Simplified PID self-tuning controller for robotic manipulators

The paper describes a self-tuning adaptive PID controller suitable for use in the control of robotic manipulators. The scheme employs a simple recursive estimator which reduces the computational effort to an acceptable level for many applications in robotics.

Decentralized PID self-tuning control of industrial robots

A three degrees of freedom industrial robot is controlled by applying PID self-tuning (PID/ST) controllers. This control is considered as a corrective term to a nominal value, centrally computed from an inaccurate and/ or simplified dynamic model. An identification scheme on an assumed linear plant describing the deviation from the desired trajectory is employed in order to tune the controller coefficients and thus accomplish a behaviour prescribed through a desired pole placement. A salient feature of our approach is the decentralized nature of the controllers producing the corrective term for each joint. This opens the way to practical implementation, as recent computing requirement calculations for similar set-ups have shown in the literature. Numerical results are presented.

Reduced complexity set-point following in self-tuning control

An external input signal is incorporated into a self-tuning controller which, although it is based on a CARMA system model, employs a state-space framework for control law calculations. Steady-state set point following can then be accomplished even when only a recursive least squares parameter estimation scheme is used, despite the fact that the disturbance affecting the system may well be coloured.

A comparative study of the main mechanisms controlling indoor air pollution in residential flats

The relative contribution of the main mechanisms that control indoor air quality in residential flats was examined. Indoor and outdoor concentration measurements of different type pollutants (black carbon, SO2, O3, NO, NO2,) were monitored in three naturally ventilated residential flats in Athens, Greece. At each apartment, experiments were conducted during the cold as well as during the warm period of the year. The controlling parameters of transport and deposition mechanisms were calculated from the experimental data. Deposition rates of the same pollutant differ according to the site (different construction characteristics) and to the measuring period for the same site (variations in relative humidity and differences in furnishing). Differences in the black carbon deposition rates were attributed to different black carbon size distributions. The highest deposition rates were observed for O3 in the residential flats with the older construction and the highest humidity levels. The calculated parameters as well as the measured outdoor concentrations were used as input data of a one-compartment indoor air quality model, and the indoor concentrations, the production, and loss rates of the different pollutants were calculated. The model calculated concentrations are in good agreement with the measured values. Model simulations revealed that the mechanism that mainly affected the change rate of indoor black carbon concentrations was the transport from the outdoor environment, while the removal due to deposition was insignificant. During model simulations, it was also established that that the change rate of SO2 concentrations was governed by the interaction between the transport and the deposition mechanisms while NOX concentrations were mainly controlled through photochemical reactions and the transport from outdoors.

Evaluating perceptual separation in a pilot system for affective composition

Research evaluating perceptual responses to music has identified many structural features as correlates that might be incorporated in computer music systems for affectively charged algorithmic composition and/or expressive music performance. In order to investigate the possible integration of isolated musical features to such a system, a discrete feature known to correlate some with emotional responses – rhythmic density – was selected from a literature review and incorporated into a prototype system. This system produces variation in rhythm density via a transformative process. A stimulus set created using this system was then subjected to a perceptual evaluation. Pairwise comparisons were used to scale differences between 48 stimuli. Listener responses were analysed with Multidimensional scaling (MDS). The 2-Dimensional solution was then rotated to place the stimuli with the largest range of variation across the horizontal plane. Stimuli with variation in rhythmic density were placed further from the source material than stimuli that were generated by random permutation. This, combined with the striking similarity between the MDS scaling and that of the 2-dimensional emotional model used by some affective algorithmic composition systems, suggests that isolated musical feature manipulation can now be used to parametrically control affectively charged automated composition in a larger system.

