Modelling, control and supervision for a class of hybrid systems

The aim of this thesis is to narrow the gap between two different control techniques: the continuous control and the discrete event control techniques DES. This gap can be reduced by the study of Hybrid systems, and by interpreting as Hybrid systems the majority of large-scale systems. In particular, when looking deeply into a process, it is often possible to identify interaction between discrete and continuous signals. Hybrid systems are systems that have both continuous, and discrete signals. Continuous signals are generally supposed continuous and differentiable in time, since discrete signals are neither continuous nor differentiable in time due to their abrupt changes in time. Continuous signals often represent the measure of natural physical magnitudes such as temperature, pressure etc. The discrete signals are normally artificial signals, operated by human artefacts as current, voltage, light etc. Typical processes modelled as Hybrid systems are production systems, chemical process, or continuos production when time and continuous measures interacts with the transport, and stock inventory system. Complex systems as manufacturing lines are hybrid in a global sense. They can be decomposed into several subsystems, and their links. Another motivation for the study of Hybrid systems is the tools developed by other research domains. These tools benefit from the use of temporal logic for the analysis of several properties of Hybrid systems model, and use it to design systems and controllers, which satisfies physical or imposed restrictions. This thesis is focused in particular types of systems with discrete and continuous signals in interaction. That can be modelled hard non-linealities, such as hysteresis, jumps in the state, limit cycles, etc. and their possible non-deterministic future behaviour expressed by an interpretable model description. The Hybrid systems treated in this work are systems with several discrete states, always less than thirty states (it can arrive to NP hard problem), and continuous dynamics evolving with expression: with Ki ¡ Rn constant vectors or matrices for X components vector. In several states the continuous evolution can be several of them Ki = 0. In this formulation, the mathematics can express Time invariant linear system. By the use of this expression for a local part, the combination of several local linear models is possible to represent non-linear systems. And with the interaction with discrete events of the system the model can compose non-linear Hybrid systems. Especially multistage processes with high continuous dynamics are well represented by the proposed methodology. Sate vectors with more than two components, as third order models or higher is well approximated by the proposed approximation. Flexible belt transmission, chemical reactions with initial start-up and mobile robots with important friction are several physical systems, which profits from the benefits of proposed methodology (accuracy). The motivation of this thesis is to obtain a solution that can control and drive the Hybrid systems from the origin or starting point to the goal. How to obtain this solution, and which is the best solution in terms of one cost function subject to the physical restrictions and control actions is analysed. Hybrid systems that have several possible states, different ways to drive the system to the goal and different continuous control signals are problems that motivate this research. The requirements of the system on which we work is: a model that can represent the behaviour of the non-linear systems, and that possibilities the prediction of possible future behaviour for the model, in order to apply an supervisor which decides the optimal and secure action to drive the system toward the goal. Specific problems can be determined by the use of this kind of hybrid models are: - The unity of order. - Control the system along a reachable path. - Control the system in a safe path. - Optimise the cost function. - Modularity of control The proposed model solves the specified problems in the switching models problem, the initial condition calculus and the unity of the order models. Continuous and discrete phenomena are represented in Linear hybrid models, defined with defined eighth-tuple parameters to model different types of hybrid phenomena. Applying a transformation over the state vector : for LTI system we obtain from a two-dimensional SS a single parameter, alpha, which still maintains the dynamical information. Combining this parameter with the system output, a complete description of the system is obtained in a form of a graph in polar representation. Using Tagaki-Sugeno type III is a fuzzy model which include linear time invariant LTI models for each local model, the fuzzyfication of different LTI local model gives as a result a non-linear time invariant model. In our case the output and the alpha measure govern the membership function. Hybrid systems control is a huge task, the processes need to be guided from the Starting point to the desired End point, passing a through of different specific states and points in the trajectory. The system can be structured in different levels of abstraction and the control in three layers for the Hybrid systems from planning the process to produce the actions, these are the planning, the process and control layer. In this case the algorithms will be applied to robotics ¡V a domain where improvements are well accepted ¡V it is expected to find a simple repetitive processes for which the extra effort in complexity can be compensated by some cost reductions. It may be also interesting to implement some control optimisation to processes such as fuel injection, DC-DC converters etc. In order to apply the RW theory of discrete event systems on a Hybrid system, we must abstract the continuous signals and to project the events generated for these signals, to obtain new sets of observable and controllable events. Ramadge & Wonham¡¦s theory along with the TCT software give a Controllable Sublanguage of the legal language generated for a Discrete Event System (DES). Continuous abstraction transforms predicates over continuous variables into controllable or uncontrollable events, and modifies the set of uncontrollable, controllable observable and unobservable events. Continuous signals produce into the system virtual events, when this crosses the bound limits. If this event is deterministic, they can be projected. It is necessary to determine the controllability of this event, in order to assign this to the corresponding set, , controllable, uncontrollable, observable and unobservable set of events. Find optimal trajectories in order to minimise some cost function is the goal of the modelling procedure. Mathematical model for the system allows the user to apply mathematical techniques over this expression. These possibilities are, to minimise a specific cost function, to obtain optimal controllers and to approximate a specific trajectory. The combination of the Dynamic Programming with Bellman Principle of optimality, give us the procedure to solve the minimum time trajectory for Hybrid systems. The problem is greater when there exists interaction between adjacent states. In Hybrid systems the problem is to determine the partial set points to be applied at the local models. Optimal controller can be implemented in each local model in order to assure the minimisation of the local costs. The solution of this problem needs to give us the trajectory to follow the system. Trajectory marked by a set of set points to force the system to passing over them. Several ways are possible to drive the system from the Starting point Xi to the End point Xf. Different ways are interesting in: dynamic sense, minimum states, approximation at set points, etc. These ways need to be safe and viable and RchW. And only one of them must to be applied, normally the best, which minimises the proposed cost function. A Reachable Way, this means the controllable way and safe, will be evaluated in order to obtain which one minimises the cost function. Contribution of this work is a complete framework to work with the majority Hybrid systems, the procedures to model, control and supervise are defined and explained and its use is demonstrated. Also explained is the procedure to model the systems to be analysed for automatic verification. Great improvements were obtained by using this methodology in comparison to using other piecewise linear approximations. It is demonstrated in particular cases this methodology can provide best approximation. The most important contribution of this work, is the Alpha approximation for non-linear systems with high dynamics While this kind of process is not typical, but in this case the Alpha approximation is the best linear approximation to use, and give a compact representation.

