A phase-shifting control for variable frequency multi-cells interleaved boost pre-regulator based on FPGA device

In this paper were investigated phase-shift control strategies applied to a four cells interleaved high input-power-factor pre-regulator boost rectifier, operating in critical conduction mode, using a non-dissipative commutation cells and frequency modulation. The digital control has been developed using a hardware description language (VHDL) and implemented using the XC2S200E-SpartanII-E/Xilinx FPGA, performing a true critical conduction operation mode for a generic number of interleaved cells. Experimental results are presented, in order to verify the feasibility and performance of the proposed digital control, through the use of a Xilinx FPGA device.

Host specificity of Metriona elatior, a potential biological control agent of tropical soda apple, Solanum viarum, in the USA

The leaf beetle Metriona elatior from Brazil-Argentina was screened in the Florida (USA) State quarantine facility as a potential biological control agent of tropical soda apple, Solanum viarum, a recently arrived weed species. Multiple-choice host-specificity tests were conducted in small cages (60 cm x 60 cm x 60 cm) using 95 plant species in 29 families. Adults fed heavily on the main target weed (S. viarum), and on turkeyberry, Solanum torvum (noxious weed of Asiatic origin); fed moderately on red soda apple, Solanum capsicoides (weed of South American origin), and eggplant, Solanum melongena (economic crop); and fed lightly on aquatic soda apple, Solanum tampicense (weed of Mexican-Caribbean-Central American origin), and on silverleaf nightshade, Solanum elaeagnifolium (native weed widely distributed). M. elatior adults laid 84 to 97% of their egg masses on S. viarum, and 3 to 16% on S. melongena. Non-choice host-specificity tests were also conducted in quarantine in which M. elatior adults and neonate larvae were exposed to 17 and 19 plant species, respectively. Tests with the neonates indicate that this insect was able to complete its development on S. viarum, S. torvum, S. melongena, and S. capsicoides. Although some adult feeding and oviposition occurred on S. melongena in quarantine on potted plants in small cages, no feeding or oviposition by M. elatior was observed in field experiments conducted in Brazil. Surveys in unsprayed S. melongena fields in Argentina and Brazil indicated that M. elatior is not a pest of S. melongena in South America. The evidence obtained from the South-American field surveys, Brazil open-field experiments, and Florida quarantine host specificity tests indicate that M. elatior causes significant feeding damage to S. viarum, and does not represent a threat to S. melongena crops in the USA. Therefore an application for permission to release M. elatior against S. viarum in the USA was submitted in October 1998.

Potential of Acarophenax lacunatus (Prostigmata: Acarophenacidae) as a biological control agent of Rhyzopertha dominica (Coleoptera: Bostrichidae)

A recent report of the parasitic mite species Acarophenax lacunatus (Cross and Krantz) (Prostigmata: Acarophenacidae) attacking populations of Rhyzopertha dominica (F.) (Coleoptera: Bostrichidae) led to the present investigation. Maximum female size and average number of progeny per female mite were assessed at eight different temperatures (ranging from 20 to 41°C) and 60% r.h. using R. dominica as the host. The ability of the mite species to suppress eggs, first instar larvae, and adults of R. dominica was assessed at 30°C and 60% r.h. The largest female sizes of the mite and progeny numbers were obtained around 30°C (259 μm and 17 offspring/female respectively) with minimum values obtained at the most extreme temperatures used in this study. Mite densities of at least four individuals per 500 ml jar containing 50 adults of R. dominica, resulted in almost complete suppression of eggs, first instar larvae, and adults of the host species after 45 days. This same range of mite densities led to reductions of wheat weight losses of 15 and 25% after 45 and 60 days after infestation respectively. Acarophenax lacunatus shows good potential as a biological control agent of R. dominica.

