Discrete-time positive periodic systems with state and control constraints

The aim of this paper is to provide an efficient control design technique for discrete-time positive periodic systems. In particular, stability, positivity and periodic invariance of such systems are studied. Moreover, the concept of periodic invariance with respect to a collection of boxes is introduced and investigated with connection to stability. It is shown how such concept can be used for deriving a stabilizing state-feedback control that maintains the positivity of the closed-loop system and respects states and control signals constraints. In addition, all the proposed results can be efficiently solved in terms of linear programming.

Gestao tecnologia: um estudo de caso no setor sucroalcooleiro

PEDRO, Edilson da Silva Pedro. Gestão tecnológica: um estudo de caso no setor sucroalcooleiro. 2004. 145f. Dissertaçao (Mestrado em Engenharia de Producao) - Universidade Federal de Sao Carlos, Sao Carlos, 2004.

Conception d’un mécanisme déployable à grand ratio d’expansion et de son système d’actionnement par roues d’inertie pour applications spatiales

Cette thèse propose de développer des mécanismes déployables pour applications spatiales ainsi que des modes d’actionnement permettant leur déploiement et le contrôle de l’orientation en orbite de l’engin spatial les supportant. L’objectif étant de permettre le déploiement de surfaces larges pour des panneaux solaires, coupoles de télécommunication ou sections de station spatiale, une géométrie plane simple en triangle est retenue afin de pouvoir être assemblée en différents types de surfaces. Les configurations à membrures rigides proposées dans la littérature pour le déploiement de solides symétriques sont optimisées et adaptées à l’expansion d’une géométrie ouverte, telle une coupole. L’optimisation permet d’atteindre un ratio d’expansion plan pour une seule unité de plus de 5, mais présente des instabilités lors de l’actionnement d’un prototype. Le principe de transmission du mouvement d’un étage à l’autre du mécanisme est revu afin de diminuer la sensibilité des performances du mécanisme à la géométrie de ses membrures internes. Le nouveau modèle, basé sur des courroies crantées, permet d’atteindre des ratios d’expansion plans supérieurs à 20 dans certaines configurations. L’effet des principaux facteurs géométriques de conception est étudié afin d’obtenir une relation simple d’optimisation du mécanisme plan pour adapter ce dernier à différents contextes d’applications. La géométrie identique des faces triangulaires de chaque surface déployée permet aussi l’empilement de ces faces pour augmenter la compacité du mécanisme. Une articulation spécialisée est conçue afin de permettre le dépliage des faces puis leur déploiement successivement. Le déploiement de grandes surfaces ne se fait pas sans influencer lourdement l’orientation et potentiellement la trajectoire de l’engin spatial, aussi, différentes stratégies de contrôle de l’orientation novatrices sont proposées. Afin de tirer profit d’une grande surface, l’actionnement par masses ponctuelles en périphérie du mécanisme est présentée, ses équations dynamiques sont dérivées et simulées pour en observer les performances. Celles-ci démontrent le potentiel de cette stratégie de réorientation, sans obstruction de l’espace central du satellite de base, mais les performances restent en deçà de l’effet d’une roue d’inertie de masse équivalente. Une stratégie d’actionnement redondant par roue d’inertie est alors présentée pour différents niveaux de complexité de mécanismes dont toutes les articulations sont passives, c’est-à-dire non actionnées. Un mécanisme à quatre barres plan est simulé en boucle fermée avec un contrôleur simple pour valider le contrôle d’un mécanisme ciseau commun. Ces résultats sont étendus à la dérivation des équations dynamiques d’un mécanisme sphérique à quatre barres, qui démontre le potentiel de l’actionnement par roue d’inertie pour le contrôle de la configuration et de l’orientation spatiale d’un tel mécanisme. Un prototype à deux corps ayant chacun une roue d’inertie et une seule articulation passive les reliant est réalisé et contrôlé grâce à un suivi par caméra des modules. Le banc d’essai est détaillé, ainsi que les défis que l’élimination des forces externes ont représenté dans sa conception. Les résultats montrent que le système est contrôlable en orientation et en configuration. La thèse se termine par une étude de cas pour l’application des principaux systèmes développés dans cette recherche. La collecte de débris orbitaux de petite et moyenne taille est présentée comme un problème n’ayant pas encore eu de solution adéquate et posant un réel danger aux missions spatiales à venir. L’unité déployable triangulaire entraînée par courroies est dupliquée de manière à former une coupole de plusieurs centaines de mètres de diamètre et est proposée comme solution pour capturer et ralentir ces catégories de débris. Les paramètres d’une mission à cette fin sont détaillés, ainsi que le potentiel de réorientation que les roues d’inertie permettent en plus du contrôle de son déploiement. Près de 2000 débris pourraient être retirés en moins d’un an en orbite basse à 819 km d’altitude.

