Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

Total energy shaping is a controller design methodology that achieves (asymptotic) stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed loop. Particularly troublesome is the partial differential equation (PDE) associated to the kinetic energy which is nonlinear and inhomogeneous and the solution, that defines the desired inertia matrix, must be positive-definite. In this note, we prove that we can eliminate or simplify the forcing term in this PDE by modifying the target dynamics and introducing a change of coordinates in the original system. Furthermore, it is shown that, in the particular case of transformation to the Lagrangian coordinates, the possibility of simplifying the PDEs is determined by the interaction between the Coriolis and centrifugal forces and the actuation structure. The examples of pendulum on a cart and Furuta's pendulum are used to illustrate the results.     

Current-mode analogue defuzzifier

A CMOS current-mode approach for implementing the defuzzification function in analogue fuzzy controllers is proposed. The circuit computes the centre of area of the output fuzzy conclusion using switched current adders and a current divider. Simulation results of the defuzzifier show how the circuit can produce a good approximation of the centre of area even if a small number of levels are used to quantise the output variable.<>     

A globally stable discrete-time controller for current-fed induction motors

In this short paper we present a discrete-time field oriented controller (FOC) for current-fed induction motors which insures global asymptotic speed regulation as well as rotor flux norm tracking. To the best of our knowledge, this is the first time such a result is rigorously established for a controller implemented in discrete-time. To insure global stability a condition on the reference for the rotor flux norm, which is time-varying, is imposed. This condition disappears as the sampling period goes to zero, hence allowing for independent speed regulation and rotor flux norm tracking. One important feature of our scheme is that, compared with the first-difference approximation of the classical indirect FOC, the additional computational burden is negligible. It is also shown that the result can easily be extended to the case of tracking time-varying references in speed or position.     

Does maintainability relate to the energy consumption of software? A case study

Software Quality Journal - Energy consumption of software has been becoming increasingly significant, since it can vary according to how the software has been developed. In recent years, developers...     

The role of visual complexity and prototypicality regarding first impression of websites: Working towards understanding aesthetic judgments

This paper experimentally investigates the role of visual complexity (VC) and prototypicality (PT) as design factors of websites, shaping users' first impressions by means of two studies. In the first study, 119 screenshots of real websites varying in VC (low vs. medium vs. high) and PT (low vs. high) were rated on perceived aesthetics. Screenshot presentation time was varied as a between-subject factor (50 ms vs. 500 ms vs. 1000 ms). Results reveal that VC and PT affect participants' aesthetics ratings within the first 50 ms of exposure. In the second study presentation times were shortened to 17, 33 and 50 ms. Results suggest that VC and PT affect aesthetic perception even within 17 ms, though the effect of PT is less pronounced than the one of VC. With increasing presentation time the effect of PT becomes as influential as the VC effect. This supports the reasoning of the information-processing stage model of aesthetic processing (Leder et al., 2004), where VC is processed at an earlier stage than PT. Overall, websites with low VC and high PT were perceived as highly appealing.     

A system-on-chip development of a neuro-fuzzy embedded agent for ambient-intelligence environments

This paper presents the development of a neuro-fuzzy agent for ambient-intelligence environments. The agent has been implemented as a system-on-chip (SoC) on a reconfigurable device, i.e., a field-programmable gate array. It is a hardware/software (HW/SW) architecture developed around a MicroBlaze processor (SW partition) and a set of parallel intellectual property cores for neuro-fuzzy modeling (HW partition). The SoC is an autonomous electronic device able to perform real-time control of the environment in a personalized and adaptive way, anticipating the desires and needs of its inhabitants. The scheme used to model the intelligent agent is a particular class of an adaptive neuro-fuzzy inference system with piecewise multilinear behavior. The main characteristics of our model are computational efficiency, scalability, and universal approximation capability. Several online experiments have been performed with data obtained in a real ubiquitous computing environment test bed. Results obtained show that the SoC is able to provide high-performance control and adaptation in a life-long mode while retaining the modeling capabilities of similar agent-based approaches implemented on larger computing machines.     

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.     

Isobaric vapor—liquid equilibria for binary systems composed of methyl butanoate with ethanol and with propan-1-ol at 114.66 and 127.99 kpa

Vapor-liquid equilibrium data for the binary systems methyl butanoate/ethanol and methyl butanoate/propan-l-ol at pressures of 114.66 and 127.99 kPa are presented. Both mixtures yield an azeotrope, the compositions (ester) of which decrease quasi-linearly as the pressure increases. The experimental data for all the binary mixtures were fitted to a suitable equation and then used for comparison with predictions by ASOG and UNIFAC methods. These group contribution models give a good estimation of activity coefficients with an overall mean error less than 5% for all cases.