On the classical and fractional control of a nonlinear inverted cart-pendulum system: a comparative analysis

International audienceFractional-order control is based on the fractional calculus and its use is being explored for many researchers in order to improve the performance of control systems. In this paper, fractional integrators are employed in a state-feedback controller and applied to an inverted cart-pendulum system. Faster transient responses and increased (local) attraction domains are achieved when compared to the integer integrator based implementation of the proposed control law

Automated Detection of Missing Links in Bicycle Networks

Cycling is an effective solution for making urban transport more sustainable. However, bicycle networks are typically developed in a slow, piecewise process that leaves open a large number of gaps, even in well developed cycling cities like Copenhagen. Here, we develop the IPDC procedure (Identify, Prioritize, Decluster, Classify) for finding the most important missing links in urban bicycle networks, using data from OpenStreetMap. In this procedure we first identify all possible gaps following a multiplex network approach, prioritize them according to a flow-based metric, decluster emerging gap clusters, and manually classify the types of gaps. We apply the IPDC procedure to Copenhagen and report the 105 top priority gaps. For evaluation, we compare these gaps with the city's most recent Cycle Path Prioritization Plan and find considerable overlaps. Our results show how network analysis with minimal data requirements can serve as a cost-efficient support tool for bicycle network planning. By taking into account the whole city network for consolidating urban bicycle infrastructure, our data-driven framework can complement localized, manual planning processes for more effective, city-wide decision-making.Comment: 29 pages, 12 figures + supplementary material. Geographical Analysis (2022): Online Version of Record before inclusion in an issu

uTango: an open-source TEE for IoT devices

Security is one of the main challenges of the Internet of Things (IoT). IoT devices are mainly powered by low-cost microcontrollers (MCUs) that typically lack basic hardware security mechanisms to separate security-critical applications from less critical components. Recently, Arm has started to release Cortex-M MCUs enhanced with TrustZone technology (i.e., TrustZone-M), a system-wide security solution aiming at providing robust protection for IoT devices. Trusted Execution Environments (TEEs) relying on TrustZone hardware have been perceived as safe havens for securing mobile devices. However, for the past few years, considerable effort has gone into unveiling hundreds of vulnerabilities and proposing a collection of relevant defense techniques to address several issues. While new TEE solutions built on TrustZone-M start flourishing, the lessons gathered from the research community appear to be falling short, as these new systems are trapping into the same pitfalls of the past. In this paper, we present UTANGO, the first multi-world TEE for modern IoT devices. UTANGO proposes a novel architecture aiming at tackling the major architectural deficiencies currently affecting TrustZone(-M)-assisted TEEs. In particular, we leverage the very same TrustZone hardware primitives used by dual-world implementations to create multiple and equally secure execution environments within the normal world. We demonstrate the benefits of UTANGO by conducting an extensive evaluation on a real TrustZone-M hardware platform, i.e., Arm Musca-B1. UTANGO will be open-sourced and freely available on GitHub in hopes of engaging academia and industry on securing the foreseeable trillion IoT devices.This work was supported in part by the Fundacao para a Ciencia e Tecnologia (FCT) within the Research and Development Units under Grant UIDB/00319/2020, and in part by FCT within the Ph.D. Scholarship under Grant 2020.04585.BD

Constraint-aware schema transformation

Ninth International Workshop on Rule-Based Programming (Rule 2008)Data schema transformations occur in the context of software evolution, refactoring, and cross-paradigm data mappings. When constraints exist on the initial schema, these need to be transformed into constraints on the target schema. Moreover, when high-level data types are refined to lower level structures, additional target schema constraints must be introduced to balance the loss of structure and preserve semantics. We introduce an algebraic approach to schema transformation that is constraint-aware in the sense that constraints are preserved from source to target schemas and that new constraints are introduced where needed. Our approach is based on refinement theory and point-free program transformation. Data refinements are modeled as rewrite rules on types that carry point-free predicates as constraints. At each rewrite step, the predicate on the reduct is computed from the predicate on the redex. An additional rewrite system on point-free functions is used to normalize the predicates that are built up along rewrite chains. We implemented our rewrite systems in a type-safe way in the functional programming language Haskell. We demonstrate their application to constraint-aware hierarchical-relational mappings.FCT -Fundação para a Ciência e a Tecnologia(SFRH/BD/30215/2006