A matlab-based toolbox for the simulation and design of L1 adaptive controllers

This thesis introduces the L1 Adaptive Control Toolbox, a set of tools implemented in Matlab that aid in the design process of an L1 adaptive controller and enable the user to construct simulations of the closed-loop system to verify its performance. Following a brief review of the existing theory on L1 adaptive controllers, the interface of the toolbox is presented, including a description of the functions accessible to the user. Two novel algorithms for determining the required sampling period of a piecewise constant adaptive law are presented and their implementation in the toolbox is discussed. The detailed description of the structure of the toolbox is provided as well as a discussion of the implementation of the creation of simulations. Finally, the graphical user interface is presented and described in detail, including the graphical design tools provided for the development of the filter C(s). The thesis closes with suggestions for further improvement of the toolbox.

Precoder Detection for Cooperative Decode-and-Forward Relaying in OFDMA Systems

We consider an LTE network where a secondary user acts as a relay, transmitting data to the primary user using a decode-and-forward mechanism, transparent to the base-station (eNodeB). Clearly, the relay can decode symbols more reliably if the employed precoder matrix indicators (PMIs) are known. However, for closed loop spatial multiplexing (CLSM) transmit mode, this information is not always embedded in the downlink signal, leading to a need for effective methods to determine the PMI. In this thesis, we consider 2x2 MIMO and 4x4 MIMO downlink channels corresponding to CLSM and formulate two techniques to estimate the PMI at the relay using a hypothesis testing framework. We evaluate their performance via simulations for various ITU channel models over a range of SNR and for different channel quality indicators (CQIs). We compare them to the case when the true PMI is known at the relay and show that the performance of the proposed schemes are within 2 dB at 10% block error rate (BLER) in almost all scenarios. Furthermore, the techniques add minimal computational overhead over existent receiver structure. Finally, we also identify scenarios when using the proposed precoder detection algorithms in conjunction with the cooperative decode-and-forward relaying mechanism benefits the PUE and improves the BLER performance for the PUE. Therefore, we conclude from this that the proposed algorithms as well as the cooperative relaying mechanism at the CMR can be gainfully employed in a variety of real-life scenarios in LTE networks.

O processo de organização social do Grupo Herança Viva de Chapecó-SC e suas estratégias de ação conjunta

The consequences resulting from economic modernization model generated social and environmental imbalances, resulting in the exclusion and social isolation, perceived consequences in the agricultural sector. When studying social organizations, tends to see how they keep their forward cooperation processes all a company incorporated by the appreciation of individualism and competition. The overall objective for this research was to analyze the organizational dynamics of Agroecology Group Heritage Viva Chapecó, Santa Catarina, in order to identify the strengths and threats and collaborate in this way for preparation of action strategies for sustainability. The selected group is based on the principles of agroecology for the conduct of their agricultural production systems, avoiding the use of agrochemicals, proven through the use of participatory certification seal Ecovida Network, and the products sold mainly in street fairs in the city of chapecó. To fulfill such a proposal were consulted the minutes of meetings and questionnaires with farmers to assess the dynamics of cooperation among its members, through the understanding of their social capital and social network analysis (SNA). To extend the study of the group and its members was adopted methodological approach of action research where activities were developed to identify strengths and weaknesses and contribute to its organizational restructuring, resulting in the construction, carried out by farmers, the guiding principles of the Living Heritage Group will contribute to the decision-making and strengthen their identity. The survey also brought the group is inserted in the Social Transition Agroecology therefore change the current paradigm is not inserted only in the alternative model of production, but in the form of organization of social actors and their role in the marketing process of their products, in discussing the scenario of food supply chains.

