Tuning of PID controller based on a multiobjective genetic algorithm applied to a robotic manipulator

Most controllers optimization and design problems are multiobjective in nature, since they normally have several (possibly conflicting) objectives that must be satisfied at the same time. Instead of aiming at finding a single solution, the multiobjective optimization methods try to produce a set of good trade-off solutions from which the decision maker may select one. Several methods have been devised for solving multiobjective optimization problems in control systems field. Traditionally, classical optimization algorithms based on nonlinear programming or optimal control theories are applied to obtain the solution of such problems. The presence of multiple objectives in a problem usually gives rise to a set of optimal solutions, largely known as Pareto-optimal solutions. Recently, Multiobjective Evolutionary Algorithms (MOEAs) have been applied to control systems problems. Compared with mathematical programming, MOEAs are very suitable to solve multiobjective optimization problems, because they deal simultaneously with a set of solutions and find a number of Pareto optimal solutions in a single run of algorithm. Starting from a set of initial solutions, MOEAs use iteratively improving optimization techniques to find the optimal solutions. In every iterative progress, MOEAs favor population-based Pareto dominance as a measure of fitness. In the MOEAs context, the Non-dominated Sorting Genetic Algorithm (NSGA-II) has been successfully applied to solving many multiobjective problems. This paper presents the design and the tuning of two PID (Proportional–Integral–Derivative) controllers through the NSGA-II approach. Simulation numerical results of multivariable PID control and convergence of the NSGA-II is presented and discussed with application in a robotic manipulator of two-degree-of-freedom. The proposed optimization method based on NSGA-II offers an effective way to implement simple but robust solutions providing a good reference tracking performance in closed loop.     

Indoor air quality in Portuguese schools: levels and sources of pollutants

Indoor air quality (IAQ) parameters in 73 primary classrooms in Porto were examined for the purpose of assessing levels of volatile organic compounds (VOCs), aldehydes, particulate matter, ventilation rates and bioaerosols within and between schools, and potential sources. Levels of VOCs, aldehydes, PM_2.5, PM₁₀, bacteria and fungi, carbon dioxide (CO₂), carbon monoxide, temperature and relative humidity were measured indoors and outdoors and a walkthrough survey was performed concurrently. Ventilation rates were derived from CO₂ and occupancy data. Concentrations of CO₂ exceeding 1000 ppm were often encountered, indicating poor ventilation. Most VOCs had low concentrations (median of individual species <5 μg/m³) and were below the respective WHO guidelines. Concentrations of particulate matter and culturable bacteria were frequently higher than guidelines/reference values. The variability of VOCs, aldehydes, bioaerosol concentrations, and CO₂ levels between schools exceeded the variability within schools. These findings indicate that IAQ problems may persist in classrooms where pollutant sources exist and classrooms are poorly ventilated; source control strategies (related to building location, occupant behavior, maintenance/cleaning activities) are deemed to be the most reliable for the prevention of adverse health consequences in children in schools.     

Salmonella in eggs: From shopping to consumption—A review providing an evidence-based analysis of risk factors

Nontyphoidal salmonellae are among the most prevalent foodborne pathogens causing gastrointestinal infections worldwide. A high number of cases and outbreaks of salmonellosis are associated with the consumption of eggs and egg products, and several of these occur at the household level. The aim of the current study is to critically evaluate the current status of knowledge on Salmonella in eggs from a consumer's perspective, analyzing the hazard occurrence and the good practices that should be applied to reduce salmonellosis risk. Following a HACCP (Hazard Analysis and Critical Control Point) based approach, some steps along the food journey were identified as Critical Consumer Handling (CCH)—steps in which consumers, through their behavior or choice, can significantly reduce the level of Salmonella in eggs and egg products. From shopping/collecting to consumption, each of these steps is discussed in this review to provide an evidence-based overview of risk factors of human salmonellosis related to egg consumption. The main message to consumers is to choose Salmonella-free eggs (those that some official entity or producer guarantees that does not contain Salmonella), when available, especially for dishes that are not fully heat treated. Second, as guaranteed Salmonella-free eggs are only available in a few countries, refrigerated storage from the point of collection and proper cooking will significantly reduce the risk of salmonellosis. This will require a revision of the actual recommendations/regulations, as not all ensure that eggs are maintained at temperatures that prevent growth of Salmonella from collection until the time of purchasing.     

