A new mobile robot control approach via fusion of control signals.

This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well.     

On the use of 2-D coding techniques for ECG signals.

This paper discusses the convenience of using two-dimensional (2-D) coding techniques for the compression of electrocardiogram (ECG) signals. These signals present a very clear periodicity that can be exploited by the use of a 2-D time/frequency transform to decorrelate it as much as possible. A brief theoretical approach is given to justify the use of this technique, and a comparison is made between a 2-D and a one-dimensional (1-D) uniform quantization scenarios. The influence of the error as well as the frame size on the estimation of the fundamental period is studied.     

Preparation of the international employee: Career and consultation needs.

Studied how 26 senior managers and 47 senior professional technical staff (recently repatriated) of 4 US owned multinational organizations viewed their international posting, specifically with respect to career path satisfaction. Results of satisfaction scales indicate that many Ss felt under-prepared for their international assignment. It is suggested that a comprehensive international employee development program should assess, provide feedback, and coach individuals on career path, culture shock and adjustment, and performance issues prior, during, and on return from the expatriate assignment. Results suggest that opportunities exist for individual and organizational intervention. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Atmospheric corrosion of reference metals in Antarctic sites

This paper presents the results obtained at three Antarctic test sites participating in the “Ibero-American Map of Atmospheric Corrosiveness” (MICAT), a project on atmospheric corrosion carried out during the period 1988–1994 at some 70 sites distributed across 12 countries of the Latin-American region, Spain and Portugal. The three Antarctic sites are located near the coastline.The singular climatic characteristics of Antarctic regions are related with the purity of the air, the absence of rainfall and the formation of ice on the metallic surface during an important part of the exposure time. However, electrochemical activity is possible below ice layers. This situation affects the structure and morphology of corrosion product films and the resulting corrosion rates of metallic surfaces.     

Specific interactions in blends containing Chitosan and functionalized polymers. Molecular dynamics simulations

Chitosan (CS)/poly(vinyl alcohol) (PVA) and Chitosan/poly(2-hydroxyethyl methacrylate) (P2HEM) blends have been studied through molecular dynamic simulations. In a previous work it was found miscibility between these polymers and it was attributed to hydrogen bonding formation. However, the experimental information obtained was not enough to know which of the interacting groups of Chitosan, i.e. -CH₂OH or -NH₂, are responsible of the interaction. Therefore, we have performed molecular dynamics simulation runs of 1 ns in order to calculate radial distribution functions (RDF) for the groups tentatively involved in the interaction. The results are correlated with our previous experimental data. This way, we have obtained a more precise conclusive information about the interactions involved as function of the blends composition. For low compositions of PVA and P2HEM the interaction is predominantly with the hydroxymethyl groups of CS while as the composition of PVA and P2HEM increases, the interaction with the amine groups increases.     

Impact of the addition of an enzyme pool on an activated sludge system treating dairy wastewater under fat shock loads

BACKGROUND: The application of lipase‐rich enzyme pools (such as the crude solid enzymatic preparation (SEP) obtained from Penicillium restrictum solid‐state fermentation of agro‐industrial wastes) to activated sludge systems may be an effective strategy for preventing various operational problems. The continuous addition of SEP to the treatment system can become cost‐prohibitive when in situ production and/or storage are factored in. The application of SEP to high‐fat wastewater treatment would only be justified as an emergency measure, such as a sudden increase in the fat content of the bioreactor influent. Therefore, the primary objective of this work was to investigate the efficiency of a crude SEP during fat shock loads, simulated through the periodic addition of dairy industry waste containing high fat concentrations to the feed stock of an activated sludge system, operated in continuous mode. RESULTS: The test bioreactor exhibited a higher average chemical oxygen demand (COD) removal efficiency than the control bioreactor (83% for control and 90% for test) and the fat accumulation in the biological flocs of the test bioreactor was 3.2 times lower than that in the control bioreactor. Turbidity was also lower in the effluent of the test bioreactor (123 and 66 FTU in control and test, respectively) and it had a shorter recovery time between shock loads, especially when the interval between loads was shorter than one month (biweekly and weekly shock loads). CONCLUSION: The addition of SEP during fat overloads in the reactor feed maintained efficient COD removal in the test bioreactor for 270 days without any operational problems. Copyright © 2008 Society of Chemical Industry     

