Recursive neuro fuzzy techniques for online identification and control

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Infinite horizon MPC with non-minimal state space feedback

In the MPC literature, stability is usually assured under the assumption that the state is measured. Since the closed-loop system may be nonlinear because of the constraints, it is not possible to apply the separation principle to prove global stability for the Output feedback case. It is well known that, a nonlinear closed-loop system with the state estimated via an exponentially converging observer combined with a state feedback controller can be unstable even when the controller is stable. One alternative to overcome the state estimation problem is to adopt a non-minimal state space model, in which the states are represented by measured past inputs and outputs [P.C. Young, M.A. Behzadi, C.L. Wang, A. Chotai, Direct digital and adaptative control by input-output, state variable feedback pole assignment, International journal of Control 46 (1987) 1867-1881; C. Wang, P.C. Young, Direct digital control by input-output, state variable feedback: theoretical background, International journal of Control 47 (1988) 97-109]. In this case, no observer is needed since the state variables can be directly measured. However, an important disadvantage of this approach is that the realigned model is not of minimal order, which makes the infinite horizon approach to obtain nominal stability difficult to apply. Here, we propose a method to properly formulate an infinite horizon MPC based on the output-realigned model, which avoids the use of an observer and guarantees the closed loop stability. The simulation results show that, besides providing closed-loop stability for systems with integrating and stable modes, the proposed controller may have a better performance than those MPC controllers that make use of an observer to estimate the current states. (C) 2008 Elsevier Ltd. All rights reserved.

Controle Adaptativo Robusto para Filtros Ativos de Potência Paralelo

Conventional control strategies used in shunt active power filters (SAPF) employs real-time instantaneous harmonic detection schemes which is usually implements with digital filters. This increase the number of current sensors on the filter structure which results in high costs. Furthermore, these detection schemes introduce time delays which can deteriorate the harmonic compensation performance. Differently from the conventional control schemes, this paper proposes a non-standard control strategy which indirectly regulates the phase currents of the power mains. The reference currents of system are generated by the dc-link voltage controller and is based on the active power balance of SAPF system. The reference currents are aligned to the phase angle of the power mains voltage vector which is obtained by using a dq phase locked loop (PLL) system. The current control strategy is implemented by an adaptive pole placement control strategy integrated to a variable structure control scheme (VS-APPC). In the VS-APPC, the internal model principle (IMP) of reference currents is used for achieving the zero steady state tracking error of the power system currents. This forces the phase current of the system mains to be sinusoidal with low harmonics content. Moreover, the current controllers are implemented on the stationary reference frame to avoid transformations to the mains voltage vector reference coordinates. This proposed current control strategy enhance the performance of SAPF with fast transient response and robustness to parametric uncertainties. Experimental results are showing for determining the effectiveness of SAPF proposed control system

Respuesta adaptativa y degradación de compuestos de amonio cuaternarios sintéticos por Pseudomonas putida. Adaptative answer and degradation of quaternary ammonium compounds by Pseudomonas putida.

