The effects of upper extremity functional electrically stimulated (FES) exercise training on upper limb function in individuals with tetraplegia

Functional Electrically Stimulated (FES) ami cycle ergometry is a relatively new technique for exercise in individuals with impairments of the upper limbs. The purpose of this study was to determine the effects of 12 weeks of FES arm cycle ergometry on upper limb function and cardiovascular fitness in individuals with tetraplegia. F!ve subjects (4M/1F; mean age 43.8 ± 15.4 years) with a spinal cord injury of the cervical spine (C3- C7; ASIA B-D) participated in 12 weeks of3 times per week FES arm cycle ergometry training. Exercise performance measures (time to fatigue, distance to fatigue, work rate) were taken at baseline, 6 weeks, and following 12 weeks of training. Cardiovascular measures (MAP, resting HR, average and peak HR during exercise, cardiovascular efficiency) and self reported upper limb function (as determined by the CUE, sf-QIF, SCI-SET questionnaires) were taken at baseline and following 12 weeks of training. Increases were found in time to fatigue (84.4%), distance to fatigue (111.7%), and work rate (51.3%). These changes were non-significant. There was a significant decrease in MAP (91.1 ± 13.9 vs. 87.7 ± 14.7 mmHg) following 12 weeks ofFES arm cycle ergometry. There was no significant change in resting HR or average and peak HR during exercise. Cardiovascular efficiency showed an increase following the 12 weeks ofFES training (142.9%), which was non-significant. There were no significant changes in the measures of upper limb function and spasticity. Overall, FES arm cycle ergometry is an effective method of cardiovascular exercise for individuals with tetraplegia, as evidenced by a significant decrease in MAP, however it is unclear whether 12 weeks of thrice weekly FES arm cycle ergometry may effectively improve upper limb function in all individuals with a cervical SCI.

Do Neuro-Muscular Adaptations Occur in Endurance-Trained Boys and Men?

Most research on the effects of endurance training has focused on endurance training's health-related benefits and metabolic effects in both children and adults. The purpose of this study was to examine the neuromuscular effects of endurance training and to investigate whether they differ in children (9.0-12.9 years) and adults (18.4-35.6 years). Maximal isometric torque, rate of torque development (RTD), rate of muscle activation (Q30), electromechanical delay (EMD), and time to peak torque and peak RTD were determined by isokinetic dynamometry and surface electromyography (EMG) in elbow and knee flexion and extension. The subjects were 12 endurance-trained and 16 untrained boys, and 15 endurance-trained and 20 untrained men. The adults displayed consistently higher peak torque, RTD, and Q30, in both absolute and normalized values, whereas the boys had longer EMD (64.7+/-17.1 vs. 56.6+/-15.4 ms) and time to peak RTD (98.5+/-32.1 vs. 80.4+/-15.0 ms for boys and men, respectively). Q30, normalized for peak EMG amplitude, was the only observed training effect (1.95+/-1.16 vs. 1.10+/-0.67 ms for trained and untrained men, respectively). This effect could not be shown in the boys. The findings show normalized muscle strength and rate of activation to be lower in children compared with adults, regardless of training status. Because the observed higher Q30 values were not matched by corresponding higher performance measures in the trained men, the functional and discriminatory significance of Q30 remains unclear. Endurance training does not appear to affect muscle strength or rate of force development in either men or boys.

Staffing Optimization with Chance Constraints in Call Centers

Les centres d’appels sont des éléments clés de presque n’importe quelle grande organisation. Le problème de gestion du travail a reçu beaucoup d’attention dans la littérature. Une formulation typique se base sur des mesures de performance sur un horizon infini, et le problème d’affectation d’agents est habituellement résolu en combinant des méthodes d’optimisation et de simulation. Dans cette thèse, nous considérons un problème d’affection d’agents pour des centres d’appels soumis a des contraintes en probabilité. Nous introduisons une formulation qui exige que les contraintes de qualité de service (QoS) soient satisfaites avec une forte probabilité, et définissons une approximation de ce problème par moyenne échantillonnale dans un cadre de compétences multiples. Nous établissons la convergence de la solution du problème approximatif vers celle du problème initial quand la taille de l’échantillon croit. Pour le cas particulier où tous les agents ont toutes les compétences (un seul groupe d’agents), nous concevons trois méthodes d’optimisation basées sur la simulation pour le problème de moyenne échantillonnale. Étant donné un niveau initial de personnel, nous augmentons le nombre d’agents pour les périodes où les contraintes sont violées, et nous diminuons le nombre d’agents pour les périodes telles que les contraintes soient toujours satisfaites après cette réduction. Des expériences numériques sont menées sur plusieurs modèles de centre d’appels à faible occupation, au cours desquelles les algorithmes donnent de bonnes solutions, i.e. la plupart des contraintes en probabilité sont satisfaites, et nous ne pouvons pas réduire le personnel dans une période donnée sont introduire de violation de contraintes. Un avantage de ces algorithmes, par rapport à d’autres méthodes, est la facilité d’implémentation.