La construcció de l'església de Sant Feliu de Girona al segle XIV. Els llibres d'obra

Aquesta tesi doctoral com diu el seu títol es centra en analitzar la construcció de l'església de Sant Feliu de Girona al segle XIV a través de l'anàlisi dels llibres d'obra conservats a l'Arxiu Diòcesa de Girona. Aquesta tesi doctoral esta dividida en quatre parts. En la primera part s'analitza la historiografia de l'església de Sant Feliu de Girona des del segle XVII fins a l'actualitat. Dins d'aquest apartat s'analitzen les notícies que aporten els diferents autors i es situa el context historiogràfic de cadascun dels segles. S'ha realitzat un estudi molt exhaustiu en les darreres publicacions del segle XX i inicis del segle XXI. Un cop analitzades aquestes fonts - secundàries -, dins d'aquesta primera part del treball s'ha passat a analitzar els llibres d'obra del segle XIV. S'analitzaràn els aspectes formals i els diferents escrivans encarregats de realitzar aquests llibres d'obra. Aquesta serà la documentació bàsica per realitzar aquesta tesi doctoral. En la segona part del treball es procedirà a analitzar la gestió i el finançament de l'Obra. Es tracta d'una anàlisi, bàsicament dels ingressos, per veure quines són les estratègies que es duen a terme per aconseguir el màxim de recursos per la construcció i per les necessitats "litúrgiques" de l'església de Sant Feliu de Girona. En aquest apartat s'ha analitzat l'Obra com a entitat amb les persones que formen part d'ella i el paper que correspon a cadascuna d'elles (l'obrer, l'escrivà, el mestre d'obres, el questor). També s'han analitzat els promotors i aquells ingressos que, pel seu volum, subministren el nombre més gran de diners a l'Obra ("annates", bacins, etc.). La tercera part ha consistit en l'elaboració de la cronologia constructiva de l'església de Sant Feliu de Girona partint de la informació obtinguda en els llibres d'obra corresponent a les despeses. S'han analitzat totes aquelles obres, tant pel que fa a la construcció de l'edifici com pel que fa a reparacions i manteniment, que tenen lloc entre l'any 1349 (data del primer llibre d'obra de despeses) i l'any 1391. En aquesta part no s'ha entrat a analitzar de forma exhaustiva les figures que fan possible la construcció de l'església al segle XIV ja que això pertany al contingut de la darrera part del nostre treball. La darrera part del treball correspon a l'execució de les obres. En aquesta part trobem quatre grans capítols: els mestres d'obra, la mà d'obra, els materials i els mitjans auxiliars. En cadascun d'aquests capítols s'ha incidit sobre el rol dels diferents treballadors durant la construcció del temple, els materials utilitzats i les seves característiques (pedra, fusta, aglomerants, etc.) i els mitjans auxiliars utilitzats per col.locar aquests materials en obra. S'han separat els mestres d'obres de la resta de treballadors ja que els primers juguen un rol diferenciat dels segons. S'ha intentat analitzar en ambdós casos els seus sous i les tasques de cadascun d'ells. Pel que fa als materials també s'ha procedit a analitzar d'on s'extreuen, com han arribat a peu d'obra i on s'emmagatzemen i manipulen o transformen abans d'ésser col.locats en obra. Dels mitjans auxiliars s'ha intentat analitzar les funcions per la qual es fan servir les eines (apareixen totes les de l'ofici de pedrer), els enginys (elevar pesos), les bastides (poder treballar en alçada) i el encofrats (garantir la resistència inicial dels elements constructius). Evidentment s'han establert unes conclusions de cadascuna de les parts i unes conclusions finals. La tesi també inclou els agraïments corresponents, el prefaci i la bibliografia.

