Structured model-following neuro-adaptive design for attitude maneuver of rigid bodies

A new structured model-following adaptive approach is presented in this paper to achieve large attitude maneuvers of rigid bodies. First, a nominal controller is designed using the dynamic inversion philosophy. Next, a neuro- adaptive design is proposed to augment the nominal design in order to assure robust performance in the presence of parameter inaccuracies as well as unknown constant external disturbances. The structured approach proposed in this paper (where kinematic and dynamic equations are handled separately), reduces the complexity of the controller structure. From simulation studies, this adaptive controller is found to be very effective in assuring robust performance.

Characterization of 26 new microsatellite loci in the dugong (Dugong dugon)

Twenty-six microsatellite loci have been isolated from a dugong (Dugong dugon). The average heterozygosity was 0.52 with two to 10 alleles per locus surveyed from 50 individuals. The markers are suitable for genetic mark-recapture (PID = 5 × 10-16) in dugongs and they could also be used to quantify physical tag loss, estimate relatedness, assign paternity, elucidate population structure and identify migrants.

An adaptive power-system stabiliser which cancels the negative damping torque of a synchronous generator

The paper presents a new criterion for designing a power-system stabiliser, which is that it should cancel the negative damping torque inherent in a synchronous generator and automatic voltage regulator. The method arises from analysis based on the properties of tensor invariance, but it is easily implemented, and leads to the design of an adaptive controller. Extensive computations and simulation have been performed, and laboratory tests have been conducted on a computer-controlled micromachine system. Results are presented illustrating the effectiveness of the adaptive stabiliser.

A Novel Approach for Designing Generator Excitation controllers Using the IDA-PBC Technique

This paper presents a novel approach for designing of generator excitation controllers using Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) technique for a Single Machine Infinite Bus (SMIB) system that can also be directly used in a multi-machine environment. The generator system equations are modified by referencing the rotor angle with respect to the secondary of the transformer bus instead of the infinite bus. For the modified system equations, IDA-PBC is applied to stabilize the system around an operating condition. The IDA-PBC design results in a Lyapunov function for the modified system. The new control law is practically feasible and can be applied directly to multi-machine system without referring to external system parameters. The effectiveness of the proposed controller is tested on a SMIB and a 10 generator 39 bus test system for a range of operating conditions. The Proposed excitation controller has shown good performance for both small and large disturbances when compared to the performance of a conventional static exciter with power system stabilizer.

