927 resultados para bilateral haptic robot control
Resumo:
OBJECTIVE: Selecting controls is one of the most difficult tasks in the design of case-control studies. Hospital controls may be inadequate and random controls drawn from the base population may be unavailable. The aim was to assess the use of hospital visitors as controls in a case-control study on the association of organochlorinated compounds and other risk factors for breast cancer conducted in the main hospital of the "Instituto Nacional de Câncer" -- INCA (National Cancer Institute) in Rio de Janeiro (Brazil). METHODS: The study included 177 incident cases and 377 controls recruited among female visitors. Three different models of control group composition were compared: Model 1, with all selected visitors; Model 2, excluding women visiting relatives with breast cancer; and Model 3, excluding all women visiting relatives with any type of cancer. Odds ratios (OR) and 95% confidence intervals were calculated to test the associations. RESULTS: Age-adjusted OR for breast cancer associated with risk factors other than family history of cancer, except smoking and breast size, were similar in the three models. Regarding family history of all cancers, except for breast cancer, there was a decreased risk in Models 1 and 2, while in Model 3 there was an increased risk, but not statistically significant. Family history of breast cancer was a risk factor in Models 2 and 3, but no association was found in Model 1. In multivariate analysis a significant risk of breast cancer was found when there was a family history of breast cancer in Models 2 and 3 but not in Model 1. CONCLUSIONS: These results indicate that while investigating risk factors unrelated to family history of cancer, the use of hospital visitors as controls may be a valid and feasible alternative.
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As recentes e crescentes modificações no sector eléctrico, tanto nacional como mundial, tornam actualmente os mercados de electricidade um caso de estudo singular e interessante. De facto, o desenvolvimento de ferramentas de análise que permitem avaliar a evolução dos comportamentos que estes mercados adoptam face à dinâmica das suas constantes transformações é, à partida, uma mais valia para as suas principais entidades. Muitas vezes os negociadores deste sector ficam satisfeitos com o resultado final. Contudo, se investigarmos mais minuciosamente, dinheiro e recursos são desperdiçados e potenciais ganhos permanecem por descobrir. Uma negociação automática, que utilize agentes computacionais autónomos, promete um elevado nível de eficiência e acordos de maior qualidade. Muitos modelos de mercado actuais são simulados através de ferramentas computacionais, algumas das quais baseadas em tecnologia multi-agente. Esta dissertação apresenta um simulador que permite ajudar a resolver vários problemas inerentes à contratação bilateral de energia. O simulador envolve dois agentes do mercado de retalho, um comprador e um vendedor de energia eléctrica, e suporta a negociação bilateral multidimensional. Cada agente tem no seu portefólio um conjunto de opções que modelam o seu comportamento individual. A essas opções dá-se o nome de estratégias de negociação. O simulador é composto por estratégias de concessão e imitativas. As estratégias de concessão ditam a velocidade de cedência que cada agente terá, enquanto que as estratégias imitativas têm em conta o comportamento passado do oponente, antes da formulação de uma nova oferta. A validação experimental do simulador foi efectuada através da realização de uma experiência computacional. O método experimental consistiu na experimentação controlada. A experiência teve como principal objectivo validar as estratégias através da verificação, em computador, de um conjunto de hipóteses formuladas através de diversas observações e conclusões da negociação real. Os resultados confirmaram as hipóteses, permitindo concluir que a estratégia de concessão baseada no volume de energia conduz a um melhor benefício para ambos os negociadores, enquanto que a estratégia de concessão baseada na prioridade dos itens conduz à troca de um maior número de propostas negociais.