El objetivo de este trabajo es caracterizar la respuesta de P. putida frente a condiciones ambientales adversas dadas por la presencia del detergente catiónico tetradeciltrimetilamonio (TDTMA). El objetivo final que se persigue es el de utilizar este microorganismo como vehículo en procesos de biorremediación. El proyecto comprende aspectos relacionados con la degradación y con la respuesta adaptativa que le permiten a P. putida tolerar altas concentraciones del biocida. La degradación de TDTMA por P. putida involucra una actividad monooxigenasa, que produce trimetilamina (TMA) y tetradecilalcanal. Parte de la TMA producida es demetilada, por una TMAdehidrogenasa (TMADH), e utilizada por la bacteria como fuente de nitrógeno y parte es acumulada intracelularmente, inhibiendo el crecimiento bacteriano. Considerando la importancia de las oxigenasas y dehidrogenasas en la transformación química de compuestos recalcitrantes, se identificarán los genes responsables de la actividad monooxigenasa y de la TMADH, se caracterizarán las enzimas, lo que permitirá conocer, además, datos evolutivos de las mismas. Teniendo en cuenta que la acumulación intracelular TMA conduce a la degradación parcial del detergente, efecto contrarrestado por la adición de aluminio (Al), se investigarán si otros factores nutricionales participan en el control de la degradación de TDMA por P. putida. Se investigará si el regulador global NtrC, que se activa en respuesta a limitación de nitrógeno, participa en el metabolismo de TDTMA. Se prevé construir mutantes en los genes que codifican para monoxigenasa y TMADH y analizar la respuesta de estas cepas frente al estrés ocasionado por TDTMA y Al. En este proyecto se postula además que los cambios a nivel de fosfolípidos (PL) de membrana son una estrategia de P. putida para sobrevivir en presencia del TDTMA. Para concluir si fosfatidilglicerol es el principal responsable de la adaptación de P. putida frente al estrés ocasionado por TDTMA, se pretenden obtener mutantes afectadas en la biosíntesis de novo de PL, particularmente en cardiolipina sintasa. Paralelamente se estudiará si fosfolipasa D participa en la respuesta, lo que permitirá asignar un rol a esta enzima en procesos de señalización análogos a los que ocurren en organismos eucariotas. En presencia de TDTMA y Al, P. putida responde aumentando el contenido de fosfatidilcolina y posiblemente este PL actúe como un reservorio temporario del ión. Identificar en P. putida los genes que codifican para las enzimas responsables de su biosíntesis, particularmente fosfatidilcolina sintasa y/o fosfolípido N-metiltranferasa, conducirá a conocer el mecanismo por el cual fosfatidilcolina estaría involucrada en la respuesta a Al.

Regulación de la función de macrófagos por Cryptococcus neoformans y Cryptococcus gattii y su participación en la generación de la inmunidad adaptativa antifúngica. Regulation of macrophage function by Cryptococcus neoformans and Cryptococcus gattii and their role in the antifungal adaptative immunity.

La criptococosis es causada por la inhalación de levaduras encapsuladas de Cryptococcus neoformans o Cryptococcus gattii. Representa una de las tres infecciones graves por oportunistas en pacientes con SIDA y existe aproximadamente un 6 por ciento de incidencia de criptococosis clínica en pacientes con transplante de órganos sólidos. Estas dos especies difieren la fisiopatogenia durante la infección. El factor de virulencia principal de Cryptococcus sp. es la presencia del polisacárido capsular, glucuronoxilomanano (GXM), de alto peso molecular, que es continuamente secretado por las levaduras. Los macrófagos son células centrales en la respuesta innata al hongo, los cuales deben ser activados por linfocitos T helper 1 para un eficiente control de la infección. Sin embargo, estas células también son suceptibles al parasitismo intracelular, permitiendo la infección persistente y la diseminación a sitios extrapulmonares. Este proyecto propone investigar la capacidad de levaduras de C. neoformans, C. gattii y de los polisacáridos capsulares para modular la respuesta proinflamatoria de los macrófagos. Queremos estudiar si el tratamiento de macrófagos con levaduras o polisacárido puede inducir perfiles supresores de la respuesta protectiva T helper 1, tales como linfocitos T helper 2 o T reguladores, favoreciendo la sobrevida intracelular del hongo. Además, pensamos que C. neoformans o C. gattii podrían inducir un activación diferencial de macrófagos lo que condicionaría la respuesta adaptativa, lo que podría explicar las diferencias en la fisiopatogenia de estas dos especies. Procedimientos experimentales -Microorganismos y obtención de GXM: se trabajará con C. neoformans variedad grubii, cepa ATCC 62067 y C. gattii serotipo B, cepa NIH112B. Se obtendrán polisacáridos capsulares (GXM) de C. neoformans y C. gattii por precipitación con etanol y y acomplejamiento selectivo con CTAB. - Obtención de macrófagos murinos y cultivos celulares: se obtendrán macrófagos por lavados peritoneales y/o alveolares de ratones BALB/c. Los macrófagos se cultivarán por 24 h en ausencia o presencia de levaduras muertas o vivas (sin opsonizar u opsonizadas) de C. neoformans o C. gattii o en presencia de GXM purificado. -Objetivo 1. Estudio de la modulación de las propiedades proinflamatorias de Mac: en sobrenadantes de los cultivos se medirán las citoquinas por ELISA de captura y en lisados celulares, la expresión de las enzimas (iNOS, arginasa, IDO) por western blot. Se analizará por citometría de flujo la expresión de MCHII y moléculas CD80, CD86, CD40, CTLA-4. -Objetivo 2. Estudios in vitro de la capacidad de macrófagos tratados con levaduras o GXM para inducir linfocitos Th1, Th2 o Treg: los macrófagos preincubados con GXM o levaduras, se incubarán con linfocitos autólogos estimulados con anti-CD3. Se medirá la proliferación celular y el perfil de citoquinas por citomtría de flujo. Células T CD4+ CD25- serán purificadas de suspenciones esplénicas de ratones normales. Luego las células serán incubadas con macrófagos (sin tratar o tratados con levaduras o GXM) y estimulados con anti-CD3. Se analizará la proliferación celular con CFSE y expresión de CD4, CD25 y Foxp3 . - Objetivo 3. Estudios in vivo de la capacidad de levaduras o GXM para inducir linfocitos Th1, Th2 o Treg . Rol de los macrófagos in vivo: Los ratones serán inyectados con 100000 levaduras o con 200 µg de GXM puro vía endovenosa y luego de 7, 14, 30 y 40 días se evaluarán las poblaciones celulares de bazo, por citometría de flujo usando marcaciones simultáneas para CD4, CD8, CD25, Foxp3 y citoquinas intracelulares. Para investigar la participación in vivo de los macrófagos, se depletaran estas células inyectando los animales con PBS-liposomas o clodronato (DMDP)-liposomas por vía endovenosa o inhalatoria (200- 300 µl por ratón). Luego de 24 h, los animales se infectarán con levaduras o inocularán con GXM y se evaluarán los perfiles de células T esplénicos o de nódulos linfaticos.

