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).

Curvature versus V-bends in a group B titanium T-loop spring

Objective: To compare the system of forces acting on curvature and preactivated V-bends in titanium T-loop springs (TTLSs) made of 0.017- X 0.025-inch TMA (titanium molibdenium alloy) wire.Materials and Methods: Pictures of TTLSs preactivated by curvature and V-bends were inserted in the LOOP software program to design both TTLSs. Symmetry was assured using the program. Both TTLSs used the same amount (length) of wire and had the same angulation between their anterior and posterior extremities when passive. The loops were activated 7 mm, and forces and moments were registered after each 0.5 mm of deactivation. The brackets were at the same height, separated by 23 mm and angulated 0 degrees.Results: The preactivated curvature TTLS delivered horizontal forces ranging from 34 gF to 456 gF, while the TTLS preactivated by V-bends delivered forces ranging from 54 gF to 517 gF. The forces decreased more (30 gF vs 33 gF) with every 0.5 mm of activation on the preactivated V-bend TTLS than on the preactivated curvature TTLS. Vertical forces were low and clinically insignificant for both TTLSs. The moment to force (MF) ratios were systematically higher on the preactivated curvature than on the preactivated V-bend TTLS (from 5.8 mm to 38.8 mm vs 4.7 mm to 28.3 mm).Conclusions: Although both loops show symmetrical moments in their anterior and posterior extremities and can be used for group B anchorage, the curvature preactivated TTLS delivers lower horizontal forces and higher MF ratios than the acute preactivated V-bend TTLS.

The Human in the Loop: User Participation in Self-Adaptive Software

Self-adaptive software provides a profound solution for adapting applications to changing contexts in dynamic and heterogeneous environments. Having emerged from Autonomic Computing, it incorporates fully autonomous decision making based on predefined structural and behavioural models. The most common approach for architectural runtime adaptation is the MAPE-K adaptation loop implementing an external adaptation manager without manual user control. However, it has turned out that adaptation behaviour lacks acceptance if it does not correspond to a user’s expectations – particularly for Ubiquitous Computing scenarios with user interaction. Adaptations can be irritating and distracting if they are not appropriate for a certain situation. In general, uncertainty during development and at run-time causes problems with users being outside the adaptation loop. In a literature study, we analyse publications about self-adaptive software research. The results show a discrepancy between the motivated application domains, the maturity of examples, and the quality of evaluations on the one hand and the provided solutions on the other hand. Only few publications analysed the impact of their work on the user, but many employ user-oriented examples for motivation and demonstration. To incorporate the user within the adaptation loop and to deal with uncertainty, our proposed solutions enable user participation for interactive selfadaptive software while at the same time maintaining the benefits of intelligent autonomous behaviour. We define three dimensions of user participation, namely temporal, behavioural, and structural user participation. This dissertation contributes solutions for user participation in the temporal and behavioural dimension. The temporal dimension addresses the moment of adaptation which is classically determined by the self-adaptive system. We provide mechanisms allowing users to influence or to define the moment of adaptation. With our solution, users can have full control over the moment of adaptation or the self-adaptive software considers the user’s situation more appropriately. The behavioural dimension addresses the actual adaptation logic and the resulting run-time behaviour. Application behaviour is established during development and does not necessarily match the run-time expectations. Our contributions are three distinct solutions which allow users to make changes to the application’s runtime behaviour: dynamic utility functions, fuzzy-based reasoning, and learning-based reasoning. The foundation of our work is a notification and feedback solution that improves intelligibility and controllability of self-adaptive applications by implementing a bi-directional communication between self-adaptive software and the user. The different mechanisms from the temporal and behavioural participation dimension require the notification and feedback solution to inform users on adaptation actions and to provide a mechanism to influence adaptations. Case studies show the feasibility of the developed solutions. Moreover, an extensive user study with 62 participants was conducted to evaluate the impact of notifications before and after adaptations. Although the study revealed that there is no preference for a particular notification design, participants clearly appreciated intelligibility and controllability over autonomous adaptations.

Real-Time software control of neural stimulation in a closed loop Animat system

A recent area for investigation into the development of adaptable robot control is the use of living neuronal networks to control a mobile robot. The so-called Animat paradigm comprises a neuronal network (the ‘brain’) connected to an external embodiment (in this case a mobile robot), facilitating potentially robust, adaptable robot control and increased understanding of neural processes. Sensory input from the robot is provided to the neuronal network via stimulation on a number of electrodes embedded in a specialist Petri dish (Multi Electrode Array (MEA)); accurate control of this stimulation is vital. We present software tools allowing precise, near real-time control of electrical stimulation on MEAs, with fast switching between electrodes and the application of custom stimulus waveforms. These Linux-based tools are compatible with the widely used MEABench data acquisition system. Benefits include rapid stimulus modulation in response to neuronal activity (closed loop) and batch processing of stimulation protocols.