Effect of binder on performance of intumescent coatings

This study investigates the role of the polymeric binder on the properties and performance of an intumescent coating. Waterborne resins of different types (vinylic, acrylic, and styrene-acrylic) were incorporated in an intumescent paint formulation, and characterized extensively in terms of thermal degradation behavior, intumescence thickness, and thermal insulation. Thermal microscopy images of charred foam development provided further information on the particular performance of each type of coating upon heating. The best foam expansion and heat protection results were obtained with the vinyl binders. Rheological measurements showed a complex evolution of the viscoelastic characteristics of the materials with temperature. As an example, the vinyl binders unexpectedly hardened significantly after thermal degradation. The values of storage moduli obtained at the onset of foam blowing (melamine decomposition) were used to explain different intumescence expansion behaviors.     

Enzymatic synthesis of sugar esters and their potential as surface-active stabilizers of coconut milk emulsions

Sugar esters are compounds with surfactant properties (biosurfactants), i.e., capable of reducing the surface tension and promote the emulsification of immiscible liquids. On the other hand, as with all emulsions, coconut milk is not physically stable and is prone to phase separation. Therefore, the aim of this work was to evaluate the synthesis of fructose, sucrose and lactose esters from the corresponding sugars using Candida antarctica type B lipase immobilized in two different supports, namely acrylic resin and chitosan, and evaluate its application in the stabilization of coconut milk emulsions. The enzyme immobilized on chitosan showed the highest yield of lactose ester production (84.1%). Additionally, the production of fructose ester was found to be higher for the enzyme immobilized on the acrylic resin support (74.3%) as compared with the one immobilized on chitosan (70.1%). The same trend was observed for the sucrose ester, although with lower percentage yields. Sugar esters were then added to samples of fresh coconut milk and characterized according to their surface tension, emulsification index and particle size distribution. Although the microscopic analysis showed similar results for all sugar esters, results indicated lactose ester as the best biosurfactant, with a surface tension of 38.0 N/m and an emulsification index of 54.1%, when used in a ratio of 1:10 (biosurfactant:coconut milk, v/v) for 48 h experiments.     

The role of turbulent fluctuations on radiative emission in hydrogen and hydrogen-enriched methane flames

A theoretical analysis is reported in the present work to quantify the increase of radiative emission due to turbulence for hydrogen and hydrogen-enriched methane diffusion flames burning in air. The instantaneous thermochemical state of the reactive mixture is described by a flamelet model along with a detailed chemical mechanism. The shape of the probability density function (pdf) of mixture fraction is assumed. The results show that turbulent fluctuations generally contribute to reduce the Planck mean absorption coefficient of the medium, in contrast with the blackbody emissive power, which is significantly increased by turbulence. If the turbulence level is relatively small, the influence of turbulence on the absorption coefficient is marginal. Otherwise, fluctuations of the absorption coefficient of the medium should be taken into account. The scalar dissipation rate and the fraction of radiative heat loss have a much lower importance than the turbulence intensity on the mean radiative emission.     

Influence of Copper Layer Content in the Elastic and Damping Behavior of Glass-Fiber/Epoxy-Resin Composites

The impact in the elastic behavior and internal friction, caused by the introduction of Copper layers in Glass-Fiber/Epoxy Resin composites and temperature effects, were studied and evaluated recurring to Dynamic Mechanical Analysis. It is shown that the introduction of Copper layers increases the storage modulus of the composites and delays their glass transition temperature, however, it allows a faster transformation. Additionally, it is concluded that the introduction of Copper layers elevates the internal friction during the glass transition phase by the inversion of the deformation mechanism due to thermal expansion and increase in the Poisson’s ratio of the epoxy resin to a value near 0.5 where its deformation is approximately isochoric. This increase in damping capacity is relevant in application with cyclic fatigue and mechanical vibration.     

Spray drying conditions for orange juice incorporated with lactic acid bacteria

This work aimed to develop an orange juice powder by spray drying with lactic acid bacteria (Lactobacillus plantarum 299v and Pediococcus acidilactici HA‐6111‐2), testing their survival both during drying and storage (room temperature and 4 °C). Initially, the best conditions for spray drying were chosen to allow the best survival of each LAB: (i) inlet air temperature of 120 °C and (ii) 0.5:2 ratio of the orange juice soluble solids and drying agent added (prebiotics: 10 DE maltodextrin or gum Arabic). Survival of LAB was not affected by drying process, and it was higher when cultures were stored at 4 °C. A slightly higher protection was conferred by 10 DE maltodextrin, in the case of L. plantarum and at 4 °C. Pediococcus acidilactici was more resistant during storage at 4 °C, with logarithmic reductions lower than 1 log‐unit. It was demonstrated that it is possible to produce a functional nondairy product, orange juice powder supplemented with prebiotic compounds, containing viable LAB for at least 7 months, when stored at 4 °C.