The adaptative function of melanin-based colour variants

Résumé : Les mécanismes de contrôle des couleurs mélaniques chez les vertébrés sont encore discutés parmi les biologistes de l'évolution. Une hypothèse récente affirme que les effets pléiotropies du système des mélanocortines expliquent l'association fréquente entre la coloration eumélanique noire (due à la déposition d'eumélanine) et de nombreux traits physiologiques et comportementaux. De nombreuses études suggèrent, en effet, que des niveaux plus élevés des mélanocortines induisent l'assombrissement des téguments eumélaniques et affectent d'autres traits phénotypiques simultanément. Cependant, il n'est pas encore établi si ce mécanisme de pléiotropie peut s'appliquer aux colorations dues à la déposition de phaeomélanine, une autre forme commune de mélanine. Les antagonistes des mélanocortines déclenchent le phaeomélanogenèse et bloquent l'effet des mélanocortines ou ont un effet pharmacologique opposé. Nous nous proposons donc d'évaluer l'hypothèse que les effets pléiotropes des antagonistes des mélanocortines génèrent des covariations entre la coloration phaeomélanique et des aspects de la qualité individuelle. Comme prédit par cette hypothèse, nous constatons chez la chouette effraie (Tyto alba) que les traits phénotypiques (résistance au stress oxydatif et aux parasites) corrèlent positivement au degré d'expression d'une couleur eumélanique mais négativement au degré d'expression d'une coloration phaeomélanique. Puis, nous montrons chez la chouette hulotte (Strix aluco) que les associations génétiques entre la coloration phaeomélanique et la physiologie (immunité et la régulation de l'homéostasie) confèrent des avantages aux individus de différentes couleurs dans différents environnements caractérisés par l'abondance de nourriture et le niveau d'exposition aux parasites. Ainsi, nos études soutiennent l'hypothèse que les effets pléiotropes des antagonistes des mélanocortines génèrent des covariations entre les traits mélaniques et divers aspects de la qualité individuelle. Finalement, nous montrons chez le faucon crécerelle (Falco Tinnunculus) que l'expression des ornements mélaniques est sensible à la qualité de l'environnement dans lequel les individus grandissent. Ceci suggère que les gènes codant pour les mélanocortines et leurs antagonistes pourraient induire une expression des traits mélaniques dépendante de la condition de l'individu, un pattern d'expression rarement observé pour des traits généralement sous fort contrôle génétique. Summary : The information content and control mechanisms of melanin-based colour signals in vertebrates are still debated among evolutionary biologists. A recent hypothesis contends that pleiotropic effects of the melanocortin system accounts for the frequent association between black eumelanic coloration and physiological and behavioural traits. Accordingly, empirical evidence suggests that higher levels of melanocortins concurrently promote darker eumelanic integuments and affect other phenotypic traits. However, whether this mechanism may apply to signals relying on phaeomelanin, another common form of melanin pigments, remains to be established. Melanocortin antagonists trigger phaeomelanogenesis and block the effect of melanocortins or result in the opposite pharmacological effect. Therefore, we tested the hypothesis that pleiotropic effects of melanocortin antagonists and inverse agonists account for covariations between phaeomelanin-based coloration and aspects of individual quality. As predicted, we found that phenotypic traits (resistance to oxidative stress and parasites) correlated positively with a eumelanic trait and negatively with a phaeomelanic trait in the barn owl (Tyto alba). Then, we showed in the tawny owl (Strix aluco) that genetic associations between phaeomelanin-based coloration and physiology (immunity and regulation of energy homeostasis) confer benefits to differently coloured individuals under different levels of food abundance and parasite exposure. Altogether, our studies support the hypothesis that pleiotropic effects of melanocortins antagonists can indeed account for covariations between phaeomelanin-based traits and aspects of individual quality. Eventually, we show in the Eurasian kestrel (Falco Tinnunculus) that expression of melanin-based ornaments is sensitive to the environment in which individuals grow. This suggests that genes coding for melanocortins and their antagonists can mediate the condition-dependent component of melanin-based traits.