Fundamentos de la acción ética en los estudiantes de educación superior

Introduction: It is urgent that higher education in health develop a proactive ethico-moral commitment in students which is translated into the creation of socio-professional values. Objectives: To evaluate the ethical foundations which support morality in higher education students. Methods: A descriptive, cross-sithectional study, performed in 345 ESSV/IPV students, 80% female, average age of 20.82 years old. The “Questionário de Cidadania Ativa e Modo de Agir Ético” (CiAMAE) by Cunha (2015) was applied. Results: The results were 74.8% of the students showed a positive/adequate ethical method of acting; (with 45.8% adequate and 29% very adequate). In 25.2% the method of acting was ethically inadequate. The morality of the student’s actions were focused mostly on individualism and were based on the following ethical principles: 68.7% ethical subjectivism (69.1%♂ and 68.6%♀); 56.5% Relativism ( 56.5%♂ and 56.7%♀); 53.9% Deontological Ethics (Kant) (55.8%♂ and 47.0%♀); 11.3% Subjectivism/Ethical Selfishness (7.4%♂ and 12.3%♀). Conclusions: We may infer that the majority of the students do not have/ do not use an impartial consideration of good as criteria for morality of actions. They mostly manifested accepting an ethical subjectivist perspective, which means that good is not considered as a value for everyone. In contrast, applying the criteria of ethical impartiality would imply considering the greater good, and choosing/adopting the universal point of view in which any rational and enlightened student would choose for him/ herself and for others that universal greater good.Introdução: Urge que o ensino superior na área da saúde desenvolva nos estudantes um compromisso ético-moral pró-ativo e valores socioprofissionais promotores de uma cultura de proximidade que fomente sentimentos de cidadania ativa criadora de vínculos de pertença. Objetivos: Avaliar os fundamentos éticos que suportam a moralidade das ações em estudantes do ensino superior. Métodos: Estudo descritivo em corte transversal, realizado com 345 estudantes do IPV, 80% mulheres, com média de idades de 20,82 anos. Aplicou-se o “Questionário de Cidadania Ativa e Modo de Agir Ético” (CiAMAE) de Cunha (2015). Resultados: 74.8% dos estudantes revelaram um modo de agir ético, positivo/adequado, (sendo 45.8% adequado e 29% muito adequado) e 25.2% um modo de agir ético inadequado. A moralidade das ações dos estudantes centrou-se no individualismo e assentou nos seguintes princípios éticos: 68.7% Subjetivismo Ético (69.1% ♂e 68.6%♀); 56.5% Relativismo (56.5%♂ e 56.7%♀); 53.9% Ética Deontológica (55.8%♂ e 47.0%♀); 11.3% Subjetivismo/ Egoísmo Ético, (7.4%♂ e 12.3%♀). Conclusões: A maioria dos estudantes não usa a ponderação imparcial do bem. Maioritariamente manifestaram aceitar uma perspectiva ética subjetivista. Em oposição, aplicar o critério da imparcialidade ética implicaria considerar o bem supremo, em que todo e qualquer estudante esclarecido, escolheria para si e para os outros, esse bem supremo universal.Introducción: Insta a la educación superior en salud a desarrollar en los estudiantes un compromiso ético-moral proactivo y valores socioprofesionales, promotores de una cultura de proximidad que fomenta sentimientos de ciudadanía activa, creativa de enlaces de pertenencia. Objetivos: Evaluar los fundamentos éticos que apoyan la moralidad de las acciones en los estudiantes de educación superior. Métodos: Estudio descriptivo transversal, realizado con 345 estudiantes del IPV, 80% mujeres, con una edad media de 20.82 años. Se ha aplicado el “Questionário de Cidadania Ativa e Modo de Agir Ético” (CiAMAE) de Cunha (2015). Resultados: 74.8% de los estudiantes reveló un modo de actuación ético, positiva/adecuada (con el 45.8% adecuado y el 29% muy adecuado) y el 25.2% un modo de actuación éticamente inadecuado. La moralidad de las acciones de los estudiantes se centraron en el individualismo y en base a los siguientes principios éticos: 68.7% el Subjetivismo Ético (69.1% ♂ y 68.6%♀); el Relativismo 56.5% (56.5%♂ y 56.7%♀); 53.9% Ética Deontológica (55.8%♂ y ♀47.0%); 11.3% el Subjetivismo/el Egoísmo Ético (7.4%♂ y 12.3%♀). Conclusiones: La mayoría de los estudiantes no utilizan el examen imparcial del bien. La mayoría de ellos expresaron aceptar una perspectiva ética subjetivista. Por el contrario, la aplicación del criterio de imparcialidad ética sería considerar el bien supremo en que cualquier estudiante inteligente elegiría para sí mismos y los demás, este supremo bien universal.info:eu-repo/semantics/publishedVersio

