A new mobile robot control approach via fusion of control signals.

This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well.     

Feedback tuning of bifurcations

The present paper studies a feedback regulation problem that arises in at least two different biological applications. The feedback regulation problem under consideration may be interpreted as an adaptive control problem for tuning bifurcation parameters, and it has not been studied in the control literature. The goal of the paper is to formulate this problem and to present some preliminary results.     

Kinetic model for water/oil absorption of mesquite gum (Prosopis juliflora) and gum arabic (Acacia senegal)

The water and oil uptake of mesquite and arabic gums in powdered form was studied at temperatures of 23, 35 and 45°C. A previously proposed equation to predict osmotic equilibrium was tested using the experimental data with both gums and a good statistical fit was obtained. Mesquite gum showed the highest water and oil absorption at all temperatures studied. Temperature dependence of the reciprocal of the S₁ and WL_∞ were determined using an Arrhenius equation. The activation energy for water and oil absorption for gum arabic was 21.98 and 39.57 kJ mol⁻¹, compared to that of mesquite gum having values of 15.79 and 46.16 kJ mol⁻¹, respectively. A second order kinetic model was obtained for water and oil absorption for both gums.     

A remark on bilinear systems and moduli spaces of instantons

Explicit equations are given for the moduli space of framed instantons as a quasi-affine variety, based on the representation theory of noncommutative power series, or equivalently, the minimal realization theory of bilinear systems.     

Microplastic and other anthropogenic microparticles in water and sediments of Lake Simcoe

Microplastics (plastic particles <5 mm in size) have been reported in ecosystems worldwide and have been shown to cause adverse negative impacts on organisms. This study provides the first report of microplastics and other anthropogenic microparticles in the surface waters and sediments of Lake Simcoe in Ontario, Canada, a popular recreational and fishing lake. Surface waters (low volume grabs and manta trawls) and sediments were sampled from eight sites to determine microparticle abundances and character (size, morphology, material identity). Concentrations ranged from 0 to 0.7 particles/L in surface water grab samples, 0.4–1.3 particles/m³ in manta trawl samples, and 8.3–1070 particles/kg in sediment samples. Spectroscopic analysis confirmed that 72% of particles were anthropogenic, with 64% unambiguously identified as microplastics. However, confirmed microplastic concentrations were approximately 6–7 times lower than unadjusted counts in sediments, demonstrating the importance of verifying and adjusting reported values. Fibers were only quantified and characterized in surface water grab samples and sediments, and were the most common morphology, accounting for 82% and 89% of anthropogenic particles, respectively. Fragments were most common in manta trawl samples (75%, excluding fibers) and consisted predominantly of polyethylene (41%) and polypropylene (22%). The influence of proximity to urban centers and prevailing winds on the distribution of microplastics was apparent in surface water manta trawls. Microplastics and other anthropogenic microparticles are present in Lake Simcoe but at lower abundances than at locations impacted by larger population centers in other large freshwater lakes such as Lakes Ontario and Erie of the Great Lakes.     

A fuzzy queue-aware routing approach for wireless mesh networks

Recent advances in Wireless Mesh Networks (WMNs) have overcome the drawbacks of traditional wired and ad-hoc networks and now they are seen as a means of allowing last mile communications with quality level assurance in Future Multimedia Systems. However, new routing schemes are needed to provide end-to-end Quality of Service (QoS) and Quality of Experience (QoE) support for delay/loss/jitter-sensitive multimedia applications. The well-known OLSR (Optimized Link State Routing) protocol with ETX (Expected Transmission Count) metric brings many benefits to the path selection process, but has a drawback with regard to queue availability management, which reduces the system performance. This problem is caused when OLSR-EXT control messages are exchanged and the queues of mesh routers along the end-to-end communication path are overloaded. As a result, multimedia-related packets will suffer from loss/delay/jitter and the overall system performance will decrease. This paper proposes the Optimized Link State Routing-Fuzzy ETX Queue (OLSR-FEQ) protocol to overcome the limitations of OLSR-ETX regarding queue availability, QoS and QoE assurance. OLSR-FEQ optimizes network and user-based parameters by coordinating queue availability, QoS and fuzzy issues in the routing decision process as a way of allocating the best paths for multimedia applications. Performance evaluations were carried out with the Network Simulator (NS-2.34) to show the benefits of the proposed solution when compared with existing routing schemes, namely OLSR-ETX, OLSR-FLC, OLSR-MD and HWMP (IEEE 802.11s standard), regarding QoS (unsuccessful packet delivery and throughput) and QoE (PSNR, SSIM, VQM and MOS) parameters.     