Porvoon maalaiskunnan haja-asutusalueen tiennimet

Kymmenkunta vuotta sitten monessa Suomen kunnassa jouduttiin suureen nimeämistyöhön, kun kuntien keskusjärjestöt suosittivat osoitejärjestelmän luomista myös haja-asutusalueille. Kunnille annetut ohjeet käsittelivät lähinnä osoitejärjestelmän teknistä toteuttamista, eikä nimistönsuunnittelun vaativuutta tajuttu. Tärkein asia eli teiden nimeäminen jäi lähes täysin kunnallisten virkamiesten ja poliitikkojen harkinnan varaan. Varsinkin kaksikielisissä kunnissa jouduttiin hankaluuksiin: tiennimet piti luoda kahdella kielellä, vaikka vanha paikannimistö olisi yksikielistä. Tilannetta mutkisti se, että nimistönsuunnittelun suhtautuminen vanhan paikannimistön kääntämiseen ja mukauttamiseen oli murroksessa juuri osoitteistamisprosessin alussa, eikä uusia periaatteita tuotu selvästi julki ennen 1990-luvun puoliväliä. Vielä 1980-luvulla paikannimien kääntämistä ja mukauttamista suositeltiin, mutta nykyään pidetään jo selvänä, että vanhaa paikannimistöä ei pidä perusteetta muokata vaan sitä voidaan käyttää sellaisenaan. Käypiä nimiä ovat siis niin Kråköntie kuin Koivulavägen. Porvoon maalaiskunnassa nimeämistyö aloitettiin vuonna 1989. Hankkeelle määrättiin virkamiesvalmistelija, joka työskenteli yhdessä toimikunnan kanssa. Tiekunnat saivat ehdottaa teilleen nimiä, ja valtaosaehdotuksista otettiinkin huomioon, mutta alkuvaiheessa lähes kaikki ruotsinkieliset paikannimet käännettiin tai mukautettiin. Koska toimikunnan jäsenillä ei ollut asiantuntemusta, nimien käännökset olivat usein epäonnistuneita ja oikeinkirjoitus horjui. Nähtävilläolon jälkeen alkuvuonna 1991 toimikunta päätti turvautua Kotimaisten kielten tutkimuskeskuksen apuun. Tiekunnat eivät hyväksyneet käännöksiä ja mukaelmia, joten ne neuvojen jälkeen poistettiin. Myöhemmin käännökset palautettiin luontonimiin perustuviin tiennimiin, mutta suurimmalta osalta vanha nimistö säilyi muuttamattomana. Emmintöjen jälkeen kunnanhallitus hyväksyi nimistön syksyllä 1995. Suurin osa Porvoon maalaiskunnan 790:stä haja-asutusalueen tiennimestä perustuu vanhaan paikannimistöön (81 %) tai on muuten paikkaan liittyvää (15 %). Vain pieni osa nimistä (4 %) on harkinnaisia.Vanhaan paikannimistöön perustuvissa tiennimissä on eniten tilannimen (41 %), maastonimen (26 %) ja kylännimen (14 %) sisältäviä nimiä. Yleisimmät jälkiosat ovat tie (86 %), kuja (5 %) ja polku (5 %). Määriteosaltaan tyystin suomenkielisiä nimipareista on 14 % (Aholantie-Aholavägen) ja ruotsinkielisiä 36 % (Bodöntie-Bodövägen). Tiekuntien nimet ja uudet tiennimet ovat eri asioita, mutta noin kolmannes uusista tiennimistä sisältää tiekunnan nimessä esiintyvän nimen. Näin Porvoon maalaiskunnan tiekuntien nimissä esiintyvistä 252 määriteosasta 193:a (77 %) on hyödynnetty 245 uudessa tiennimessä. Ennen tiennimiä osoitteissa käytettiin yleensä vain postinumeroa ja postitoimipaikkaa. Jonkin verran käytössä oli myös osoitenimiä (esim. Björkebo, Kappeli). Niistäkin valtaosa (73 %) esiintyy uusissa tiennimissä. Laskelma pohjautuu postin osoitetietojärjestelmään. Uusi tiennimistö perustuu usein jo käytössä oleviin tien- ja paikannimiin, joten se ei uhkaa vanhan nimistön asemaa. Uuden nimistön vaikutusta vähentää sekin, että sitä tarvitsevat lähinnä ulkopuoliset. Kotitienoot hahmotetaan edelleenkin vanhojen ja vakiintuneiden paikannimien avulla, mutta toki uudet tiennimet tuovat esiin monia vähän käytettyjä paikannimiä ja tarjoavat mainion katsauksen seudun kulttuuriperintöön. Ei siis ole samantekevää, miten teitä nimetään. Huonoiksi koetut uudet nimet eivät välttämättä edes vakiinnu käyttöön. Porvoon maalaiskunnan tulosten vertaaminen koko Suomen kattavaan materiaaliin osoittaa hankkeen edenneen hitaasti, mutta kaksikielisyyden ja työvoiman vähyyden huomioon ottaen kohtalaisesti. Vertailu kuuden muun uusmaalaisen kunnan kanssa paljastaa eroja paitsi hankkeen toteuttamistavoissa myös työn tuloksessa eli nimistössä. Yleensä tiekunnat ja asukkaat ovat saaneet tehdä ehdotuksia ja nimistön ovat laatineet virkamiehet ja nimitoimikunnat ilman palkattua asiantuntijaa. Kotimaisten kielten tutkimuskeskuksen puoleen on sentään käännytty. Tärkeä havainto on se, että kaksikieliset kunnat ovat halunneet vaalia kulttuuriarvoja ja säilyttää keskeisen vanhan paikannimistönsä koskemattomana. Avainsanat: Tiennimet, osoitenimet, osoitejärjestelmä, nimistönsuunnittelu