Palmistichus elaeisis (Delvare & LaSalle, 1993) (Hymenoptera: Eulophidae), possible agent for the biological control of Urbanus proteus (Linnaeus, 1758) (Lepidoptera: Hesperiidae)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Locating control points in aerial images with a multi-scale approach based on terrestrial image patches

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Saccharomyces cerevisiae: a novel and efficient biological control agent for Colletotrichum acutatum during pre-harvest

In this study, we evaluated the efficiency of six isolates of Saccharomyces cerevisiae in controlling Colletotrichum acutatum, the causal agent of postbloom fruit drop that occur in pre-harvest citrus. We analyzed the mechanisms of action involved in biological control such as: production of antifungal compounds, nutrient competition, detection of killer activity, and production of hydrolytic enzymes of the isolates of S. cerevisiae on C. acutatum and their efficiency in controlling postbloom fruit drop on detached citrus flowers. Our results showed that all six S. cerevisiae isolates produced antifungal compounds, competed for nutrients, inhibited pathogen germination, and produced killer activity and hydrolytic enzymes when in contact with the fungus wall. The isolates were able to control the disease when detached flowers were artificially inoculated, both preventively and curatively. In this work we identified a novel potential biological control agent for C acutatum during pre-harvest. This is the first report of yeast efficiency for the biocontrol of postbloom fruit drop, which represents an important contribution to the field of biocontrol of diseases affecting citrus populations worldwide. (C) 2015 Elsevier GmbH. All rights reserved.

Use of grass carp (ctenopharyngodon idella) as a biological control agent for submerged aquatic macrophytes

This study aimed to evaluate feed preference and control efficacy of grass carp (Ctenopharyngodon idella) on the aquatic macrophytes Ceratophyllum demersum, Egeria densa and Egeria najas. An experiment was carried out at mesocosms conditions with 2,000 liters capacity and water residence time of 2.8 days. C. demersum, E. densa e E. najas biomasses were offered individually with sixty g and coupled in similar quantities of 30 g of each species, evaluated during 81 days, envolving 6 treatments. (1 - C. demersum, 2 - E. najas, 3 - E. densa, 4 - C. demersum + E. najas, 5 - C. demersum + E. densa and 6 - E. najas + E. densa). When offered individually, E. najas and C. demersum presented the same predation rate by grass carp, which was higher than E. densa predation rate. When plants were tested in pairs, the order of feed preference was C. demersum > E. najas > E. densa. E. najas and C. demersum percentage control ranged from 73 to 83%. No relation between biomass consumption and grass carp body weight gain was observed, probably due to differences in nutritional quality among macrophyte species according to fish necessities. Therefore, it is concluded that the use of grass carp is one excellent technique to control submersed macrophytes in Brazil.

How promising is Lasioseius floridensis as a control agent of Polyphagotarsonemus latus?

The blattisociid mite Lasioseius floridensis Berlese was found associated with the broad mite, Polyphagotarsonemus latus (Banks), on gerbera leaves in Mogi das Cruzes, State of Sao Paulo, Brazil. Blattisociid mites are not common on aerial plant parts, except under high air humidity levels. Some Lasioseius species have been mentioned as effective control agents of rice pest mites, but nothing is known about the biology of L. floridensis. The objective of this study was to evaluate whether the observed co-occurrence of L. floridensis and P. latus was just occasional or whether the latter could be important as food source for the former, assumed by laboratory evaluation of the ability of the predator to maintain itself, reproduce and develop on that prey. Biological parameters of L. floridensis were compared when exposed to P. latus and to other items as food. The study showed that mating is a pre-requisite for L. floridensis to oviposit and that oviposition rate was much higher on the soil nematode Rhabditella axei (Cobbold) (Rhabditidae) than on P. latus. Ovipositon on the acarid mite Tyrophagus putrescentiae (Schrank) was about the same as on P. latus, but it was nearly zero when the predator was fed the fungi Aspergillus flavus Link or Penicillium sp., or cattail (Typha sp.) pollen. Survivorship was higher in the presence of pollen and lower in the presence of A. flavus or Penicillium sp. than in the absence of those types of food. Life table parameters indicated that the predator performed much better on R. axei than on P. latus. To evaluate the potential effect of L. floridensis as predator of P. latus, complementary studies are warranted to determine the frequency of migration of L. floridensis to aerial plant parts, when predation on P. latus could occur.

