A multivariable control scheme in a two-stage anaerobic digestion system described by partial differential equations

This paper deals with the design and application of a nonlinear multivariable controller in an anaerobic digestion system (AD) carried out in two interconnected fixed bed bioreactors. The proposed control scheme is derived from a mathematical model of the AD system described by a set of partial differential equations and consists of an estimator and two nonlinear control laws. The first law is developed to regulate the volatile fatty acids in the first bioreactor while the second aims at maintaining the chemical oxygen demand at predetermined set-points in the second bioreactor. The performance of the control algorithm is evaluated via numerical simulations in the face of load disturbances, parameter kinetic uncertainties and set-point changes. Stability and convergence properties of the proposed control scheme are also addressed in this paper.     

Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances

There is an open discussion between those who defend mass-distributed models for humanoid robots and those in favor of simple concentrated models. Even though each of them has its advantages and disadvantages, little research has been conducted analyzing the control performance due to the mismatch between the model and the real robot, and how the simplifications affect the controller’s output. In this article we address this problem by combining a reduced model of the humanoid robot, which has an easier mathematical formulation and implementation, with a fractional order controller, which is robust to changes in the model parameters. This controller is a generalization of the well-known proportional–integral–derivative (PID) structure obtained from the application of Fractional Calculus for control, as will be discussed in this article. This control strategy guarantees the robustness of the system, minimizing the effects from the assumption that the robot has a simple mass distribution. The humanoid robot is modeled and identified as a triple inverted pendulum and, using a gain scheduling strategy, the performances of a classical PID controller and a fractional order PID controller are compared, tuning the controller parameters with a genetic algorithm.     

A novel model for arc territory design: promoting Eulerian districts

The problem of district design for the implementation of arc routing activities is addressed. The aim is to partition a road network into a given number of sectors to facilitate the organization of the operations to be implemented within the region. This problem arises in numerous applications such as postal delivery, meter readings, winter gritting, road maintenance, and municipal solid waste collection. An integer linear programming model is proposed where a novel set of node parity constraints to favor Eulerian districts is introduced. Series of instances were solved to assess the impact of these parity constraints on the objective function and deadhead distance. Networks with up to 401 nodes and 764 edges were successfully solved. The model is useful at a tactical level as it can be used to promote workload balance, compactness, deadhead distance reduction and parity in districts.     

Path Flow and Trip Matrix Estimation Using Link Flow Density

A macroscopic model is presented that simultaneously estimates route flows and trip matrices for congested road networks using data on link densities instead of link flows. The advantage of this approach is that it avoids errors that may occur in the individual links’ flow-cost relationships when congestion is heavy. Under the proposed methodology, both the flows and the matrices are estimated by the model using an image of the network such as an aerial photograph in which the number of vehicles on each link can be identified. The model itself is formulated as a maximum entropy optimization problem subject to linear constraints given by vehicle densities on the links, and is validated using analytic examples and traffic microsimulations. The results demonstrate the superiority of the link-density approach over the traditional flow-based method.     

Diagnosis of lung nodule using Moran’s index and Geary’s coefficient in computerized tomography images

This paper analyzes the application of Moran’s index and Geary’s coefficient to the characterization of lung nodules as malignant or benign in computerized tomography images. The characterization method is based on a process that verifies which combination of measures, from the proposed measures, has been best able to discriminate between the benign and malignant nodules using stepwise discriminant analysis. Then, a linear discriminant analysis procedure was performed using the selected features to evaluate the ability of these in predicting the classification for each nodule. In order to verify this application we also describe tests that were carried out using a sample of 36 nodules: 29 benign and 7 malignant. A leave-one-out procedure was used to provide a less biased estimate of the linear discriminator’s performance. The two analyzed functions and its combinations have provided above 90% of accuracy and a value area under receiver operation characteristic (ROC) curve above 0.85, that indicates a promising potential to be used as nodules signature measures. The preliminary results of this approach are very encouraging in characterizing nodules using the two functions presented.

Ab initio determination of heavy oxide perovskite related structures from precession electron diffraction data

Two complex perovskite-related structures were solved by ab initio from precession electron diffraction intensities. Structure models were firstly derived from HREM images and than have been confirmed independently using two and three-dimensional sets of precession intensities. Patterson techniques prove to be effective for ab initio structure resolution, specially in case of projections with no overlapping atoms. Quality of precession intensity data may be suitable enough to resolve unknown heavy oxide structures.     

