Automotive observers based on multibody models and the extended Kalman filter

This work is part of a project aimed to develop automotive real-time observers based on detailed nonlinear multibody models and the extended Kalman filter (EKF). In previous works, a four-bar mechanism was studied to get insight into the problem. Regarding the formulation of the equations of motion, it was concluded that the state-space reduction method known as matrix-R is the most suitable one for this application. Regarding the sensors, it was shown that better stability, accuracy and efficiency are obtained as the sensored magnitude is a lower derivative and when it is a generalized coordinate of the problem. In the present work, the automotive problem has been addressed, through the selection of a Volkswagen Passat as a case-study. A model of the car containing fifteen degrees of freedom has been developed. The observer algorithm that combines the equations of motion and the integrator has been reformulated so that duplication of the problem size is avoided, in order to improve efficiency. A maneuver of acceleration from rest and double lane change has been defined, and tests have been run for the “prototype,” the “model” and the “observer,” all the three computational, with the model having 100 kg more than the prototype. Results have shown that good convergence is obtained for position level sensors, but the computational cost is high, still far from real-time performance.     

A multi-objective approach for the motion planning of redundant manipulators

Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.     

SIMCAN: A flexible, scalable and expandable simulation platform for modelling and simulating distributed architectures and applications

In this paper we propose a new simulation platform called SIMCAN, for analyzing parallel and distributed systems. This platform is aimed to test parallel and distributed architectures and applications. The main characteristics of SIMCAN are flexibility, accuracy, performance, and scalability. Thence, the proposed platform has a modular design that eases the integration of different basic systems on a single architecture. Its design follows a hierarchical schema that includes simple modules, basic systems (computing, memory managing, I/O, and networking), physical components (nodes, switches, …), and aggregations of components. New modules may also be incorporated as well to include new strategies and components. Also, a graphical configuration tool has been developed to help untrained users with the task of modelling new architectures. Finally, a validation process and some evaluation tests have been performed to evaluate the SIMCAN platform.     

Strong accumulators from collision-resistant hashing

Accumulator schemes were introduced in order to represent a large set of values as one short value called the accumulator. These schemes allow one to generate membership proofs, that is, short witnesses that a certain value belongs to the set. In universal accumulator schemes, efficient proofs of non-membership can also be created. Li et?al. (Proceedings of applied cryptography and network security—ACNS ’07, LNCS, vol 4521, 2007), building on the work of Camenisch and Lysyanskaya (Advances in cryptology—proceedings of Crypto ’02, LNCS, vol 2442. Springer, Berlin, pp 61–76, 2002), proposed an efficient accumulator scheme, which relies on a trusted accumulator manager. Specifically, a manager that correctly performs accumulator updates. In this work, we introduce the notion of strong universal accumulator schemes, which are similar in functionality to universal accumulator schemes, but do not assume the accumulator manager is trusted. We also formalize the security requirements for such schemes. We then give a simple construction of a strong universal accumulator scheme, which is provably secure under the assumption that collision-resistant hash functions exist. The weaker requirement on the accumulator manager comes at a price; our scheme is less efficient than known universal accumulator schemes—the size of (non)membership witnesses is logarithmic in the size of the accumulated set in contrast to constant in the scheme of Camenisch and Lysyanskaya. Finally, we show how to use strong universal accumulators to solve a problem of practical relevance, the so-called e-Invoice Factoring Problem.     

The Neurovascular Unit Dysfunction in Alzheimer’s Disease

Alzheimer’s disease (AD) is the most common neurodegenerative disease worldwide. Histopathologically, AD presents with two hallmarks: neurofibrillary tangles (NFTs), and aggregates of amyloid β peptide (Aβ) both in the brain parenchyma as neuritic plaques, and around blood vessels as cerebral amyloid angiopathy (CAA). According to the vascular hypothesis of AD, vascular risk factors can result in dysregulation of the neurovascular unit (NVU) and hypoxia. Hypoxia may reduce Aβ clearance from the brain and increase its production, leading to both parenchymal and vascular accumulation of Aβ. An increase in Aβ amplifies neuronal dysfunction, NFT formation, and accelerates neurodegeneration, resulting in dementia. In recent decades, therapeutic approaches have attempted to decrease the levels of abnormal Aβ or tau levels in the AD brain. However, several of these approaches have either been associated with an inappropriate immune response triggering inflammation, or have failed to improve cognition. Here, we review the pathogenesis and potential therapeutic targets associated with dysfunction of the NVU in AD.     

Link between Lipid Second Messengers and Osmotic Stress in Plants

Plants are subject to different types of stress, which consequently affect their growth and development. They have developed mechanisms for recognizing and processing an extracellular signal. Second messengers are transient molecules that modulate the physiological responses in plant cells under stress conditions. In this sense, it has been shown in various plant models that membrane lipids are substrates for the generation of second lipid messengers such as phosphoinositide, phosphatidic acid, sphingolipids, and lysophospholipids. In recent years, research on lipid second messengers has been moving toward using genetic and molecular approaches to reveal the molecular setting in which these molecules act in response to osmotic stress. In this sense, these studies have established that second messengers can transiently recruit target proteins to the membrane and, therefore, affect protein conformation, activity, and gene expression. This review summarizes recent advances in responses related to the link between lipid second messengers and osmotic stress in plant cells.     

