A case-control study to estimate the effects of acute clinical infection with the Schmallenberg virus on milk yield, fertility and veterinary costs in Swiss dairy herds.

Schmallenberg virus (SBV) was first detected in Switzerland in July 2012 and many Swiss dairy farmers reported acute clinical signs in dairy cattle during the spread of the virus until December 2012. The objectives of the present study were to investigate the effects of an acute infection with SBV on milk yield, fertility and veterinary costs in dairy farms with clinical signs of SBV infection (case farms), and to compare those farms to a matched control group of dairy farms in which cattle did not show clinical signs of SBV infection. Herd size was significantly (p<0.001) larger in case farms (33 cows, n=77) than in control farms (25 cows, n=84). Within case herds, 14.8% (median) of the cows showed acute clinical signs. Managers from case farms indicated to have observed a higher abortion rate during the year with SBV (6.5%) than in the previous year (3.7%). Analysis of fertility parameters based on veterinary bills and data from the breeding associations showed no significant differences between case and control farms. The general veterinary costs per cow from July to December 2012 were significantly higher (p=0.02) in case (CHF 19.80; EUR 16.50) than in control farms (CHF 15.90; EUR 13.25). No differences in milk yield were found between groups, but there was a significant decrease in milk production in case farms in the second half year in 2012 compared to the same period in 2011 (p<0.001) and 2013 (p=0.009). The average daily milk yield per cow (both groups together) was +0.73kg higher (p=0.03) in the second half year 2011 and +0.52kg (p=0.12) in the second half year 2013 compared to the same half year 2012. Fifty-seven percent of the cows with acute clinical signs (n=461) were treated by a veterinarian. The average calculated loss after SBV infection for a standardized farm was CHF 1606 (EUR 1338), which can be considered as low at the national level, but the losses were subject to great fluctuations between farms, so that individual farms could have very high losses (>CHF 10,000, EUR 8333).

Evaluación de aceites y extractos vegetales para el control de Sitophilus zeamaiz y su efecto en la calidad de semilla de maíz

Sitophilus zeamaiz es una de las especies de gorgojos que más pérdidas causa en granos almacenados en el mundo; su control se basa principalmente en productos sintéticos, que con el paso del tiempo resultan menos efectivos. En la presente investigación se evaluaron aceites vegetales de ricino, soya y extractos vegetales de neem y lila sobre poblaciones de S. zeamaiz y sus efectos sobre la germinación y parámetros fisiológicos de las plántulas. Los resultados muestran que el aceite de soya dio los mejores resultados de control, al presentar mortalidades entre un 92 y 100% a las 192 horas. Sin embargo, este aceite afecta la germinación a dosis de 2000 a 10000 ppm. El extracto de neem presentó mortalidades del 78,75 y 91,25% a las 192 horas, sin afectar la germinación ni las propiedades agronómicas. Finalmente, el aceite de ricino y el extracto de lila fueron los tratamientos que, para las condiciones del presente estudio, no mostraron altas mortalidades sobre S. zeamaiz.

Some hydrophysical and hydrochemical parameters of the upper part of the hydrogen sulfide zone in the Black Sea, September 11-22, 1994

Features of spatial variability of hydrogen sulfide in the northeastern part of the Black Sea are estimated. Some technical aspects of H2S concentration determination in the anoxic zone are discussed: in its upper part at H2S concentration <30 µmol/l, the photometric method is recommended, while for deeper layers the iodometric method should be used. With linearity of vertical distribution of hydrogen sulfide and ammonium taken into account their vertical gradients are estimated as 0.49+/-0.04 µmol/m and 0.19+/-0.06 µmol/m respectively. It is shown that the upper boundary of the H2S layer corresponds to the isopycnal surface with Sigma_t = 16.19+/-0.05 arbitrary units. Special attention is paid to relationship of hydrogen sulfide distribution with hydrophysical features in the region under study, in particular in the coastal zone. It is shown that hydrodynamic conditions control spatial distribution of hydrogen sulfide. On the basis of isopycnal treatment of the H2S field existence of a coastal convergence zone is proved, and peculiarities are recognized of vertical circulation in the main Black Sea gyre and coastal anticyclonic eddies; here hydrogen sulfide serves as a tracer of hydrophysical mixing processes.

