About stabilization of non-minimum phase systems by output feedback

This thesis work has been motivated by an internal benchmark dealing with the output regulation problem of a nonlinear non-minimum phase system in the case of full-state feedback. The system under consideration structurally suffers from finite escape time, and this condition makes the output regulation problem very hard even for very simple steady-state evolution or exosystem dynamics, such as a simple integrator. This situation leads to studying the approaches developed for controlling Non-minimum phase systems and how they affect feedback performances. Despite a lot of frequency domain results, only a few works have been proposed for describing the performance limitations in a state space system representation. In particular, in our opinion, the most relevant research thread exploits the so-called Inner-Outer Decomposition. Such decomposition allows splitting the Non-minimum phase system under consideration into a cascade of two subsystems: a minimum phase system (the outer) that contains all poles of the original system and an all-pass Non-minimum phase system (the inner) that contains all the unavoidable pathologies of the unstable zero dynamics. Such a cascade decomposition was inspiring to start working on functional observers for linear and nonlinear systems. In particular, the idea of a functional observer is to exploit only the measured signals from the system to asymptotically reconstruct a certain function of the system states, without necessarily reconstructing the whole state vector. The feature of asymptotically reconstructing a certain state functional plays an important role in the design of a feedback controller able to stabilize the Non-minimum phase system.

R-loops and G4-structures: from DNA damage to innate immune response gene activation

Non-B DNA structures like R-loops and G-quadruplexes play a pivotal role in several cellular vital processes like DNA transcription regulation. Misregulation of said non-canonical DNA structures can often lead to genome instability, DNA damage, and, eventually, to the activation of an innate immune response. For such reasons they have been studied as adjuvants in anticancer therapies. Here we studied drugs targeting R-loops (Top1 poisons) and G4s (hydrazone derivatives) in order to observe their effects in terms of DNA damage induction and, subsequently, activation of innate immune response. We studied how non-cytotoxic doses of ampthotecin and LMP-776 impact on genome instability, are capable to induce DNA damage and micronuclei, and, eventually lead to an innate immune gene response via the cGAS/STING pathway. G-quadruplexes are another ubiquitous, non-canonical DNA structure, more abundant in telomeric regions, demonstrating a marked relation with the impairment of telomerase and the regulation of DNA replication and transcription. Furthermore, we investigated the properties of new-synthesized molecules belonging to the highly promising class of hydrazone derivatives, in terms of cytotoxicity, ability to stabilize G4-structures, induce DNA damage, and activate interferon-B production. Both Top1 poisons and G4-stabilizers possess several features that can be very useful in clinical applications, in light of their ability to stimulate innate immune response factors and exert a certain cell-killing power, plus they offer a broad and diverse range of treatment options in order to face a variety of patient treatment needs. It is for these very reasons that it is of uttermost importance that further studies are conducted on these compounds, in order to synthesize new and increasingly powerful and flexible ones, with fewer side effects to customize therapies on specific cancers’ and patients’ features.

On the role of AGN feedback in shaping galaxies across cosmic time

Understanding how Active Galactic Nuclei (AGN) shape galaxy evolution is a key challenge of modern astronomy. In the framework where black hole (BH) and galaxy growth are linked, AGN feedback must be tackled both at its “causes” (e.g. AGN-driven winds) and its “effects” (alteration of the gas reservoir in AGN hosts). The most informative cosmic time is z~1-3, at the peak of AGN activity and galaxy buildup, the so-called cosmic noon. The aim of this thesis is to provide new insights regarding some key questions that still remain open in this research field: i) What are the properties of AGN-driven sub-pc scale winds at z>1? ii) Are AGN-driven winds effective in influencing the life of galaxies? iii) Do AGN impact directly on star formation (SF) and gas content of their hosts? I first address AGN feedback as “caught in the act” by studying ultra-fast outflows (UFOs), X-ray AGN-driven winds, in gravitationally lensed quasars. I build the first statistically robust sample of high-z AGN, not preselected based on AGN-driven winds. I derive a first estimate of the high-z UFO detection fraction and measure the UFO duty cycle of a single high-z quasar for the first time. I also address the “effects” of AGN feedback on the life of host galaxies. If AGN influence galaxy growth, then they will reasonably impact the molecular gas reservoir first, and SF as a consequence. Through a comparative study of the molecular gas content in cosmic-noon AGN hosts and matched non-active galaxies (i.e., galaxies not hosting an AGN), we find that the host galaxies of more regular AGN (not selected to be the most luminous) are generally similar to non-active galaxies. However, we report on the possibility of a luminosity effect regulating the efficiency by which AGN might impact on galaxy growth.