Sviluppo di modelli motore e veicolo per l'analisi di strategie di controllo in applicazioni Software e Hardware In the Loop

This work describes the development of a simulation tool which allows the simulation of the Internal Combustion Engine (ICE), the transmission and the vehicle dynamics. It is a control oriented simulation tool, designed in order to perform both off-line (Software In the Loop) and on-line (Hardware In the Loop) simulation. In the first case the simulation tool can be used in order to optimize Engine Control Unit strategies (as far as regard, for example, the fuel consumption or the performance of the engine), while in the second case it can be used in order to test the control system. In recent years the use of HIL simulations has proved to be very useful in developing and testing of control systems. Hardware In the Loop simulation is a technology where the actual vehicles, engines or other components are replaced by a real time simulation, based on a mathematical model and running in a real time processor. The processor reads ECU (Engine Control Unit) output signals which would normally feed the actuators and, by using mathematical models, provides the signals which would be produced by the actual sensors. The simulation tool, fully designed within Simulink, includes the possibility to simulate the only engine, the transmission and vehicle dynamics and the engine along with the vehicle and transmission dynamics, allowing in this case to evaluate the performance and the operating conditions of the Internal Combustion Engine, once it is installed on a given vehicle. Furthermore the simulation tool includes different level of complexity, since it is possible to use, for example, either a zero-dimensional or a one-dimensional model of the intake system (in this case only for off-line application, because of the higher computational effort). Given these preliminary remarks, an important goal of this work is the development of a simulation environment that can be easily adapted to different engine types (single- or multi-cylinder, four-stroke or two-stroke, diesel or gasoline) and transmission architecture without reprogramming. Also, the same simulation tool can be rapidly configured both for off-line and real-time application. The Matlab-Simulink environment has been adopted to achieve such objectives, since its graphical programming interface allows building flexible and reconfigurable models, and real-time simulation is possible with standard, off-the-shelf software and hardware platforms (such as dSPACE systems).

Simulazioni Software-In-the-Loop per la verifica funzionale di un sistema di tracking satellitare (ALMATracker)

L'ALMATracker è un sistema di puntamento per la stazione di terra di ALMASat-1. La sua configurazione non segue la classica Azimuth-Elevazione, bensì utilizza gli assi α-β per evitare punti di singolarità nelle posizioni vicino allo zenit. Ancora in fase di progettazione, utilizzando in congiunta SolidWorks e LabVIEW si è creato un Software-in-the-loop per la sua verifica funzionale, grazie all'utilizzo del relativamente nuovo pacchetto NI Softmotion. Data la scarsa esperienza e documentazione che si hanno su questo recente tool, si è prima creato un Case Study che simulasse un sistema di coordinate cilindriche in modo da acquisire competenza. I risultati conseguiti sono poi stati sfruttati per la creazione di un SIL per la simulazione del movimento dell'ALMATracker. L'utilizzo di questa metodologia di progettazione non solo ha confermato la validità del design proposto, ma anche evidenziato i problemi e le potenzialità che caratterizzano questo pacchetto software dandone un analisi approfondita.

Closed loop electrical muscle stimulation in spinal cord injured rehabilitation

The effect of motor training using closed loop controlled Functional Electrical Stimulation (FES) on motor performance was studied in 5 spinal cord injured (SCI) volunteers. The subjects trained 2 to 3 times a week during 2 months on a newly developed rehabilitation robot (MotionMaker?). The FES induced muscle force could be adequately adjusted throughout the programmed exercises by the way of a closed loop control of the stimulation currents. The software of the MotionMaker? allowed spasms to be detected accurately and managed in a way to prevent any harm to the SCI persons. Subjects with incomplete SCI reported an increased proprioceptive awareness for motion and were able to achieve a better voluntary activation of their leg muscles during controlled FES. At the end of the training, the voluntary force of the 4 incomplete SCI patients was found increased by 388% on their most affected leg and by 193% on the other leg. Active mobilisation with controlled FES seems to be effective in improving motor function in SCI persons by increasing the sensory input to neuronal circuits involved in motor control as well as by increasing muscle strength.

