Experimental testing of a discrete‐time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effects

This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete‐time model for the vehicle. The proposed solution is based on discrete‐time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete‐time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law. © 2002 Wiley Periodicals, Inc.     

Mobile JikesRVM: A framework to support transparent Java thread migration

Today’s complex applications must face the distribution of data and code among different network nodes. Computation in distributed contexts is demanding increasingly powerful languages and execution environments, able to provide programmers with appropriate abstractions and tools. Java is a wide-spread language that allows developers to build complex software, even distributed, but it cannot handle the migration of computations (i.e. threads), due to intrinsic limitations of many traditional JVMs. After analyzing the approaches in the literature, this paper presents our thread migration framework (called Mobile JikesRVM), implemented on top of the IBM Jikes Research Virtual Machine (RVM): exploiting some of the innovative techniques in the JikesRVM, we implemented an extension of its scheduler that allows applications to easily capture the state of a running thread and makes it possible to restore it elsewhere (i.e. on a different hardware architecture or operating system), but still with a version of the framework installed). Our thread serialization mechanism provides support for both proactive and reactive migration, available also for multi-threaded Java applications, and tools to deal with the problems of resource relocation management. With respect to previous approaches, we implemented Mobile JikesRVM without recompiling its JVM (Java Virtual Machine) source code, but simply extending JikesRVM functionalities with a full Java package to be imported when thread migration is needed.     

Strategies and protocols for highly parallel Linda servers

The tuple space abstraction is a powerful and general coordination model for parallel and distributed programming. However, this model is based on the abstraction of a global space, difficult to implement in distributed memory parallel systems with high-performance and scalability. The paper discusses the possible distribution strategies to implement a tuple space server and proposes a new replication policy suitable for massively parallel systems. The proposed strategy achieves scalability by organising the system in a hierarchical way and by integrating coherence protocols of limited overhead. Moreover, the chosen organisation encourages the presence of multiple tuple spaces each with a constrained scope. The paper describes and analyses a transputer-based implementation: the hierarchical organisation of the tuple space makes the access time proportional to the locality of the references and bounded by the logarithm of the system size. © 1998 John Wiley & Sons, Ltd.     

Behavior of plasma levels of endothelin 1 and noradrenaline in patients with stable angina during the cold pressor test

The aim of this study was to evaluate the behaviour of plasma endothelin-1 (ET-1) and norepinephrine (NE) levels in patients with stable angina during a sympathetic stimulation test as the cold pressor test. We enrolled in the study 29 subjects: 14 patients with stable angina (all men, mean age 58.3 +/- 7.3 years) and 15 healthy subjects (all men, mean age 54 +/- 5 years). All patients with stable angina had a stenosis of the coronary arteries (at least 70% of the stenosis in one of the coronary arteries) confirmed by angiography. Before (-15 min; 0 min) during (+2 min) and after the cold pressor test (+5 min, +10 min, +20 min, +30 min) were measured the blood pressure and the heart rate. At the same time were collected venous samples for the ET-1 and NE determination. ET-1 levels increased only in the patients with stable angina (ET-1: O' = 9.8 +/- 3.7 pg/ml; +2' = 11.1 +/- 4.5 pg/ml; +10' = 14.8 +/- 7.1 pg/ml; +20' = 11.6 +/- 5.1 pg/ml; p < 0.05 vs 0', +2'; +20'). The NE levels increased in both groups (NE stable angina: 0' = 105 +/- 31 pg/ml; +2' = 206 +/- 127 pg/ml; +5' = 223 +/- 135 pg/ml; p < .05 vs +2', +5'); (NE healthy subjects 0' = 85 +/- 10 pg/ml; +2' 165 +/- 49 pg/ml; p < 0.05 vs + 2'). In conclusion, our study showed that cold pressor test is a stimulus for the sympathetic system in both groups. The increased levels of ET-1 detected only in the patients with stable angina suggest that this peptide can take part to the pathogenesis of the coronary artery disease.     

A chronobiological approach to circulating levels of renin, angiotensin-converting enzyme, aldosterone, ACTH, and cortisol in Addison's disease

This study deals with a chronobiological approach to the circadian rhythm of the renin-angiotensin-aldosterone system (RAAS) and the ACTH-cortisol axis (ACA) in patients with Addison's disease (PAD). The aim is to explore the mechanism(s) for which the circadian rhythmicity of the RAAS and ACA takes place. The study has shown that both the RAAS and ACA are devoid of a circadian rhythm in PAD. The lack of rhythmicity for renin and ACTH provides indirect evidence that their rhythmic secretion is in some way related to the circadian oscillation of aldosterone and cortisol. This implies a new concept: a positive feedback may be included among the mechanisms which chronoregulate the RAAS and ACA.     