Design and Development of re configurable compact cross patch antenna for switchable polarization

Antennas are necessary and vital components of communication and radar systems, but sometimes their inability to adjust to new operating scenarios can limit system performance. Reconfigurable antennas can adjust with changing system requirements or environmental conditions and provide additional levels of functionality that may result in wider instantaneous frequency bandwidths, more extensive scan volumes, and radiation patterns with more desirable side lobe distributions. Their agility and diversity created new horizons for different types of applications especially in cognitive radio, Multiple Input Multiple Output Systems, satellites and many other applications. Reconfigurable antennas satisfy the requirements for increased functionality, such as direction finding, beam steering, radar, control and command, within a confined volume. The intelligence associated with the reconfigurable antennas revolved around switching mechanisms utilized. In the present work, we have investigated frequency reconfigurable polarization diversity antennas using two methods: 1. By using low-loss, high-isolation switches such as PIN diode, the antenna can be structurally reconfigured to maintain the elements near their resonant dimensions for different frequency bands and/or polarization. 2. Secondly, the incorporation of variable capacitors or varactors, to overcome many problems faced in using switches and their biasing. The performances of these designs have been studied using standard simulation tools used in industry/academia and they have been experimentally verified. Antenna design guidelines are also deduced by accounting the resonances. One of the major contributions of the thesis lies in the analysis of the designed antennas using FDTD based numerical computation to validate their performance.

RRNS-convolutional encoded concatenated code for OFDM based wireless communication

The modern telecommunication industry demands higher capacity networks with high data rate. Orthogonal frequency division multiplexing (OFDM) is a promising technique for high data rate wireless communications at reasonable complexity in wireless channels. OFDM has been adopted for many types of wireless systems like wireless local area networks such as IEEE 802.11a, and digital audio/video broadcasting (DAB/DVB). The proposed research focuses on a concatenated coding scheme that improve the performance of OFDM based wireless communications. It uses a Redundant Residue Number System (RRNS) code as the outer code and a convolutional code as the inner code. The bit error rate (BER) performances of the proposed system under different channel conditions are investigated. These include the effect of additive white Gaussian noise (AWGN), multipath delay spread, peak power clipping and frame start synchronization error. The simulation results show that the proposed RRNS-Convolutional concatenated coding (RCCC) scheme provides significant improvement in the system performance by exploiting the inherent properties of RRNS.

A novel Sigma–Delta based parallel analogue-to-residue converter

Animportant step in the residue number system(RNS) based signal processing is the conversion of signal into residue domain. Many implementations of this conversion have been proposed for various goals, and one of the implementations is by a direct conversion from an analogue input. A novel approach for analogue-to-residue conversion is proposed in this research using the most popular Sigma–Delta analogue-to-digital converter (SD-ADC). In this approach, the front end is the same as in traditional SD-ADC that uses Sigma–Delta (SD) modulator with appropriate dynamic range, but the filtering is doneby a filter implemented usingRNSarithmetic. Hence, the natural output of the filter is an RNS representation of the input signal. The resolution, conversion speed, hardware complexity and cost of implementation of the proposed SD based analogue-to-residue converter are compared with the existing analogue-to-residue converters based on Nyquist rate ADCs

Pathogens occuring in the winter pea-maize-winter wheat rotation, their host specificity and the potential of compost in suppressing foot and root disease of peas