Computational modeling of human atrial cardiomyocytes: integration of electro-mechanical & mechano-electric feedback pathways

The cardiomyocytes are very complex consisting of many interlinked non-linear regulatory mechanisms between electrical excitation and mechanical contraction. Thus given a integrated electromechanically coupled system it becomes hard to understand the individual contributor of cardiac electrics and mechanics under both physiological and pathological conditions. Hence, to identify the causal relationship or to predict the responses in a integrated system the use of computational modeling can be beneficial. Computational modeling is a powerful tool that provides complete control of parameters along with the visibility of all the individual components of the integrated system. The advancement of computational power has made it possible to simulate the models in a short timeframe, providing the possibility of increased predictive power of the integrated system. My doctoral thesis is focused on the development of electromechanically integrated human atrial cardiomyocyte model with proper consideration of feedforward and feedback pathways.

A comprehensive study of the AGN feedback cycle in galaxy clusters from high resolution X-ray and radio observations

At the center of galaxy clusters, a dramatic interplay known as feedback cycle occurs between the hot intracluster medium (ICM) and the active galactic nucleus (AGN) of the central galaxy. The footprints of this interplay are evident from X-ray observations of the ICM, where X-ray cavities and shock fronts are associated with radio lobe emission tracing energetic AGN outbursts. While such jet activity reduces the efficiency of the hot gas to cool to lower temperatures, residual cooling can generate warm and cold gas clouds around the central galaxy. The condensed gas parcels can ultimately reach the core of the galaxy and be accreted by the AGN. This picture is the result of tremendous advances over the last three decades. Yet, a deeper understanding of the details of how the heating–cooling regulation is achieved and maintained is still missing. In this Thesis, we delve into key aspects of the feedback cycle. To this end, we leverage high-resolution (sub-arcsecond), multifrequency observations (mainly X-ray and radio) of several top-level facilities (e.g., Chandra, JVLA, VLBA, LOFAR). First, we investigate which conditions trigger a feedback response to gas cooling, by studying the properties of clusters where feedback is just about to start. Then, we focus on the details of how the AGN–ICM interaction progresses by examining cavity and shock heating in the cluster RBS797, an exemplary case of the jet feedback paradigm. Furthermore, we explore the importance of shock heating and the coupling of distinct jet power regimes (i.e., FRII, FRI and FR0 radio galaxies) to the environment. Ultimately, as heating models rely on the connection between the direct evidence (the jets) and the smoking gun (the X-ray cavities) of feedback, we examine the cases in which these two are dramatically misaligned.

Feedback control of underactuated cable-driven parallel robots

In this work an Underactuated Cable-Driven Parallel Robot (UACDPR) that operates in the three dimensional Euclidean space is considered. The End-Effector has 6 degrees of freedom and is actuated by 4 cables, therefore from a mechanical point of view the robot is defined underconstrained. However, considering only three controlled pose variables, the degree of redundancy for the control theory can be considered one. The aim of this thesis is to design a feedback controller for a point-to-point motion that satisfies the transient requirements, and is capable of reducing oscillations that derive from the reduced number of constraints. A force control is chosen for the positioning of the End-Effector, and error with respect to the reference is computed through data measure of several sensors (load cells, encoders and inclinometers) such as cable lengths, tension and orientation of the platform. In order to express the relation between pose and cable tension, the inverse model is derived from the kinematic and dynamic model of the parallel robot. The intrinsic non-linear nature of UACDPRs systems introduces an additional level of complexity in the development of the controller, as a result the control law is composed by a partial feedback linearization, and damping injection to reduce orientation instability. The fourth cable allows to satisfy a further tension distribution constraint, ensuring positive tension during all the instants of motion. Then simulations with different initial conditions are presented in order to optimize control parameters, and lastly an experimental validation of the model is carried out, the results are analysed and limits of the presented approach are defined.