Rapid and sensitive detection of Bordetella bronchiseptica by loop-mediated isothermal amplification (LAMP)

Bordetella bronchiseptica causes acute and chronic respiratory infections in diverse animal species and occasionally in humans. In this study, we described the establishment of a simple, sensitive and cost-efficient loop-mediated isothermal amplification (LAMP) assay for the detection of B. bronchiseptica. A set of primers towards a 235 bp region within the flagellum gene of B. bronchiseptica was designed with online software.. The specificity of the LAMP assay was examined by using 6 porcine pathogens and 100 nasal swabs collected from healthy pigs and suspect infected pigs. The results indicated that positive reactions were confirmed for all B. bronchiseptica and no cross-reactivity was observed from other non-B. bronchiseptica. In sensitivity evaluations, the technique successfully detected a serial dilutions of extracted B. bronchiseptica DNA with a detection limit of 9 copies, which was 10 times more sensitive than that of PCR. Compared with conventional PCR, the higher sensitivity of LAMP method and no need for the complex instrumentation make this LAMP assay a promising alternative for the diagnosis of B. bronchiseptica in rural areas and developing countries where there lacks of complex laboratory services.

Desenvolvimento e testes de software de um receptor de GPS para uso espacial

Spacecraft move with high speeds and suffer abrupt changes in acceleration. So, an onboard GPS receiver could calculate navigation solutions if the Doppler effect is taken into consideration during the satellite signals acquisition and tracking. Thus, for the receiver subject to such dynamic cope these shifts in the frequency signal, resulting from this effect, it is imperative to adjust its acquisition bandwidth and increase its tracking loop to a higher order. This paper presents the changes in the GPS Orion s software, an open architecture receiver produced by GEC Plessey Semiconductors, nowadays Zarlink, in order to make it able to generate navigation fix for vehicle under high dynamics, especially Low Earth Orbit satellites. GPS Architect development system, sold by the same company, supported the modifications. Furthermore, it presents GPS Monitor Aerospace s characteristics, a computational tool developed for monitoring navigation fix calculated by the GPS receiver, through graphics. Although it was not possible to simulate the software modifications implemented in the receiver in high dynamics, it was observed that the receiver worked in stationary tests, verified also in the new interface. This work also presents the results of GPS Receiver for Aerospace Applications experiment, achieved with the receiver s participation in a suborbital mission, Operation Maracati 2, in December 2010, using a digital second order carrier tracking loop. Despite an incident moments before the launch have hindered the effective navigation of the receiver, it was observed that the experiment worked properly, acquiring new satellites and tracking them during the VSB-30 rocket flight.

Tecniche di ottimizzazione del software per sistemi su singolo chip per applicazioni di Nomadic Computing

