Delay approximation of fractional integrals

This paper explores the calculation of fractional integrals by means of the time delay operator. The study starts by reviewing the memory properties of fractional operators and their relationship with time delay. Based on the time response of the Mittag-Leffler function an approximation of fractional integrals consisting of time delayed samples is proposed. The tuning of the approximation is optimized by means of a genetic algorithm. The results demonstrate the feasibility of the new perspective and the limits of their application.

Perfomance do transverso do abdómen : recurso à ecografia como informação de retorno extrínseca

RESUMO: Desenho do estudo: Estudo quantitativo, experimental prospectivo de factor único, desenho pré-teste, pós-teste. Objectivos: Determinar a efectividade da ecografia em tempo real, como Informação de Retorno Extrínseca Visual Ecográfica (IRE-VE) na performance do transverso do abdómen (TrA), em sujeitos saudáveis; analisar eventuais diferenças entre a IRE-VE e a Informação de Retorno Extrínseca Verbal Clínica (IRE-VC); medir a performance da musculatura abdominal, através das diferenças na espessura dos músculos TrA e oblíquo interno (OI) e deslizamento do TrA, em repouso e em contracção. Enquadramento: A maioria dos indivíduos não tem conhecimentos nem consciência do contributo de uma boa performance do TrA para a estabilidade da coluna lombar. Vários estudos recentes se têm dedicado a este assunto, tendo sido mostrado o importante contributo da ecografia como Informação de Retorno Extrínseca (IRE). Uma vez que o TrA e o OI contribuem para a estabilidade lombo pélvica, e que a aprendizagem do seu controlo motor é essencial para a recuperação da função, torna-se relevante clarificar o contributo da informação de retorno na primeira fase da aprendizagem da performance desses músculos, bem como encontrar as melhores estratégias para a sua realização. A ecografia foi o instrumento escolhido para servir esse objectivo. Métodos: Participaram no estudo 75 sujeitos, sem queixas lombares, com idades compreendidas entre os 18 e os 38 anos com um valor médio de 21,9 anos (±4,03), divididos aleatoriamente em três grupos com uma tarefa comum: a “Manobra do Transverso”, em que um grupo não recebeu IRE (GC), outro recebeu IRE verbal clínica e palpatória (GIRE-VC) e ooutro recebeu IRE visual ecográfica (GIRE-VE). Para efeitos de análise da contracção da musculatura abdominal, foram estudadas a espessura dos músculos TrA e OI e o deslizamento do TrA, visualizados em imagens ecográficas em tempo real, e congeladas para medição em diferido. Estes procedimentos foram apurados num estudo piloto de fidedignidade das medições em causa. Quanto à abordagem estatística das variáveis de performance muscular foi realizada uma análise da variância simples paramétrica para amostras independentes e um teste para a diferença de médias para amostras emparelhadas. Resultados: Observamos que no GC, a ausência de IRE cursou com uma performance idêntica nos dois momentos de avaliação e que nos dois grupos com IRE, das variáveis de performance, é significativamente diferente a contracção do TrA, para uma diferença de 1,95 mm no GIRE-VE (p=0,000) e de 0,84 mm no GIRE-VC (p=0,000). Ao comparar os grupos entre si houve diferenças no limiar da significância (p=0,056) para uma melhor contracção do TrA no GIRE-VE. As outras variáveis, contracção do OI e deslizamento do TrA, não revelaram efeito relacionado com a IRE em nenhum dos grupos. Conclusão: Dos resultados obtidos, podemos concluir que a IRE-VE, quando usada isoladamente, na Manobra do Transverso provoca um maior aumento na espessura do TrA, quando comparada com a IRE-VC . O uso da ecografia mostrou ser efectivo na facilitação da performance da Manobra do Transverso em sujeitos saudáveis.---------------------ABSTRACT: Study Design: Single Factor Experimental Design: Pre-Test Post-test Control Group Design. Objectives: To measure the contribution of different types of biofeedack on Transversus Abdominis (TrA) and Internal Oblique (IO) performance through changes in thickness and lateral slide of TrA anterior fascia during abdominal hollowing exercise (AHE). Background: Increasingly clinicians are using real-time ultrasound imaging as a form of supplementing feedback when teaching trunk stabilization exercises to patients; however, there has been no evidence of its effectiveness when used alone. Material and Methods: Seventy-five healthy subjects were divided randomly into 3 groups that received: group 1, no feedback; group 2, verbal and palpatory feedback, and group 3, realtime ultrasound feedback. The TrA and IO performance of each subject was twice assessed (before and after receiving feedback) when performing the AHE in a supine hook-lying position. Analysis of variance and T-test were used for the independent and paired samples, respectively, to determine significant changes in the performance of TrA and IO, based on intra and inter group analysis. Results: Group 1 had no differences between moments; group 2 had significant differences concerning TrA thickness (p=0,000) to a 0,84 mm thickness difference; group 3 had significant differences concerning TrA thickness (p=0,000) to a 1,94 mm difference; The ability to perform the AHE differed only among group 3 and group 1 (p=0.056), and only for changes in thickness of TrA muscle. No differences among groups were found neither for the lateral slide of TrA anterior fascia, nor for the internal oblique thickness. Conclusion: From the results of this study we conclude that real-time ultrasound feedback, when used alone during an AHE, can have a larger increase in TrA thickness when compared to verbal and palpatory feedback. The use of real time ultrasound showed to be effective as a feedback tool to facilitate the performance of the AHE in a supine hook-lying position in healthy subjects.

