Arquitetura computacional para redes orgânicas e heterogêneas: plano de controle do sistema operacional swarm.

Computational Swarms (enxames computacionais), consistindo da integração de sensores e atuadores inteligentes no nosso mundo conectado, possibilitam uma extensão da info-esfera no mundo físico. Nós chamamos esta info-esfera extendida, cíber-física, de Swarm. Este trabalho propõe uma visão de Swarm onde dispositivos computacionais cooperam dinâmica e oportunisticamente, gerando redes orgânicas e heterogêneas. A tese apresenta uma arquitetura computacional do Plano de Controle do Sistema Operacional do Swarm, que é uma camada de software distribuída embarcada em todos os dispositivos que fazem parte do Swarm, responsável por gerenciar recursos, definindo atores, como descrever e utilizar serviços e recursos (como divulgá-los e descobrí-los, como realizar transações, adaptações de conteúdos e cooperação multiagentes). O projeto da arquitetura foi iniciado com uma revisão da caracterização do conceito de Swarm, revisitando a definição de termos e estabelecendo uma terminologia para ser utilizada. Requisitos e desafios foram identificados e uma visão operacional foi proposta. Esta visão operacional foi exercitada com casos de uso e os elementos arquiteturais foram extraídos dela e organizados em uma arquitetura. A arquitetura foi testada com os casos de uso, gerando revisões do sistema. Cada um dos elementos arquiteturais requereram revisões do estado da arte. Uma prova de conceito do Plano de Controle foi implementada e uma demonstração foi proposta e implementada. A demonstração selecionada foi o Smart Jukebox, que exercita os aspectos distribuídos e a dinamicidade do sistema proposto. Este trabalho apresenta a visão do Swarm computacional e apresenta uma plataforma aplicável na prática. A evolução desta arquitetura pode ser a base de uma rede global, heterogênea e orgânica de redes de dispositivos computacionais alavancando a integração de sistemas cíber-físicos na núvem permitindo a cooperação de sistemas escaláveis e flexíveis, interoperando para alcançar objetivos comuns.

Rôle de l'isoforme p35 de la chaîne invariante humaine dans la formation et le transport de complexes de CMH II

La présentation antigénique par les molécules de classe II du complexe majeur d’histocompatibilité (CMH II) est un mécanisme essentiel au contrôle des pathogènes par le système immunitaire. Le CMH II humain existe en trois isotypes, HLA-DP, DQ et DR, tous des hétérodimères composés d’une chaîne α et d’une chaîne β. Le CMH II est entre autres exprimé à la surface des cellules présentatrices d’antigènes (APCs) et des cellules épithéliales activées et a pour fonction de présenter des peptides d’origine exogène aux lymphocytes T CD4+. L’oligomérisation et le trafic intracellulaire du CMH II sont largement facilités par une chaperone, la chaîne invariante (Ii). Il s’agit d’une protéine non-polymorphique de type II. Après sa biosynthèse dans le réticulum endoplasmique (ER), Ii hétéro- ou homotrimérise, puis interagit via sa région CLIP avec le CMH II pour former un complexe αβIi. Le complexe sort du ER pour entamer son chemin vers différents compartiments et la surface cellulaire. Chez l’homme, quatre isoformes d’Ii sont répertoriées : p33, p35, p41 et p43. Les deux isoformes exprimées de manière prédominante, Iip33 et p35, diffèrent par une extension N-terminale de 16 acides aminés portée par Iip35. Cette extension présente un motif de rétention au réticulum endoplasmique (ERM) composé des résidus RXR. Ce motif doit être masqué par la chaîne β du CMH II pour permettre au complexe de quitter le ER. Notre groupe s’est intéressé au mécanisme du masquage et au mode de sortie du ER des complexes αβIi. Nous montrons ici que l’interaction directe, ou en cis, entre la chaîne β du CMH II et Iip35 dans une structure αβIi est essentielle pour sa sortie du ER, promouvant la formation de structures de haut niveau de complexité. Par ailleurs, nous démontrons que NleA, un facteur de virulence bactérien, permet d’altérer le trafic de complexes αβIi comportant Iip35. Ce phénotype est médié par l’interaction entre p35 et les sous-unités de COPII. Bref, Iip35 joue un rôle central dans la formation des complexes αβIi et leur transport hors du ER. Ceci fait d’Iip35 un régulateur clef de la présentation antigénique par le CMH II.