The overall aim of the work presented was to evaluate soil health management with a specific focus on soil borne diseases of peas. For that purpose field experiments were carried out from 2009 until 2013 to assess crop performance and pathogen occurrence in the rotation winter pea-maize-winter wheat and if the application of composts can improve system performance. The winter peas were left untreated or inoculated with Phoma medicaginis, in the presence or absence of yard waste compost at rate of 5 t dry matter ha-1. A second application of compost was made to the winter wheat. Fusarium ssp. were isolated and identified from the roots of all three crops and the Ascochyta complex pathogens on peas. Bioassays were conducted under controlled conditions to assess susceptibility of two peas to Fusarium avenaceum, F. solani, P. medicaginis and Didymella pinodes and of nine plant species to F. avenaceum. Also, effects of compost applications and temperature on pea diseases were assessed. Application of composts overall stabilized crop performance but it did not lead to significant yield increases nor did it affect pathogen composition and occurrence. Phoma medicaginis was dominating the pathogen complex on peas. F. graminearum, F. culmorum, F. proliferatum, Microdochium nivale, F. crookwellense, F. sambucinum, F. oxysporum, F. avenaceum and F. equiseti were frequently isolated species from maize and winter wheat with no obvious influence of the pre-crop on the Fusarium species composition. The spring pea Santana was considerably more susceptible to the pathogens tested than the winter pea EFB33 in both sterile sand and non-sterilized field soil. F. avenaceum was the most aggressive pathogen, followed by P. medicaginis, D. pinodes, and F. solani. Aggressiveness of all pathogens was greatly reduced in non-sterile field soil. F. avenaceum caused severe symptoms on roots of all nine plant species tested. Especially susceptible were Trifolium repens, T. subterraneum, Brassica juncea and Sinapis alba in addition to peas. Reduction of growing temperatures from 19/16°C day/night to 16/12°C and 13/10°C did not affect the efficacy of compost. It reduced plant growth and slightly increased disease on EFB33 whereas the highest disease severity on Santana was observed at the highest temperature, 19/16°C. Application of 20% v/v of compost reduced disease on peas due to all four pathogens depending on pea variety, pathogen and growing media used. Suppression was also achieved with lower application rate of 3.5% v/v. Tests with γ sterilized compost suggest that the suppression of disease caused by Fusarium spp. is biological in origin, whereas chemical and physical properties of compost are playing an additional role in the suppression of disease caused by D. pinodes and P. medicaginis.

Reputación y su relación con la efectividad de las empresas que conforman una Red Inter-Organizacional

En los últimos años, el entorno empresarial ha venido experimentando e indagando en nuevas estrategias organizacionales para un mejor desempeño de sus actividades, con el fin de alcanzar los objetivos que las compañías proyectan cada día. Una de estas estrategias es la conformación de redes inter-organizacionales, las cuales son una herramienta que les permite trabajar en cooperación para conseguir un objetivo común, que beneficie a cada uno de los miembros de la red. En este contexto, es relevante conocer su grado de efectividad así como conocer los factores clave que influyen en el buen funcionamiento de una red inter-organizacional. Por lo tanto, en este proyecto de investigación se hace énfasis en la reputación, el cual es un factor clave de la confianza y un elemento influyente en la efectividad de las redes inter-organizacionales, teniendo en cuenta no solo la reputación de los integrantes de la red, sino también la de la red en conjunto.

Resiliencia organizacional y capital psicológico

Desde la noción universal sobre la empresa como un sistema de interacción con un entorno determinado para alcanzar un objetivo, de manera planificada y en función de satisfacer las demandas de un mercado mediante la actividad económica, su viabilidad, sostenibilidad y crecimiento dependerán, por supuesto, de una serie de estrategias adecuadas no solo para tales fines, sino también para enfrentar diversidad de agentes endógenos y exógenos que puedan afectar el normal desempeño de su gestión. Estamos hablando de la importancia de la resiliencia organizacional y del Capital Psicológico. En un escenario tan impredecible como el de la economía mundial, donde la constante son los cambios en su comportamiento —unos propios de su dinámica e interdependencia, naturales de fenómenos como la globalización, y otros derivados de eventos disruptivos— hoy más que nunca es necesario implementar el modelo de la empresa resiliente, que es aquella entidad capaz de adaptarse y recuperarse frente a una perturbación. Al mismo tiempo, más allá de su tamaño, naturaleza u objeto social, es indispensable reconocer básicamente que toda organización está constituida por personas, lo cual implica la trascendencia que para su funcionamiento tiene el factor humano-dependiente, y por lo tanto se crea la necesidad de promover el Capital Psicológico y la resiliencia a nivel de las organizaciones a través de una cultura empresarial.