Biological Characteristics and Thermal Requirements of the Biological Control Agent Telenomus remus (Hymenoptera: Platygastridae) Reared on Eggs of Different Species of the Genus Spodoptera (Lepidoptera: Noctuidae)

The biological characteristics of Telenomus remus Nixon, 1937 (Hymenoptera: Platygastridae) on eggs of Spodoptera albula (Walker, 1857); S. cosmioides Walker 1858, S. eridania (Cramer, 1782); and S. frugiperda (Smith, 1797) (Lepidoptera: Noctuidae) were evaluated under different temperatures (19, 22, 25, 28, 31, and 34 degrees C +/- 1 degrees C). The duration of the T remus egg-to-adult period on eggs of all four Spodoptera species and the longevity of adults of T. remus were both inversely proportional to the increase in temperature. Parasitoid emergence was higher than 80% at temperatures from 19 to 28 degrees C when the parasitoid was reared on eggs of S. eridania and S. frugiperda. Differently, when the parasitoid was reared on eggs of S. albula and S. cosmioides, T. remus emergence at rates of 80% or higher just occurred from 22 to 25 degrees C and at 22 degrees C, respectively. At 34 degrees C, this parameter was lower than 30% for T reams reared in all hosts. The sex ratio was 64-86% females, except for T. remus in S. cosmioides eggs at 34 C, in which temperature it was 39%. The estimated thermal requirements of T. remus, for the thermal constant (K) and the base temperature (T(base)), were: 125.39 DD and 15.139 degrees C; 125.56 DD and 14.912 degrees C; 142.98 DD and 14.197 degrees C; and 149.16 DD and 13.846 degrees C, for S. cosmioides, S. frugiperda, S. albula, and S. eridania, respectively. In general, T. remus showed good parasitism potential on all the hosts, although eggs of S. frugiperda, S. eridania, and S. albula proved to be the most suitable for mass rearing of T reams in the laboratory. Eggs of S. cosmioides are less suitable because of the lower parasitoid emergence observed at most of the temperatures with exception of 22 degrees C.

Modulation Techniques for Multi-Phase Converters and Control Strategies for Multi-Phase Electric Drives