I moderni sistemi embedded sono equipaggiati con risorse hardware che consentono l’esecuzione di applicazioni molto complesse come il decoding audio e video. La progettazione di simili sistemi deve soddisfare due esigenze opposte. Da un lato è necessario fornire un elevato potenziale computazionale, dall’altro bisogna rispettare dei vincoli stringenti riguardo il consumo di energia. Uno dei trend più diffusi per rispondere a queste esigenze opposte è quello di integrare su uno stesso chip un numero elevato di processori caratterizzati da un design semplificato e da bassi consumi. Tuttavia, per sfruttare effettivamente il potenziale computazionale offerto da una batteria di processoriè necessario rivisitare pesantemente le metodologie di sviluppo delle applicazioni. Con l’avvento dei sistemi multi-processore su singolo chip (MPSoC) il parallel programming si è diffuso largamente anche in ambito embedded. Tuttavia, i progressi nel campo della programmazione parallela non hanno mantenuto il passo con la capacità di integrare hardware parallelo su un singolo chip. Oltre all’introduzione di multipli processori, la necessità di ridurre i consumi degli MPSoC comporta altre soluzioni architetturali che hanno l’effetto diretto di complicare lo sviluppo delle applicazioni. Il design del sottosistema di memoria, in particolare, è un problema critico. Integrare sul chip dei banchi di memoria consente dei tempi d’accesso molto brevi e dei consumi molto contenuti. Sfortunatamente, la quantità di memoria on-chip che può essere integrata in un MPSoC è molto limitata. Per questo motivo è necessario aggiungere dei banchi di memoria off-chip, che hanno una capacità molto maggiore, come maggiori sono i consumi e i tempi d’accesso. La maggior parte degli MPSoC attualmente in commercio destina una parte del budget di area all’implementazione di memorie cache e/o scratchpad. Le scratchpad (SPM) sono spesso preferite alle cache nei sistemi MPSoC embedded, per motivi di maggiore predicibilità, minore occupazione d’area e – soprattutto – minori consumi. Per contro, mentre l’uso delle cache è completamente trasparente al programmatore, le SPM devono essere esplicitamente gestite dall’applicazione. Esporre l’organizzazione della gerarchia di memoria ll’applicazione consente di sfruttarne in maniera efficiente i vantaggi (ridotti tempi d’accesso e consumi). Per contro, per ottenere questi benefici è necessario scrivere le applicazioni in maniera tale che i dati vengano partizionati e allocati sulle varie memorie in maniera opportuna. L’onere di questo compito complesso ricade ovviamente sul programmatore. Questo scenario descrive bene l’esigenza di modelli di programmazione e strumenti di supporto che semplifichino lo sviluppo di applicazioni parallele. In questa tesi viene presentato un framework per lo sviluppo di software per MPSoC embedded basato su OpenMP. OpenMP è uno standard di fatto per la programmazione di multiprocessori con memoria shared, caratterizzato da un semplice approccio alla parallelizzazione tramite annotazioni (direttive per il compilatore). La sua interfaccia di programmazione consente di esprimere in maniera naturale e molto efficiente il parallelismo a livello di loop, molto diffuso tra le applicazioni embedded di tipo signal processing e multimedia. OpenMP costituisce un ottimo punto di partenza per la definizione di un modello di programmazione per MPSoC, soprattutto per la sua semplicità d’uso. D’altra parte, per sfruttare in maniera efficiente il potenziale computazionale di un MPSoC è necessario rivisitare profondamente l’implementazione del supporto OpenMP sia nel compilatore che nell’ambiente di supporto a runtime. Tutti i costrutti per gestire il parallelismo, la suddivisione del lavoro e la sincronizzazione inter-processore comportano un costo in termini di overhead che deve essere minimizzato per non comprometterre i vantaggi della parallelizzazione. Questo può essere ottenuto soltanto tramite una accurata analisi delle caratteristiche hardware e l’individuazione dei potenziali colli di bottiglia nell’architettura. Una implementazione del task management, della sincronizzazione a barriera e della condivisione dei dati che sfrutti efficientemente le risorse hardware consente di ottenere elevate performance e scalabilità. La condivisione dei dati, nel modello OpenMP, merita particolare attenzione. In un modello a memoria condivisa le strutture dati (array, matrici) accedute dal programma sono fisicamente allocate su una unica risorsa di memoria raggiungibile da tutti i processori. Al crescere del numero di processori in un sistema, l’accesso concorrente ad una singola risorsa di memoria costituisce un evidente collo di bottiglia. Per alleviare la pressione sulle memorie e sul sistema di connessione vengono da noi studiate e proposte delle tecniche di partizionamento delle strutture dati. Queste tecniche richiedono che una singola entità di tipo array venga trattata nel programma come l’insieme di tanti sotto-array, ciascuno dei quali può essere fisicamente allocato su una risorsa di memoria differente. Dal punto di vista del programma, indirizzare un array partizionato richiede che ad ogni accesso vengano eseguite delle istruzioni per ri-calcolare l’indirizzo fisico di destinazione. Questo è chiaramente un compito lungo, complesso e soggetto ad errori. Per questo motivo, le nostre tecniche di partizionamento sono state integrate nella l’interfaccia di programmazione di OpenMP, che è stata significativamente estesa. Specificamente, delle nuove direttive e clausole consentono al programmatore di annotare i dati di tipo array che si vuole partizionare e allocare in maniera distribuita sulla gerarchia di memoria. Sono stati inoltre sviluppati degli strumenti di supporto che consentono di raccogliere informazioni di profiling sul pattern di accesso agli array. Queste informazioni vengono sfruttate dal nostro compilatore per allocare le partizioni sulle varie risorse di memoria rispettando una relazione di affinità tra il task e i dati. Più precisamente, i passi di allocazione nel nostro compilatore assegnano una determinata partizione alla memoria scratchpad locale al processore che ospita il task che effettua il numero maggiore di accessi alla stessa.

Geotermia a bassa entalpia: Validazione dei software applicativi.