Gestion adaptative des ressources dans les réseaux maillés sans fil à multiples-radios multiples-canaux

Depuis quelques années, la recherche dans le domaine des réseaux maillés sans fil ("Wireless Mesh Network (WMN)" en anglais) suscite un grand intérêt auprès de la communauté des chercheurs en télécommunications. Ceci est dû aux nombreux avantages que la technologie WMN offre, telles que l'installation facile et peu coûteuse, la connectivité fiable et l'interopérabilité flexible avec d'autres réseaux existants (réseaux Wi-Fi, réseaux WiMax, réseaux cellulaires, réseaux de capteurs, etc.). Cependant, plusieurs problèmes restent encore à résoudre comme le passage à l'échelle, la sécurité, la qualité de service (QdS), la gestion des ressources, etc. Ces problèmes persistent pour les WMNs, d'autant plus que le nombre des utilisateurs va en se multipliant. Il faut donc penser à améliorer les protocoles existants ou à en concevoir de nouveaux. L'objectif de notre recherche est de résoudre certaines des limitations rencontrées à l'heure actuelle dans les WMNs et d'améliorer la QdS des applications multimédia temps-réel (par exemple, la voix). Le travail de recherche de cette thèse sera divisé essentiellement en trois principaux volets: le contrôle d‟admission du trafic, la différentiation du trafic et la réaffectation adaptative des canaux lors de la présence du trafic en relève ("handoff" en anglais). Dans le premier volet, nous proposons un mécanisme distribué de contrôle d'admission se basant sur le concept des cliques (une clique correspond à un sous-ensemble de liens logiques qui interfèrent les uns avec les autres) dans un réseau à multiples-sauts, multiples-radios et multiples-canaux, appelé RCAC. Nous proposons en particulier un modèle analytique qui calcule le ratio approprié d'admission du trafic et qui garantit une probabilité de perte de paquets dans le réseau n'excédant pas un seuil prédéfini. Le mécanisme RCAC permet d‟assurer la QdS requise pour les flux entrants, sans dégrader la QdS des flux existants. Il permet aussi d‟assurer la QdS en termes de longueur du délai de bout en bout pour les divers flux. Le deuxième volet traite de la différentiation de services dans le protocole IEEE 802.11s afin de permettre une meilleure QdS, notamment pour les applications avec des contraintes temporelles (par exemple, voix, visioconférence). À cet égard, nous proposons un mécanisme d'ajustement de tranches de temps ("time-slots"), selon la classe de service, ED-MDA (Enhanced Differentiated-Mesh Deterministic Access), combiné à un algorithme efficace de contrôle d'admission EAC (Efficient Admission Control), afin de permettre une utilisation élevée et efficace des ressources. Le mécanisme EAC prend en compte le trafic en relève et lui attribue une priorité supérieure par rapport au nouveau trafic pour minimiser les interruptions de communications en cours. Dans le troisième volet, nous nous intéressons à minimiser le surcoût et le délai de re-routage des utilisateurs mobiles et/ou des applications multimédia en réaffectant les canaux dans les WMNs à Multiples-Radios (MR-WMNs). En premier lieu, nous proposons un modèle d'optimisation qui maximise le débit, améliore l'équité entre utilisateurs et minimise le surcoût dû à la relève des appels. Ce modèle a été résolu par le logiciel CPLEX pour un nombre limité de noeuds. En second lieu, nous élaborons des heuristiques/méta-heuristiques centralisées pour permettre de résoudre ce modèle pour des réseaux de taille réelle. Finalement, nous proposons un algorithme pour réaffecter en temps-réel et de façon prudente les canaux aux interfaces. Cet algorithme a pour objectif de minimiser le surcoût et le délai du re-routage spécialement du trafic dynamique généré par les appels en relève. Ensuite, ce mécanisme est amélioré en prenant en compte l‟équilibrage de la charge entre cliques.