Modelo para formação dinâmica de rede de fornecedores em empresas estendidas

Supply chains have become an important focus for competitive advantage. The performance of a company increasingly depends on its ability to maintain effective and efficient relationships with its suppliers and customers. The extended enterprise (i.e. composed of several partners) needs to be dynamically formed in order to be agile and adaptable. According to the Digital Manufacturing paradigm, companies have to be able to quickly share and disseminate information regarding planning, designing and manufacturing of products. Additionally, they must be responsive to all technical and business determinants, as well as be assessed and certified for guaranteed performance. The current research intends to present a solution for the dynamic composition of the extended enterprise, formed to take advantage of market opportunities quickly and efficiently. A construction model was developed. This construction model consists of: information model, protocol model and process model. The information model has been defined based on the concepts of Supply Chain Operations Reference model (SCOR®). In this model is defined information for negotiating the participation of candidate companies in the dynamic establishment of a network for responding to a given demand for developing and manufacturing products, in seven steps as follows: request for information; request for qualification; alignment of strategy; request for proposal; request for quotation; compatibility of process; and compatibility of system. The protocol model has been elaborated and inspired in the OSI, this model provides a framework for linking customers and suppliers, indicates a sequence to be followed, in order to selecte companies to become suppliers. The process model has been implemented by means of process modeling according to the BPMN standard and, in turn, implemented as a web-based application that runs the process through its several steps, which uses forms to gather data. An application example in the context of the oil and gas industry is used for demonstrating the solution concept.

Production locality influences postharvest disease development and quality in mangoes

Postharvest disease management is one of the key challenges in commercial mango supply chains. Comprehensive investigations were made regarding the impact of geographic locality on postharvest disease development and other quality parameters in 'Sindhri' and 'Samar Bahisht (S.B.) Chaunsa' mangoes under ambient (33±1°C; 55-60% RH) and low temperature storage/simulated shipping (12±1°C; 80- 85% RH) conditions (28 or 35 days storage for 'Sindhri' and 21 or 28 days for 'S.B. Chaunsa'). Physiologically mature (days from fruit set were 95-100 and 110-115 for 'Sindhri' and 'S.B Chaunsa', respectively) 'Sindhri' and 'S.B. Chaunsa' fruits were harvested from five geographic localities and subjected to ambient and simulated shipping conditions. Under ambient conditions, no disease incidence was observed till fruit eating stage in 'Sindhri'. However, in 'S.B. Chaunsa', significant variation in different localities was observed with respect to disease incidence. Maximum and at par disease was exhibited by the fruit collected from district Vehari and Khanewal in 'S.B. Chaunsa'. Under simulated shipping conditions, disease development varied significantly with respect to different locations and storage durations. In 'Sindhri', fruit of M. Garh, while, 'S.B. Chaunsa' fruit of districts R.Y. Khan, M. Garh and Khanewal showed higher disease incidence. Fruit peel colour development was significantly reduced as storage days increased. Fruit firmness, skin shriveling, fresh weight loss, dry matter, biochemical and organoleptic attributes also varied significantly among the fruit sourced from different orchards of different localities. Analysis of N contents in leaves and fruit peel revealed that N contents of leaf and peel were positively correlated with disease severity in mango. Botryodiplodia spp., Phomopsis mangiferae, Alternaria alternata, Colletotrichum gloeosporioides were the pathogens isolated from fruits of all locations; however, the prevalence frequency varied with the geographic localities. In conclusion, the production locality, cultivar and nutrition (nitrogen content of fruit peel) had significant effect on fruit quality out-turn at ripe stage in terms of disease development so area specific disease management system needs to be implemented for better quality at retail.