O biofeedback cinemático na realização de exercícios escápulo-torácicos

RESUMO: O Biofeedback cinemático na realização de exercícios escápulo-torácicos Patrícia Ribeiro; Ricardo Matias Desenho do estudo: Estudo quantitativo, experimental, prospetivo de fator único. Objetivos: Determinar a efetividade do biofeedback cinemático tridimensional (3D) em tempo real, como informação de retorno extrínseca, no reconhecimento da zona neutra da omoplata, em indivíduos saudáveis; medir o desempenho temporal, através do tempo que os sujeitos demoram a atingir a posição pretendida, e o desempenho no percurso, através da diferença entre o percurso efetuado e aquele que seria o percurso mais curto, sem Informação de Retorno Extrínseca (IRE), com Informação de Retorno Extrínseca clinica verbal e palpatória (IRE-VP) e com informação de retorno extrínseca visual cinemática (IRE-VC). Enquadramento: Reconhecer aquela que deve ser a posição adequada da omoplata e tomar consciência da importância dessa posição para a estabilidade e correto funcionamento da articulação gleno-umeral é uma tarefa difícil, pois a grande maioria do indivíduos não têm os conhecimentos necessários. É reconhecido o contributo que a IRE tem na reaprendizagem motora, em especial na primeira fase da aprendizagem motora – a consciencialização. Vários estudos se têm debruçado em avaliar a influencia da IRE na reabilitação de indivíduos com disfunção do ombro, tendo-se limitado ao formato electromiográfico. No sentido de encontrar novas estratégias para facilitar o processo de reaprendizagem motora nestes indivíduos, foi escolhido biofeedback cinemático tridimensional. Métodos: Participaram no estudo 60 sujeitos, sem queixas de dor no ombro, com idades compreendidas entre os 18 e os 54 anos, com um valor médio de 21,66 anos (±5.89), divididos aleatoriamente em três grupos com uma tarefa comum: o reconhecimento da zona neutra da omoplata. Um grupo não recebeu qualquer tipo de IRE - Grupo Controlo (GC), outro grupo recebeu IRE-VP e outro recebeu IRE-VC. Para efeitos de análise da performance foram consideradas duas variáveis: tempo e qualidade da execução. A abordagem estatística destas variáveis consistiu numa análise de variância simples e num teste de comparações múltiplas. Resultados: Observámos que o grupo controlo e o grupo IRE-VC efetuaram a tarefa pedida em menos tempo que o grupo IRE-VP (p<0.01) e que o grupo IRE-VC obteve melhores resultados no que respeita à qualidade da execução da tarefa do que o GC e o grupo IRE-VP (p<0.01). Conclusão: Pelos resultados obtidos, na tarefa de reconhecimento da zona neutra da omoplata, podemos concluir que o biofeedback cinemático é mais efetivo na facilitação da obtenção de melhor qualidade de execução da tarefa do que o feedback clinico ou a inexistência de feedback e igualmente efetivo à inexistência de IRE no que respeita ao tempo demorado a reconhecer essa posição. -------------- ABSTRACT:Study Design: Single factor experimental design. Objectives: To determine the effectiveness of real time cinematic biofeedback as extrinsic information in the recognition of the neutral zone of the scapula in healthy subjects; to measure the temporal performance and quality of the execution without extrinsic feedback, with clinical feedback and with cinematic feedback. Background: To recognize the proper scapula position and to be aware of the importance of this position to the stability and correct function of the gleno-umeral joint is a difficult task, because most people don’t have the necessary knowledge. It is known that extrinsic feedback is effective in motor learning, specially in the early stages. There are several studies that evaluated the influence of extrinsic feedback in rehabilitation of shoulder dysfunctions, but only in the electromyography format. Material and Methods: Sixty healthy subjects were randomly divided into 3 groups that received no feedback (group 1 – control group), verbal and palpatory feedback (group 2) and real time cinematic feedback (group 3). The performance variables considered – time and quality of execution - were statistically analyzed with ANOVA one-way and multiple comparisons test. Results: Control group and group 3 executed the task in less time that group 2 (p<0.01) and group 3 executed the task with better quality than control group and group 2 (p<0.01). Conclusions: From the results of this study we conclude that in the studied task, the cinematic feedback is more effective to facilitate a better quality of execution than no feedback or clinical feedback and, regarding to time taken to attain the requested position, equally effective to no feedback.