Feedback dos questionários de implantação do Prontuário Eletrônico do Cidadão (PEC) e utilização do E-SUS AB [E-SUS]

Apresentação e discussão do tema. É uma oferta educacional com fim de desenvolver conhecimentos específicos, aprendizagem ativa, provendo troca de experiência e reflexão sobre o cotidiano do trabalho.

Hypothalamic S1p/s1pr1 Axis Controls Energy Homeostasis.

Sphingosine 1-phosphate receptor 1 (S1PR1) is a G-protein-coupled receptor for sphingosine-1-phosphate (S1P) that has a role in many physiological and pathophysiological processes. Here we show that the S1P/S1PR1 signalling pathway in hypothalamic neurons regulates energy homeostasis in rodents. We demonstrate that S1PR1 protein is highly enriched in hypothalamic POMC neurons of rats. Intracerebroventricular injections of the bioactive lipid, S1P, reduce food consumption and increase rat energy expenditure through persistent activation of STAT3 and the melanocortin system. Similarly, the selective disruption of hypothalamic S1PR1 increases food intake and reduces the respiratory exchange ratio. We further show that STAT3 controls S1PR1 expression in neurons via a positive feedback mechanism. Interestingly, several models of obesity and cancer anorexia display an imbalance of hypothalamic S1P/S1PR1/STAT3 axis, whereas pharmacological intervention ameliorates these phenotypes. Taken together, our data demonstrate that the neuronal S1P/S1PR1/STAT3 signalling axis plays a critical role in the control of energy homeostasis in rats.

Infratentorial Gray Matter Atrophy And Excess In Primary Craniocervical Dystonia.

Primary craniocervical dystonia (CCD) is generally attributed to functional abnormalities in the cortico-striato-pallido-thalamocortical loops, but cerebellar pathways have also been implicated in neuroimaging studies. Hence, our purpose was to perform a volumetric evaluation of the infratentorial structures in CCD. We compared 35 DYT1/DYT6 negative patients with CCD and 35 healthy controls. Cerebellar volume was evaluated using manual volumetry (DISPLAY software) and infratentorial volume by voxel based morphometry of gray matter (GM) segments derived from T1 weighted 3 T MRI using the SUIT tool (SPM8/Dartel). We used t-tests to compare infratentorial volumes between groups. Cerebellar volume was (1.14 ± 0.17) × 10(2) cm(3) for controls and (1.13 ± 0.14) × 10(2) cm(3) for patients; p = 0.74. VBM demonstrated GM increase in the left I-IV cerebellar lobules and GM decrease in the left lobules VI and Crus I and in the right lobules VI, Crus I and VIIIb. In a secondary analysis, VBM demonstrated GM increase also in the brainstem, mostly in the pons. While gray matter increase is observed in the anterior lobe of the cerebellum and in the brainstem, the atrophy is concentrated in the posterior lobe of the cerebellum, demonstrating a differential pattern of infratentorial involvement in CCD. This study shows subtle structural abnormalities of the cerebellum and brainstem in primary CCD.

Tecnico de ginastica artistica : uma proposta para a formação profissional

Universidade Estadual de Campinas. Faculdade de Educação Física

Análise morfológica e fisiológica dos fígados e rins de ratas prenhes e seus fetos tratados pela associação zidovudina, lamivudina e ritonavir durante toda a prenhez