Comparison of methods for controlling maximun exposure rates in computerized adaptative testing

Resumen tomado de la publicaci??n

SOCIAL-CONTROL OF GROWTH IN FISH

This review concerns the phenomenon of heterogeneous growth (Het-G) in fish. Het-G is characterized by different growth rates between conspecifics. Although genetic determination on Het-G is recognized, grouping increases the difference in size between conspecifics. This review focuses on population factors and the mechanisms underlying the socially mediated Het-G are summarized and discussed. The aim of this paper is to arrive at a general statement explaining why grouping decreases mean growth and why it suppresses growth only in some individuals. The mechanisms described are: a) food competition, b) chemical factors released by conspecifics, and c) social stress. Social stress is analyzed in terms of the effect on appetite, digestive processes and metabolism. It is proposed that the predominant mechanism promoting socially mediated growth suppression is related to the social habit of the species. The biological significance of growth heterogeneity in fish is also discussed. Growth variability is suggested as an adaptative strategy to optimize survival of the population in a restricted space.

Hypothalamic Inflammation And The Central Nervous System Control Of Energy Homeostasis.

The control of energy homeostasis relies on robust neuronal circuits that regulate food intake and energy expenditure. Although the physiology of these circuits is well understood, the molecular and cellular response of this program to chronic diseases is still largely unclear. Hypothalamic inflammation has emerged as a major driver of energy homeostasis dysfunction in both obesity and anorexia. Importantly, this inflammation disrupts the action of metabolic signals promoting anabolism or supporting catabolism. In this review, we address the evidence that favors hypothalamic inflammation as a factor that resets energy homeostasis in pathological states.

Chitosan/tripolyphosphate Nanoparticles Loaded With Paraquat Herbicide: An Environmentally Safer Alternative For Weed Control.