Observation in the MINOS far detector of the shadowing of cosmic rays by the sun and moon

The shadowing of cosmic ray primaries by the moon and sun was observed by the MINOS far detector at a depth of 2070 mwe using 83.54 million cosmic ray muons accumulated over 1857.91 live-days. The shadow of the moon was detected at the 5.6 sigma level and the shadow of the sun at the 3.8 sigma level using a log-likelihood search in celestial coordinates. The moon shadow was used to quantify the absolute astrophysical pointing of the detector to be 0.17 +/- 0.12 degrees. Hints of interplanetary magnetic field effects were observed in both the sun and moon shadow. Published by Elsevier B.V.

Optimizing the design of preactivated titanium T-loop springs with Loop software

ATMA (Ormco Corp, Glendora, Calif) T-loop spring (TTLS), preactivated with a gable bend distal to the loop, holds promise for producing controlled tipping of the canines and translation of the posterior segment. However, there is currently no consensus as to where the preactivated gable bend or the loop should be placed, what the height of the loop should be, or how the interbracket distance changes the moments produced. Using the Loop software program (dHal, Athens, Greece), we systematically modified a .017 x .025-in TTLS (10 x 6 mm) that was preactivated with a 45 degrees gable bend distal to the loop, and simulated the effects. As the gable bend was moved posteriorly, the moment increased at the posterior bracket more than it decreased at the anterior bracket. As the loop was brought closer to the anterior bracket, the posterior moment decreased at the same rate that it increased anteriorly. As the loop was increased in size, the moments increased both posteriorly and anteriorly. As the interbracket distance increased, the posterior moment decreased, and the anterior moment remained constant. We concluded that the size of the loop should be slightly increased, to 10 x 7 mm, and it should be placed 2 mm from the anterior bracket, with a preactivation bend of 45 degrees, 4 to 5 mm from the posterior bracket (after 4 mm of activation).

Improved Measurement of Muon Antineutrino Disappearance in MINOS

We report an improved measurement of (nu) over bar (mu) disappearance over a distance of 735 km using the MINOS detectors and the Fermilab Main Injector neutrino beam in a (nu) over bar (mu)-enhanced configuration. From a total exposure of 2.95 x 10(20) protons on target, of which 42% have not been previously analyzed, we make the most precise measurement of Delta(m) over bar (2) = [2.62(-0.28)(+0.31)(stat) +/- 0.09(syst)] x 10(-3) eV(2) and constrain the (nu) over bar (mu) mixing angle sin(2)(2 (theta) over bar) > 0.75 (90% C.L.). These values are in agreement with Delta m(2) and sin(2)(2 theta) measured for nu(mu), removing the tension reported in [P. Adamson et al. (MINOS), Phys. Rev. Lett. 107, 021801 (2011).].

Glucocorticoid and Estrogen Receptors Are Reduced in Mitochondria of Lung Epithelial Cells in Asthma

Mitochondrial glucocorticoid (mtGR) and estrogen (mtER) receptors participate in the coordination of the cell's energy requirement and in the mitochondrial oxidative phosphorylation enzyme (OXPHOS) biosynthesis, affecting reactive oxygen species (ROS) generation and induction of apoptosis. Although activation of mtGR and mtER is known to trigger anti-inflammatory signals, little information exists on the presence of these receptors in lung tissue and their role in respiratory physiology and disease. Using a mouse model of allergic airway inflammation disease and applying confocal microscopy, subcellular fractionation, and Western blot analysis we showed mitochondrial localization of GR alpha and ER beta in lung tissue. Allergic airway inflammation caused reduction in mtGR alpha, mtER beta, and OXPHOS enzyme biosynthesis in lung cells mitochondria and particularly in bronchial epithelial cells mitochondria, which was accompanied by decrease in lung mitochondrial mass and induction of apoptosis. Confirmation and validation of the reduction of the mitochondrial receptors in lung epithelial cells in human asthma was achieved by analyzing autopsies from fatal asthma cases. The presence of the mitochondrial GR alpha and ER beta in lung tissue cells and especially their reduction in bronchial epithelial cells during allergic airway inflammation suggests a crucial role of these receptors in the regulation of mitochondrial function in asthma, implicating their involvement in the pathophysiology of the disease.