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Nos últimos anos, o sector elétrico tem sofrido profundas alterações decorrentes do processo de reestruturação. Como consequência, surgiram diferentes estruturas de mercado, tais como em bolsa, contratos bilaterais e mistos, tendo como objectivo o aumento da competitividade. Nos mercados competitivos, os consumidores de electricidade podem escolher livremente os seus fornecedores de energia, em função de possíveis vantagens económicas e da qualidade do serviço. A comercialização de electricidade pode ser realizada em mercados organizados ou através de contratação bilateral entre comercializadores e consumidores. Actualmente, existem várias ferramentas de simulação baseadas em técnicas multiagente que permitem modelar, parcialmente ou na totalidade, os mercados de electricidade, possibilitando simulações de negociação de preços e volumes através de contratos bilaterais, transacções em bolsas de energia, etc. No entanto, estas ferramentas apresentam algumas limitações devido à complexidade dos sistemas elétricos. Neste contexto, esta dissertação tem como principal objectivo desenvolver um simulador de contratos bilaterais em mercados de energia elétrica, baseado na tecnologia multi-agente. O simulador inclui dois tipos de entidades: retalhistas e consumidores de electricidade com diferentes perfis de carga. Além disso, é composto por várias estratégias de negociação, que têm como objectivo maximizar o benefício dos agentes retalhistas e minimizar o custo dos consumidores finais de electricidade. Uma das estratégias, referente ao consumidor, é direccionada para a eficiência no consumo, sendo baseada na conhecida técnica de Participação Activa dos Consumidores (ou Demand Response). O teste do simulador foi efectuado através da resolução de dois casos práticos, baseados em dados do MIBEL. De forma sucinta, os resultados obtidos com as estratégias permitem concluir que os intervenientes no mercado apresentam um comportamento esperado na gestão de preços e volumes de energia, constatando-se que a ferramenta desenvolvida constitui um auxiliar importante à tomada de decisão inerente à negociação bilateral em mercados de electricidade.
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O estudo do comportamento motor, nomeadamente as áreas do desenvolvimento e controlo motor, têm permitido fundamentar a prática da terapia ocupacional, proporcionando um entendimento mais abrangente de aspetos relacionados com a análise de movimento. Todavia, o processo de análise de atividades, por norma, é realizado de forma empírica, principalmente devido à carência de métodos que avaliem de forma objetiva e precisa o comportamento motor e, consequentemente, os movimentos realizados no desempenho de atividades. Neste sentido, este estudo pretendeu encontrar padrões motores em crianças entre os nove e os dez anos de idade, com desenvolvimento normal, que traduzam o desempenho de uma tarefa motora funcional, com recurso ao sistema de captura e parametrização do movimento em tempo real BioStage®. Por outro lado, tentou-se perceber se o sistema poderia revelar-se um contributo para a prática da terapia ocupacional, possibilitando a obtenção de dados que possam ser utilizados na clínica. As tarefas selecionadas para análise foram os cinco lançamentos propostos pelo Bruininks-Oseretsky Test of Motor Proficiency, que consistem no lançamento por baixo uni e bilateral, lançamento ao chão uni e bilateral e lançamento ao alvo (unilateral). Os resultados encontrados apontam que aos nove e dez anos existem padrões motores similares entre as crianças, no entanto ainda se nota uma ligeira variabilidade no comportamento. Aferiu-se, também, que a idade, sexo e prática de exercício físico podem influenciar os padrões utilizados, estando de acordo com a literatura. O sistema BioStage® mostrou-se uma ferramenta eficaz para a análise de movimento, providenciando informação detalhada sobre o comportamento motor das crianças, no decorrer das tarefas. Deste modo, pode ser uma mais-valia para a prática da terapia ocupacional, podendo contribuir para uma análise de atividades mais precisa, objetiva e fundamentada.
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This paper presents a variable speed autonomous squirrel cage generator excited by a current-controlled voltage source inverter to be used in stand-alone micro-hydro power plants. The paper proposes a system control strategy aiming to properly excite the machine as well as to achieve the load voltage control. A feed-forward control sets the appropriate generator flux by taking into account the actual speed and the desired load voltage. A load voltage control loop is used to adjust the generated active power in order to sustain the load voltage at a reference value. The control system is based on a rotor flux oriented vector control technique which takes into account the machine saturation effect. The proposed control strategy and the adopted system models were validated both by numerical simulation and by experimental results obtained from a laboratory prototype. Results covering the prototype start-up, as well as its steady-state and dynamical behavior are presented. (C) 2011 Elsevier Ltd. All rights reserved.
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In this paper we consider the monoid OR(n) of all full transformations on a chain with n elements that preserve or reverse the orientation, as well as its submonoids OD(n) of all order-preserving or order-reversing elements, OP(n) of all orientation-preserving elements and O(n) of all order-preserving elements. By making use of some well known presentations, we show that each of these four monoids is a quotient of a bilateral semidirectproduct of two of its remarkable submonoids.
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Power converters play a vital role in the integration of wind power into the electrical grid. Variable-speed wind turbine generator systems have a considerable interest of application for grid connection at constant frequency. In this paper, comprehensive simulation studies are carried out with three power converter topologies: matrix, two-level and multilevel. A fractional-order control strategy is studied for the variable-speed operation of wind turbine generator systems. The studies are in order to compare power converter topologies and control strategies. The studies reveal that the multilevel converter and the proposed fractional-order control strategy enable an improvement in the power quality, in comparison with the other power converters using a classical integer-order control strategy. (C) 2010 Elsevier Ltd. All rights reserved.