A novel approach to 6-DOF adaptive trajectory tracking control of an AUV in the presence of parameter uncertainties

In this paper, the trajectory tracking control of an autonomous underwater vehicle (AUVs) in six-degrees-of-freedom (6-DOFs) is addressed. It is assumed that the system parameters are unknown and the vehicle is underactuated. An adaptive controller is proposed, based on Lyapunov׳s direct method and the back-stepping technique, which interestingly guarantees robustness against parameter uncertainties. The desired trajectory can be any sufficiently smooth bounded curve parameterized by time even if consist of straight line. In contrast with the majority of research in this field, the likelihood of actuators׳ saturation is considered and another adaptive controller is designed to overcome this problem, in which control signals are bounded using saturation functions. The nonlinear adaptive control scheme yields asymptotic convergence of the vehicle to the reference trajectory, in the presence of parametric uncertainties. The stability of the presented control laws is proved in the sense of Lyapunov theory and Barbalat׳s lemma. Efficiency of presented controller using saturation functions is verified through comparing numerical simulations of both controllers.

A multi-hierarchical strategy for on-ramp coordination

Ramp metering (RM) is an access control for motorways, in which a traffic signal is placed at on-ramps to regulate the rate of vehicles entering the motorway and thus to preserve the motorway capacity. In general, RM algorithms fall into two categories by their effective scope: local control and coordinated control. Local control algorithm determines the metering rate based on the traffic condition on adjacent motorway mainline and the on-ramp. Conversely, coordinated RM strategies make use of measurements from the entire motorway network to operate individual ramp signals for optimal performance at the network level. This study proposes a multi-hierarchical strategy for on-ramp coordination. The strategy is structured in two layers. At the higher layer, a centralised, predictive controller plans the coordination control within a long update interval based on the location of high-risk breakdown flow. At the lower layer, reactive controllers determine the metering rates of those ramps involved in the ramp coordination with a short update interval. This strategy is modelled and applied to the northbound model of the Pacific Motorway in a micro-simulation platform (AIMSUN). The simulation results show that the proposed strategy effectively delays the onset of congestion and reduces total congestion with better managed on-ramp queues.

Representing the epistemic nature of teachers’ practical knowledge : The case of class teachers’ general pedagogy

The present study addressed the epistemology of teachers’ practical knowledge. Drawing from the literature, teachers’ practical knowledge is defined as all teachers’ cognitions (e.g., beliefs, values, motives, procedural knowing, and declarative knowledge) that guide their practice of teaching. The teachers’ reasoning that lies behind their practical knowledge is addressed to gain insight into its epistemic nature. I studied six class teachers’ practical knowledge; they teach in the metropolitan region of Helsinki. Relying on the assumptions of the phenomenographic inquiry, I collected and analyzed the data. I analyzed the data in two stages where the first stage involved an abductive procedure, and the second stage an inductive procedure for interpretation, and thus developed the system of categories. In the end, a quantitative analysis nested into the qualitative findings to study the patterns of the teachers’’ reasoning. The results indicated that teachers justified their practical knowledge based on morality and efficiency of action; efficiency of action was found to be presented in two different ways: authentic efficiency and naïve efficiency. The epistemic weight of morality was embedded in what I call “moral care”. The core intention of teachers in the moral care was the commitment that they felt about the “whole character” of students. From this perspective the “dignity” and the moral character of the students should not replaced for any other “instrumental price”. “Caring pedagogy” was the epistemic value of teachers’ reasoning in the authentic efficiency. The central idea in the caring pedagogy was teachers’ intentions to improve the “intellectual properties” of “all or most” of the students using “flexible” and “diverse” pedagogies. However, “regulating pedagogy” was the epistemic condition of practice in the cases corresponding to naïve efficiency. Teachers argued that an effective practical knowledge should regulate and manage the classroom activities, but the targets of the practical knowledge were mainly other “issues “or a certain percentage of the students. In these cases, the teachers’ arguments were mainly based on the notion of “what worked” regardless of reflecting on “what did not work”. Drawing from the theoretical background and the data, teachers’ practical knowledge calls for “praxial knowledge” when they used the epistemic conditions of “caring pedagogy” and “moral care”. It however calls for “practicable” epistemic status when teachers use the epistemic condition of regulating pedagogy. As such, praxial knowledge with the dimensions of caring pedagogy and moral care represents the “normative” perspective on teachers’ practical knowledge, and thus reflects a higher epistemic status in comparison to “practicable” knowledge, which represents a “descriptive” perception toward teachers’ practical knowledge and teaching.