Comparação do controle do inversor trifásico conectado à rede com filtro LCL considerando o amortecimento passivo e ativo

Distributed generation systems must fulfill standards specifications of current harmonics injected to the grid. In order to satisfy these grid requirements, passive filters are connected between inverter and grid. This work compares the characteristic response of the traditional inductive (L) filter with the inductive-capacitive-inductive (LCL) filter. It is shown that increasing the inductance L leads to a good ripple current suppression around the inverter switching frequency. The LCL filter provides better harmonic attenuation and reduces the filter size. The main drawback is the LCL filter impedance, which is characterized by a typical resonance peak, which must be damped to avoid instability. Passive or active techniques can be used to damp the LCL resonance. To address this issue, this dissertation presents a comparison of current control for PV grid-tied inverters with L filter and LCL filter and also discuss the use of active and passive damping for different regions of resonance frequency. From the mathematical models, a design methodology of the controllers was developed and the dynamic behavior of the system operating in closed loop was investigated. To validate the studies developed during this work, experimental results are presented using a three-phase 5kW experimental platform. The main components and their functions are discussed in this work. Experimental results are given to support the theoretical analysis and to illustrate the performance of grid-connected PV inverter system. It is shown that the resonant frequency of the system, and sampling frequency can be associated in order to calculate a critical frequency, below which is essential to perform the damping of the LCL filter. Also, the experimental results show that the active buffer per virtual resistor, although with a simple development, is effective to damp the resonance of the LCL filter and allow the system to operate stable within predetermined parameters.

Análise e proposição de estratégias de estimação e controle de velocidade para motores de indução trifásicos

This study presents a proposal of speed servomechanisms without the use of mechanical sensors (sensorless) using induction motors. A comparison is performed and propose techniques for pet rotor speed, analyzing performance in different conditions of speed and load. For the determination of control technique, initially, is performed an analysis of the technical literature of the main control and speed estimation used, with their characteristics and limitations. The proposed technique for servo sensorless speed induction motor uses indirect field-oriented control (IFOC), composed of four controllers of the proportional-integral type (PI): rotor flux controller, speed controller and current controllers in the direct and quadrature shaft. As the main focus of the work is in the speed control loop was implemented in Matlab the recursive least squares algorithm (RLS) for identification of mechanical parameters, such as moment of inertia and friction coefficient. Thus, the speed of outer loop controller gains can be self adjusted to compensate for any changes in the mechanical parameters. For speed estimation techniques are analyzed: MRAS by rotóricos fluxes MRAS by counter EMF, MRAS by instantaneous reactive power, slip, locked loop phase (PLL) and sliding mode. A proposition of estimation in sliding mode based on speed, which is performed a change in rotor flux observer structure is displayed. To evaluate the techniques are performed theoretical analyzes in Matlab simulation environment and experimental platform in electrical machinery drives. The DSP TMS320F28069 was used for experimental implementation of speed estimation techniques and check the performance of the same in a wide speed range, including load insertion. From this analysis is carried out to implement closed-loop control of sensorless speed IFOC structure. The results demonstrated the real possibility of replacing mechanical sensors for estimation techniques proposed and analyzed. Among these, the estimator based on PLL demonstrated the best performance in various conditions, while the technique based on sliding mode has good capacity estimation in steady state and robustness to parametric variations.

Controller system design using the coefficient diagram method

Coefficient diagram method is a controller design technique for linear time-invariant systems. This design procedure occurs into two different domains: an algebraic and a graphical. The former is closely paired to a conventional pole placement method and the latter consists on a diagram whose reading from the plotted curves leads to insights regarding closed-loop control system time response, stability and robustness. The controller structure has two degrees of freedom and the design process leads to both low overshoot closed-loop time response and good robustness performance regarding mismatches between the real system and the design model. This article presents an overview on this design method. In order to make more transparent the presented theoretical concepts, examples in Matlab®code are provided. The included code illustrates both the algebraic and the graphical nature of the coefficient diagram design method. © 2016, King Fahd University of Petroleum & Minerals.

Comparison of firmness meters for measuring ‘Hass’ avocado fruit firmness

The temporal passage of fruit through the supply chain and the selection of consumable fruit by shoppers depend primarily upon fruit firmness. Traditionally, fruit firmness measuring methods, like Effegi and conical probes, are relatively inefficient and destructive. Simple, accurate and non-damaging methods of measuring fruit firmness are ideally required to help assure eating quality to the consumer without fruit wastage. The firmness of 'Hass' avocado fruit at a range of ripening stages was measured with the various different firmness measuring techniques of the Sinclair iQ Firmness Tester (SIQFT), the Electronic Firmometer (EF), the Analogue Firmness Meter (AFM) and hand squeezing. Measurements were made by each method at different points on the same fruit. Destructive bruise assessment was performed 48 h later, thereby allowing sufficient time for fruit to express any bruising resulting from the act of firmness measurements. Non-linear relationships were determined between fruit firmness values measured with the different techniques. The adjusted R2 for the relationship between the SIQFT and the EF was 91.6%. For the SIQFT and the AFM, the adjusted R2 was 73.7%. It was 77.7% for the SIQFT and hand squeezing. A significantly (P<0.05) high incidence of bruising was associated with firmness assessment by the EF as compared with either the SIQFT or the AFM. Among the methods compared, the SIQFT was non-damaging compared with the EF and relatively efficient for measuring the firmness. This instrument merits consideration as a quality control tool of choice in 'Hass' avocado supply chains.