Trovare una fonte alternativa ai combustibili fossili non costituisce più una scelta, ma un obbligo. Lo sfruttamento dell’energia geotermica sta diventando una realtà sempre più diffusa, in quanto una forma di energia rinnovabile, pulita, economicamente conveniente, e con una giusta politica energetica potrebbe dare il suo importante contributo all’energia ottenuta da fonte rinnovabile. Ci sono però dei fattori da non sottovalutare, l’installazione e il funzionamento di impianti geotermici per il riscaldamento o raffrescamento di edifici può produrre alterazioni sull’ambiente circostante e nella falda acquifera. Attraverso un attento studio vengono presi in considerazione tutti i fattori che potrebbero provocare un cambiamento dell’equilibrio preesistente, e vengono individuate le soluzioni che permettono la fattibilità del progetto rispettando i parametri imposti dalla legge. Nell’istallazione di sistemi geotermici a bassa entalpia, il principale elemento da tenere sotto osservazione riguarda la previsione e il controllo delle temperature, in modo tale da impedire lo sviluppo di anomalie termiche. Il sistema preso in considerazione in questa tesi è un sistema geotermico open loop: attraverso un pozzo di adduzione viene prelevata acqua direttamente dalla falda acquifera, per il riscaldamento o il raffrescamento di un edificio, e reimmessa, ad una temperatura diversa, attraverso un pozzo di reimmissione. Si valuta l’impatto del sistema nel sottosuolo e le temperature raggiunte a seguito della messa in opera dell’impianto. In particolare, è proposto un modello numerico MODFLOW di un sistema open loop in un acquifero di sabbia e ghiaia, al fine di determinare l’influenza della reimmissione dal punto di vista idrico e termico. I dati risultanti da questo modello saranno confrontati con quelli ottenuti utilizzando un potente software, COMSOL MULTIPHYSICS. Infine si effettua l’analisi e il confronto dei dati ottenuti dai due software nelle diverse configurazioni del sistema e se ne individua la più adatta alle caratteristiche del sito in esame.

Simulazione numerica di un sistema geotermico a bassa entalpia open-loop in presenza di un gradiente geotermico anomalo

Il lavoro svolto nella presente tesi di laurea magistrale consiste nella modellazione e simulazione numerica, tramite il software commericale COMSOL MULTIPHYSICS, di un reservoir geotermico a bassa entalpia sfruttato mediante un impianto di teleriscaldamento a pompa di calore accoppiato ad un sistema open-loop.

Myoelectric activity of the ileum, cecum, proximal loop of the ascending colon, and spiral colon in cows with naturally occurring cecal dilatation-dislocation

OBJECTIVE: To analyze myoelectric activity of the ileum, cecum, proximal loop of the ascending colon (PLAC), and spiral colon in cows with naturally occurring cecal dilatation-dislocation (CDD) and compare findings with those in healthy cows. ANIMALS: 8 CDD-affected and 6 healthy control cows. PROCEDURES: Immediately after diagnosis, CDD-affected cows underwent surgery; control cows underwent a similar surgical procedure. Before completion of surgery, 8 bipolar silver electrodes were implanted in the ileum (n = 2), cecum (1), PLAC (1), and spiral colon (4) of each cow. Beginning the day after surgery, intestinal myoelectric activity was recorded daily (8-hour period) for 4 days; data were analyzed by use of specialized software programs. Quantitative variables of myoelectric activity were compared between groups. RESULTS: Cows of both groups recovered without complications after surgery. In control cows, physiologic myoelectric activity was recorded in all intestinal segments on all days after surgery. Apparently normal myoelectric activity was evident in the ileum of CDD-affected cows on the first day after surgery, but myoelectric activity patterns in the cecum, PLAC, and spiral colon were variable with no organized cyclic myoelectric patterns, incomplete or normally organized migrating myoelectric complexes, and slow normalization over time. CONCLUSIONS AND CLINICAL RELEVANCE: After surgery for CDD, normal myoelectric patterns were disrupted in the large intestine of cows, especially in the spiral colon. Clinical recovery with effective transit of ingesta occurred before normalization of myoelectric activity in the large intestine. Therapeutic protocols for restoration or normalization of spiral colon motility should be developed for treatment of CDD-affected cattle.

Development of Hardware-In-the-Loop Simulation System for Hybrid Electric Vehicle Study

The development of embedded control systems for a Hybrid Electric Vehicle (HEV) is a challenging task due to the multidisciplinary nature of HEV powertrain and its complex structures. Hardware-In-the-Loop (HIL) simulation provides an open and convenient environment for the modeling, prototyping, testing and analyzing HEV control systems. This thesis focuses on the development of such a HIL system for the hybrid electric vehicle study. The hardware architecture of the HIL system, including dSPACE eDrive HIL simulator, MicroAutoBox II and MotoTron Engine Control Module (ECM), is introduced. Software used in the system includes dSPACE Real-Time Interface (RTI) blockset, Automotive Simulation Models (ASM), Matlab/Simulink/Stateflow, Real-time Workshop, ControlDesk Next Generation, ModelDesk and MotoHawk/MotoTune. A case study of the development of control systems for a single shaft parallel hybrid electric vehicle is presented to summarize the functionality of this HIL system.