Evaluating the influence of multiplexing schemes and buffer implementation on perceived VoIP conversation quality

This work presents a study of RTP multiplexing schemes, which are compared with the normal use of RTP, in terms of experienced quality. Bandwidth saving, latency and packet loss for different options are studied, and some tests of Voice over IP (VoIP) traffic are carried out in order to compare the quality obtained using different implementations of the router buffer. Voice quality is calculated using ITU R-factor, which is a widely accepted quality estimator. The tests show the bandwidth savings of multiplexing, and also the importance of packet size for certain buffers, as latency and packet loss may be affected. The customer’s experience improvement is measured, showing that the use of multiplexing can be interesting in some scenarios, like an enterprise with different offices connected via the Internet. The system is also tested using different numbers of samples per packet, and the distribution of the flows into different tunnels is found to be an important factor in order to achieve an optimal perceived quality for each kind of buffer. Grouping all the flows into a single tunnel will not always be the best solution, as the increase of the number of flows does not improve bandwidth efficiency indefinitely. If the buffer penalizes big packets, it will be better to group the flows into a number of tunnels. The router processing capacity has to be taken into account too, as the limit of packets per second it can manage must not be exceeded. The obtained results show that multiplexing is a good way to improve customer’s experience of VoIP in scenarios where many RTP flows share the same path.     

Analytical ray tracing system: Introducing art, a C-library designed for seismic applications

Ray tracing technique is an important tool not only to forward but also for inverse problems in Geophysics, which most of the seismic processing steps depend on. However, implementing ray tracing codes can be very time consuming. This article presents a computer library to trace rays in 2.5D media composed by a stack of layers. The velocity profile inside each layer is such that the eikonal equation can be analytically solved. Therefore, the ray tracing within such profile is made fast and accurate. The great advantage of an analytical ray tracing library is the numerical precision of the quantities computed and the fast execution of the implemented codes. Even though ray tracing programs exist for a long time, for example the seis88 package by ?ervený, most of those programs use a numerical approach to compute the ray. Regardless of the fact that numerical methods can solve more general problems, the analytical ones could be part of a more sophisticated simulation process, where the ray tracing time is completely relevant. We demonstrate the feasibility of our codes using several examples (Miqueles et al., 2013)  [1]. The library can also be used for other applications besides seismic, e.g., optics and tomography.     

Comparative analysis of methods for determining the metabolic rate in order to provide a balance between man and the environment

The incorrect determination of metabolic rate can be linked to discrepancies between the model of the PMV (Predicted Mean Vote) and real thermal sensation collected in field studies. Aiming to improve the correlation of the PMV model and the real thermal sensation, this work established new values for the metabolic rate: one way being called “calculated” using Newton's Method and the other called "measured" using a metabolic analyzer. Welder's activities were evaluated, through the measurements of environmental and personal variables. New values of metabolic rate were determined for this activity. The values found for the calculated form and the measured one were, respectively, 178.63 and 145.46 W/m², different from the range provided by the table of ISO 8996 (2004) for this activity (75–125 W/m²). In order to verify which of the values of the metabolic rate was closer to the real thermal sensation of PMV, a linear regression was made between the PMV and the real thermal sensation in three ways: S × PMV_tabulated (R² = 0.1749), S × PMV_calculated (R ² = 0.7481) and S × PMV_measured (R² = 0.7854). It was found that the values measured by the instrument gave a higher coefficient of determination which was chosen for the correction of the table. The correction of the table provides a value of M_predicted, that is a value of metabolic rate that corrects the values provided by the tables of ISO 8996 (2004), by means of a correction coefficient. For the welder's activities in a metal-mechanics industry, tabulated values can be multiplied by the correction coefficient 1.4648 in order to minimize inaccuracies. The PMV_predicted, obtained through the M_predicted, when related to the actual thermal sensation, provides a coefficient of determination of 0.7511, thereby improving the model of the PMV.     

Cholesterol synthesis and esterification in isolated enterocytes: Regulation by cholesterol and cholestyramine feeding

The purpose of the present study was to investigate the physiological control of the main regulatory enzymes of cholesterol metabolism in isolated enterocytes obtained from chick duodenum, jejunum and ileum. Cholesterol feeding resulted in an inhibition of 3-hydroxy-3-methylglutaryl-CoA reductase and mevalonate 5-pyrophosphate decarboxylase, while cholestyramine feeding increased reductase activity in all the regions studied and decarboxylase activity only in duodenum. Cholesterol feeding markedly increased acyl-CoA:cholesterol acyltransferase, but the effects of cholestyramine were less clear. The effects on transferase activity cannot be due to differences in the availability of acyl-CoA as exogenous substrate as no significant differences were found in acyl-CoA hydrolase activity after any of the dietary treatments. The effects of cholesterol feeding were related to changes in the cholesterol content of epithelial cells, whereas in the case of cholestyramine this relationship was less apparent.