Space Competition and Time Delays in Human Range Expansions. Application to the Neolithic Transition

Space competition effects are well-known in many microbiological and ecological systems. Here we analyze such an effectin human populations. The Neolithic transition (change from foraging to farming) was mainly the outcome of a demographic process that spread gradually throughout Europe from the Near East. In Northern Europe, archaeological data show a slowdown on the Neolithic rate of spread that can be related to a high indigenous (Mesolithic) population density hindering the advance as a result of the space competition between the two populations. We measure this slowdown from a database of 902 Early Neolithic sites and develop a time-delayed reaction-diffusion model with space competition between Neolithic and Mesolithic populations, to predict the observed speeds. The comparison of the predicted speed with the observations and with a previous non-delayed model show that both effects, the time delay effect due to the generation lag and the space competition between populations, are crucial in order to understand the observations

Mice with chronic GSH deficit display phenotypical anomalies that resemble key aspects of schizophrenia

ABSTRACTSchizophrenia is a major psychiatric disorder occurring with a prevalence of 1% in the worldwide population. It develops progressively with psychosis onset in late adolescence or earlyadulthood. The disorder can take many different facets and has a highly diffuse anddistributed neuropathology including deficits in major neurotransmitter systems,myelination, stress regulation, and metabolism. The delayed onset and the heterogeneouspathology suggest that schizophrenia is a developmental disease that arises from interplayof genetic and environmental factors during sensitive periods. Redox dysregulation due to animbalance between pro-oxidants and antioxidant defence mechanisms is among the riskfactors for schizophrenia. Glutathione (GSH) is the major cellular redox regulator andantioxidant. Levels of GSH are decreased in cerebrospinal fluid, prefrontal cortex and postmortemstriatum of schizophrenia patients. Moreover, polymorphisms of the key GSHsynthesizingenzyme, glutamate-cysteine ligase, modifier (GCLM) subunit, are associatedwith the disease, suggesting that GSH deficit is of genetic origin. Here we used miceknockout (KO) for the GCLM gene, which display chronic GSH deficit (~70 to 80% decrease)to investigate the direct link between redox dysregulation and schizophrenia. Accordingly,we evaluated whether GCLM KO compared to normal wildtype mice display behavioralchanges that relate to schizophrenia symptoms and whether their brains showmorphological, functional or metabolic alterations that resemble those in patients.Moreover, we exposed pubertal GCLM mice to repeated mild stress and measured theirhormonal and behavioral stress reactivity. Our data show that chronic GSH deficit isassociated with altered emotion- and stress-related behaviors, deficient prepulse inhibition,pronounced amphetamine-induced hyperlocomotion but normal spatial learning andworking memory. These changes represent important schizophrenia endophenotypes.Moreover, this particular pattern of change indicates impairment of the ventralhippocampus (VH) and related circuitry as opposed to the dorsal hippocampus (DH), which isimplicated in spatial information processing. This is consistent with a selective deficit ofparvalbumin positive interneurons and gamma oscillation in the VH but not DH. Increasedlevels of circulating stress hormones in KO mice following pubertal stress corroborate VHdysfunction as it is involved in negative feedback control of the stress response. VHstructural and functional deficits are frequently found in the schizophrenic brain. Metabolicevaluation of the developing GCLM KO anterior cortex using in vivo magnetic resonancespectroscopy revealed elevated glutamine (Gln), glutamate (Glu), Gln/Glu and N-acetylaspartate(NAA) during the pre-pubertal period. Similar changes are reported in earlyschizophrenia. Overall, we observe phenotypic anomalies in GSH deficient GCLM KO micethat correspond to major schizophrenia endophenotypes. This supports an important rolefor redox dysregulation in