Design of a Near Optimum Regulator for a Power Plant

For systems which can be decomposed into slow and fast subsystems, a near optimum linear state regulator consisting of two subsystem regulators can be developed. Depending upon the desired criteria, either a short term (fast controller) or a long term controller (slow controller) can be easily designed with minimum computational costs. Using this approach an example of a power system supplying a cyclic load is studied and the performance of the different controllers are compared.

Experiences With WM: A Centralised Scheduling Approach for Performance Management of IEEE 802.11 Wireless LANs

In our earlier work ([1]) we proposed WLAN Manager (or WM) a centralised controller for QoS management of infrastructure WLANs based on the IEEE 802.11 DCF standards. The WM approach is based on queueing and scheduling packets in a device that sits between all traffic flowing between the APs and the wireline LAN, requires no changes to the AP or the STAs, and can be viewed as implementing a "Split-MAC" architecture. The objectives of WM were to manage various TCP performance related issues (such as the throughput "anomaly" when STAs associate with an AP with mixed PHY rates, and upload-download unfairness induced by finite AP buffers), and also to serve as the controller for VoIP admission control and handovers, and for other QoS management measures. In this paper we report our experiences in implementing the proposals in [1]: the insights gained, new control techniques developed, and the effectiveness of the WM approach in managing TCP performance in an infrastructure WLAN. We report results from a hybrid experiment where a physical WM manages actual TCP controlled packet flows between a server and clients, with the WLAN being simulated, and also from a small physical testbed with an actual AP.

Some aspects of multilevel load-frequency control of a power system

The application of multilevel control strategies for load-frequency control of interconnected power systems is assuming importance. A large multiarea power system may be viewed as an interconnection of several lower-order subsystems, with possible change of interconnection pattern during operation. The solution of the control problem involves the design of a set of local optimal controllers for the individual areas, in a completely decentralised environment, plus a global controller to provide the corrective signal to account for interconnection effects. A global controller, based on the least-square-error principle suggested by Siljak and Sundareshan, has been applied for the LFC problem. A more recent work utilises certain possible beneficial aspects of interconnection to permit more desirable system performances. The paper reports the application of the latter strategy to LFC of a two-area power system. The power-system model studied includes the effects of excitation system and governor controls. A comparison of the two strategies is also made.

A genome-wide association study of caffeine-related sleep disturbance: Confirmation of a role for a common variant in the adenosine receptor

OBJECTIVES To identify common genetic variants that predispose to caffeine-induced insomnia and to test whether genes whose expression changes in the presence of caffeine are enriched for association with caffeine-induced insomnia. DESIGN A hypothesis-free, genome-wide association study. SETTING Community-based sample of Australian twins from the Australian Twin Registry. PARTICIPANTS After removal of individuals who said that they do not drink coffee, a total of 2,402 individuals from 1,470 families in the Australian Twin Registry provided both phenotype and genotype information. MEASUREMENTS AND RESULTS A dichotomized scale based on whether participants reported ever or never experiencing caffeine-induced insomnia. A factor score based on responses to a number of questions regarding normal sleep habits was included as a covariate in the analysis. More than 2 million common single nucleotide polymorphisms (SNPs) were tested for association with caffeine-induced insomnia. No SNPs reached the genome-wide significance threshold. In the analysis that did not include the insomnia factor score as a covariate, the most significant SNP identified was an intronic SNP in the PRIMA1 gene (P = 1.4 x 10(-)(6), odds ratio = 0.68 [0.53 - 0.89]). An intergenic SNP near the GBP4 gene on chromosome 1 was the most significant upon inclusion of the insomnia factor score into the model (P = 1.9 x 10(-)(6), odds ratio = 0.70 [0.62 - 0.78]). A previously identified association with a polymorphism in the ADORA2A gene was replicated. CONCLUSIONS Several genes have been identified in the study as potentially influencing caffeine-induced insomnia. They will require replication in another sample. The results may have implications for understanding the biologic mechanisms underlying insomnia.