Resumo:
Multilevel power converters have been introduced as the solution for high-power high-voltage switching applications where they have well-known advantages. Recently, full back-to-back connected multilevel neutral point diode clamped converters (NPC converter) have been used inhigh-voltage direct current (HVDC) transmission systems. Bipolar-connected back-to-back NPC converters have advantages in long-distance HVDCtransmission systems over the full back-to-back connection, but greater difficulty to balance the dc capacitor voltage divider on both sending and receiving end NPC converters. This study shows that power flow control and dc capacitor voltage balancing are feasible using fast optimum-predictive-based controllers in HVDC systems using bipolar back-to-back-connected five-level NPC multilevel converters. For both converter sides, the control strategytakes in account active and reactive power, which establishes ac grid currents in both ends, and guarantees the balancing of dc bus capacitor voltages inboth NPC converters. Additionally, the semiconductor switching frequency is minimised to reduce switching losses. The performance and robustness of the new fast predictive control strategy, and its capability to solve the DC capacitor voltage balancing problem of bipolar-connected back-to-back NPCconverters are evaluated.
Resumo:
Voltage source multilevel power converter structures are being considered for high power high voltage applications where they have well known advantages. Recently, full back-to-back connected multilevel neutral diode clamped converters (NPC) have been used in high voltage direct current (HVDC) transmission systems. Bipolar back-to-back connection of NPCs have advantages in long distance HVDC transmission systems, but highly increased difficulties to balance the dc capacitor voltage dividers on both sending and receiving end NPCs. This paper proposes a fast optimum-predictive controller to balance the dc capacitor voltages and to control the power flow in a long distance HVDCsystem using bipolar back-to-back connected NPCs. For both converter sides, the control strategy considers active and reactive power to establish ac grid currents on sending and receiving ends, while guaranteeing the balancing of both NPC dc bus capacitor voltages. Furthermore, the fast predictivecontroller minimizes the semiconductor switching frequency to reduce global switching losses. The performance and robustness of the new fast predictive control strategy and the associated dc capacitors voltage balancing are evaluated. (C) 2011 Elsevier B.V. All rights reserved.
Resumo:
This paper presents a direct power control (DPC) for three-phase matrix converters operating as unified power flow controllers (UPFCs). Matrix converters (MCs) allow the direct ac/ac power conversion without dc energy storage links; therefore, the MC-based UPFC (MC-UPFC) has reduced volume and cost, reduced capacitor power losses, together with higher reliability. Theoretical principles of direct power control (DPC) based on sliding mode control techniques are established for an MC-UPFC dynamic model including the input filter. As a result, line active and reactive power, together with ac supply reactive power, can be directly controlled by selecting an appropriate matrix converter switching state guaranteeing good steady-state and dynamic responses. Experimental results of DPC controllers for MC-UPFC show decoupled active and reactive power control, zero steady-state tracking error, and fast response times. Compared to an MC-UPFC using active and reactive power linear controllers based on a modified Venturini high-frequency PWM modulator, the experimental results of the advanced DPC-MC guarantee faster responses without overshoot and no steady-state error, presenting no cross-coupling in dynamic and steady-state responses.
Resumo:
Although we have many electric devices at home, there are just few systems to evaluate, monitor and control them. Sometimes users go out and leave their electric devices turned on what can cause energy wasting and dangerous situations. Therefore most of the users may want to know the using states of their electrical appliances through their mobile devices in a pervasive way. In this paper, we propose an Intelligent Supervisory Control System to evaluate, monitor and control the use of electric devices in home, from outside. Because of the transferring data to evaluate, monitor and control user's location and state of home (ex. nobody at home) may be opened to attacks leading to dangerous situations. In our model we include a location privacy module and encryption module to provide security to user location and data. Intelligent Supervising Control System gives to the user the ability to manage electricity loads by means of a multi-agent system involving evaluation, monitoring, control and energy resource agents.
Resumo:
As wind power generation undergoes rapid growth, new technical challenges emerge: dynamic stability and power quality. The influence of wind speed disturbances and a pitch control malfunction on the quality of the energy injected into the electric grid is studied for variable-speed wind turbines with different power-electronic converter topologies. Additionally, a new control strategy is proposed for the variable-speed operation of wind turbines with permanent magnet synchronous generators. The performance of disturbance attenuation and system robustness is ascertained. Simulation results are presented and conclusions are duly drawn. (C) 2010 Elsevier Ltd. All rights reserved.