schizophrenia and validates the GCLM KO mouse as model for thedisease. Moreover, our results indicate that puberty may be a sensitive period for redoxsensitivechanges highliting the importance of early intervention. Gln, Gln/Glu, Glu and NAAmay qualify as early metabolic biomarkers to identify young at-risk individuals. Since chronictreatment with NAC normalized most metabolic changes in GCLM KO mice, NAC may be oneadjunct treatment of choice for early intervention in patients.RESUMELa schizophrénie est une maladie psychiatrique majeure avec une prévalence de 1% dans lapopulation. Son développement est progressif, les premières psychoses apparaissant àl'adolescence ou au début de l'âge adulte. La maladie a plusieurs présentations et uneneuropathologie étendue, qui inclut des déficits neurochimiques, métaboliques, de lamyélination et de la régulation du stress. L'émergence tardive et l'hétérogénéité de lapathologie suggèrent que la schizophrénie est une maladie développementale, favorisée pardes facteurs génétiques et environnementaux durant des périodes sensibles. La dérégulationrédox, due à un déséquilibre entre facteurs pro-oxidantes et défenses anti-oxidantes,constitue un facteur de risque. Le glutathion (GSH) est le principal régulateur rédox et antioxidantdes cellules, ses taux sont diminués dans le liquide céphalorachidien, le cortexpréfrontal et le striatum de patients. De plus, des variations du gène codant la sous-unitémodulatrice (GCLM) de la glutamate-cystéine ligase, enzyme de synthèse du GSH, sontassociés la maladie, suggérant que le déficit observé chez les patients est d'originegénétique. Nous avons donc utilisé des souris ayant une délétion du gène GCLM (KO), quiont un déficit chronique en GSH (70-80%), afin d'étudier le lien entre une dérégulation rédoxet la schizophrénie. Nous avons évalué si ces souris présentent des altérationscomportementales analogues aux symptômes de la maladie, et des modificationsstructurelles, fonctionnelles et métaboliques au niveau du cerveau, ressemblant à celles despatients. De plus, nous avons soumis les souris à des stresses modérés durant la puberté,puis mesuré les réponses hormonales et comportementales. Les animaux présentent undéficit pré-attentionnel du traitement des informations moto-sensorielles, un déficit pourcertains apprentissages, une réponse accrue à l'amphétamine, mais leurs mémoires spatialeet de travail sont préservées. Ces atteintes comportementales sont analogues à certainsendophénotypes de la schizophrénie. De plus, ces changements comportementaux sontlargement expliqués par une perturbation morphologique et fonctionnelle de l'hippocampeventral (HV). Ainsi, nous avons observé un déficit sélectif des interneurones immunoréactifsà la parvalbumine et une désynchronisation neuronale dans l'HV. L'hippocampe dorsal,impliqué dans l'orientation spatiale, demeure en revanche intact. L'augmentationd'hormones de stress dans le sang des souris KO suite à un stress prépubertal soutien aussil'hypothèse d'une dysfonction de l'HV, connu pour moduler ce type de réponse. Des déficitsstructurels et fonctionnels dans l'hippocampe antérieur (ventral) ont d'ailleurs été rapportéschez des patients schizophrènes. Par de résonance magnétique, nous avons également suivile profil métabolique du le cortex antérieur au cours du développement postnatal des sourisKO. Ces mesures ont révélé des taux élevés de glutamine (Gln), glutamate (Glu), du ratioGln/Glu, et de N-acétyl-aspartate (NAA) durant la période prépubertale. Des altérationssimilaires sont décrites chez les patients durant la phase précoce. Nous avons donc révélédes anomalies phénotypiques chez les souris GCLM KO qui reflètent certainsendophénotypes de la schizophrénie. Nos résultats appuient donc le rôle d'une dérégulationrédox dans l'émergence de la maladie et le potentiel des souris KO comme modèle. De plus,cette étude met en évidence la puberté comme période particulièrement sensible à unedérégulation rédox, renforçant l'importance d'une intervention thérapeutique précoce. Dansce cadre, Gln, Gln/Glu, Glu and NAA seraient des biomarqueurs clés pour identifier de jeunesindividus à risque. De part son efficacité dans notre modèle, NAC pourrait être unesubstance de choix dans le traitement précoce des patients.