Perspectives on prescribing in nursing homes in Helsinki

Prescribing for older patients is challenging. The prevalence of diseases increases with advancing age and causes extensive drug use. Impairments in cognitive, sensory, social and physical functioning, multimorbidity and comorbidities, as well as age-related changes in pharmacokinetics and pharmacodynamics all add to the complexity of prescribing. This study is a cross-sectional assessment of all long-term residents aged ≥ 65 years in all nursing homes in Helsinki, Finland. The residents’ health status was assessed and data on their demographic factors, health and medications were collected from their medical records in February 2003. This study assesses some essential issues in prescribing for older people: psychotropic drugs (Paper I), laxatives (Paper II), vitamin D and calcium supplements (Paper III), potentially inappropriate drugs for older adults (PIDs) and drug-drug interactions (DDIs)(Paper IV), as well as prescribing in public and private nursing homes. A resident was classified as a medication user if his or her medication record indicated a regular sequence for its dosage. Others were classified as non-users. Mini Nutritional Assessment (MNA) was used to assess residents’ nutritional status, Beers 2003 criteria to assess the use of PIDs, and the Swedish, Finnish, INteraction X-referencing database (SFINX) to evaluate their exposure to DDIs. Of all nursing home residents in Helsinki, 82% (n=1987) participated in studies I, II, and IV and 87% (n=2114) participated in the study III. The residents’ mean age was 84 years, 81% were female, and 70% were diagnosed with dementia. The mean number of drugs was 7.9 per resident; 40% of the residents used ≥ 9 drugs per day, and were thus exposed to polypharmacy. Eighty percent of the residents received psychotropics; 43% received antipsychotics, and 45% used antidepressants. Anxiolytics were prescribed to 26%, and hypnotics to 28% of the residents. Of those residents diagnosed with dementia, 11% received antidementia drugs. Fifty five percent of the residents used laxatives regularly. In multivariate analysis, those factors associated with regular laxative use were advanced age, immobility, poor nutritional status, chewing problems, Parkinson’s disease, and a high number of drugs. Eating snacks between meals was associated with lower risk for laxative use. Of all participants, 33% received vitamin D supplementation, 28% received calcium supplementation, and 20% received both vitamin D and calcium. The dosage of vitamin D was rather low: 21% received vitamin D 400 IU (10 µg) or more, and only 4% received 800 IU (20 µg) or more. In multivariate analysis, residents who received vitamin D supplementation enjoyed better nutritional status, ate snacks between meals, suffered no constipation, and received regular weight monitoring. Those residents receiving PIDs (34% of all residents) more often used psychotropic medication and were more often exposed to polypharmacy than residents receiving no PIDs. Residents receiving PIDs were less often diagnosed with dementia than were residents receiving no PIDs. The three most prevalent PIDs were short-acting benzodiazepine in greater dosages than recommended, hydroxyzine, and nitrofurantoin. These three drugs accounted for nearly 77% of all PID use. Of all residents, less than 5% were susceptible to a clinically significant DDI. The most common DDIs were related to the use of potassium-sparing diuretics, carbamazepine, and codeine. Residents exposed to potential DDIs were younger, had more often suffered a previous stroke, more often used psychotropics, and were more often exposed to PIDs and polypharmacy than were residents not exposed to DDIs. Residents in private nursing homes were less often exposed to polypharmacy than were residents in public nursing homes. Long-term residents in nursing homes in Helsinki use, on average, nearly eight drugs daily. The use of psychotropic drugs in our study was notably more common than in international studies. The prevalence of laxatives equaled other prior international studies. Regardless of the known benefit and recommendation of vitamin D supplementation for elderly residing mostly indoors, the proportion of nursing home residents receiving vitamin D and calcium was surprisingly low. The use of PIDs was common among nursing home residents. PIDs increased the likelihood of DDIs. However, DDIs did not seem a major concern among the nursing home population. Monitoring PIDs and potential drug interactions could improve the quality of prescribing.