OBJETIVO: avaliar os efeitos da administração da associação zidovudina-lamivudina-ritonavir nos fígados e rins de ratas prenhes e seus conceptos do ponto de vista morfológico e fisiológico. MÉTODOS: 40 ratas albinas prenhes foram aleatoriamente divididas em 4 grupos: 1 controle (Ctrl: controle de veículo) e 3 experimentais (Exp1x, Exp3x e Exp9x). Estes últimos foram tratados por solução oral de zidovudina/lamivudina/ritonavir (Exp1x: 10/5/20 mg/kg; Exp3x: 30/15/60 mg/kg; Exp9x: 90/45/180 mg/kg). As drogas e o veículo foram administrados por gavagem, desde o 1º até o 20º dia de prenhez. No último dia do experimento, todos os animais foram anestesiados e sangue foi retirado da cavidade cardíaca para avaliação sérica das enzimas aspartato aminotransferase (AST) e alanina aminotransferase (ALT), por método calorimétrico, bem como da ureia, determinada por método cinético-enzimático, e creatinina, por método cinético-colorimétrico. Em seguida, fragmentos dos fígados e rins maternos e fetais foram coletados, fixados em formol a 10% e processados segundo os métodos histológicos para inclusão em parafina. Cortes com 5 µm de espessura foram corados pela hematoxilina-eosina (HE) e analisados por microscopia de luz. Na leitura das lâminas, considerou-se o padrão de normalidade para fígado e rins, tais como: hepatócitos, espaço porta íntegros e veias hepáticas bem definidas. Nos rins, a presença de corpúsculos renais, túbulos contorcidos e alças de Henle típicos. Nos fígados fetais considerou-se, ainda, a morfologia das células da linhagem eritrocitária nas diferentes fases do desenvolvimento, bem como os megacariócitos. Quando houve alteração da coloração padrão estabelecida para as estruturas hepáticas e renais, alteração na morfologia de núcleos, rompimento de limites de alguma organela citoplasmática, presença de congestão vascular, tudo isso foi entendido como provavelmente provocado pelas drogas em sua(s) dose(s) de aplicação. A avaliação estatística foi realizada por análise de variância (ANOVA), completada pelo teste de Tukey-Kramer (p<0,05). RESULTADOS: os fígados maternos dos grupos Ctrl, Exp1x e Exp3x mostraram hepatócitos típicos, espaço porta íntegros e veias hepáticas com aspecto normal. No fígado materno do grupo Exp9x, foram encontrados hepatócitos com sinais de atrofia e apoptose (eosinofilia citoplasmática e núcleos picnóticos). Além disso, identificou-se vasodilatação dos capilares sinusoides (congestão). Os rins maternos dos grupos Ctrl e Exp1x apresentaram-se normais, com corpúsculos renais, túbulos contorcidos e alças de Henle típicos. Já nos grupos Exp3x e Exp9x, foram encontrados congestão vascular, glomérulos pequenos ricos em células contendo núcleos hipercromáticos, sendo mais intensos no Exp9x. Com relação aos fígados e rins fetais, não foram observadas alterações morfológicas ou fisiológicas nos grupos estudados. Encontrou-se aumento significante nos níveis da AST (305,70±55,80; p<0,05) e da creatinina (0,50±0,09; p<0,05) no grupo Exp9x. CONCLUSÕES: nossos resultados evidenciam que a administração da associação zidovudina/lamivudina/ritonavir a ratas prenhes em altas doses causa alterações morfológicas e funcionais nos fígados e rins maternos. Não houve alterações nem morfológicas nem fisiológicas nos fígados e rins fetais.

An unusual, dwarf new species of Neotropical freshwater stingray, Plesiotrygon nana sp. nov., from the upper and mid Amazon basin: the second species of Plesiotrygon (Chondrichthyes: Potamotrygonidae)

A new species of the relatively poorly known Neotropical freshwater stingray genus Plesiotrygon Rosa, Castello & Thorson, 1987 is described from the main channel and smaller tributaries (Ríos Itaya and Pachitea) of the upper Amazon basin in Peru. The first specimen to be collected, however, was from much farther east in Rio Solimões in 1996, just down-river from Rio Purus (specimen unavailable for this study). Plesiotrygon nana sp. nov., is a very distinctive and unusually small species of freshwater stingray (Potamotrygonidae), described here mostly from three specimens representing different size classes and stages of sexual maturity. Plesiotrygon nana sp. nov., is distinguished from its only congener, P. iwamae Rosa, Castello & Thorson, 1987, by numerous unique features, including: dorsal coloration composed of very fine rosettes or a combination of spots and irregular ocelli; very circular disc and snout; very small and less rhomboidal spiracles; short snout and anterior disc region; narrow mouth and nostrils; denticles on dorsal tail small, scattered, not forming row of enlarged spines; adult and preadult specimens with significantly fewer tooth rows; fewer caudal vertebrae; higher total pectoral radials; very small size, probably not surpassing 250 mm disc length or width, males maturing sexually at around 180 mm disc length and 175 mm disc width; distal coloration of tail posterior to caudal stings usually dark purplish-brown; and features of the ventral lateral-line canals (hyomandibular canal very narrow, infraorbital and supraorbital canals not undulated, supraorbital and infraorbital loops small and narrow, supraorbital loop very short, not extending posteriorly to level of mouth, jugular and posterior infraorbital canals short, not extending caudally to first gill slits, subpleural loop very narrow posteriorly; absence of anterior and posterior subpleural tubules). To provide a foundation for the description of P. nana sp. nov., morphological variation in P. iwamae was examined based on all type specimens as well as newly collected and previously unreported material. Two specimens topotypic with the male paratype of P. nana sp. nov., referred to here as Plesiotrygon cf. iwamae, are also reported. Relationships of the new species to P. iwamae are discussed; further characters indicative of Plesiotrygon monophyly are proposed, but the genus may still not be valid. Plesiotrygon nana sp. nov., is commercialized with some regularity in the international aquarium trade from Iquitos (Peru), an alarming circumstance because nothing is known of its biology or conservation requirements.