Efectividad en redes Inter-Organizacionales : una aproximación al concepto y su medición

El concepto de efectividad en Redes Inter-organizacionales se ha investigado poco a pesar de la gran importancia en el desarrollo y sostenibilidad de la red. Es muy importante entender este concepto ya que cuando hablamos de Red, nos referimos a un grupo de más de tres organizaciones que trabajan juntas para alcanzar un objetivo colectivo que beneficia a cada miembro de la red. Esto nos demuestra la importancia de evaluar y analizar este fenómeno “Red Inter-organizacional” de forma más detallada para poder analizar que estructura, formas de gobierno, relaciones entre los miembros y entre otros factores, influyen en la efectividad y perdurabilidad de la Red Inter-organizacional. Esta investigación se desarrolla con el fin de plantear una aproximación al concepto de medición de la efectividad en Redes Inter-organizacionales. El trabajo se centrara en la recopilación de información y en la investigación documental, la cual se realizará por fases para brindarle al lector una mayor claridad y entendimiento sobre qué es Red, Red Inter-Organizacional, Efectividad. Y para finalizar se estudiara Efectividad en una Red Inter-organizacional.

Conceptual design of wastewater treatment plants using multiple objectives

La implementació de la Directiva Europea 91/271/CEE referent a tractament d'aigües residuals urbanes va promoure la construcció de noves instal·lacions al mateix temps que la introducció de noves tecnologies per tractar nutrients en àrees designades com a sensibles. Tant el disseny d'aquestes noves infraestructures com el redisseny de les ja existents es va portar a terme a partir d'aproximacions basades fonamentalment en objectius econòmics degut a la necessitat d'acabar les obres en un període de temps relativament curt. Aquests estudis estaven basats en coneixement heurístic o correlacions numèriques provinents de models determinístics simplificats. Així doncs, moltes de les estacions depuradores d'aigües residuals (EDARs) resultants van estar caracteritzades per una manca de robustesa i flexibilitat, poca controlabilitat, amb freqüents problemes microbiològics de separació de sòlids en el decantador secundari, elevats costos d'operació i eliminació parcial de nutrients allunyant-les de l'òptim de funcionament. Molts d'aquestes problemes van sorgir degut a un disseny inadequat, de manera que la comunitat científica es va adonar de la importància de les etapes inicials de disseny conceptual. Precisament per aquesta raó, els mètodes tradicionals de disseny han d'evolucionar cap a sistemes d'avaluació mes complexos, que tinguin en compte múltiples objectius, assegurant així un millor funcionament de la planta. Tot i la importància del disseny conceptual tenint en compte múltiples objectius, encara hi ha un buit important en la literatura científica tractant aquest camp d'investigació. L'objectiu que persegueix aquesta tesi és el de desenvolupar un mètode de disseny conceptual d'EDARs considerant múltiples objectius, de manera que serveixi d'eina de suport a la presa de decisions al seleccionar la millor alternativa entre diferents opcions de disseny. Aquest treball de recerca contribueix amb un mètode de disseny modular i evolutiu que combina diferent tècniques com: el procés de decisió jeràrquic, anàlisi multicriteri, optimació preliminar multiobjectiu basada en anàlisi de sensibilitat, tècniques d'extracció de coneixement i mineria de dades, anàlisi multivariant i anàlisi d'incertesa a partir de simulacions de Monte Carlo. Això s'ha aconseguit subdividint el mètode de disseny desenvolupat en aquesta tesis en quatre blocs principals: (1) generació jeràrquica i anàlisi multicriteri d'alternatives, (2) anàlisi de decisions crítiques, (3) anàlisi multivariant i (4) anàlisi d'incertesa. El primer dels blocs combina un procés de decisió jeràrquic amb anàlisi multicriteri. El procés de decisió jeràrquic subdivideix el disseny conceptual en una sèrie de