Canonical solution groups of a homomorphism : manipulator kinematics, nonparametric regression and distributed object systems

The kinematic mapping of a rigid open-link manipulator is a homomorphism between Lie groups. The homomorphisrn has solution groups that act on an inverse kinematic solution element. A canonical representation of solution group operators that act on a solution element of three and seven degree-of-freedom (do!) dextrous manipulators is determined by geometric analysis. Seven canonical solution groups are determined for the seven do! Robotics Research K-1207 and Hollerbach arms. The solution element of a dextrous manipulator is a collection of trivial fibre bundles with solution fibres homotopic to the Torus. If fibre solutions are parameterised by a scalar, a direct inverse funct.ion that maps the scalar and Cartesian base space coordinates to solution element fibre coordinates may be defined. A direct inverse pararneterisation of a solution element may be approximated by a local linear map generated by an inverse augmented Jacobian correction of a linear interpolation. The action of canonical solution group operators on a local linear approximation of the solution element of inverse kinematics of dextrous manipulators generates cyclical solutions. The solution representation is proposed as a model of inverse kinematic transformations in primate nervous systems. Simultaneous calibration of a composition of stereo-camera and manipulator kinematic models is under-determined by equi-output parameter groups in the composition of stereo-camera and Denavit Hartenberg (DH) rnodels. An error measure for simultaneous calibration of a composition of models is derived and parameter subsets with no equi-output groups are determined by numerical experiments to simultaneously calibrate the composition of homogeneous or pan-tilt stereo-camera with DH models. For acceleration of exact Newton second-order re-calibration of DH parameters after a sequential calibration of stereo-camera and DH parameters, an optimal numerical evaluation of DH matrix first order and second order error derivatives with respect to a re-calibration error function is derived, implemented and tested. A distributed object environment for point and click image-based tele-command of manipulators and stereo-cameras is specified and implemented that supports rapid prototyping of numerical experiments in distributed system control. The environment is validated by a hierarchical k-fold cross validated calibration to Cartesian space of a radial basis function regression correction of an affine stereo model. Basic design and performance requirements are defined for scalable virtual micro-kernels that broker inter-Java-virtual-machine remote method invocations between components of secure manageable fault-tolerant open distributed agile Total Quality Managed ISO 9000+ conformant Just in Time manufacturing systems.

DC power line communication based on power/signal dual modulation in phase shift full bridge converters

For intelligent DC distributed power systems, data communication plays a vital role in system control and device monitoring. To achieve communication in a cost effective way, power/signal dual modulation (PSDM), a method that integrates data transmission with power conversion, can be utilized. In this paper, an improved PSDM method using phase shift full bridge (PSFB) converter is proposed. This method introduces a phase control based freedom in the conventional PSFB control loop to realize communication using the same power conversion circuit. In this way, decoupled data modulation and power conversion are realized without extra wiring and coupling units, and thus the system structure is simplified. More importantly, the signal intensity can be regulated by the proposed perturbation depth, and so this method can adapt to different operating conditions. Application of the proposed method to a DC distributed power system composed of several PSFB converters is discussed. A 2kW prototype system with an embedded 5kbps communication link has been implemented, and the effectiveness of the method is verified by experimental results.

Proteção em sistemas elétricos com geração distribuída utilizando a transformada wavelet

A typical electrical power system is characterized by centr alization of power gene- ration. However, with the restructuring of the electric sys tem, this topology is changing with the insertion of generators in parallel with the distri bution system (distributed gene- ration) that provides several benefits to be located near to e nergy consumers. Therefore, the integration of distributed generators, especially fro m renewable sources in the Brazi- lian system has been common every year. However, this new sys tem topology may result in new challenges in the field of the power system control, ope ration, and protection. One of the main problems related to the distributed generati on is the islanding formation, witch can result in safety risk to the people and to the power g rid. Among the several islanding protection techniques, passive techniques have low implementation cost and simplicity, requiring only voltage and current measuremen ts to detect system problems. This paper proposes a protection system based on the wavelet transform with overcur- rent and under/overvoltage functions as well as infomation of fault-induced transients in order to provide a fast detection and identification of fault s in the system. The propo- sed protection scheme was evaluated through simulation and experimental studies, with performance similar to the overcurrent and under/overvolt age conventional methods, but with the additional detection of the exact moment of the fault.

Programme d’exercice en douceur basé sur le yoga Bali chez les personnes atteintes d’insuffisance cardiaque : les premiers pas.