Impacts of passive warming chambers on soil parameters in Antarctica

Passive chambers are used to examine the impacts of summer warming in Antarctica but, so far, impacts occurring outside the growing season, or related to extreme temperatures, have not been reported, despite their potentially large biological significance. In this review, we synthesise and discuss the microclimate impacts of passive warming chambers (closed, ventilated and Open Top Chamber-OTC) commonly used in Antarctic terrestrial habitats, paying special attention to seasonal warming, during the growing season and outside, extreme temperatures and freeze-thaw events. Both temperature increases and decreases were recorded throughout the year. Closed chambers caused earlier spring soil thaw (8-28 days) while OTCs delayed soil thaw (3-13 days). Smaller closed chamber types recorded the largest temperature extremes (up to 20°C higher than ambient) and longest periods (up to 11 h) of above ambient extreme temperatures, and even OTCs had above ambient temperature extremes over up to 5 consecutive hours. The frequency of freeze-thaw events was reduced by ~25%. All chamber types experienced extreme temperature ranges that could negatively affect biological responses, while warming during winter could result in depletion of limited metabolic resources. The effects outside the growing season could be as important in driving biological responses as the mean summer warming. We make suggestions for improving season-specific warming simulations and propose that seasonal and changed temperature patterns achieved under climate manipulations should be recognised explicitly in descriptions of treatment effects.

(Table 3) Liver weight, blood liver parameters, and blood plasma PCB concentrations in 14 sledge dog bitches and their 14 pups in Aasiaat, west Greenland

We assessed the relationship between exposure to organohalogen polluted minke whale (Balaenoptera acutorostrata) blubber and liver morphology and function in a generational controlled study of 28 Greenland sledge dogs (Canis familiaris). The prevalence of portal fibrosis, mild bile duct hyperplasia, and vascular leukocyte infiltrations was significantly higher in the exposed group (all Chi-square: p<0.05). In case of granulomas, the frequency was significantly highest in the bitches (P generation) while the prevalence of portal fibrosis was highest in the F generation (pups) (both Chi-square: p<0.05). No significant difference between exposed and controls was found for bile acid, ALAT, and ALKP, while ASAT and LDH were significantly highest in the control group (both ANOVA: p<0.05). We therefore suggest that a daily intake of 50-200 g environmentally organohalogen polluted minke whale blubber can cause liver lesions in Greenland sledge dogs. It is reasonable to infer that other apex predators such as polar bears (Ursus maritimus) and humans may suffer from similar impacts.

Orbital control on carbonate-lignite cycles on sediment core KAP-107 in the Ptolemais Basin, northern Greece

Time control is essential for the reconstruction of geological processes. We use a combination of relative and absolute methods to establish the chronology and related paleoclimatic processes for Late Neogene lacustrine sediment from the Ptolemais Basin, northern Greece. We determined changes in magnetic polarity and correlated them to the global magnetic polarity time scale, which again is calibrated by radiometric methods, to provide a low-resolution age model for the Upper Miocene to Lower Pliocene (7 - 3 Ma). Sedimentary successions show rhythmic alterations of lignites, clays, and marls. Using photospetrometry we measured this variability at 1-cm resolution, and correlated the pattern to known changes in earth's orbital parameters, namely to eccentricity and precession. For 230-m long borehole KAP-107 from the Amynteon Sub-Basin we obtained a high-resolution age model that spans 2 myr from 5.1 to 3.1 Ma, with age control points at insolation maxima (20-kyr resolution). We recommend using photospectrometry as reliable tool to establish orbital-based chronologies and to reconstruct paleoclimate variability at high resolution.

Control of ambient pH on growth and stable isotopes in phytoplanktonic calcifying algae

The present work examines the relationship between pH-induced changes in growth and stable isotopic composition of coccolith calcite in two coccolithophore species with a geological perspective. These cells (Gephyrocapsa oceanica and Coccolithus pelagicus) with differing physiologies and vital effects possess a growth optimum corresponding to average pH of surface seawater in the geological period during their first known occurrence. Diminished growth rates outside of their optimum pH range are explained by the challenge of proton translocation into the extracellular environment at low pH, and enhanced aqueous CO2 limitation at high pH. These diminished growth rates correspond to a lower degree of oxygen isotopic disequilibrium in G. oceanica. In contrast, the slower growing and ancient species C. pelagicus, which typically precipitates near-equilibrium calcite, does not show any modulation of oxygen isotope signals with changing pH. In CO2-utilizing unicellular algae, carbon and oxygen isotope compositions are best explained by the degree of utilization of the internal dissolved inorganic carbon (DIC) pool and the dynamics of isotopic re-equilibration inside the cell. Thus, the "carbonate ion effect" may not apply to coccolithophores. This difference with foraminifera can be traced to different modes of DIC incorporation into these two distinct biomineralizing organisms. From a geological perspective, these findings have implications for refining the use of oxygen isotopes to infer more reliable sea surface temperatures (SSTs) from fossil carbonates, and contribute to a better understanding of how climate-relevant parameters are recorded in the sedimentary archive.