Tipos e Traços de Personalidade no DSM-5: Eles Realmente Combinam?

The alternative model of personality disorders introduced in the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders provides a diagnostic system that is expected to correspond to the well-known categorical approach of personality disorder diagnoses. The current study aims to improve knowledge about the relationship between pathological personality traits and their corresponding personality types. A Brazilian sample of 1,162 people took part in this study. The results point to some level of continuity between the two models when the variables were treated as dimensional. Contrariwise, there is a lack of strong scientific evidence to justify the maintenance of the categorical approach. We recommend the exclusion of the categorical approach from personality disorder diagnosis systems.O modelo alternativo de transtornos da personalidade introduzido na quinta edição do Manual Diagnóstico e Estatístico de Transtornos Mentais oferece um sistema diagnóstico que supostamente deve corresponder ao bem conhecido modelo de diagnóstico categórico dos transtornos da personalidade. O presente estudo tem por objetivo incrementar os conhecimentos sobre a relação entre os traços de personalidade e seus correspondentes tipos de personalidade. Uma amostra brasileira de 1.162 pessoas participou deste estudo. Os resultados indicaram algum nível de continuidade entre os dois modelos quando as variáveis foram consideradas dimensionais. Por outro lado, existe uma falta de evidência científica que justifique a manutenção da abordagem categórica. Recomenda-se a exclusão da abordagem categórica de sistemas diagnósticos de transtornos da personalidade

Model predictive control of a single-phase five-level VIENNA rectifier

Power converters and control strategies are very vital for the increasing sustainability of the power grid targeting smart grids. In these circumstances, it is proposed a novel single-phase five-level (SP5L) VIENNA rectifier digitally controlled by a model predictive control (MPC) with fixed switching frequency, which can be useful for a variety of applications with a robust current tracking. The proposed SP5L VIENNA rectifier is an advancement of the classical three-level VIENNA rectifier, also contributing to preserve power quality, and exhibiting the advantage of operating with more voltage levels at the expense of few additional switching devices. The proposed topology is introduced and correlated with the classical solutions of active rectifiers. The operation principle is introduced and used to describe the MPC, which is given in detail, as well as the necessary modulation strategy. The results were obtained for a set of various operating conditions, both in terms of reference of current and grid-side voltage, as well as in steady-state and transient-state, proving the benefits of the proposed SP5L VIENNA rectifier and the accurate and precise use of the MPC to control the grid-side current.This work has been supported by FCT -Fundacao para a Ciencia e Tecnologia within the R&D Units Project Scope: UIDB/00319/2020. This work has been supported by the FCT Project newERA4GRIDs PTDC/EEI-EEE/30283/2017, and by the FCT Project DAIPESEV PTDC/EEI-EEE/30382/2017. Tiago Sousa is supported by the doctoral scholarship SFRH/BD/134353/2017 granted by FCT

Using early life stages of marine animals to screen the toxicity of priority hazardous and noxious substances