qüestions mes fàcilment analitzables i avaluables mentre que l'anàlisi multicriteri permet la consideració de diferent objectius al mateix temps. D'aquesta manera es redueix el nombre d'alternatives a avaluar i fa que el futur disseny i operació de la planta estigui influenciat per aspectes ambientals, econòmics, tècnics i legals. Finalment aquest bloc inclou una anàlisi de sensibilitat dels pesos que proporciona informació de com varien les diferents alternatives al mateix temps que canvia la importància relativa del objectius de disseny. El segon bloc engloba tècniques d'anàlisi de sensibilitat, optimització preliminar multiobjectiu i extracció de coneixement per donar suport al disseny conceptual d'EDAR, seleccionant la millor alternativa un cop s'han identificat decisions crítiques. Les decisions crítiques són aquelles en les que s'ha de seleccionar entre alternatives que compleixen de forma similar els objectius de disseny però amb diferents implicacions pel que respecte a la futura estructura i operació de la planta. Aquest tipus d'anàlisi proporciona una visió més àmplia de l'espai de disseny i permet identificar direccions desitjables (o indesitjables) cap on el procés de disseny pot derivar. El tercer bloc de la tesi proporciona l'anàlisi multivariant de les matrius multicriteri obtingudes durant l'avaluació de les alternatives de disseny. Específicament, les tècniques utilitzades en aquest treball de recerca engloben: 1) anàlisi de conglomerats, 2) anàlisi de components principals/anàlisi factorial i 3) anàlisi discriminant. Com a resultat és possible un millor accés a les dades per realitzar la selecció de les alternatives, proporcionant més informació per a una avaluació mes efectiva, i finalment incrementant el coneixement del procés d'avaluació de les alternatives de disseny generades. En el quart i últim bloc desenvolupat en aquesta tesi, les diferents alternatives de disseny són avaluades amb incertesa. L'objectiu d'aquest bloc és el d'estudiar el canvi en la presa de decisions quan una alternativa és avaluada incloent o no incertesa en els paràmetres dels models que descriuen el seu comportament. La incertesa en el paràmetres del model s'introdueix a partir de funcions de probabilitat. Desprès es porten a terme simulacions Monte Carlo, on d'aquestes distribucions se n'extrauen números aleatoris que es subsisteixen pels paràmetres del model i permeten estudiar com la incertesa es propaga a través del model. Així és possible analitzar la variació en l'acompliment global dels objectius de disseny per a cada una de les alternatives, quines són les contribucions en aquesta variació que hi tenen els aspectes ambientals, legals, econòmics i tècnics, i finalment el canvi en la selecció d'alternatives quan hi ha una variació de la importància relativa dels objectius de disseny. En comparació amb les aproximacions tradicionals de disseny, el mètode desenvolupat en aquesta tesi adreça problemes de disseny/redisseny tenint en compte múltiples objectius i múltiples criteris. Al mateix temps, el procés de presa de decisions mostra de forma objectiva, transparent i sistemàtica el perquè una alternativa és seleccionada en front de les altres, proporcionant l'opció que més bé acompleix els objectius marcats, mostrant els punts forts i febles, les principals correlacions entre objectius i alternatives, i finalment tenint en compte la possible incertesa inherent en els paràmetres del model que es fan servir durant les anàlisis. Les possibilitats del mètode desenvolupat es demostren en aquesta tesi a partir de diferents casos d'estudi: selecció del tipus d'eliminació biològica de nitrogen (cas d'estudi # 1), optimització d'una estratègia de control (cas d'estudi # 2), redisseny d'una planta per aconseguir eliminació simultània de carboni, nitrogen i fòsfor (cas d'estudi # 3) i finalment anàlisi d'estratègies control a nivell de planta (casos d'estudi # 4 i # 5).

Calibration of uncertain flood inundation models using remotely sensed water levels