L’insuffisance cardiaque (IC) est un problème d’importance grandissante lié à des perturbations des systèmes nerveux autonome, immunitaire, et cardiovasculaire. Ces perturbations contribuent à plusieurs symptômes physiques et psychologiques invalidants. La recherche faite jusqu’ici sur des programmes d’exercice basés sur le yoga a démontré des résultats préliminaires assez prometteurs en IC. Néanmoins, il reste des lacunes à combler dans la littérature face aux populations testées, à la combinaison des mesures physiques et psychologiques, au suivi du traitement à la maison et à la perception des symptômes au quotidien. Ce projet pilote a donc pour objectif de développer un programme d’exercice complémentaire basé sur le yoga adapté aux patients souffrant d’IC, d’en mesurer la faisabilité et l’acceptabilité en plus d’obtenir des données préliminaires quant à l’impact de cette intervention à réduire la symptomatologie physique et psychologique et d’améliorer la qualité de vie (QV) de ces patients. Les deux premiers participants recrutés dans le cadre de l’étude pilote font l’objet de ce mémoire. Ils ont pris part à huit séances hebdomadaires de yoga Bali, couplé de psychoéducation et méditation tous données à l’Institut de Cardiologie de Montréal par une instructrice certifiée dans la méthode BALI. L’élaboration des outils nécessaires au déroulement du programme, y compris le manuel d’enseignement et le DVD, la faisabilité d’une collaboration avec le personnel médical et évidement l’évaluation des effets du programme en soit sur les symptômes physiques et psychologique s sont parmi les sujets abordés. Les résultats, quoique préliminaires, semblent tendre vers une amélioration des corrélats physiologiques liés à l’insuffisance cardiaque, notamment l’activité du système nerveux autonome tel que témoigné par la variabilité de la fréquence cardiaque, et l’inflammation indiqué par le niveau de CRP sanguin.

Programme d’exercice en douceur basé sur le yoga Bali chez les personnes atteintes d’insuffisance cardiaque : les premiers pas

L’insuffisance cardiaque (IC) est un problème d’importance grandissante lié à des perturbations des systèmes nerveux autonome, immunitaire, et cardiovasculaire. Ces perturbations contribuent à plusieurs symptômes physiques et psychologiques invalidants. La recherche faite jusqu’ici sur des programmes d’exercice basés sur le yoga a démontré des résultats préliminaires assez prometteurs en IC. Néanmoins, il reste des lacunes à combler dans la littérature face aux populations testées, à la combinaison des mesures physiques et psychologiques, au suivi du traitement à la maison et à la perception des symptômes au quotidien. Ce projet pilote a donc pour objectif de développer un programme d’exercice complémentaire basé sur le yoga adapté aux patients souffrant d’IC, d’en mesurer la faisabilité et l’acceptabilité en plus d’obtenir des données préliminaires quant à l’impact de cette intervention à réduire la symptomatologie physique et psychologique et d’améliorer la qualité de vie (QV) de ces patients. Les deux premiers participants recrutés dans le cadre de l’étude pilote font l’objet de ce mémoire. Ils ont pris part à huit séances hebdomadaires de yoga Bali, couplé de psychoéducation et méditation tous données à l’Institut de Cardiologie de Montréal par une instructrice certifiée dans la méthode BALI. L’élaboration des outils nécessaires au déroulement du programme, y compris le manuel d’enseignement et le DVD, la faisabilité d’une collaboration avec le personnel médical et évidement l’évaluation des effets du programme en soit sur les symptômes physiques et psychologique s sont parmi les sujets abordés. Les résultats, quoique préliminaires, semblent tendre vers une amélioration des corrélats physiologiques liés à l’insuffisance cardiaque, notamment l’activité du système nerveux autonome tel que témoigné par la variabilité de la fréquence cardiaque, et l’inflammation indiqué par le niveau de CRP sanguin.

Nonlinear adaptive backstepping controller design for controlling bidirectional power flow of BESSs in DC microgrids

In this paper, a nonlinear adaptive backstepping controlleris designed to control the bidirectional power flow (charging/discharging) of battery energy storage systems (BESSs) in a DCmicrogrid under different operating conditions. The controller isdesigned in such a manner that the BESSs can store the excess energyfrom the renewable energy sources (RESs) in a DC microgrid aftersatisfying the load demand and also feeding back the stored energyto the load when RESs are not sufficient. The proposed controller isalso designed to maintain a constant voltage at the DC bus, whereall components of DC microgrids are connected, while controllingthe power flow of BESSs. This paper considers solar photovoltaic(PV) systems as the RES whereas a diesel generator equipped witha rectifier is used as a backup supply to maintain the continuity ofpower supply in the case of emergency situations. The controller isdesigned recursively based on the Lyapunov control theory whereall parameters within the model of BESSs are assumed to beunknown. These unknown parameters are then estimated throughthe adaptation laws and whose stability is ensured by formulatingsuitable control Lyapunov functions (CLFs) at different stages ofthe design process. Moreover, a scheme is also presented to monitorthe state of charge (SOC) of the BESS. Finally, the performanceof the proposed controller is verified on a test DC microgrid undervarious operating conditions. The proposed controller ensures the DCbus voltage regulation within the acceptable limits under differentoperating conditions.