Analysis of the Functional Block Involved in the Design of Radial Basis Function Networks

The main architectures, learning abilities and applications of radial basis function (RBF) neural networks are well documented. However, to the best of our knowledge, no in-depth analyses have been carried out into the influence on the behaviour of the neural network arising from the use of different alternatives for the design of an RBF (different non-linear functions, distances, number of neurons, structures, etc.). Thus, as a complement to the existing intuitive knowledge, it is necessary to have a more precise understanding of the significance of the different alternatives. In the present contribution, the relevance and relative importance of the parameters involved in such a design are investigated by using a statistical tool, the ANalysis Of the VAriance (ANOVA). In order to obtain results that are widely applicable, various problems of classification, functional approximation and time series estimation are analyzed. Conclusions are drawn regarding the whole set.     

Mineral admixtures in mortars: Effect of inert materials on short-term hydration

This work is the first part of an overall project the aim of which is the development of general mix design rules for concrete containing different kinds of mineral admixtures. The separation of the different physical effects responsible for the modification of cement hydration, when chemically inert quartz powders are used in mortars, is presented. The phenomenological approach, based on semi-adiabatic calorimetry, is only associated with first-order phenomena, and the study excludes the complex physicochemical details involved in the chemistry of cement. The results, obtained for a wide range of fineness (between 180 and 2000 m²/kg) and replacement rates (up to 75%), show that short-term degrees of hydration in mortars containing a chemically inert mineral admixture (quartz) are always higher than for a reference mortar. This study confirms that cement hydration is enhanced by inert mineral admixtures. The two main physical effects responsible for the modification of the hydration of cement are identified as the dilution effect and heterogeneous nucleation. The dilution effect of the cement is highlighted with a coarse mineral admixture. The heterogeneous nucleation effect, although it increases with fineness of mineral admixtures, presents an optimum depending on the replacement rate. In the following part of this work, these results will be used for the development of an empirical model allowing us to quantify both physical effects.     

Rab7 and actin cytoskeleton participate during mobilization of β1EHFNR in fibronectin-stimulated Entamoeba histolyticatrophozoites

In vitro interaction of Entamoeba histolytica trophozoites with fibronectin (FN) induces redistribution of the amoebic fibronectin receptor (β1EhFNR). Trafficking of beta1 integrins is important for cell adhesion and migration in higher eukaryotes and requires the participation of Rab proteins. In E. histolytica, the machinery involved in integrin trafficking is not completely known. EhRab7 is a 24.5-kDa protein whose alignment with other Rab7 proteins demonstrated that it shared significant homology with Rab7 proteins from other organisms, including humans. Using different types of microscopy (fluorescence and confocal microscopy), it was established that Rab7 and the actin cytoskeleton participated in the mobilization of β1EhFNR in FN-stimulated trophozoites. β1EhFNR and Rab7 co-localized only in vesicular structures at 5 min, and at longer time (1 h), both co-localized in both plasma membrane and in vesicular structures; at the same time, Rab7 co-localized with specific actin structures (phagocytic vacuoles). At 5 h the β1EhFNR, Rab7, and actin co-localized at the plasma membrane, and only β1EhFNR and Rab7 decorated vesicles of different sizes. Actin and Rab7 co-localized in a cap-like structure at one end of the cell. Fluorescence resonance energy transfer and electron microscopy confirmed the close interaction between β1EhFNR and Rab7. Moreover, the use of a lysosome-specific marker (LysoTracker) and a Golgi-specific marker (NBD C(6)-ceramide) allowed us to establish that, at some point within the endocytic route, β1EhFNR and Rab7 co-localized within a lysosome-type organelle, but not a Golgi-like organelle, which indicated that this integrin-like molecule was returned to the plasma membrane via exocytic or secretory vesicles.     

Synthesis, structure, and field emission properties of sulfur-doped nanocrystalline diamond

The synthesis and properties of sulfur-doped nanocrystalline diamond films were investigated. The films were deposited by hot-filament chemical vapor deposition on Mo substrates using methane, hydrogen, and hydrogen disulfide. The nanocrystalline nature of the material arises from the induction of continuous secondary nucleation in the chemical vapor deposition environment. Complementary characterization tools were employed in order to obtain a comprehensive and coherent understanding of the correlations between the structural and electronic properties. In particular, sulfur-doped nanocrystalline diamond films show n-type Hall conductivity, enhanced field emission properties, and insensitivity to ion radiation. It was found that n-type doping of the tetragonally-bonded carbon matrix together with a nano network of trigonally-bonded carbon are crucial elements for enhanced field emission from nanocrystalline diamond. These conclusions and the corresponding supporting evidence are discussed.