The ever-increasing spread of automation in industry puts the electrical engineer in a central role as a promoter of technological development in a sector such as the use of electricity, which is the basis of all the machinery and productive processes. Moreover the spread of drives for motor control and static converters with structures ever more complex, places the electrical engineer to face new challenges whose solution has as critical elements in the implementation of digital control techniques with the requirements of inexpensiveness and efficiency of the final product. The successfully application of solutions using non-conventional static converters awake an increasing interest in science and industry due to the promising opportunities. However, in the same time, new problems emerge whose solution is still under study and debate in the scientific community During the Ph.D. course several themes have been developed that, while obtaining the recent and growing interest of scientific community, have much space for the development of research activity and for industrial applications. The first area of research is related to the control of three phase induction motors with high dynamic performance and the sensorless control in the high speed range. The management of the operation of induction machine without position or speed sensors awakes interest in the industrial world due to the increased reliability and robustness of this solution combined with a lower cost of production and purchase of this technology compared to the others available in the market. During this dissertation control techniques will be proposed which are able to exploit the total dc link voltage and at the same time capable to exploit the maximum torque capability in whole speed range with good dynamic performance. The proposed solution preserves the simplicity of tuning of the regulators. Furthermore, in order to validate the effectiveness of presented solution, it is assessed in terms of performance and complexity and compared to two other algorithm presented in literature. The feasibility of the proposed algorithm is also tested on induction motor drive fed by a matrix converter. Another important research area is connected to the development of technology for vehicular applications. In this field the dynamic performances and the low power consumption is one of most important goals for an effective algorithm. Towards this direction, a control scheme for induction motor that integrates within a coherent solution some of the features that are commonly required to an electric vehicle drive is presented. The main features of the proposed control scheme are the capability to exploit the maximum torque in the whole speed range, a weak dependence on the motor parameters, a good robustness against the variations of the dc-link voltage and, whenever possible, the maximum efficiency. The second part of this dissertation is dedicated to the multi-phase systems. This technology, in fact, is characterized by a number of issues worthy of investigation that make it competitive with other technologies already on the market. Multiphase systems, allow to redistribute power at a higher number of phases, thus making possible the construction of electronic converters which otherwise would be very difficult to achieve due to the limits of present power electronics. Multiphase drives have an intrinsic reliability given by the possibility that a fault of a phase, caused by the possible failure of a component of the converter, can be solved without inefficiency of the machine or application of a pulsating torque. The control of the magnetic field spatial harmonics in the air-gap with order higher than one allows to reduce torque noise and to obtain high torque density motor and multi-motor applications. In one of the next chapters a control scheme able to increase the motor torque by adding a third harmonic component to the air-gap magnetic field will be presented. Above the base speed the control system reduces the motor flux in such a way to ensure the maximum torque capability. The presented analysis considers the drive constrains and shows how these limits modify the motor performance. The multi-motor applications are described by a well-defined number of multiphase machines, having series connected stator windings, with an opportune permutation of the phases these machines can be independently controlled with a single multi-phase inverter. In this dissertation this solution will be presented and an electric drive consisting of two five-phase PM tubular actuators fed by a single five-phase inverter will be presented. Finally the modulation strategies for a multi-phase inverter will be illustrated. The problem of the space vector modulation of multiphase inverters with an odd number of phases is solved in different way. An algorithmic approach and a look-up table solution will be proposed. The inverter output voltage capability will be investigated, showing that the proposed modulation strategy is able to fully exploit the dc input voltage either in sinusoidal or non-sinusoidal operating conditions. All this aspects are considered in the next chapters. In particular, Chapter 1 summarizes the mathematical model of induction motor. The Chapter 2 is a brief state of art on three-phase inverter. Chapter 3 proposes a stator flux vector control for a three- phase induction machine and compares this solution with two other algorithms presented in literature. Furthermore, in the same chapter, a complete electric drive based on matrix converter is presented. In Chapter 4 a control strategy suitable for electric vehicles is illustrated. Chapter 5 describes the mathematical model of multi-phase induction machines whereas chapter 6 analyzes the multi-phase inverter and its modulation strategies. Chapter 7 discusses the minimization of the power losses in IGBT multi-phase inverters with carrier-based pulse width modulation. In Chapter 8 an extended stator flux vector control for a seven-phase induction motor is presented. Chapter 9 concerns the high torque density applications and in Chapter 10 different fault tolerant control strategies are analyzed. Finally, the last chapter presents a positioning multi-motor drive consisting of two PM tubular five-phase actuators fed by a single five-phase inverter.

Procedures of quality control and data analysis of multi-site ground-based observations for the absolute flux calibration of Gaia

The Gaia space mission is a major project for the European astronomical community. As challenging as it is, the processing and analysis of the huge data-flow incoming from Gaia is the subject of thorough study and preparatory work by the DPAC (Data Processing and Analysis Consortium), in charge of all aspects of the Gaia data reduction. This PhD Thesis was carried out in the framework of the DPAC, within the team based in Bologna. The task of the Bologna team is to define the calibration model and to build a grid of spectro-photometric standard stars (SPSS) suitable for the absolute flux calibration of the Gaia G-band photometry and the BP/RP spectrophotometry. Such a flux calibration can be performed by repeatedly observing each SPSS during the life-time of the Gaia mission and by comparing the observed Gaia spectra to the spectra obtained by our ground-based observations. Due to both the different observing sites involved and the huge amount of frames expected (≃100000), it is essential to maintain the maximum homogeneity in data quality, acquisition and treatment, and a particular care has to be used to test the capabilities of each telescope/instrument combination (through the “instrument familiarization plan”), to devise methods to keep under control, and eventually to correct for, the typical instrumental effects that can affect the high precision required for the Gaia SPSS grid (a few % with respect to Vega). I contributed to the ground-based survey of Gaia SPSS in many respects: with the observations, the instrument familiarization plan, the data reduction and analysis activities (both photometry and spectroscopy), and to the maintenance of the data archives. However, the field I was personally responsible for was photometry and in particular relative photometry for the production of short-term light curves. In this context I defined and tested a semi-automated pipeline which allows for the pre-reduction of imaging SPSS data and the production of aperture photometry catalogues ready to be used for further analysis. A series of semi-automated quality control criteria are included in the pipeline at various levels, from pre-reduction, to aperture photometry, to light curves production and analysis.

