A two‐step control approach for docking of autonomous underwater vehicles

This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.     

Signage Versus Environmental Affordances: Is the Explicit Information Strong Enough to Guide Human Behavior During a Wayfinding Task?

This study aims to explore how people behave when they have to find a location within a complex building and are confronted with situations where directional signage (i.e., explicit information) is in opposition to environmental affordances that naturally direct users towards a specific path, creating a situation with conflicting information (e.g., a brighter corridor vs. a darker corridor but with a directional sign indicating to follow the darker one). A virtual reality–based methodology was used and a between‐subject design was considered. Thus, participants were given the tasks of finding three publicly accessible central points in a virtual hotel and confronted with a two forced‐choice task of local scenes in which environmental variables (i.e., corridor width and brightness) and signage varied systematically, in two experimental conditions (i.e., neutral and signage). For the signage condition, signs were inserted to explicitly point in the opposite direction than that implicitly suggested by the environmental affordances, creating situations with conflicting information. Results indicate that environmental variables were able to direct people indoors acting as environmental affordances. Users preferred to follow the wider and brighter paths. However, when directional signage pointed in the opposite direction of the paths preferred by the participants, most of them complied with signage.     

A high-shear, low Reynolds number microfluidic rheometer

We present a microfluidic rheometer that uses in situ pressure sensors to measure the viscosity of liquids at low Reynolds number. Viscosity is measured in a long, straight channel using a PDMS-based microfluidic device that consists of a channel layer and a sensing membrane integrated with an array of piezoresistive pressure sensors via plasma surface treatment. The micro-pressure sensor is fabricated using conductive particles/PDMS composites. The sensing membrane maps pressure differences at various locations within the channel in order to measure the fluid shear stress in situ at a prescribed shear rate to estimate the fluid viscosity. We find that the device is capable to measure the viscosity of both Newtonian and non-Newtonian fluids for shear rates up to 10⁴ s^?1 while keeping the Reynolds number well below 1.     

Modeling on triangulations with geodesic curves

This paper discusses the problem of modeling on triangulated surfaces with geodesic curves. In the first part of the paper we define a new class of curves, called geodesic Bézier curves, that are suitable for modeling on manifold triangulations. As a natural generalization of Bézier curves, the new curves are as smooth as possible. In the second part we discuss the construction of C ⁰ and C ¹ piecewise Bézier splines. We also describe how to perform editing operations, such as trimming, using these curves. Special care is taken to achieve interactive rates for modeling tasks. The third part is devoted to the definition and study of convex sets on triangulated surfaces. We derive the convex hull property of geodesic Bézier curves.

Line patterning of graphite and the fabrication of cheap, inexpensive, “throw-away” sensors

A new simple method (“line patterning technique”) using only standard office equipment is described whereby clearly defined, electrically conducting patterns of graphite can be deposited on polymer (plastic) or paper substrates. The properties of the conductive patterns have been characterized by electrical conductivity and SEM measurements. Sensors were constructed by using interdigitated patterns of graphite deposited on plastic and paper, and coated with a thin film of conducting electronic polymer, e.g. polyaniline emeraldine salt.     

Relaxation of the mouse pubic symphysis during late pregnancy is not accompanied by the influx of granulocytes

In some animals, such as mice and guinea pigs, a hormonally controlled mechanism increases the flexibility of the pubic symphysis and enhances the cervical remodeling necessary for safe delivery. Cervical ripening during pregnancy is associated with a paradoxical influx of leukocytes. However, the changes in cell metabolism during relaxation of the mouse pubic symphysis for delivery have not been extensively studied. In this work, we used light microscopy and transmission and scanning electron microcopy, as well as immunohistochemistry and Western blotting for MMP-8, to investigate the involvement of granulocytes or resident stromal cells in the relaxation of the virgin pubic symphysis during late pregnancy (days 18 and 19, before delivery) in vivo and in explanted joints. MMP-8 was studied because this collagenase is a hallmark for cervical ripening associated with the influx of granulocytes during late pregnancy. Extensive dissolution and disorganization of the extracellular matrix was seen around fibroblastic-like cells in late pregnancy. In contrast to the cervix (positive control), morphological and immunohistochemical analyses revealed that there was no characteristic cellular inflammatory response in the interpubic tissue. Staining for MMP-8 was observed in chondroid and fibroblastic-like cells of virgin and relaxed interpubic ligament, respectively. However, no granulocytes were seen during the extensive remodeling of the pubic joint in late pregnancy. These results indicate that constitutive stromal cells may have an important role in tissue relaxation during remodeling of the pubic symphysis in pregnancy.     

Influence of green creativity on organizations: A case study from the perspectives of leaders and subordinates

The sustainability framework has a strong influence on the policies, practices and procedures of companies. Green creativity plays a pivotal role in the development of initiatives and innovations for the environmental pillar of sustainability. Based on a survey applied to a Portuguese company with an accredited environmental management system (N = 146), the findings reveal that green creativity is influenced in different ways when analysed from distinct perspectives. The leader's green creativity is positively influenced by the subordinate's green self-efficacy and personal identification with the leader, whereas the subordinate's green creativity is positively influenced by their green passion and green self-efficacy, and the leaders' green creativity. This study shows that green creativity develops differentially according to distinct job positions and expectations that in practice must be complementary and synergistic for its effective development.     

Social impacts of road traffic: perceptions and priorities of local residents

The assessment of the social impacts of road traffic is usually based on objective indicators or on expert judgement, without input from the affected communities. This paper considers the perceptions and priorities of local residents about traffic impacts and possible mitigation measures, using as a case study a rural area that will be affected by traffic associated with the construction of a nuclear power station. The study consisted of a qualitative phase followed by a stated preference survey. Econometric models were used to measure the relative priority of different impacts and mitigation measures. The most impactful aspects were noise, vibration and increased car or bus travel times. The most preferred measures were night-time restrictions to HGVs, parking restrictions and safety measures for pedestrians and cyclists. There were significant differences in preferences according to residence location, gender, employment status and household composition. The results provide information about aspects that tend to be aggregated in existing assessment frameworks, separating the reduction in the utility of some activities (like walking and driving) and the suppression of those activities.     

On the Structure of Amorphous Mesoporous Silica Nanoparticles by Aberration‐Corrected STEM

Mesoporous silica materials have demonstrated a vast spectrum of applications, stimulating an intensive field of study due to their potential use as nanocarriers. Nonetheless, when produced at the nanoscale, their structural characterization is hindered due to the re‐arrangement of the pores. To address this issue, this work combines molecular dynamics simulations with electron microscopy computer simulations and experimental results to provide an insight into the structure of amorphous mesoporous silica nanoparticles. The amorphous silica model is prepared using a simple melt‐quench molecular dynamics method, while the reconstruction of the mesoporous nanoparticles is carried out using a methodology to avoid false symmetry in the final model. Simulated scanning transmission electron microscopy images are compared with experimental images, revealing the existence of structural domains, created by the misalignment of the pores to compensate the surface tension of these spherical nanoparticles.     

Shortcut fusion rules for the derivation of circular and higher-order programs

Functional programs often combine separate parts using intermediate data structures for communicating results. Programs so defined are modular, easier to understand and maintain, but suffer from inefficiencies due to the generation of those gluing data structures. To eliminate such redundant data structures, some program transformation techniques have been proposed. One such technique is shortcut fusion, and has been studied in the context of both pure and monadic functional programs. In this paper, we study several shortcut fusion extensions, so that, alternatively, circular or higher-order programs are derived. These extensions are also provided for effect-free programs and monadic ones. Our work results in a set of generic calculation rules, that are widely applicable, and whose correctness is formally established.