Production Control Principles in Printed Wiring Board Fabrication

Työn tavoitteena oli kuvata piirilevyvalmistaja Aspocomp Oy:n Espoon tehtaan tämän hetkinen tuotannonohjausperiaate ja tunnistaa siinä esiintyvät puutteet sekä kehittää vaihtoehtoinen tuotannonohjausperiaate piirilevyvalmistukseen. Vaihtoehtoisen ohjausperiaatteen lähtökohtana oli tuotannonohjauksen sopeuttaminen vaativaan ja jatkuvasti muuttuvaan liiketoimintaympäristöön. Työn teoreettinen osa keskittyi tuotannonohjauksen eri lähestymistapoihin. Kirjallisuuskatsauksessa esitetään eri tuotannonohjausperiaatteiden keskeiset sisällöt, jotka muodostavat rungon toimivalle tuotannonohjauskäytännölle. Työn kokeellinen osa keskittyi Espoon piirilevytehtaan tuotannonohjausperiaatteen selvittämiseen. Espoon piirilevytehtaan nykyisessä tuotannonohjausperiaatteessa havaittujen ongelmakohtien ja liiketoimintaympäristön vaatimusten perusteella kehitettiin vaihtoehtoinen tuotannonohjaustapa. Vaihtoehtoisen tuotannonohjaustavan päämääränä oli läpimenoajan lyhentäminen sekä tuotannon parempi hallittavuus. Vaihtoehtoinen toimintamalli tavoitteiden saavuttamiseksi perustuu pullonkaulateoriaan, jossa keskeisin muutos nykyiseen toimintamalliin oli puolivalmisteiden varastointi toimitusajan lyhentämiseksi sekä tuotantovolyymin heilahdusten vaikutusten vähentämiseksi. Työn kokeellisessa osassa ilmeni, että kysynnän muutokset ja kapasiteetin suunnittelun puute aiheuttivat ongelmia piirilevytehtaan tuotannonohjauksessa.

The Role of the Delay Time in the Modeling of Biological Range Expansions

The time interval between successive migrations of biological species causes a delay time in the reaction-diffusion equations describing their space-time dynamics. This lowers the predicted speed of the waves of advance, as compared to classical models. It has been shown that this delay-time effect improves the modeling of human range expansions. Here, we demonstrate that it can also be important for other species. We present two new examples where the predictions of the time-delayed and the classical (Fisher) approaches are compared to experimental data. No free or adjustable parameters are used. We show that the importance of the delay effect depends on the dimensionless product of the initial growth rate and the delay time. We argue that the delay effect should be taken into account in the modeling of range expansions for biological species

