Controle discreto com modos deslizantes em sistemas incertos com atraso no sinal de controle

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

A geração de resíduos sólidos urbanos e sua influência na gestão urbano-ambiental municipal de Sorocaba/SP

In Brazil, rates of urban solid waste generation increase proportionally more than the annual growing of the population. The government, from its federal authority to the municipal spheres, faces increasing challenges for Urban and Environmental management regarding to solid waste in general and, in particular, municipal solid waste. Financial problems added to public health problems that worsen with the serious environmental impacts generated every year. In August 2010 Brazil the PNRS (National Policy on Solid Waste) was approved and sanctioned in which represented a true watershed in the country as a legal framework extremely ambitious and visionary. This work presents the successes and challenges that the municipality of Sorocaba/SP is facing after more than three years of PNRS sanctioned to conduct an Urban and Environmental management suited to the new legal bases towards the subject of solid waste. The results show a large gap between the content proposed by the law and the technical, financial and temporal reality to practical implementation by the municipal government. New legislation and federal incentives, consortiums among the cities, flexible deadlines and environmental education at all levels are certainly some proposals to catalyze processes that aim to solve and overcome the challenges of solid waste

Entre vanguarda e a participação: a democracia no programa político da esquerda brasileira (1930-1935)

This paper examines the conceptions of democracy in the Brazilian left among 1930-1935, in particular those expressed in the manifestos of the National Liberative Alliance (ANL) and the texts written by Luis Carlos Prestes, Virgínio Santa Rosa and Caio Prado Jr. I argue that the Brazilian left started from a common troubled field, according to which land concentration represented the biggest obstacle to genuine political expression of the Brazilian people. Despite the convergence towards land reform, designed as a sine qua non condition to democracy in Brazil, the left has developed two different answers to the practical implementation of the principle of the people's government: the first, which I call altruist vanguard, which is more emphasized on texts of Virgínio Santa Rosa and Luís Carlos Prestes, and the second, the Republican participacionismo, which is explored on the writings of Caio Prado Jr. and ambiguously in the manifests of the National Liberative Alliance.

Avaliação da técnica de coloração AgNOR em testículos de ovinos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Do charges to freight trucks and trains in the European Union reflect their social marginal costs? Application to the case of Spain

In the last few years, the European Union (EU) has become greatly concerned about the environmental costs of road transport in Europe as a result of the constant growth in the market share of trucks and the steady decline in the market share of railroads. In order to reverse this trend, the EU is promoting the implementation of additional charges for heavy goods vehicles (HGV) on the trunk roads of the EU countries. However, the EU policy is being criticised because it does not address the implementation of charges to internalise the external costs produced by automobiles and other transport modes such as railroad. In this paper, we first describe the evolution of the HGV charging policy in the EU, and then assess its practical implementation across different European countries. Second, and of greater significance, by using the case study of Spain, we evaluate to what extent the current fees on trucks and trains reflect their social marginal costs, and consequently lead to an allocative-efficient outcome. We found that for the average case in Spain the truck industry meets more of the marginal social cost produced by it than does the freight railroad industry. The reason for this lies in the large sums of money paid by truck companies in fuel taxes, and the subsidies that continue to be granted by the government to the railroads.

Gebietserkennung mit der Faktorisierungsmethode

In der vorliegenden Arbeit wird die Faktorisierungsmethode zur Erkennung von Gebieten mit sprunghaft abweichenden Materialparametern untersucht. Durch eine abstrakte Formulierung beweisen wir die der Methode zugrunde liegende Bildraumidentität für allgemeine reelle elliptische Probleme und deduzieren bereits bekannte und neue Anwendungen der Methode. Für das spezielle Problem, magnetische oder perfekt elektrisch leitende Objekte durch niederfrequente elektromagnetische Strahlung zu lokalisieren, zeigen wir die eindeutige Lösbarkeit des direkten Problems für hinreichend kleine Frequenzen und die Konvergenz der Lösungen gegen die der elliptischen Gleichungen der Magnetostatik. Durch Anwendung unseres allgemeinen Resultats erhalten wir die eindeutige Rekonstruierbarkeit der gesuchten Objekte aus elektromagnetischen Messungen und einen numerischen Algorithmus zur Lokalisierung der Objekte. An einem Musterproblem untersuchen wir, wie durch parabolische Differentialgleichungen beschriebene Einschlüsse in einem durch elliptische Differentialgleichungen beschriebenen Gebiet rekonstruiert werden können. Dabei beweisen wir die eindeutige Lösbarkeit des zugrunde liegenden parabolisch-elliptischen direkten Problems und erhalten durch eine Erweiterung der Faktorisierungsmethode die eindeutige Rekonstruierbarkeit der Einschlüsse sowie einen numerischen Algorithmus zur praktischen Umsetzung der Methode.