New methods for the estimation of Takagi-Sugeno model based extended Kalman filter and its applications to optimal control for nonlinear systems

This paper describes new approaches to improve the local and global approximation (matching) and modeling capability of Takagi–Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy and fast convergence. The main problem encountered is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the application of the T-S method because this type of membership function has been widely used during the last 2 decades in the stability, controller design of fuzzy systems and is popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S identification method with optimized performance in approximating nonlinear functions. We propose a noniterative method through weighting of parameters approach and an iterative algorithm by applying the extended Kalman filter, based on the same idea of parameters’ weighting. We show that the Kalman filter is an effective tool in the identification of T-S fuzzy model. A fuzzy controller based linear quadratic regulator is proposed in order to show the effectiveness of the estimation method developed here in control applications. An illustrative example of an inverted pendulum is chosen to evaluate the robustness and remarkable performance of the proposed method locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity, and generality of the algorithm. An illustrative example is chosen to evaluate the robustness. In this paper, we prove that these algorithms converge very fast, thereby making them very practical to use.

Methodology for adapting the parameters of a fuzzy system using the extended Kalman filter

When we try to analyze and to control a system whose model was obtained only based on input/output data, accuracy is essential in the model. On the other hand, to make the procedure practical, the modeling stage must be computationally efficient. In this regard, this paper presents the application of extended Kalman filter for the parametric adaptation of a fuzzy model

A new approach to fuzzy estimation of Takagi-Sugeno model and its applications to optimal control for nonlinear systems

An efficient approach is presented to improve the local and global approximation and modelling capability of Takagi-Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy. The main problem is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the use of the T-S method because this type of membership function has been widely used during the last two decades in the stability, controller design and are popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S method with optimized performance in approximating nonlinear functions. A simple approach with few computational effort, based on the well known parameters' weighting method is suggested for tuning T-S parameters to improve the choice of the performance index and minimize it. A global fuzzy controller (FC) based Linear Quadratic Regulator (LQR) is proposed in order to show the effectiveness of the estimation method developed here in control applications. Illustrative examples of an inverted pendulum and Van der Pol system are chosen to evaluate the robustness and remarkable performance of the proposed method and the high accuracy obtained in approximating nonlinear and unstable systems locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity and generality of the algorithm.

Caracterización de los sistemas de protección basados en materiales naturales destinados al control de la socavación en obras marítimas presentes en instalaciones eólicas marinas