The construction of the museological object

"Exhibiting is or should be to work against ignorance, especially against the most refractory of all ignorance: the pre-conceived idea of stereo typed culture. To exhibit is to take a calculated risk of disorientation - in the etymological sense : ( to lose your bearings), disturbs the harmony, the evident , and the consensus, that constitutes the common place ( the banal). Needless to say however it is obvious that an exhibition that deliberately tries to scandalise will create an inverted perversion which results in an obscurantist pseudo-luxury - culture ... between demagogy and provocation, one has to find visual communication's subtle itinerary. Even though an intermediary route is not so stimulating : as Gaston Bachelard said "All the roads lead to Rome, except the roads of compromise."

Estudo da Motivação e Produtividade laboral

O estudo da motivação no trabalho bem como dos seus determinantes têm-se assumido de grande importância para os vários domínios da psicologia organizacional. Com este estudo pretende-se analisar a relação entre a motivação e a produtividade, assim como a relação destas com algumas variáveis individuais (sexo, idade, estado civil, habilitações literárias), e com a variável situacional antiguidade na tarefa. Para avaliar a motivação foi utilizada a escala MULTI MOTI de Ferreira et. all, 2006, que contem 28 itens avaliando 4 dimensões da escala referentes à motivação no trabalho (organização no trabalho, desempenho nas tarefas, realização e poder, motivação do envolvimento). Utilizou-se uma amostra de 117 colaboradores de um call center, com idades compreendidas entre 18 e 56 anos (M=24,23; DP=7,665).

The construction of the museological object

Exhibiting is or should be to work against ignorance, especially against the most refractory of all ignorance: the pre-conceived idea of stereo typed culture. To exhibit is to take a calculated risk of disorientation - in the etymological sense: (to lose your bearings), disturbs the harmony, the evident , and the consensus, that constitutes the common place (the banal). Needless to say however it is obvious that an exhibition that deliberately tries to scandalise will create an inverted perversion which results in an obscurantist pseudo-luxury - culture ... between demagogy and provocation, one has to find visual communication's subtle itinerary. Even though an intermediary route is not so stimulating: as Gaston Bachelard said "All the roads lead to Rome, except the roads of compromise." It is becoming ever more evident that museums have undergone changes that are noticeable in numerous areas. As well as the traditional functions of collecting, conserving and exhibiting objects. museums have tried to become a means of communication, open and aware of the worries of modern society. In order to do this , it has started to utilise modern technology now available and lead by the hand of "marketing" and modern business management.