A traditional method of validating the performance of a flood model when remotely sensed data of the flood extent are available is to compare the predicted flood extent to that observed. The performance measure employed often uses areal pattern-matching to assess the degree to which the two extents overlap. Recently, remote sensing of flood extents using synthetic aperture radar (SAR) and airborne scanning laser altimetry (LIDAR) has made more straightforward the synoptic measurement of water surface elevations along flood waterlines, and this has emphasised the possibility of using alternative performance measures based on height. This paper considers the advantages that can accrue from using a performance measure based on waterline elevations rather than one based on areal patterns of wet and dry pixels. The two measures were compared for their ability to estimate flood inundation uncertainty maps from a set of model runs carried out to span the acceptable model parameter range in a GLUE-based analysis. A 1 in 5-year flood on the Thames in 1992 was used as a test event. As is typical for UK floods, only a single SAR image of observed flood extent was available for model calibration and validation. A simple implementation of a two-dimensional flood model (LISFLOOD-FP) was used to generate model flood extents for comparison with that observed. The performance measure based on height differences of corresponding points along the observed and modelled waterlines was found to be significantly more sensitive to the channel friction parameter than the measure based on areal patterns of flood extent. The former was able to restrict the parameter range of acceptable model runs and hence reduce the number of runs necessary to generate an inundation uncertainty map. A result of this was that there was less uncertainty in the final flood risk map. The uncertainty analysis included the effects of uncertainties in the observed flood extent as well as in model parameters. The height-based measure was found to be more sensitive when increased heighting accuracy was achieved by requiring that observed waterline heights varied slowly along the reach. The technique allows for the decomposition of the reach into sections, with different effective channel friction parameters used in different sections, which in this case resulted in lower r.m.s. height differences between observed and modelled waterlines than those achieved by runs using a single friction parameter for the whole reach. However, a validation of the modelled inundation uncertainty using the calibration event showed a significant difference between the uncertainty map and the observed flood extent. While this was true for both measures, the difference was especially significant for the height-based one. This is likely to be due to the conceptually simple flood inundation model and the coarse application resolution employed in this case. The increased sensitivity of the height-based measure may lead to an increased onus being placed on the model developer in the production of a valid model

Improved and optimal dual circular 32-QAM for MB-OFDM

Quadrature Phase Shift Keying (QPSK) and Dual Carrier Modulation (DCM) are currently used as the modulation schemes for Multiband Orthogonal Frequency Division Multiplexing (MB-OFDM) in the ECMA-368 defined Ultra-Wideband (UWB) radio platform. ECMA-368 has been chosen as the physical radio platform for many systems including Wireless USB (W-USB), Bluetooth 3.0 and Wireless HDMI; hence ECMA-368 is an important issue to consumer electronics and the users’ experience of these products. To enable the transport of high-rate USB, ECMA-368 offers up to 480 Mb/s instantaneous bit rate to the Medium Access Control (MAC) layer, but depending on radio channel conditions dropped packets unfortunately result in a lower throughput. This paper presents improvement on a high data rate modulation scheme that fits within the configuration of the current standard increasing system throughput by achieving 600 Mb/s (reliable to 3.2 meters) thus maintaining the high rate USB throughput even with a moderate level of dropped packets. The modulation system is termed improved and optimal Dual Circular 32-QAM (DC 32-QAM). The system performance for improved and optimal DC 32-QAM modulation is presented and compared with previous DC 32- QAM, 16-QAM and DCM.

Changing patterns of cognitive-motor interference (CMI) over time during recovery from stroke

Objective: To explore the extent and nature of change in cognitive-motor interference (CMI) among rehabilitating stroke patients who showed dual-task gait decrement at initial assessment. Design: Experimental, with in-subjects, repeated measures design. Setting: Rehabilitation centre for adults with acquired, nonprogressive brain injury. Subjects: Ten patients with unilateral stroke, available for reassessment 1-9 months following their participation in a study of CMI after brain injury. Measures: Median stride duration; mean word generation. Methods: Two x one-minute walking trials, two x one-minute word generation trials, two x one-minute trials of simultaneous walking and word generation; 10-metre walking time; Barthel ADL Scale score. Results: Seven out of ten patients showed reduction over time in dual-task gait decrement. Three out of ten showed reduction in cognitive decrement. Only one showed concomitant reduction in gait and word generation decrement. Conclusion: Extent of CMI during relearning to walk after a stroke reduced over time in the majority of patients. Effects were more evident in improved stride duration than improved cognitive performance. Measures of multiple task performance should be included in assessment for functional recovery.

Bode's maximum available feedback and phase margin

'Maximum Available Feedback' is Bode's term for the highest possible loop gain over a given bandwidth, with specified stability margins, in a single loop feedback system. His work using asymptotic analysis allowed Bode to develop a methodology for achieving this. However, the actual system performance differs from that specified, due to the use of asymptotic approximations, and the author[2] has described how, for instance, the actual phase margin is often much lower than required when the bandwidth is high, and proposed novel modifications to the asymptotes to address the issue. This paper gives some new analysis of such systems, showing that the method also contravenes Bode's definition of phase margin, and shows how the author's modifications can be used for different amounts of bandwidth.