Implante neural controlado em malha fechada

One of the challenges to biomedical engineers proposed by researchers in neuroscience is brain machine interaction. The nervous system communicates by interpreting electrochemical signals, and implantable circuits make decisions in order to interact with the biological environment. It is well known that Parkinson’s disease is related to a deficit of dopamine (DA). Different methods has been employed to control dopamine concentration like magnetic or electrical stimulators or drugs. In this work was automatically controlled the neurotransmitter concentration since this is not currently employed. To do that, four systems were designed and developed: deep brain stimulation (DBS), transmagnetic stimulation (TMS), Infusion Pump Control (IPC) for drug delivery, and fast scan cyclic voltammetry (FSCV) (sensing circuits which detect varying concentrations of neurotransmitters like dopamine caused by these stimulations). Some softwares also were developed for data display and analysis in synchronously with current events in the experiments. This allowed the use of infusion pumps and their flexibility is such that DBS or TMS can be used in single mode and other stimulation techniques and combinations like lights, sounds, etc. The developed system allows to control automatically the concentration of DA. The resolution of the system is around 0.4 µmol/L with time correction of concentration adjustable between 1 and 90 seconds. The system allows controlling DA concentrations between 1 and 10 µmol/L, with an error about +/- 0.8 µmol/L. Although designed to control DA concentration, the system can be used to control, the concentration of other substances. It is proposed to continue the closed loop development with FSCV and DBS (or TMS, or infusion) using parkinsonian animals models.

Aflatoxin B1 and M1 Degradation by Lac2 from Pleurotus pulmonarius and Redox Mediators

Laccases (LCs) are multicopper oxidases that find application as versatile biocatalysts for the green bioremediation of environmental pollutants and xenobiotics. In this study we elucidate the degrading activity of Lac2 pure enzyme form Pleurotus pulmonarius towards aflatoxin B1 (AFB1) and M1 (AFM1). LC enzyme was purified using three chromatographic steps and identified as Lac2 through zymogram and LC-MS/MS. The degradation assays were performed in vitro at 25 °C for 72 h in buffer solution. AFB1 degradation by Lac2 direct oxidation was 23%. Toxin degradation was also investigated in the presence of three redox mediators, (2,2′-azino-bis-[3-ethylbenzothiazoline-6-sulfonic acid]) (ABTS) and two naturally-occurring phenols, acetosyringone (AS) and syringaldehyde (SA). The direct effect of the enzyme and the mediated action of Lac2 with redox mediators univocally proved the correlation between Lac2 activity and aflatoxins degradation. The degradation of AFB1 was enhanced by the addition of all mediators at 10 mM, with AS being the most effective (90% of degradation). AFM1 was completely degraded by Lac2 with all mediators at 10 mM. The novelty of this study relies on the identification of a pure enzyme as capable of degrading AFB1 and, for the first time, AFM1, and on the evidence that the mechanism of an effective degradation occurs via the mediation of natural phenolic compounds. These results opened new perspective for Lac2 application in the food and feed supply chains as a biotransforming agent of AFB1 and AFM1.

Inverted decoupling internal model control for square stable multivariable time delay systems

This paper presents a new tuning methodology of the main controller of an internal model control structure for n×n stable multivariable processes with multiple time delays based on the centralized inverted decoupling structure. Independently of the system size, very simple general expressions for the controller elements are obtained. The realizability conditions are provided and the specification of the closed-loop requirements is explained. A diagonal filter is added to the proposed control structure in order to improve the disturbance rejection without modifying the nominal set-point response. The effectiveness of the method is illustrated through different simulation examples in comparison with other works.