Ivabradine Induces Cardiac Protection against Myocardial Infarction by Preventing Cyclophilin-A Secretion in Pigs under Coronary Ischemia/Reperfusion

In response to cardiac ischemia/reperfusion, proteolysis mediated by extracellular matrix metalloproteinase inducer (EMMPRIN) and its secreted ligand cyclophilin-A (CyPA) significantly contributes to cardiac injury and necrosis. Here, we aimed to investigate if, in addition to the effect on the funny current (I(f)), Ivabradine may also play a role against cardiac necrosis by reducing EMMPRIN/CyPA-mediated cardiac inflammation. In a porcine model of cardiac ischemia/reperfusion (IR), we found that administration of 0.3 mg/kg Ivabradine significantly improved cardiac function and reduced cardiac necrosis by day 7 after IR, detecting a significant increase in cardiac CyPA in the necrotic compared to the risk areas, which was inversely correlated with the levels of circulating CyPA detected in plasma samples from the same subjects. In testing whether Ivabradine may regulate the levels of CyPA, no changes in tissue CyPA were found in healthy pigs treated with 0.3 mg/kg Ivabradine, but interestingly, when analyzing the complex EMMPRIN/CyPA, rather high glycosylated EMMPRIN, which is required for EMMPRIN-mediated matrix metalloproteinase (MMP) activation and increased CyPA bonding to low-glycosylated forms of EMMPRIN were detected by day 7 after IR in pigs treated with Ivabradine. To study the mechanism by which Ivabradine may prevent secretion of CyPA, we first found that Ivabradine was time-dependent in inhibiting co-localization of CyPA with the granule exocytosis marker vesicle-associated membrane protein 1 (VAMP1). However, Ivabradine had no effect on mRNA expression nor in the proteasome and lysosome degradation of CyPA. In conclusion, our results point toward CyPA, its ligand EMMPRIN, and the complex CyPA/EMMPRIN as important targets of Ivabradine in cardiac protection against IR.     

Ethylene and Nitric Oxide Involvement in the Regulation of Fe and P Deficiency Responses in Dicotyledonous Plants

Iron (Fe) and phosphorus (P) are two essential elements for plant growth. Both elements are abundant in soils but with poor availability for plants, which favor their acquisition by developing morphological and physiological responses in their roots. Although the regulation of the genes related to these responses is not totally known, ethylene (ET) and nitric oxide (NO) have been involved in the activation of both Fe-related and P-related genes. The common involvement of ET and NO suggests that they must act in conjunction with other specific signals, more closely related to each deficiency. Among the specific signals involved in the regulation of Fe- or P-related genes have been proposed Fe-peptides (or Fe ion itself) and microRNAs, like miR399 (P), moving through the phloem. These Fe- or P-related phloem signals could interact with ET/NO and confer specificity to the responses to each deficiency, avoiding the induction of the specific responses when ET/NO increase due to other nutrient deficiencies or stresses. Besides the specificity conferred by these signals, ET itself could confer specificity to the responses to Fe- or P-deficiency by acting through different signaling pathways in each case. Given the above considerations, there are preliminary results suggesting that ET could regulate different nutrient responses by acting both in conjunction with other signals and through different signaling pathways. Because of the close relationship among these two elements, a better knowledge of the physiological and molecular basis of their interaction is necessary to improve their nutrition and to avoid the problems associated with their misuse. As examples of this interaction, it is known that Fe chlorosis can be induced, under certain circumstances, by a P over- fertilization. On the other hand, Fe oxides can have a role in the immobilization of P in soils. Qualitative and quantitative assessment of the dynamic of known Fe- and P-related genes expression, selected ad hoc and involved in each of these deficiencies, would allow us to get a profound knowledge of the processes that regulate the responses to both deficiencies. The better knowledge of the regulation by ET of the responses to these deficiencies is necessary to properly understand the interactions between Fe and P. This will allow the obtention of more efficient varieties in the absorption of P and Fe, and the use of more rational management techniques for P and Fe fertilization. This will contribute to minimize the environmental impacts caused by the use of P and Fe fertilizers (Fe chelates) in agriculture and to adjust the costs for farmers, due to the high prices and/or scarcity of Fe and P fertilizers. This review aims to summarize the latest advances in the knowledge about Fe and P deficiency responses, analyzing the similarities and differences among them and considering the interactions among their main regulators, including some hormones (ethylene) and signaling substances (NO and GSNO) as well as other P- and Fe-related signals.     

Superabsorbent hydrogel based on modified polysaccharide for removal of Pb2+ and Cu2+ from water with excellent performance

This contribution describes the absorption percentage of Pb²⁺ and Cu²⁺ from water by a superabsorbent hydrogel matrix (SH) made from an anionic polysaccharide copolymerized with acrylic acid (AAc) and acrylamide (AAm). Metal‐absorption tests, upon sequential pH variation, indicated that the SH has pH‐sensitivity for the absorption of both metals from solution, attributed to the functional ionic groups (? COOH) present in the AAc and arabic gum (AG) segments. At the pH 5.0, the SH exhibited good absorption capacity: 73.10% for Pb²⁺, 81.99% for Cu²⁺ in water and 63.64% for Pb²⁺, and 76.67% for Cu²⁺ in saline water with 0.1 mol kg^?1 ionic strength. A replicated 2² full factorial design with a central point was built to evaluate the maximum absorption capacity of the metals into the SH. It was found that both the interaction and main effects of the pH and the initial concentration of metal solution on absorption percentage of the metals were statistically significant. Surface response plots indicated that the absorption capacity of both metals into the SH may be appreciably improved by using the solutions with lower initial concentration of metal and with higher pH values. Metal‐absorption results demonstrated that the SH is a convenient material for absorption of Pb²⁺ and Cu²⁺ from pure aqueous and saline aqueous environments. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007