Co-simulazione e co-progetto non lineare/elettromagnetico di sistemi wireless non convenzionali

L’attività di ricerca contenuta in questa tesi si è concentrata nello sviluppo e nell’implementazione di tecniche per la co-simulazione e il co-progetto non lineare/elettromagnetico di sistemi wireless non convenzionali. Questo lavoro presenta un metodo rigoroso per considerare le interazioni tra due sistemi posti sia in condizioni di campo vicino che in condizioni di campo lontano. In sostanza, gli effetti del sistema trasmittente sono rappresentati da un generatore equivalente di Norton posto in parallelo all’antenna del sistema ricevente, calcolato per mezzo del teorema di reciprocità e del teorema di equivalenza. La correttezza del metodo è stata verificata per mezzo di simulazioni e misure, concordi tra loro. La stessa teoria, ampliata con l’introduzione degli effetti di scattering, è stata usata per valutare una condizione analoga, dove l’elemento trasmittente coincide con quello ricevente (DIE) contenuto all’interno di una struttura metallica (package). I risultati sono stati confrontati con i medesimi ottenibili tramite tecniche FEM e FDTD/FIT, che richiedono tempi di simulazione maggiori di un ordine di grandezza. Grazie ai metodi di co-simulazione non lineari/EM sopra esposti, è stato progettato e verificato un sistema di localizzazione e identificazione di oggetti taggati posti in ambiente indoor. Questo è stato ottenuto dotando il sistema di lettura, denominato RID (Remotely Identify and Detect), di funzioni di scansione angolare e della tecnica di RADAR mono-pulse. Il sistema sperimentale, creato con dispositivi low cost, opera a 2.5 GHz ed ha le dimensioni paragonabili ad un normale PDA. E’ stato sperimentata la capacità del RID di localizzare, in scenari indoor, oggetti statici e in movimento.

Spin-crossover in metallomesogens of iron(II)

Covalent grafting mesogenic groups to the coordination cores of the parent mononuclear low-spin and spin-crossover compounds afforded metallomesogenic complexes of iron(II). In comparison with the parent complexes the spin-crossover properties of the alkylated derivatives are substantially modified. The type of the modification was found to be dependent on the properties of the parent system and the nature of the used anion, however, the general tendency is the destabilization of the low-spin state at the favor of spin-crossover or high-spin behavior below 400 K. The structural insight revealed the micro-segregated layered organization. The effect of the alkylation of the parent compounds consists first of all in the change of the lattice to a two-dimensional lamellar one retaining significant intermolecular contacts only within the ionic bilayers. The comprehensive analysis of the structural and thermodynamic data in the homologous series pointed at the mechanism of the interplay between the structural modification on melting and the induced anomalous change of the magnetic properties. A family of one-dimensional spin-crossover polymers was synthesized and characterized using a series of spectroscopic methods, X-ray powder diffraction, magnetic susceptibility measurements and differential scanning calorimetry. The copper analogue of was also synthesized and its crystal structure solved. In comparison with the mononuclear systems, the polymeric mesogens of iron(II) are less sensitive to the glass transition, which was attributed to the moderate concomitant variation of the structure. Nevertheless, the observed increase of the magnetic hysteresis with lengthening of the alkyl substituents was ascribed to the interplay of the structural reorganization of the coordination core due to spin-crossover with the structural delay in the spatial reorganization of the mesogenic substituents. The classification of mononuclear and polymeric metallomesogens according to the interactions between the structural- and the spin-transition and analysis of the data on the reported spin-crossover metallomesogens led to the separation of three types, namely: Type i: systems with coupling between the electronic structure of the iron(II) ions and the mesomorphic behavior of the substance; Type ii: systems where both transitions coexist in the same temperature region but are not coupled due to competition with the dehydration or due to negligible structural transformation; Type iii: systems where both transitions occur in different temperature regions and therefore are uncoupled. Fine-tuning, in particular regarding the temperature at which the spin-transition occurs with hysteresis properties responsible for the memory effect, are still a major challenge towards practical implementation of spin-crossover materials. A possible answer to the problem could be materials in which the spin-crossover transition is coupled with another transition easily controllable by external stimuli. In the present thesis we have shown the viability of the approach realized in the mesogenic systems with coupled phase- and spin-transitions.