El fenómeno de la socavación puede poner en peligro la operatividad o la seguridad de estructuras offshore comprometiendo su estabilidad global. Hasta el momento, la gran mayoría de las investigaciones destinadas a estudiar el origen y el desarrollo de este fenómeno han estado centradas en entornos fluviales, bajo condiciones de corriente continua. En la última década, debido al crecimiento del mercado de la eólica marina, han surgido numerosos estudios para la caracterización de este fenómeno en el entorno marino, teniendo en cuenta que estas estructuras se encuentran sometidas de forma simultánea a los efectos de la corriente y el oleaje, y las corrientes provocadas por las mareas. Ante la observada carencia de criterios existentes para el diseño de protecciones frente a la socavación, la presente Tesis Doctoral surge con el objetivo principal de desarrollar una serie de recomendaciones que permitan mejorar y optimizar el diseño de estas estructuras, teniendo en cuenta no sólo los parámetros geométricos de las cimentaciones de los aerogeneradores, o la propia erosión, sino también, variables características del oleaje como la altura de ola, el periodo o la longitud de onda, así como la profundidad o la batimétrica de la cimentación. La caracterización de los sistemas de protección basados en materiales naturales destinados al control de la socavación en obras marítimas presentes en instalaciones eólicas marinas no es el único objetivo alcanzado en la presente Tesis Doctoral. A través de la calibración del parámetro de altura de ola adimensional (H0) en diferentes parques eólicos europeos, y de acuerdo al criterio propuesto por Van der Meer (1988), se propone la clasificación de este tipo de estructuras de protección, basadas en material granular o escollera. La información recopilada sobre la socavación registrada en numerosos parques eólicos con protección también ha permitido estudiar la funcionalidad de este tipo de protecciones instaladas hasta la fecha. Asímismo, gracias al conocimiento adquirido sobre el fenómeno de la socavación, se plantea una propuesta para la mejora de la caracterización de este fenómeno en ambiente marino basada en el estudio de la influencia del campo de aceleraciones. La presente Tesis Doctoral permite mejorar el diseño de las protecciones frente a la socavación que se utilizan en parques eólicos marinos teniendo en cuenta las acciones del clima marítimo, supliendo de este modo las carencias que hasta el momento presentan las formulaciones existentes, las cuales únicamente toman en consideración la geometría de las cimentaciones, el ángulo de rozamiento interno del terreno y la estimación de la máxima socavación que puede llegar a producirse. Scour phenomenon jeopardizes the stability and functionality of offshore structures compromising its overall stability. So far, most studies about the origin and the development of this phenomenon have been focused on river environments (under steady current conditions). In the last decade a lot of research projects about the characterization of this phenomenon have been carried out due to the growth of offshore wind industry. These projects take into account that these structures are subjected simultaneously to current, waves and tidal effects. This PhD Thesis arises due to the current lack of criteria for the design of scour protections. Its main objective is to develop some recommendations to improve and to optimize the design of scour protection structures. For that it is necessary to take into account not only the geometrical parameters of foundations or the erosion forecasted, but also wave variables such as wave height, wave period or wavelength. Characterization of protection systems based on natural materials for the control of the scour in offshore wind farms was not the only goal achieved in this PhD Thesis. Through the calibration of the dimensionless wave height parameter (H0) in different European offshore wind farms, and according to the criteria proposed by Van der Meer (1988), a classification of these protection structures based on natural elements (rocks or riprap) has been proposed. Scour data registered in numerous offshore wind farms with scour protection systems also allowed to study the functionality of this type of protection installed up to now. Thanks to the knowledge acquired about the scour development, a proposal for the improvement of the characterization of this phenomenon in marine environment is proposed. This has been based on the study of the influence of the acceleration parameters. This PhD Thesis improves the design of scour protections used in offshore wind facilities taking into account maritime climate actions. To solve the current formulae deficiencies only considering the foundation geometry, the internal friction angle of the seabed and the maximum scour depth forecasted.

Levels, sources and seasonality of coarse particles (PM10-PM2.5) in three European capitals e implications for particulate pollution control

Coarse particles of aerodynamic diameter between 2.5 and 10 mm (PMc) are produced by a range of natural (windblown dust and sea sprays) and anthropogenic processes (non-exhaust vehicle emissions, industrial, agriculture, construction and quarrying activities). Although current ambient air quality regulations focus on PM2.5 and PM10, coarse particles are of interest from a public health point of view as they have been associated with certain mortality and morbidity outcomes. In this paper, an analysis of coarse particle levels in three European capitals (London, Madrid and Athens) is presented and discussed. For all three cities we analysed data from both traffic and urban background monitoring sites. The results showed that the levels of coarse particles present significant seasonal, weekly and daily variability. Their wind driven and non-wind driven resuspension as well as their roadside increment due to traffic were estimated. Both the local meteorological conditions and the air mass history indicating long-range atmospheric transport of particles of natural origin are significant parameters that influence the levels of coarse particles in the three cities especially during episodic events.

See-and-avoid quadcopter using fuzzy control optimized by cross-entropy

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.

Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to full control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

Sistema de control borroso en lazo cerrado para terapias con insulina en diabetes tipo I