Search for Lorentz invariance and CPT violation with muon antineutrinos in the MINOS Near Detector

We have searched for sidereal variations in the rate of antineutrino interactions in the MINOS Near Detector. Using antineutrinos produced by the NuMI beam, we find no statistically significant sidereal modulation in the rate. When this result is placed in the context of the Standard Model Extension theory we are able to place upper limits on the coefficients defining the theory. These limits are used in combination with the results from an earlier analysis of MINOS neutrino data to further constrain the coefficients.

Temporal evolution of emerging contaminants, priority substances and heavy metals most frequently detected in reclaimed water and grounwater in a volcanic aquifer

[EN] The presence of emerging contaminants has been previously described in reclaimed water and groundwater of Gran Canaria (Spain). Despite of the environmental risk associated to irrigation with reclaimed water (R), this practice is necessary considering sustainability of the hydrological cycle in semiarid zones, especially regarding agricultural activity. The aim of this study was: i) to analyse the evolution during two years of contaminants of emerging concern, priority substances (2008/105/EC) and heavy metals in reclaimed water (R) and in a volcanic aquifer in the NE of Gran Canaria where a golf course has been irrigated with R since 1976 and ii) to relate this presence with physicochemical water properties and hydrogeological media. Reclaimed water and groundwater (GW) were monitoring quarterly from July 2009 to September 2011. Sorption and degradation processes in soil account for more compounds being detected in R. Diazinon and chlorfenvinphos were detected always in R and terbuthylazine, terbutryn and diuron at 90% of frequency. Considering all the samples, the most frequent compounds were chlorpyrifos ethyl, fluorene, phenanthrene and pyrene. Although their concentrations were frequently below 50 ngL-1, some contaminants, were occasionally detected at higher concentrations. Chlorpyrifos ethyl and diuron are priority substances detected frequently and at high concentrations so they must be included in monitoring studies. Geology and location seem to be related to the emerging compounds presence due to occasional contamination events (not related to R irrigation) and therefore not to an existence of a dangerous diffuse contamination level. Thus, it is preferable to select wells with less stable chemical water quality, in order to monitor the risk of emerging compounds presence. Considering the relationship between contaminant presence, chemical water quality, seasonal variation, hydrogeological characteristics and wells location we can conclude that chlorpyrifos ethyl and diuron were the most dangerous priority substances in terms of GW quality so they must be included in all of the monitoring studies, at least in Canary Islands.

The Little Metropolis: Religion, Politics, & Spolia

There have been numerous councils throughout the Catholic Church?s history. From the First Council of Nicaea in 325 CE to Vatican II in 1962, only a few centuries have passed without any major church doctrinal change. Following hand in hand with changes in doctrine came the bifurcation of the Christian Church into the Roman CatholicChurch and the Orthodox Church. The first split came in 325 CE with Arianism. Arius of Alexandria and his followers did not agree with the Catholic Church?s viewpoint that the son, Jesus, should be on equal footing with the Father and the Holy Spirit. Constantine the Great brought the Arianism debate to the First Council of Nicaea,which declared Arianism a heretical religion. The following Catholic council?s decisions separated the two Churches even more, eventually creating the formal separation of the Church during the East-West Schism in the middle of the 11th century. Although the twoChurches constantly tried to unite, the Churches hit speed bumps along the way. Eventually, the 1274 Second Council of Lyons officially united the two Churches, even if only for an ephemeral time. At first glance, it might not seem that much resulted from the 1274 Second Council of Lyons. Almost immediately after the council?s ruling, the two Churches split again. Little is known as to why the 1274 Second Council of Lyons ultimately failed in its unification attempt. In this thesis, I will examine the churches of the Little Metropolis at Athens, Merbaka in the Argolid, and Agioi Theodoroi in Athens. In detailing the architectural features of these buildings, I will reconstruct the church building program in association with the 1274 Second Council of Lyons. I will also compare these churchesusing historical sources to keep the sociological, religious, political, and historical context accurate.