Programming Robots with an Agent-Oriented BDI-based Control Architecture: Explorations using the JaCa and Webots Platforms

La crescente disponibilità di dispositivi meccanici e -soprattutto - elettronici le cui performance aumentano mentre il loro costo diminuisce, ha permesso al campo della robotica di compiere notevoli progressi. Tali progressi non sono stati fatti unicamente per ciò che riguarda la robotica per uso industriale, nelle catene di montaggio per esempio, ma anche per quella branca della robotica che comprende i robot autonomi domestici. Questi sistemi autonomi stanno diventando, per i suddetti motivi, sempre più pervasivi, ovvero sono immersi nello stesso ambiente nel quale vivono gli essere umani, e interagiscono con questi in maniera proattiva. Essi stanno compiendo quindi lo stesso percorso che hanno attraversato i personal computer all'incirca 30 anni fa, passando dall'essere costosi ed ingombranti mainframe a disposizione unicamente di enti di ricerca ed università, ad essere presenti all'interno di ogni abitazione, per un utilizzo non solo professionale ma anche di assistenza alle attività quotidiane o anche di intrattenimento. Per questi motivi la robotica è un campo dell'Information Technology che interessa sempre più tutti i tipi di programmatori software. Questa tesi analizza per prima cosa gli aspetti salienti della programmazione di controllori per robot autonomi (ovvero senza essere guidati da un utente), quindi, come l'approccio basato su agenti sia appropriato per la programmazione di questi sistemi. In particolare si mostrerà come un approccio ad agenti, utilizzando il linguaggio di programmazione Jason e quindi l'architettura BDI, sia una scelta significativa, dal momento che il modello sottostante a questo tipo di linguaggio è basato sul ragionamento pratico degli esseri umani (Human Practical Reasoning) e quindi è adatto alla implementazione di sistemi che agiscono in maniera autonoma. Dato che le possibilità di utilizzare un vero e proprio sistema autonomo per poter testare i controllori sono ridotte, per motivi pratici, economici e temporali, mostreremo come è facile e performante arrivare in maniera rapida ad un primo prototipo del robot tramite l'utilizzo del simulatore commerciale Webots. Il contributo portato da questa tesi include la possibilità di poter programmare un robot in maniera modulare e rapida per mezzo di poche linee di codice, in modo tale che l'aumento delle funzionalità di questo risulti un collo di bottiglia, come si verifica nella programmazione di questi sistemi tramite i classici linguaggi di programmazione imperativi. L'organizzazione di questa tesi prevede un capitolo di background nel quale vengono riportare le basi della robotica, della sua programmazione e degli strumenti atti allo scopo, un capitolo che riporta le nozioni di programmazione ad agenti, tramite il linguaggio Jason -quindi l'architettura BDI - e perché tale approccio è adatto alla programmazione di sistemi di controllo per la robotica. Successivamente viene presentata quella che è la struttura completa del nostro ambiente di lavoro software che comprende l'ambiente ad agenti e il simulatore, quindi nel successivo capitolo vengono mostrate quelle che sono le esplorazioni effettuate utilizzando Jason e un approccio classico (per mezzo di linguaggi classici), attraverso diversi casi di studio di crescente complessità; dopodiché, verrà effettuata una valutazione tra i due approcci analizzando i problemi e i vantaggi che comportano questi. Infine, la tesi terminerà con un capitolo di conclusioni e di riflessioni sulle possibili estensioni e lavori futuri.