On the computation of nearly singular integrals in 3D BEM collocation

In this paper, we propose an efficient strategy to compute nearly singular integrals over planar triangles in R ³ arising in boundary element method collocation. The strategy is based on a proper use of various non‐linear transformations, which smooth or move away or quite eliminate all the singularities close to the domain of integration. We will deal with near singularities of the form 1/r, 1/r² and 1/r³, r=∥ x ? y ∥ being the distance between a fixed near observation point x and a generic point y of a triangular element. Extensive numerical tests and comparisons with some already existing methods show that the approach proposed here is highly efficient and competitive. Copyright © 2007 John Wiley & Sons, Ltd.     

Ivermectin residues in milk of lactating donkey (Equus asinus): current regulation and challenges for the future

Ivermectin (IVM) is a macrocyclic disaccharide anthelmintic agent with broad-spectrum antiparasitic action. It is used for controlling internal and external parasites in food-producing animals (bovine, swine and equine species), including donkey. This drug is included in Council Regulation (EEC) 2377/90, annex I, with Maximum Residue Limit (MRL) ranging from 15 to 100???g?kg^?1 depending on the species. The pharmacokinetic characteristics of IVM mainly depend on the animal species, formulation and route of administration. Due to its high lipophilicity it accumulates in milk of food producing animals. Detailed IVM pharmacokinetic studies were carried out for horse, pig, cattle, sheep, and goat, but there is lack of information for asinine species. Consequently, the absence of ??label milk withdrawal time?? and MRLs in donkey??s milk indicates that IVM should not be used in lactating animals. On the contrary, information about IVM residues in milk would be of paramount importance in view of the fact that donkey??s milk is a suggested substitute for infants suffering from hypersensitivity to cow??s, sheep??s and goat??s milk protein or from multiple hypersensitivity. European legislation does not explicitly state that an MRL should be determined for every target species; however it??s interpretation led to MRLs being adopted for each species and each foodstuff. Although IVM is approved for use in all lactating animal species the possibility of an illegal use should be considered. In this paper, the problems arising from IVM administration in lactating donkey are analysed. A particular attention is paid for the existing legislation and some proposals are suggested for regulatory framework formulation.     

Detection of QTL for milk protein percentage in Italian Friesian cattle by AFLP markers and selective genotyping

We targeted quantitative trait loci (QTL) for milk protein percentage (P%) in two Italian Holstein granddaughter design families using selective genotyping in combination with high throughput amplified fragment length polymorphism (AFLP) markers. A total of 64 extreme high and low sires in respect to estimated breeding value (EBV) for P% (EBVP%) were genotyped with 25 AFLP primer combinations that revealed 305 and 291 polymorphisms in the two families. Association between markers and EBVP% was investigated by a linear model only on bands having paternal origin (105 and 96 AFLP bands in family D and S, respectively). Although no marker was significantly associated with the target trait after correction for multiple comparisons, 17 AFLP markers, significant without correction for multiple tests, were considered suggestive of the presence of a QTL. Eleven of these were successfully located on six Bos taurus (BTA) chromosomes by radiation hybrid or in-silico mapping. Ten of these mapped in the immediate neighbourhood (less than 10 cM) of already described QTL for P%. Suggestive association was verified in four regions by microsatellites analysis: one on BTA 10; one on BTA 28; and two on BTA 18. Microsatellites identified significant effects by single marker and interval mapping analyses on BTA 10 and BTA 28, while they were only suggestive of the presence of QTL on BTA 18. In summary, our results firstly indicate that AFLP markers may be used to seek QTL exploiting a selective genotyping approach in GDD, a wide used experimental design in cattle; secondly, propose two approaches for AFLP mapping, namely in-silico mapping exploiting most updated release from the bovine whole genome sequencing project, and physical mapping exploiting a panel of Bovine/Hamster Radiation Hybrids; and thirdly, provide new information on QTLs for an economic important trait in a never investigated Holstein cattle population. AFLP in combination with selective genotyping can be a useful strategy for QTL searching in minor livestock species, sometimes having large economic impact in marginal areas, where more informative markers are still poorly developed.