Estudo fotoelástico do controle vertical com o arco de dupla chave na técnica Straight wire

INTRODUÇÃO: em alguns casos, a extração de pré-molares torna-se necessária e nem sempre os espaços são completamente fechados após o alinhamento e nivelamento. O arco de dupla chave, ou Double Key Loop (DKL), é um arco retangular de aço para retração, com duas alças - uma mesial e outra distal ao canino. OBJETIVOS: este trabalho propôs-se a estudar o local onde a força é exercida, após a ativação desse arco, utilizando ativação na alça distal, ativação entre as alças e na alça distal, e ativação com Gurin®. MÉTODOS: foram montados nove modelos fotoelásticos de um arco dentário inferior, sem os primeiros pré-molares e os terceiros molares, com braquetes In-Ovation e arco DKL. O arco foi ativado e a região de incisivos, caninos e dentes posteriores foi fotografada, com interposição de filtros polarizadores de luz. RESULTADOS E CONCLUSÕES: após a análise do modelo fotoelástico, concluiu-se que a ativação com Gurin® pode produzir movimento de retração anterior com componente extrusivo; a ativação na alça distal pode produzir movimento de retração anterior sem componente extrusivo; e a ativação entre as alças e na alça distal pode produzir movimento de retração anterior com componente intrusivo.

Redescription of Hiatella meridionalis d'Orbigny, 1846 (Mollusca, Bivalvia, Hiatellidae) from Argentina

The redescription of Hiatella meridionalis (d’Orbigny, 1846) is provided as first attempt to improve the systematics of the genus in the regions of Atlantic and western Pacific. This reanalysis is based on specimens collected in the vicinity of the type localities and is based on detailed morphology of samples that some researches consider a single, wide ranging species. From the morphological characters, the more interesting are: a high quantity of papillae at incurrent siphon; the retractor muscles of siphon divided in two bundles; the small size of the palps; the muscular ring in the stomach; and the zigzag fashion of the short intestinal loops. These characters distinguish the species from the other hiatellids so far examined. Type material of the species was examined, by first time illustrated, and the lectotype is designated.

Vitamina D e doenças endocrinometabólicas

Atualmente, a insuficiência/deficiência de vitamina D tem sido considerada um problema de saúde pública no mundo todo, em razão de suas implicações no desenvolvimento de diversas doenças, entre elas, o diabetes melito tipo 2 (DMT2), a obesidade e a hipertensão arterial. A deficiência de vitamina D pode predispor à intolerância à glicose, a alterações na secreção de insulina e, assim, ao desenvolvimento do DMT2. Esse possível mecanismo ocorre em razão da presença do receptor de vitamina D em diversas células e tecidos, incluindo células-β do pâncreas, no adipócito e no tecido muscular. Em indivíduos obesos, as alterações do sistema endócrino da vitamina D, caracterizada por elevados níveis de PTH e da 1,25(OH)2D3 são responsáveis pelo feedback negativo da síntese hepática de 25-OHD3 e também pelo maior influxo de cálcio para o meio intracelular, que pode prejudicar a secreção e a sensibilidade à insulina. Na hipertensão, a vitamina D pode atuar via sistema renina-angiotensina e também na função vascular. Há evidências de que a 1,25(OH)2D3 inibe a expressão da renina e bloqueia a proliferação da célula vascular muscular lisa. Entretanto, estudos prospectivos e de intervenção em humanos que comprovem a efetividade da adequação do status da vitamina D sob o aspecto "prevenção e tratamento de doenças endocrinometabólicas" são ainda escassos. Mais pesquisas são necessárias para se garantir o benefício máximo da vitamina D nessas situações.