Robottisolun servotekniikan kehittäminen

Työn kehityksen kohteena toimii CIRB 500i –robottisolu, jonka sisällä työskentelee korkeaan tuotantokapasiteettiin kehitetty näköjärjestelmällä ohjattu sähköservomanipulaattori. Kokonaisuutena ajatellen työ tekee servotekniikan osalta poikkileikkauksen CIRB 500i –robottisolun matkasta prototyypistä tuotteeksi erilaisine kehitysvaiheineen. Työn alkutaipaleella perehdytään pitkälle pelkkään teoriaan nojautuen mitä on servotekniikka, miten se toimii ja kuinka se viritetään. Tämän jälkeen edellä opitut teoriat konkretisoidaan CIRB 500i –robottisoluun ja siinä käytettävään servotekniikkaan. Robottisolun komponenttien ja laitteistojen tullessa tutuiksi mietitään ja kehitetään kuinka robottisolusta saataisiin entistä kehittyneempi ja käytännöllisempi teknillisestä näkökulmasta katsoen kuitenkaan valmistamisen kustannustehokkuutta unohtamatta. Loppupuolella analysoidaan miten edellä tehdyt kehitystoimenpiteet ovat vaikuttaneet robottisolun toimintaan ja valmistamiseen. Lopuksi sovelletaan teoriaosuuden virityskeinoja servojen virittämiseen käytännössä ja analysoidaan saavutettuja kehittämistyön tuloksia. Lisäksi tehdään katsaus CIRB 500i –robottisolun tulevaisuuden näkymiin.

Control system for forced-air cooling of horticultural products

This work is a study of the implementation of a classical controller using a tuning method referred to as IMC (Internal Model Control) and aimed at the reduction of electrical energy consumption by the appropriate relation between energy consumption and the cooling time with forced air. The supervisory system installed was able to manipulate the variable of frequency of the signal power of the exhaust fan engine (forced air module), to accelerate or decelerate the loss of heat from the product to be cooled by airflow variation that passes through the mass of the produce. The results demonstrated a reduction in energy consumption from 64% and an increase of only 8% in the cooling time to the system using PI/IMC (Proportional - Integral with IMC) tuning method compared with the system in its operating nominal condition. This PI/IMC control may be implemented directly in a frequency converter, without the need to purchase a computer or PLC (programmable logic controller) to run the dedicated application, increasing its economical viability.

Applications and Benefits of Adaptive Pulsed GMAW

In ship and offshore terminal construction, welded cross sections are thick and the number of welds very high. Consequently, there are two aspects of great importance; cost and heat input. Reduction in the welding operation time decreases the costs of the work force and avoids excessive heat, preventing distortion and other weld defects. The need to increase productivity while using a single wire in the GMAW process has led to the use of a high current and voltage to improve the melting rate. Unfortunately, this also increases the heat input. Innovative GMAW processes, mostly implemented for sheet plate sections, have shown significant reduction in heat input (Q), low distortion and increase in welding speed. The aim of this study is to investigate adaptive pulsed GMAW processes and assess relevant applications in the high power range, considering possible benefits when welding thicker sections and high yield strength steel. The study experimentally tests the usability of adaptive welding processes and evaluates their effects on weld properties, penetration and shapes of the weld bead.The study first briefly reviews adaptive GMAW to evaluate different approaches and their applications and to identify benefits in adaptive pulsed. Experiments are then performed using Synergic Pulsed GMAW, WiseFusionTM and Synergic GMAW processes to weld a T-joint in a horizontal position (PB). The air gap between the parts ranges from 0 to 2.5 mm. The base materials are structural steel grade S355MC and filler material G3Si1. The experiment investigates heat input, mechanical properties and microstructure of the welded joint. Analysis of the literature reveals that different approaches have been suggested using advanced digital power sources with accurate waveform, current, voltage, and feedback control. In addition, studies have clearly indicated the efficiency of lower energy welding processes. Interest in the high power range is growing and a number of different approaches have been suggested. The welding experiments in this study reveal a significant reduction of heat input and a weld microstructure with the presence of acicular ferrite (AF) beneficial for resistance to crack propagation. The WiseFusion bead had higher dilution, due to the weld bead shape, and low defects. Adaptive pulse GMAW processes can be a favoured choice when welding structures with many welded joints. The total heat reduction mitigates residual stresses and the bead shape allows a higher amperage limit. The stability of the arc during the process is virtually spatter free and allows an increase in welding speed.