Societal development and the traditional museum: Applying New Museology to a different context

The Dapperstreet[1] ...Anything is a lot, when you expect so little Life keeps its wonders hidden To suddenly reveal them in a divine state. I thought about all t Soaking wet, one drizzly morning, Simply happy in the Dapperstreet. The Dapperstreet is part of a neighbourhood often referred to as “East”, situated in the eastern part of Amsterdam. It is a lively and vibrant multi-cultural part of the city. It has a daily market with food from around the world, but is also known worldwide because of the murder on Theo van Gogh, the Dutch film director who was killed there in 2001 because of his critical and provocative statements on the Islam. Thus it can be concluded that it is certainly a neighbourhood with its own problems but, as can be read in Bloem’s poem, a place to call home and long for. [1] Poem by J.C. Bloem, The Dapperstreet (Het Verlangen, 1921). Translation by Davida de Hond.

Orientação sexual como tema transversal em escolas públicas de Curralinhos-PI

Este estudo objetivou analisar a prática docente relacionada à orientação sexual enquanto tema transversal em escolas públicas no munícipio de Curralinhos-PI, e neste encalço, identificar as formas de práticas docentes relacionadas à orientação sexual enquanto tema transversal; caracterizar os fatores condicionantes para a realização da abordagem da orientação sexual em sala de aula; verificar a contribuição das oficinas do Programa Saúde e Prevenção na Escola (SPE) na formação continuada da prática docente e, a percepção de professores e alunos, quanto à relevância da abordagem do tema em questão de forma sistemática e transversal nas referidas escolas. Trata-se de um estudo com abordagem qualitativa e quantitativa com função de complementaridade, realizada em duas escolas públicas (X e Y) do município de Curralinhos-PI, de ensino fundamental e ensino médio, respectivamente, envolvendo uma amostra de 8 (oito) professores, que participaram das oficinas do SPE e 116 alunos, sendo 54 da escola X e 62 da escola Y. Os instrumentos da coleta de dados foram a entrevista e o questionário semiestruturados, originários de um roteiro de questões-guia. A coleta de dados foi realizada no segundo semestre de 2011, nos meses de agosto a setembro. Os resultados apontaram que é grande a necessidade de se discutir e implementar a orientação sexual no espaço escolar, pois embora a maioria dos professores entrevistados reconheçam a importância de se trabalhar a orientação sexual como tema transversal e demonstrarem conhecer esta proposta dos Parâmetros Curriculares Nacionais (PCNs), ainda são difusas as práticas incorporadas em suas atividades pedagógicas. Quanto aos alunos, evidenciaram que ainda se fazem presentes dúvidas e angústias, assim como dificuldades para a lida com o tema da sexualidade.

Lo extraficcional en La casa de los locos y La Señorita Ecuador, las primeras novelas de Alfredo Pareja Diezcanseco (Del Fabulador)

El autor analiza, en las dos primeras novelas escritas por Pareja Diezcanseco, elementos externos de la estructura del mundo novelado, proporcionados por la voz extraficcional (prefacios, epílogos, notas de pie de página). La casa de los locos es la sátira de una sociedad en anarquía, que presenta la actuación caótica de las clases sociales dirigentes y prefigura a los sodalios deformes de Las pequeñas estaturas, en ella es de gran importancia el «liminar», en el que la voz extraficcional presenta su poética de la escritura: ésta puede ser un arma de combate cultural e ideológico. En La Señorita Ecuador, uno de los elementos extraficcionales, el epílogo, aclara y justifica la designación del texto como novela. Estos elementos constituyen, en ambos textos, indispensable contrapunto para entender el sentido y la crítica social implícitos en las ficciones textuales.

El extravío del poeta: notas sobre la escritura de Roberto Bolaño (Crítica)

El autor reflexiona sobre una constante en la narrativa del escritor chileno Roberto Bolaño: sus personajes poetas –de muy diversa índole moral y ocupacional– se desplazan de un lugar a otro, en exilio o peregrinaje, en busca de un escritor ausente, nunca lo encuentran, o éste muere antes de que se establezca la comunicación. La práctica de la escritura, problemática por sí misma, convierte al poeta en un ser perdido o en tránsito, extraviado, un ser vacío que escribe «bajo hipnosis», un secretario que toma nota de los sueños y pesadillas de otro, que únicamente discute con algún fantasma sobre la pertinencia de los párrafos que se repiten. El acto de escribir se convierte, en la obra de Bolaño, en un escenario marcado por el vacío y el exilio.