Ultra-low power WSNs: distributed signal processing and dynamic resource management

This thesis presents several data processing and compression techniques capable of addressing the strict requirements of wireless sensor networks. After introducing a general overview of sensor networks, the energy problem is introduced, dividing the different energy reduction approaches according to the different subsystem they try to optimize. To manage the complexity brought by these techniques, a quick overview of the most common middlewares for WSNs is given, describing in detail SPINE2, a framework for data processing in the node environment. The focus is then shifted on the in-network aggregation techniques, used to reduce data sent by the network nodes trying to prolong the network lifetime as long as possible. Among the several techniques, the most promising approach is the Compressive Sensing (CS). To investigate this technique, a practical implementation of the algorithm is compared against a simpler aggregation scheme, deriving a mixed algorithm able to successfully reduce the power consumption. The analysis moves from compression implemented on single nodes to CS for signal ensembles, trying to exploit the correlations among sensors and nodes to improve compression and reconstruction quality. The two main techniques for signal ensembles, Distributed CS (DCS) and Kronecker CS (KCS), are introduced and compared against a common set of data gathered by real deployments. The best trade-off between reconstruction quality and power consumption is then investigated. The usage of CS is also addressed when the signal of interest is sampled at a Sub-Nyquist rate, evaluating the reconstruction performance. Finally the group sparsity CS (GS-CS) is compared to another well-known technique for reconstruction of signals from an highly sub-sampled version. These two frameworks are compared again against a real data-set and an insightful analysis of the trade-off between reconstruction quality and lifetime is given.

Uranium mining industry views on ICRP statement on radon

In 2009, the International Commission on Radiological Protection issued a statement on radon which stated that the dose conversion factor for radon progeny would likely double, and the calculation of risk from radon should move to a dosimetric approach, rather than the longstanding epidemiological approach. Through the World Nuclear Association, whose members represent over 90% of the world's uranium production, industry has been examining this issue with a goal of offering expertise and knowledge to assist with the practical implementation of these evolutionary changes to evaluating the risk from radon progeny. Industry supports the continuing use of the most current epidemiological data as a basis for risk calculation, but believes that further examination of these results is needed to better understand the level of conservatism in the potential epidemiological-based risk models. With regard to adoption of the dosimetric approach, industry believes that further work is needed before this is a practical option. In particular, this work should include a clear demonstration of the validation of the dosimetric model which includes how smoking is handled, the establishment of a practical measurement protocol, and the collection of relevant data for modern workplaces. Industry is actively working to address the latter two items.

Adaptive control of sinusoidal brushless DC motor actuators

Electrical Power Assisted Steering system (EPAS) will likely be used on future automotive power steering systems. The sinusoidal brushless DC (BLDC) motor has been identified as one of the most suitable actuators for the EPAS application. Motor characteristic variations, which can be indicated by variations of the motor parameters such as the coil resistance and the torque constant, directly impart inaccuracies in the control scheme based on the nominal values of parameters and thus the whole system performance suffers. The motor controller must address the time-varying motor characteristics problem and maintain the performance in its long service life. In this dissertation, four adaptive control algorithms for brushless DC (BLDC) motors are explored. The first algorithm engages a simplified inverse dq-coordinate dynamics controller and solves for the parameter errors with the q-axis current (iq) feedback from several past sampling steps. The controller parameter values are updated by slow integration of the parameter errors. Improvement such as dynamic approximation, speed approximation and Gram-Schmidt orthonormalization are discussed for better estimation performance. The second algorithm is proposed to use both the d-axis current (id) and the q-axis current (iq) feedback for parameter estimation since id always accompanies iq. Stochastic conditions for unbiased estimation are shown through Monte Carlo simulations. Study of the first two adaptive algorithms indicates that the parameter estimation performance can be achieved by using more history data. The Extended Kalman Filter (EKF), a representative recursive estimation algorithm, is then investigated for the BLDC motor application. Simulation results validated the superior estimation performance with the EKF. However, the computation complexity and stability may be barriers for practical implementation of the EKF. The fourth algorithm is a model reference adaptive control (MRAC) that utilizes the desired motor characteristics as a reference model. Its stability is guaranteed by Lyapunov’s direct method. Simulation shows superior performance in terms of the convergence speed and current tracking. These algorithms are compared in closed loop simulation with an EPAS model and a motor speed control application. The MRAC is identified as the most promising candidate controller because of its combination of superior performance and low computational complexity. A BLDC motor controller developed with the dq-coordinate model cannot be implemented without several supplemental functions such as the coordinate transformation and a DC-to-AC current encoding scheme. A quasi-physical BLDC motor model is developed to study the practical implementation issues of the dq-coordinate control strategy, such as the initialization and rotor angle transducer resolution. This model can also be beneficial during first stage development in automotive BLDC motor applications.