Pulse response based control for positive definite systems

Pulse Response Based Control (PRBC) is a recently developed minimum time control method for flexible structures. The flexible behavior of the structure is represented through a set of discrete time sequences, which are the responses of the structure due to rectangular force pulses. The rectangular force pulses are given by the actuators that control the structure. The set of pulse responses, desired outputs, and force bounds form a numerical optimization problem. The solution of the optimization problem is a minimum time piecewise constant control sequence for driving the system to a desired final state. The method was developed for driving positive semi-definite systems. In case the system is positive definite, some final states of the system may not be reachable. Necessary conditions for reachability of the final states are derived for systems with a finite number of degrees of freedom. Numerical results are presented that confirm the derived analytical conditions. Numerical simulations of maneuvers of distributed parameter systems have shown a relationship between the error in the estimated minimum control time and sampling interval

Speed Control of an Autonomous Mobile Robot: Comparison between a PID Control and a Control Using Fuzzy Logic

An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.

Endogenous vasopressin and the central control of heart rate during dynamic exercise

The present article contains a brief review on the role of vasopressinergic projections to the nucleus tractus solitarii in the genesis of reflex bradycardia and in the modulation of heart rate control during exercise. The effects of vasopressin on exercise tachycardia are discussed on the basis of both the endogenous peptide content changes and the heart rate response changes observed during running in sedentary and trained rats. Dynamic exercise caused a specific vasopressin content increase in dorsal and ventral brainstem areas. In accordance, rats pretreated with the peptide or the V1 blocker into the nucleus tractus solitarii showed a significant potentiation or a marked blunting of the exercise tachycardia, respectively, without any change in the pressure response to exercise. It is proposed that the long-descending vasopressinergic pathway to the nucleus tractus solitarii serves as one link between the two main neural controllers of circulation, i.e., the central command and feedback control mechanisms driven by the peripheral receptors. Therefore, vasopressinergic input could contribute to the adjustment of heart rate response (and cardiac output) to the circulatory demand during exercise.

Analysis and Design of an Adaptive Polynomial Predistorter with the Loop Delay Estimator

Most adaptive linearization circuits for the nonlinear amplifier have a feedback loop that returns the output signal oj'tne eunplifier to the lineurizer. The loop delay of the linearizer most be controlled precisely so that the convergence of the linearizer should be assured lot this Letter a delay control circuit is presented. It is a delay lock loop (ULL) with it modified early-lute gate and can he easily applied to a DSP implementation. The proposed DLL circuit is applied to an adaptive linearizer with the use of a polynomial predistorter, and the simulalion for a 16-QAM signal is performed. The simulation results show that the proposed DLL eliminates the delay between the reference input signal and the delayed feedback signal of the linearizing circuit perfectly, so that the predistorter polynomial coefficients converge into the optimum value and a high degree of linearization is achieved

Femtosecond real-time probing of reactions. 13. Multiphoton dynamics of IHgI

Real-time studies of the dynamics were performed on the reaction of HgI_2 in a molecular beam. Excitation was by either one or multi pump photons (311 nm), leading to two separate sets of dynamics, each of which could be investigated by a time-delayed probe laser (622 nm) that ionized the parent molecule and the fragments by REMPI processes. These dynamics were distinguished by combining the information from transients taken at each mass (HgI_2, HgI, I_2, Hg, and I) with the results of pump (and probe) power dependence studies on each mass. A method of plotting the slope of the intensity dependence against the pump-probe time delay proved essential. In the preceding publication, we detailed the dynamics of the reaction initiated by a one photon excitation to the A-continuum. Here, we present studies of higher-energy states. Multiphoton excitation accesses predissociative states of HgI_2, for which there are crossings into the symmetric and asymmetric stretch coordinates. The dynamics of these channels, which lead to atomic (I or Hg) and diatomic (HgI) fragments, are discussed and related to the nature of the intermediates along the reaction pathway.