Frequency control support of a wind-solar isolated system by a hydropower plant with long tail-race tunnel

Pumped storage hydro plants (PSHP) can provide adequate energy storage and frequency regulation capacities in isolated power systems having significant renewable energy resources. Due to its high wind and solar potential, several plans have been developed for La Palma Island in the Canary archipelago, aimed at increasing the penetration of these energy sources. In this paper, the performance of the frequency control of La Palma power system is assessed, when the demand is supplied by the available wind and solar generation with the support of a PSHP which has been predesigned for this purpose. The frequency regulation is provided exclusively by the PSHP. Due to topographic and environmental constraints, this plant has a long tail-race tunnel without a surge tank. In this configuration, the effects of pressure waves cannot be neglected and, therefore, usual recommendations for PID governor tuning provide poor performance. A PI governor tuning criterion is proposed for the hydro plant and compared with other criteria according to several performance indices. Several scenarios considering solar and wind energy penetration have been simulated to check the plant response using the proposed criterion. This tuning of the PI governor maintains La Palma system frequency within grid code requirements.

Power-frequency control of hydropower plants with long penstocks in isolated systems with wind generation

In this paper the power-frequency control of hydropower plants with long penstocks is addressed. In such configuration the effects of pressure waves cannot be neglected and therefore commonly used criteria for adjustment of PID governors would not be appropriate. A second-order Π model of the turbine-penstock based on a lumped parameter approach is considered. A correction factor is introduced in order to approximate the model frequency response to the continuous case in the frequency interval of interest. Using this model, several criteria are analysed for adjusting the PI governor of a hydropower plant operating in an isolated system. Practical criteria for adjusting the PI governor are given. The results are applied to a real case of a small island where the objective is to achieve a generation 100% renewable (wind and hydro). Frequency control is supposed to be provided exclusively by the hydropower plant. It is verified that the usual criterion for tuning the PI controller of isolated hydro plants gives poor results. However, with the new proposed adjustment, the time response is considerably improved

A framework for analyzing system intelligence of the building control system : a study of the integrated building management system

The lack of satisfactory consensus for characterizing the system intelligence and structured analytical decision models has inhibited the developers and practitioners to understand and configure optimum intelligent building systems in a fully informed manner. So far, little research has been conducted in this aspect. This research is designed to identify the key intelligent indicators, and develop analytical models for computing the system intelligence score of smart building system in the intelligent building. The integrated building management system (IBMS) was used as an illustrative example to present a framework. The models presented in this study applied the system intelligence theory, and the conceptual analytical framework. A total of 16 key intelligent indicators were first identified from a general survey. Then, two multi-criteria decision making (MCDM) approaches, the analytic hierarchy process (AHP) and analytic network process (ANP), were employed to develop the system intelligence analytical models. Top intelligence indicators of IBMS include: self-diagnostic of operation deviations; adaptive limiting control algorithm; and, year-round time schedule performance. The developed conceptual framework was then transformed to the practical model. The effectiveness of the practical model was evaluated by means of expert validation. The main contribution of this research is to promote understanding of the intelligent indicators, and to set the foundation for a systemic framework that provide developers and building stakeholders a consolidated inclusive tool for the system intelligence evaluation of the proposed components design configurations.

Hybrid system simulation of computer control applications over communication networks

Discrete event-driven simulations of digital communication networks have been used widely. However, it is difficult to use a network simulator to simulate a hybrid system in which some objects are not discrete event-driven but are continuous time-driven. A networked control system (NCS) is such an application, in which physical process dynamics are continuous by nature. We have designed and implemented a hybrid simulation environment which effectively integrates models of continuous-time plant processes and discrete-event communication networks by extending the open source network simulator NS-2. To do this a synchronisation mechanism was developed to connect a continuous plant simulation with a discrete network simulation. Furthermore, for evaluating co-design approaches in an NCS environment, a piggybacking method was adopted to allow the control period to be adjusted during simulations. The effectiveness of the technique is demonstrated through case studies which simulate a networked control scenario in which the communication and control system properties are defined explicitly.