A review of currently available in-stream water-quality models and their applicability for simulating dissolved oxygen in lowland rivers

In this paper, a review is undertaken of the major models currently in use for describing water quality in freshwater river systems. The number of existing models is large because the various studies of water quality in rivers around the world have often resulted in the construction of new 'bespoke' models designed for the particular situation of that study. However, it is worth considering models that are already available, since an existing model, suitable for the purposes of the study, will save a great deal of work and may already have been established within regulatory and legal frameworks. The models chosen here are SIMCAT, TOMCAT, QUAL2E, QUASAR, MIKE-11 and ISIS, and the potential for each model is examined in relation to the issue of simulating dissolved oxygen (DO) in lowland rivers. These models have been developed for particular purposes and this review shows that no one model can provide all of the functionality required. Furthermore, all of the models contain assumptions and limitations that need to be understood if meaningful interpretations of the model simulations are to. be made. The work is concluded with the view that it is unfair to set one model against another in terms of broad applicability, but that a model of intermediate complexity, such as QUASAR, is generally well suited to simulate DO in river systems. (C) 2003 Elsevier Science B.V. All rights reserved.

Towards a feminization of agricultural labour in northwest Syria

Smallholdings in the rural areas of northwest Syria are a result of land fragmentation that is due to inheritance. Because of rapid population growth combined with land fragmentation, these smallholdings are increasing and cannot sustain the rural households whose sizes and needs are also increasing rapidly. This situation has led to increasing numbers of mates migrating to urban areas in Syria and to neighbouring countries looking for work opportunities. In addition, recent agricultural intensification trends seem to have led to the emergence of a waged labour force which, in the absence of male workers owing to significant rates of migration, is now predominantly female. Agricultural labour use depends upon household characteristics and resources (type of labour used, gender of labour waged/exchanged/familial). The article attempts to present a comprehensive analysis of household labour use in distinctive farming systems in one region of Syria that has undergone great change in recent decades, and examines the changes in the composition of the agricultural labour force. Secondary information, rapid rural appraisals and formal farm surveys were used to gather information on the households in a study area where different farming systems coexist. The results show that the decrease in landholding size, the resulting male migration, and land intensification have resulted in the expansion of female labour in agricultural production, which has been termed in this research a 'feminization of agricultural labour'. This suggests that agricultural research and extension services will have to work more with women farmers and farm workers, seek their wisdom and involve them in technology and tran, fer This is not easy in conservative societies but requires research and extension institutions to take this reality into consideration in their programmes.

Extending Zelterman’s approach for robust estimation of population size to zero-truncated clustered data

Estimation of population size with missing zero-class is an important problem that is encountered in epidemiological assessment studies. Fitting a Poisson model to the observed data by the method of maximum likelihood and estimation of the population size based on this fit is an approach that has been widely used for this purpose. In practice, however, the Poisson assumption is seldom satisfied. Zelterman (1988) has proposed a robust estimator for unclustered data that works well in a wide class of distributions applicable for count data. In the work presented here, we extend this estimator to clustered data. The estimator requires fitting a zero-truncated homogeneous Poisson model by maximum likelihood and thereby using a Horvitz-Thompson estimator of population size. This was found to work well, when the data follow the hypothesized homogeneous Poisson model. However, when the true distribution deviates from the hypothesized model, the population size was found to be underestimated. In the search of a more robust estimator, we focused on three models that use all clusters with exactly one case, those clusters with exactly two cases and those with exactly three cases to estimate the probability of the zero-class and thereby use data collected on all the clusters in the Horvitz-Thompson estimator of population size. Loss in efficiency associated with gain in robustness was examined based on a simulation study. As a trade-off between gain in robustness and loss in efficiency, the model that uses data collected on clusters with at most three cases to estimate the probability of the zero-class was found to be preferred in general. In applications, we recommend obtaining estimates from all three models and making a choice considering the estimates from the three models, robustness and the loss in efficiency. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

