt der Betriebssicherheit einer solchen Anordnung kann durch Auffahren eines geradlinigen Bauwerks mit an das Fördergut angepassten Dimensionen sowie Einrichtungen zur Beschränkung der kinetischen Energie erreicht werden. Diese stellen auch gleichzeitig sicher, dass die Zerkleinerung des durch die Versturzrinne abwärts transportierten Materials betrieblich zulässige Grenzen nicht überschreitet. Hierfür kann auf das umfangreiche Wissen zu Massenschwerebewegungen Rückgriff genommen werden. Dem Aspekt des Umweltschutzes, der sich in Bezug auf das Medium Luft auf den autochtonen Staub reduziert, kann durch Vorrichtungen zur Staubniederschlagung Rechnung getragen werden. Vertiefende Untersuchungen sind erforderlich, um die mit komplexen, aber erprobten Techniken arbeitende Tagebauindustrie auch in dicht besiedelten Regionen wieder an die Nutzung von Schwerkraft (-gestützten) Fördertechniken heranzuführen. Auch das Konzept – Geführte Versturztechnik – ist auf konkrete Anwendungsfälle hin in Details anzupassen.

Engineering Agent-Oriented Technologies and Programming Languages for Computer Programming and Software Development

Mainstream hardware is becoming parallel, heterogeneous, and distributed on every desk, every home and in every pocket. As a consequence, in the last years software is having an epochal turn toward concurrency, distribution, interaction which is pushed by the evolution of hardware architectures and the growing of network availability. This calls for introducing further abstraction layers on top of those provided by classical mainstream programming paradigms, to tackle more effectively the new complexities that developers have to face in everyday programming. A convergence it is recognizable in the mainstream toward the adoption of the actor paradigm as a mean to unite object-oriented programming and concurrency. Nevertheless, we argue that the actor paradigm can only be considered a good starting point to provide a more comprehensive response to such a fundamental and radical change in software development. Accordingly, the main objective of this thesis is to propose Agent-Oriented Programming (AOP) as a high-level general purpose programming paradigm, natural evolution of actors and objects, introducing a further level of human-inspired concepts for programming software systems, meant to simplify the design and programming of concurrent, distributed, reactive/interactive programs. To this end, in the dissertation first we construct the required background by studying the state-of-the-art of both actor-oriented and agent-oriented programming, and then we focus on the engineering of integrated programming technologies for developing agent-based systems in their classical application domains: artificial intelligence and distributed artificial intelligence. Then, we shift the perspective moving from the development of intelligent software systems, toward general purpose software development. Using the expertise maturated during the phase of background construction, we introduce a general-purpose programming language named simpAL, which founds its roots on general principles and practices of software development, and at the same time provides an agent-oriented level of abstraction for the engineering of general purpose software systems.

Response of Microcystis aeruginosa PCC 7806 to different CO2 concentrations

Future climatic change scenarios predict rising of the atmospheric CO2 levels which could favor the proliferation of some harmful bloom-forming cyanobacteria as Microcystis aeruginosa. In the present study, the response of M. aeruginosa strain PCC 7806 to two different partial pressure of CO2 was tested. Sandrini et al. (2013) recently found that several, but not all, M. aeruginosa strains lack the SbtA or BicA HCO3- uptake system genes; the contribution of different Ci transporters to photosynthesis and the difference between low and high affinity activated Ci uptake state were investigated. M. aeruginosa PCC 7806 was cultured in four chemostats containing modified BG11 medium with 10 mM NaNO3 and no presence of NaCl, NaHCO3, Na2CO3 and additional buffers. A wide variety of analysis on samples collected from continuous cultures – such as A750, medium composition, cellular composition, cell counting, mini-PAM, measurements with the O2 optode, Aminco, 77K fluorescence emission spectra – was carried out. Data analysis results showed that the increased CO2 concentration has a big effect on M. aeruginosa PCC 7806. Experiments were performed using the Oxy-4 O2 optode apparatus in order to measure the photosynthetic O2 evolution of samples taken from both batch and chemostat cultures. At low bicarbonate concentration, an evident inhibition of Na+-dependent HCO3- transporter BicA by LiCl at 25 mM was observed. The consequent addition of 25 mM NaCl was able to counteract the Li+ effect at pH 8.0 but not at pH 10.0. In the latter case, only the addition of a higher amount of HCO3- led to photosynthetic O2 evolution suggesting the important role of the BicA transporter. However, further studies are needed to better explain the results obtained as high pH levels might have an influence on the transport systems, altering the mechanism of pH regulation and the functioning of Na+/H+ antiporter systems.

Protocolli per gestione di informazioni di traffico in reti veicolari ad hoc

Sviluppo ed implementazione di protocolli per il monitoraggio di traffico stradale sulla piattaforma di simulazione iTETRIS per la raccolta di informazioni da utilizzare in applicazioni di Intelligent Transport System.

Oberflächenstrukturierte amphiphile Polyphenylendendrimere zur Imitation natürlicher Transportproteine

In dieser Arbeit werden formstabile, amphiphile, oberflächenstrukturierte Polyphenylendendrimere (PPDs) mit verschiedenen Oberflächenpolaritäten beschrieben. Die physikalisch-chemischen Eigenschaften dieser Makromoleküle wurden studiert, welche ein gutes Verständnis der Nanoumgebung amphiphiler PPDs lieferten. Auch lichtinduzierte Polaritätsänderung wurde untersucht. Mit dem Konzept einer gleichmäßigen Verteilung polarer Bereiche auf der Peripherie hydrophober PPPs gelang es, Transportsysteme für Fettsäuren und Zytostatika zu erzeugen, welche charakteristische Merkmale natürlicher Transportproteine wie Albumin in sich vereinen. Hierzu zählen eine stabile dreidimensionale Form, die Ausbildung von Bindungstaschen sowie eine definierte strukturierte Oberfläche aus hydrophilen und hydrophoben Bereichen. Die Verfügbarkeit von lipophilen Bindungstaschen übertrifft sogar die des Albumins. Im Gegensatz zu Polymeren kann die Wirkstoffaufnahme bei PPDs exakt bestimmt werden. Die Anpassung der peripheren Gruppen beeinflusst den zellulären Aufnahmemechanismus. Es konnten effiziente Zellaufnahmen in A549-Zellen sowie der Transport und die intrazelluläre Freisetzung von Doxorubicin erreicht werden. Manche PPDs bieten eine Größe und Architektur, die es ermöglicht, Endothelzellen des Gehirns zu durchdringen. Es wurde auch der andere Extremfall untersucht, indem alle polaren Gruppen auf einer Hemisphäre akkumuliert wurden. Zur Darstellung solcher Janus-Dendrimere wurde ein neues Synthesekonzept herausgearbeitet und die erhaltenen Janus-Dendrimere mittels Lichtstreuung untersucht, wobei definierte perlenschnurartige Aggregate gefunden wurden. Weiterhin wurden semifluorierte Amphiphile vorgestellt, welche die Möglichkeit zur Selbstorganisation durch Nanophasenseparation bieten.