Dynamics and control issues of multi-rotor platforms

This thesis deals with the analytic study of dynamics of Multi--Rotor Unmanned Aerial Vehicles. It is conceived to give a set of mathematical instruments apt to the theoretical study and design of these flying machines. The entire work is organized in analogy with classical academic texts about airplane flight dynamics. First, the non--linear equations of motion are defined and all the external actions are modeled, with particular attention to rotors aerodynamics. All the equations are provided in a form, and with personal expedients, to be directly exploitable in a simulation environment. This has requited an answer to questions like the trim of such mathematical systems. All the treatment is developed aiming at the description of different multi--rotor configurations. Then, the linearized equations of motion are derived. The computation of the stability and control derivatives of the linear model is carried out. The study of static and dynamic stability characteristics is, thus, addressed, showing the influence of the various geometric and aerodynamic parameters of the machine and in particular of the rotors. All the theoretic results are finally utilized in two interesting cases. One concerns the design of control systems for attitude stabilization. The linear model permits the tuning of linear controllers gains and the non--linear model allows the numerical testing. The other case is the study of the performances of an innovative configuration of quad--rotor aircraft. With the non--linear model the feasibility of maneuvers impossible for a traditional quad--rotor is assessed. The linear model is applied to the controllability analysis of such an aircraft in case of actuator block.

Aureobasidium pullulans as biological control agent: modes of action

The postharvest phase has been considered an environment very suitable for successful application of biological control agents (BCAs). However, the tri-interaction between fungal pathogen, host (fruit) and antagonist is influenced by several parameters such as temperature, oxidative stresses, oxygen composition, water activity, etc. that could be determining for the success of biocontrol. Knowledge of the modes of action of BCAs is essential in order to enhance their viability and increase their potentialities in disease control. The thesis focused on the possibility to explain the modes of action of a biological control agent (BCA): Aureobasidium pullulans, in particular the strains L1 and L8, control effective against fruit postharvest fungal pathogen. In particular in this work were studied the different modes of action of BCA, such as: i) the ability to produce volatile organic compounds (VOCs), identified by SPME- gas chromatography-mass spectrometry (GC-MS) and tested by in vitro and in vivo assays against Penicillium spp., Botrytis cinerea, Colletotrichum acutatum; ii) the ability to produce lytic enzymes (exo and endo chitinase and β-1,3-glucanase) tested against Monilinia laxa, causal agent of brown rot of stone fruits. L1 and L8 lytic enzymes were also evaluated through their relative genes by molecular tools; iii) the competition for space and nutrients, such as sugars (sucrose, glucose and fructose) and iron; the latter induced the production of siderophores, molecules with high affinity for iron chelation. A molecular investigation was carried out to better understand the gene regulation strictly correlated to the production of these chelating molucules. The competition for space against M. laxa was verified by electron microscopy techniques; iv) a depth bibliographical analysis on BCAs mechanisms of action and their possible combination with physical and chemical treatments was conducted.

AGENT BASED, DISTRIBUTED CONTROL STRATEGIES AND OPTIMIZATION OF PLUG-IN ELECTRIC VEHICLES ON SMART/MICROGRID ARCHITECTURES

This thesis will present strategies for the use of plug-in electric vehicles on smart and microgrids. MATLAB is used as the design tool for all models and simulations. First, a scenario will be explored using the dispatchable loads of electric vehicles to stabilize a microgrid with a high penetration of renewable power generation. Grid components for a microgrid with 50% photovoltaic solar production will be sized through an optimization routine to maintain storage system, load, and vehicle states over a 24-hour period. The findings of this portion are that the dispatchable loads can be used to guard against unpredictable losses in renewable generation output. Second, the use of distributed control strategies for the charging of electric vehicles utilizing an agent-based approach on a smart grid will be studied. The vehicles are regarded as additional loads to a primary forecasted load and use information transfer with the grid to make their charging decisions. Three lightweight control strategies and their effects on the power grid will be presented. The findings are that the charging behavior and peak loads on the grid can be reduced through the use of distributed control strategies.