This study provides toxicity values for early life stages (ELS) of two phylogenetically distinct marine animal taxa, the sea urchin (Paracentrotus lividus), a deuterostome invertebrate, and the turbot (Scophthalmus maximus), a vertebrate (teleost), when challenged by six hazardous and noxious substances (HNS): aniline, butyl acrylate, m-cresol, cyclohexylbenzene, hexane and trichloroethylene. The aim of the study was to provide preliminary information on toxic effects of representative and relevant priority HNS to assess the risk posed by spills to marine habitats and therefore improve preparedness and the response at the operational level. Selection criteria to include each compound in the study were (1) inclusion in the HASREP (2005) list; (2) presence on the priority list established by Neuparth et al. (2011); (3) paucity of toxicological data (TOXnet and ECOTOX) for marine organisms; (4) behaviour in the water according to the categories defined by the European Behaviour classification system (GESAMP 2002), by selecting compounds with different behaviours in water; and (5) physicochemical and toxicological properties, where available, in order to anticipate the most toxic compounds. Aniline and m-cresol were the most toxic compounds with no observed apical effect concentration (NOAEC) values for sea urchin ranging between 0.01 and 0.1 mg/L, followed by butyl acrylate and cyclohexylbenzene with NOAECs ranging between 0.1 and 1.0 mg/L and trichloroethylene with NOAEC values that were in the range between 1 and 10 mg/L, reflecting their behaviour in water, mostly vapour pressure, but also solubility and log Kow. Hexane was toxic only for turbot embryos, due to its neurotoxic effects, and not for sea urchin larvae, at concentrations in the range between 1 and 10 mg/L. The concentrations tested were of the same order of magnitude for both species, and it was observed that sea urchin embryos (length of the longest arm) are more sensitive than turbot eggs larvae (hatching and cumulative mortality rates) to the HNS tested (except hexane). For this specific compound, concentrations up to 70 mg/L were tested in sea urchin larvae and no effects were observed on the length of the larvae. Both tests were found to be complementary depending on behaviour in water and toxicity target of the compounds analysed.info:eu-repo/semantics/publishedVersio

Enhanced three-phase shunt active power filter interfacing a renewable and an energy storage system

This paper presents an enhanced three-phase shunt active power filter (SAPF) that, besides its inherent functionalities of power quality problems compensation, also allows the interface of a renewable energy source (RES, namely solar photovoltaic – PV panels) and an energy storage system (ESS, namely batteries) through its dc-link. On the power grid-side, a three-phase four-wire voltage-source ac-dc converter is connected with the power grid, operating as an SAPF, whereas the RES-interface and the ESS-interface are made through a three-port multilevel dc-dc converter connected to the dc-link of the SAPF. Besides, to compensate power quality problems related to currents, the SAPF also permits the controllability of the bidirectional power exchanged between the power grid and the dc interfaces, i.e., the RES and the ESS. The operation principle of the whole system, as well as the detailed control algorithms, are described in the paper. A validation was performed through computer simulations, where it is possible to analyze the different operation modes of the enhanced SAPF interfacing a RES and an ESS through the dc-link.This work has been supported by FCT – Fundação para a Ciência e Tecnologia within the R&D Units Project Scope: UIDB/00319/2020. This work has been supported by the FCT Project newERA4GRIDs PTDC/EEI-EEE/30283/2017. Tiago J. C. Sousa is supported by the doctoral scholarship SFRH/BD/134353/2017 granted by FCT

Self-secured devices: high performance and secure I/O access in TrustZone-based systems

Arm TrustZone is a hardware technology that adds significant value to the ongoing security picture. TrustZone-based systems typically consolidate multiple environments into the same platform, requiring resources to be shared among them. Currently, hardware devices on TrustZone-enabled system-on-chip (SoC) solutions can only be configured as secure or non-secure, which means the dual-world concept of TrustZone is not spread to the inner logic of the devices. The traditional passthrough model dictates that both worlds cannot use the same device concurrently. Furthermore, existing shared device access methods have been proven to cause a negative impact on the overall system in terms of security and performance.This work introduces the concept of self-secured devices, a novel approach for shared device access in TrustZone-based architectures. This concept extends the TrustZone dual-world model to the device itself, providing a secure and non-secure logical interface in a single device instance. The solution was deployed and evaluated on the LTZVisor, an open-source and lightweight TrustZone-assisted hypervisor. The obtained results are encouraging, demonstrating that our solution requires only a few additional hardware resources when compared with the native device implementation, while providing a secure solution for device sharing.This work has been supported by FCT -Fundação para a Ciência e a Tecnologia, Portugal within the R&D Units Project Scope: UIDB/00319/2020