Paraquat is a fast acting nonselective contact herbicide that is extensively used worldwide. However, the aqueous solubility and soil sorption of this compound can cause problems of toxicity in nontarget organisms. This work investigates the preparation and characterization of nanoparticles composed of chitosan and sodium tripolyphosphate (TPP) to produce an efficient herbicidal formulation that was less toxic and could be used for safer control of weeds in agriculture. The toxicities of the formulations were evaluated using cell culture viability assays and the Allium cepa chromosome aberration test. The herbicidal activity was investigated in cultivations of maize (Zea mays) and mustard (Brassica sp.), and soil sorption of the nanoencapsulated herbicide was measured. The efficiency association of paraquat with the nanoparticles was 62.6 ± 0.7%. Encapsulation of the herbicide resulted in changes in its diffusion and release as well as its sorption by soil. Cytotoxicity and genotoxicity assays showed that the nanoencapsulated herbicide was less toxic than the pure compound, indicating its potential to control weeds while at the same time reducing environmental impacts. Measurements of herbicidal activity showed that the effectiveness of paraquat was preserved after encapsulation. It was concluded that the encapsulation of paraquat in nanoparticles can provide a useful means of reducing adverse impacts on human health and the environment, and that the formulation therefore has potential for use in agriculture.

Influence Of Gastric Emptying On The Control Of Postprandial Glycemia: Physiology And Therapeutic Implications.

The maintenance of glucose homeostasis is complex and involves, besides the secretion and action of insulin and glucagon, a hormonal and neural mechanism, regulating the rate of gastric emptying. This mechanism depends on extrinsic and intrinsic factors. Glucagon-like peptide-1 secretion regulates the speed of gastric emptying, contributing to the control of postprandial glycemia. The pharmacodynamic characteristics of various agents of this class can explain the effects more relevant in fasting or postprandial glucose, and can thus guide the individualized treatment, according to the clinical and pathophysiological features of each patient.

Self-reported Diabetes In Older People: Comparison Of Prevalences And Control Measures.

The objective of this study was to analyze the prevalence of diabetes in older people and the adopted control measures. Data regarding older diabetic individuals who participated in the Health Surveys conducted in the Municipality of Sao Paulo, SP, ISA-Capital, in 2003 and 2008, which were cross-sectional studies, were analyzed. Prevalences and confidence intervals were compared between 2003 and 2008, according to sociodemographic variables. The combination of the databases was performed when the confidence intervals overlapped. The Chi-square (level of significance of 5%) and the Pearson's Chi-square (Rao-Scott) tests were performed. The variables without overlap between the confidence intervals were not tested. The age of the older adults was 60-69 years. The majority were women, Caucasian, with an income of between > 0.5 and 2.5 times the minimum salary and low levels of schooling. The prevalence of diabetes was 17.6% (95%CI 14.9;20.6) in 2003 and 20.1% (95%CI 17.3;23.1) in 2008, which indicates a growth over this period (p at the limit of significance). The most prevalent measure adopted by the older adults to control diabetes was hypoglycemic agents, followed by diet. Physical activity was not frequent, despite the significant differences observed between 2003 and 2008 results. The use of public health services to control diabetes was significantly higher in older individuals with lower income and lower levels of education. Diabetes is a complex and challenging disease for patients and the health systems. Measures that encourage health promotion practices are necessary because they presented a smaller proportion than the use of hypoglycemic agents. Public health policies should be implemented, and aimed mainly at older individuals with low income and schooling levels. These changes are essential to improve the health condition of older diabetic patients.

Incidence Of Basilar Invagination In Patients With Tonsillar Herniation? A Case Control Craniometrical Study.

A retrospective case-control study based on craniometrical evaluation was performed to evaluate the incidence of basilar invagination (BI). Patients with symptomatic tonsillar herniation treated surgically had craniometrical parameters evaluated based on CT scan reconstructions before surgery. BI was diagnosed when the tip of the odontoid trespassed the Chamberlain's line in three different thresholds found in the literature: 2, 5 or 6.6 mm. In the surgical group (SU), the mean distance of the tip of the odontoid process above the Chamberlain's line was 12 mm versus 1.2 mm in the control (CO) group (p<0.0001). The number of patients with BI according to the threshold used (2, 5 or 6.6 mm) in the SU group was respectively 19 (95%), 16 (80%) and 15 (75%) and in the CO group it was 15 (37%), 4 (10%) and 2 (5%).

Going Beyond Seizure Control: Can Pharmacotherapy Help To Restore Cognitive Network Function?

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