COMPUTER assisted technologies to enhance CONCURRENce in building DESIGN

Modern organisms are adapted to a wide variety of habitats and lifestyles. The processes of evolution have led to complex, interdependent, well-designed mechanisms of todays world and this research challenge is to transpose these innovative solutions to resolve problems in the context of architectural design practice, e.g., to relate design by nature with design by human. In a design by human environment, design synthesis can be performed with the use of rapid prototyping techniques that will enable to transform almost instantaneously any 2D design representation into a physical three-dimensional model, through a rapid prototyping printer machine. Rapid prototyping processes add layers of material one on top of another until a complete model is built and an analogy can be established with design by nature where the natural lay down of earth layers shapes the earth surface, a natural process occurring repeatedly over long periods of time. Concurrence in design will particularly benefit from rapid prototyping techniques, as the prime purpose of physical prototyping is to promptly assist iterative design, enabling design participants to work with a three-dimensional hardcopy and use it for the validation of their design-ideas. Concurrent design is a systematic approach aiming to facilitate the simultaneous involvment and commitment of all participants in the building design process, enabling both an effective reduction of time and costs at the design phase and a quality improvement of the design product. This paper presents the results of an exploratory survey investigating both how computer-aided design systems help designers to fully define the shape of their design-ideas and the extent of the application of rapid prototyping technologies coupled with Internet facilities by design practice. The findings suggest that design practitioners recognize that these technologies can greatly enhance concurrence in design, though acknowledging a lack of knowledge in relation to the issue of rapid prototyping.

Nutrition Society Silver Medal Lecture Nutrigenetics and personalised nutrition: how far have we progressed and are we likely to get there?

Nutrigenetics and personalised nutrition are components of the concept that in the future genotyping will be used as a means of defining dietary recommendations to suit the individual. Over the last two decades there has been an explosion of research in this area, with often conflicting findings reported in the literature. Reviews of the literature in the area of apoE genotype and cardiovascular health, apoA5 genotype and postprandial lipaemia and perilipin and adiposity are used to demonstrate the complexities of genotype-phenotype associations and the aetiology of apparent between-study inconsistencies in the significance and size of effects. Furthermore, genetic research currently often takes a very reductionist approach, examining the interactions between individual genotypes and individual disease biomarkers and how they are modified by isolated dietary components or foods. Each individual possesses potentially hundreds of 'at-risk' gene variants and consumes a highly-complex diet. In order for nutrigenetics to become a useful public health tool, there is a great need to use mathematical and bioinformatic tools to develop strategies to examine the combined impact of multiple gene variants on a range of health outcomes and establish how these associations can be modified using combined dietary strategies.

Requirements analysis for an e-government system to support multi-organisational collaborative groups

We present a conceptual architecture for a Group Support System (GSS) to facilitate Multi-Organisational Collaborative Groups (MOCGs) initiated by local government and including external organisations of various types. Multi-Organisational Collaborative Groups (MOCGs) consist of individuals from several organisations which have agreed to work together to solve a problem. The expectation is that more can be achieved working in harmony than separately. Work is done interdependently, rather than independently in diverse directions. Local government, faced with solving complex social problems, deploy MOCGs to enable solutions across organisational, functional, professional and juridical boundaries, by involving statutory, voluntary, community, not-for-profit and private organisations. This is not a silver bullet as it introduces new pressures. Each member organisation has its own goals, operating context and particular approaches, which can be expressed as their norms and business processes. Organisations working together must find ways of eliminating differences or mitigating their impact in order to reduce the risks of collaborative inertia and conflict. A GSS is an electronic collaboration system that facilitates group working and can offer assistance to MOCGs. Since many existing GSSs have been primarily developed for single organisation collaborative groups, even though there are some common issues, there are some difficulties peculiar to MOCGs, and others that they experience to a greater extent: a diversity of primary organisational goals among members; different funding models and other pressures; more significant differences in other information systems both technologically and in their use than single organisations; greater variation in acceptable approaches to solve problems. In this paper, we analyse the requirements of MOCGs led by local government agencies, leading to a conceptual architecture for an e-government GSS that captures the relationships between 'goal', 'context', 'norm', and 'business process'. Our models capture the dynamics of the circumstances surrounding each individual representing an organisation in a MOCG along with the dynamics of the MOCG itself as a separate community.