Community forestry and environmental literacy in northern Thailand : Towards collaborative natural resource management and conservation

Conservation and sustainable management of tropical forests needs a holistic approach: in addition to ecological concerns, socio-economic issues including cultural aspects must be taken into consideration. An ability to adapt practices is a key to successful collaborative natural resource management. Achieving this requires local participation and understanding of local conceptions of the environment. This study examined these issues in the context of northern Thailand. Northern uplands are the home of much of the remaining natural forest in Thailand and several ethnic minority groups commonly referred to as hill tribes. The overall purpose of this study was to grasp a regional view of an ethnically diverse forested area and to elicit prospects to develop community forestry for conservation purposes and for securing people s livelihood. Conservation was a central goal of management as the forests in the area were largely designated as protected. The aim was to study local perceptions, objectives, values and practices of forest management, under the umbrella of the concept environmental literacy, as well as the effects of forest policy on community management goals and activities. Environmental literacy refers to holistic understanding of the environment. It was used as a tool to examine people s views, interests, knowledge and motivation associated to forests. The material for this study was gathered in six villages in Chiang Mai Province. Three minority groups were included in the study, the Karen, Hmong and Lawa, and also the Thai. Household and focus group interviews were conducted in the villages. In addition, officials at district, regional and national levels, workers of non-governmental organisations, and academics were interviewed, and some data were gathered from the students of a local school. The results showed that motivation for protecting the forests existed among each ethnic group studied. This was a result of culture and traditions evolved in the forest environment but also of a need to adapt to a changed situation and environment and to outside pressures. The consequences of deforestation were widely agreed on in the villages, and the impact of socio-economic changes on the forests and livelihood was also recognised. The forest was regarded as a source of livelihood providing land, products and services essential to the people inhabiting rural uplands. Traditions, fire control, cooperation, reforestation, separation of protected and utilisable areas, and rules were viewed as central for conservation. For the villagers, however, conservation meant sustainable use, whereas the government has tended to prefer strict restrictions on forest resource use. Thus, conflicts had arisen. Between communities, cooperation was more dominant than conflict. The results indicated that the heterogeneity of forest dwellers, although it has to be recognised, should not be overemphasised: ethnic diversity can be considered as no major obstacle for successful community forestry. Collaborative management is particularly important in protected areas in order to meet the conservation goals while providing opportunities for livelihood. Forest management needs more positive incentives and increased dialogue.

Optimal dynamic inversion-based semi-active control of benchmark bridge using MR dampers

A new two-stage state feedback control design approach has been developed to monitor the voltage supplied to magnetorheological (MR) dampers for semi-active vibration control of the benchmark highway bridge. The first stage contains a primary controller, which provides the force required to obtain a desired closed-loop response of the system. In the second stage, an optimal dynamic inversion (ODI) approach has been developed to obtain the amount of voltage to be supplied to each of the MR dampers such that it provides the required force prescribed by the primary controller. ODI is formulated by optimization with dynamic inversion, such that an optimal voltage is supplied to each damper in a set. The proposed control design has been simulated for both phase-I and phase-II study of the recently developed benchmark highway bridge problem. The efficiency of the proposed controller is analyzed in terms of the performance indices defined in the benchmark problem definition. Simulation results demonstrate that the proposed approach generally reduces peak response quantities over those obtained from the sample semi-active controller, although some response quantities have been seen to be increasing. Overall, the proposed control approach is quite competitive as compared with the sample semi-active control approach.