Experiences with piglet castration using injectable anaesthetic in Switzerland

The aim of this study was to describe the practical implementation of the painless castration under injection anaesthesia in Switzerland. 30 swine farms were visited and 60 farmers answered a questionnaire. 34 % of the piglets showed movements during castration under injection anaesthesia and 17 % had excitations during recovery from anaesthesia. After 48 minutes half of the piglets were in sternal position and after 112 minutes half of them showed coordinated movements. The body temperature decreased by 3.1 °C until 60 minutes after castration, especially small piglets reached critical temperature levels. 38 % of the piglets showed strong bleeding after castration. The healing of the wound was good according to 82 % of the farmers. 83 % of the farmers reported piglet losses, especially at the beginning of the anaesthesia period. The anaesthesia may be improved by using butorphanol in addition to the combination of ketamine and azaperone. The recovery of the piglets should be in a warm place without any risk of injury by obstacles or the sow. Increased bleeding can be controlled by using an emasculator.

Experiences with piglet castration under inhalational anaesthesia in Switzerland

The objectives of this study were a description of the practical implementation of the painless castration under inhalational anaesthesia with an objective assessment of animal welfare, workplace safety and time exposure. 600 questionnaires were sent to farmers all over Switzerland and 100 farms were visited during castration under inhalation anaesthesia. 44 % of the visited farmers administered analgetics during anaesthesia or less than 10 minutes before castration. 14 % of the piglets were insufficiently anaesthetised (moving or vocalising) and 18 % showed stronger bleeding tendency after castration. The mortality rate was less than 0.1 %. 22 % of the swine farmers reported headache or dizziness during or after castration work. The Isoflurane level on 2 farms was above the Swiss safety limits. The time needed for castration was with 4.3 minutes clearly above the time necessary without anaesthesia. The additional financial costs and time are at the moment not adequately compensated to the farmers.

Increasing intercultural competence and tolerance in multicultural schools: A Training Program and its effectiveness

This study reports the implementation of a Training of Intercultural Competence and Tolerance (TICT) for upper-secondary school students and the empirical evaluation of its effectiveness. The TICT program was developed to counteract increasing interethnic conflicts in the North Caucasus Federal District of Russia. It is based on the theoretical and empirical framework of social psychology and cross-cultural psychology. The training effectiveness was assessed by conducting pre- and post-surveys among the training participants. The results indicate that TICT contributes to the development of a positive ethnic identity and the formation of a civic identity among the participating youth. It also increases their optimism regarding the future of interethnic relations in Russia and the subjective level of intercultural competence of majority group youth towards minority cultures. Thus, the evaluation of the training effectiveness of the TICT has shown that the aims of the training have been achieved to a large extent and that the Training of Intercultural Competence and Tolerance can be effectively used to prevent interethnic conflicts and promote interethnic relations in multicultural schools. Suggestions for the practical implementation of the TICT as well as for future research on the training's effectiveness are discussed.

Inheritance of equine sarcoid disease in Franches-Montagnes horses.

The mode of inheritance for susceptibility to equine sarcoid disease (ES) remains unknown. The objectives of this study were to analyse a large sample of the Franches-Montagnes (FM) horse population and investigate the heritability and mode of inheritance for susceptibility to ES. Horses were clinically examined for the presence of sarcoid tumours. A standardized examination protocol and client questionnaire were used and a pedigree- and subsequent segregation-analysis for the ES trait performed. To investigate the mode of inheritance, five models were evaluated and compared in a hierarchical way. The analyses reveal that variation in susceptibility to ES is best explained by a model incorporating polygenic variation. The possible effect of a major gene, such as specific equine leukocyte antigen alleles, is unlikely, but cannot be ruled-out entirely. The heritability of the phenotype on the observation scale for the trait 'affected with ES' was estimated to be 8%. A corrected value for the heritability on a liability scale was estimated at 21% and it is therefore possible to estimate breeding values for ES. The arguments against the practical implementation of an estimated breeding value in a multifactorial condition like ES are discussed.