La diabetes mellitus es un trastorno del metabolismo de los carbohidratos producido por la insuficiente o nula producción de insulina o la reducida sensibilidad a esta hormona. Es una enfermedad crónica con una mayor prevalencia en los países desarrollados debido principalmente a la obesidad, la vida sedentaria y disfunciones en el sistema endocrino relacionado con el páncreas. La diabetes Tipo 1 es una enfermedad autoinmune en la que son destruidas las células beta del páncreas, que producen la insulina, y es necesaria la administración de insulina exógena. Un enfermo de diabetes Tipo 1 debe seguir una terapia con insulina administrada por la vía subcutánea que debe estar adaptada a sus necesidades metabólicas y a sus hábitos de vida, esta terapia intenta imitar el perfil insulínico de un páncreas no patológico. La tecnología actual permite abordar el desarrollo del denominado “páncreas endocrino artificial”, que aportaría precisión, eficacia y seguridad para los pacientes, en cuanto a la normalización del control glucémico y reducción del riesgo de hipoglucemias. Permitiría que el paciente no estuviera tan pendiente de su enfermedad. El páncreas artificial consta de un sensor continuo de glucosa, una bomba de infusión de insulina y un algoritmo de control, que calcula la insulina a infusionar usando la glucosa como información principal. Este trabajo presenta un método de control en lazo semi-cerrado mediante un sistema borroso experto basado en reglas. La regulación borrosa se fundamenta en la ambigüedad del lenguaje del ser humano. Esta incertidumbre sirve para la formación de una serie de reglas que representan el pensamiento humano, pero a la vez es el sistema que controla un proceso, en este caso el sistema glucorregulatorio. Este proyecto está enfocado en el diseño de un controlador borroso que haciendo uso de variables como la glucosa, insulina y dieta, sea capaz de restaurar la función endocrina del páncreas de forma tecnológica. La validación del algoritmo se ha realizado principalmente mediante experimentos en simulación utilizando una población de pacientes sintéticos, evaluando los resultados con estadísticos de primer orden y algunos más específicos como el índice de riesgo de Kovatchev, para después comparar estos resultados con los obtenidos por otros métodos de control anteriores. Los resultados demuestran que el control borroso (FBPC) mejora el control glucémico con respecto a un sistema predictivo experto basado en reglas booleanas (pBRES). El FBPC consigue reducir siempre la glucosa máxima y aumentar la mínima respecto del pBRES pero es en terapias desajustadas, donde el FBPC es especialmente robusto, hace descender la glucosa máxima 8,64 mg/dl, el uso de insulina es 3,92 UI menor, aumenta la glucosa mínima 3,32 mg/dl y lleva al rango de glucosa 80 – 110 mg/dl 15,33 muestras más. Por lo tanto se puede concluir que el FBPC realiza un mejor control glucémico que el controlador pBRES haciéndole especialmente efectivo, robusto y seguro en condiciones de desajustes de terapia basal y con gran capacidad de mejora futura. SUMMARY The diabetes mellitus is a metabolic disorder caused by a poor or null insulin secretion or a reduced sensibility to insulin. Diabetes is a chronic disease with a higher prevalence in the industrialized countries, mainly due to obesity, the sedentary life and endocrine disfunctions connected with the pancreas. Type 1 diabetes is a self-immune disease where the beta cells of the pancreas, which are the responsible of secreting insulin, are damaged. Hence, it is necessary an exogenous delivery of insulin. The Type 1 diabetic patient has to follow a therapy with subcutaneous insulin administration which should be adjusted to his/her metabolic needs and life style. This therapy tries to mimic the insulin profile of a non-pathological pancreas. Current technology lets the development of the so-called endocrine artificial pancreas that would provide accuracy, efficiency and safety to patients, in regards to the glycemic control normalization and reduction of the risk of hypoglycemic. In addition, it would help the patient not to be so concerned about his disease. The artificial pancreas has a continuous glucose sensor, an insulin infusion pump and a control algorithm, that calculates the insulin infusion using the glucose as main information. This project presents a method of control in semi-closed-loop, through an expert fuzzy system based on rules. The fuzzy regulation is based on the human language ambiguity. This uncertainty serves for construction of some rules that represent the human language besides it is the system that controls a process, in this case the glucoregulatory system. This project is focus on the design of a fuzzy controller that, using variables like glucose insulin and diet, will be able to restore the pancreas endocrine function with technology. The algorithm assessment has mainly been done through experiments in simulation using a population of synthetic patients, evaluating the results with first order statistical parameters and some other more specific such as the Kovatchev risk index, to compare later these results with the ones obtained in others previous methods of control. The results demonstrate that the fuzzy control (FBPC) improves the glycemic control connected with a predictive expert system based on Booleans rules (pBRES). The FBPC is always able to reduce the maximum level of glucose and increase the minimum level as compared with pBRES but it is in unadjusted therapies where FBPC is especially strong, it manages to decrease the maximum level of glucose and insulin used by 8,64 mg/dl and 3,92 UI respectively, also increases the value of minimum glucose by 3,32 mg/dl, getting 15,33 samples more inside the 80-110 mg/dl glucose rank. Therefore we can conclude that FBPC achieves a better glycemic control than the controller pBRES doing it especially effective, robust and safe in conditions of mismatch basal therapy and with a great capacity for future improvements.