Molecular basis of resistance to HIV-1 protease inhibition: a plausible hypothesis

The binding thermodynamics of the HIV-1 protease inhibitor acetyl pepstatin and the substrate Val-Ser-Gln-Asn-Tyr-Pro-Ile-Val-Gln, corresponding to one of the cleavage sites in the gag, gag-pol polyproteins, have been measured by direct microcalorimetric analysis. The results indicate that the binding of the peptide substrate or peptide inhibitor is entropically driven; i.e., it is characterized by an unfavorable enthalpy and a favorable entropy change, in agreement with a structure-based thermodynamic analysis based upon an empirical parameterization of the energetics. Dissection of the binding enthalpy indicates that the intrinsic interactions are favorable and that the unfavorable enthalpy originates from the energy cost of rearranging the flap region in the protease molecule. In addition, the binding is coupled to a negative heat capacity change. The dominant binding force is the increase in solvent entropy that accompanies the burial of a significant hydrophobic surface. Comparison of the binding energetics obtained for the substrate with that obtained for synthetic nonpeptide inhibitors indicates that the major difference is in the magnitude of the conformational entropy change. In solution, the peptide substrate has a higher flexibility than the synthetic inhibitors and therefore suffers a higher conformational entropy loss upon binding. This higher entropy loss accounts for the lower binding affinity of the substrate. On the other hand, due to its higher flexibility, the peptide substrate is more amenable to adapt to backbone rearrangements or subtle conformational changes induced by mutations in the protease. The synthetic inhibitors are less flexible, and their capacity to adapt is more restricted. The expected result is a more pronounced effect of mutations on the binding affinity of the synthetic inhibitors. On the basis of the thermodynamic differences in the mode of binding of substrate and synthetic inhibitors, it appears that a key factor to understanding resistance is given by the relative balance of the different forces that contribute to the binding free energy and, in particular, the balance between conformational and solvation entropy.     

The Air is Always Cleaner on the Other Side: Race,Space, and Ambient Air Toxics Exposures in California

Abstract: Environmental justice advocates have recently focused attention on cumulative exposure in minority neighborhoods due to multiple sources of pollution. This article uses U.S. EPA's National Air Toxics Assessment (NATA) for 1996 to examine environmental inequality in California, a state that has been a recent innovator in environmental justice policy. We first estimate potential lifetime cancer risks from mobile and stationary sources. We then consider the distribution of these risks using both simple comparisons and a multivariate model in which we control for income, land use, and other explanatory factors, as well as spatial correlation. We find large racial disparities in California's “riskscape” as well as inequalities by other factors and suggest several implications for environmental and land use policy.     

Do individual factors matter? A survey of scientists’ patenting in Portuguese public research organisations

This paper addresses scientists’ behaviour regarding the patenting of knowledge produced in universities and other public sector research organisations (PSROs). Recent years have witnessed a rapid growth in patenting and licensing activities by PSROs. We argue that the whole process depends to a certain extent on scientists’ willingness to disclose their inventions. Given this assumption, we conduct research into individual behaviour in order to understand scientists’ views concerning the patenting of their research results. Data from a questionnaire survey of Portuguese researchers from nine PSROs in life sciences and biotechnology is presented and analysed and complemented with in-depth interviews. The results reveal that overall the scientists surveyed show a low propensity to become involved in patenting and licensing activities, despite the fact that the majority had no “ethical” objections to the disclosure of their inventions and the commercial exploitation of these. Perceptions about the impacts of these activities on certain fundamental aspects of knowledge production and dissemination are however divergent. This may account for the low participation levels. Furthermore, most scientists perceived the personal benefits deriving from this type of activity to be low. Similarly, the majority also believed that there are many difficulties associated with the patenting process and that they receive limited support from their organisations, which lack the proper competences and structures to assist with patenting and licensing.