The predictive functional control and the management of constraints in GUANAY II autonomous underwater vehicle actuators

Autonomous underwater vehicle control has been a topic of research in the last decades. The challenges addressed vary depending on each research group's interests. In this paper, we focus on the predictive functional control (PFC), which is a control strategy that is easy to understand, install, tune, and optimize. PFC is being developed and applied in industrial applications, such as distillation, reactors, and furnaces. This paper presents the rst application of the PFC in autonomous underwater vehicles, as well as the simulation results of PFC, fuzzy, and gain scheduling controllers. Through simulations and navigation tests at sea, which successfully validate the performance of PFC strategy in motion control of autonomous underwater vehicles, PFC performance is compared with other control techniques such as fuzzy and gain scheduling control. The experimental tests presented here offer effective results concerning control objectives in high and intermediate levels of control. In high-level point, stabilization and path following scenarios are proven. In the intermediate levels, the results show that position and speed behaviors are improved using the PFC controller, which offers the smoothest behavior. The simulation depicting predictive functional control was the most effective regarding constraints management and control rate change in the Guanay II underwater vehicle actuator. The industry has not embraced the development of control theories for industrial systems because of the high investment in experts required to implement each technique successfully. However, this paper on the functional predictive control strategy evidences its easy implementation in several applications, making it a viable option for the industry given the short time needed to learn, implement, and operate, decreasing impact on the business and increasing immediacy.Peer ReviewedPostprint (author's final draft

Evaluation of the genotoxic and teratogenic potential of a municipal sludge and sludge-amended soil using the amphibian Xenopus laevis and the tobacco: Nicotiana tabacum L. var. xanthi Dulieu

The toxic, genotoxic and teratogenicpotential of amunicipal sewage sludge was assessed using the micronucleus assay on the larvae of the amphibianXenopuslaevis and with the tobacco somatic mutation test using the yellow–green xanthiDulieu mutant a1+/a1 a2+/a2. The teratogenicpotential was assessed by means of the Frog Embryo Teratogenesis Assay-Xenopus (FETAX). Various doses of the pasty sludge added to a crop soil were tested using the three bioassays. The test systems were performed either directly with sludge or sludge-amendedsoil samples (plant model) or with aqueous extracts (aquatic animal model). Using the tobacco model, we found no mutagenic impact of the soilamended with the sludge, perhaps because the clay-like nature of the soil, with its high adsorption capacity, may have prevented the contaminants from reaching the target. All leachates of amendedsoils produced a significant size reduction in Xenopus embryos. Depending on the soil/sludge ratio, some leachates were found to be genotoxic but were never teratogenic. This battery of in vivo test systems enabled us to estimate the global long-term effects under agricultural conditions with various genetic endpoints on ecologically relevant organisms characteristic of the aquatic and terrestrial compartments

Biomonitoring of the genotoxic potential of aqueous extracts of soils and bottom ash resulting from municipal solid waste incineration, using the comet and micronucleus tests on amphibian (Xenopus laevis) larvae and bacterial assays (MutatoxR and Ames tests)

The management of contaminated soils and wastes is a matter of considerable human concern. The present study evaluates the genotoxic potential of aqueous extracts of two soils (leachates) and of bottom ash resulting from municipal solid waste incineration (MSWIBA percolate), using amphibian larvae (Xenopus laevis). Soil A was contaminated by residues of solvents and metals and Soil B by polycyclic aromatic hydrocarbons and metals. MSWIBA was predominantly contaminated by metals. Two genotoxic endpoints were analysed in circulating erythrocytes taken from larvae: clastogenic and/or aneugenic effects (micronucleus induction) after 12 days of exposure and DNA-strand-breaking potency (comet assay) after 1 and 12 days of exposure. In addition, in vitro bacterial assays (MutatoxR and Ames tests) were carried out and the results were compared with those of the amphibian test. Physicochemical analyses were also taken into account. Results obtained with the amphibians established the genotoxicity of the aqueous extracts and the comet assay revealed that they were genotoxic from the first day of exposure. The latter test could thus be considered as a genotoxicity-screening tool. Although genotoxicity persisted after 12 days’ exposure, DNA damage decreased overall between days 1 and 12 in the MSWIBA percolate, in contrast to the soil leachates. Bacterial tests detected genotoxicity only for the leachate of soil A (Mutatox). The results confirm the ecotoxicological relevance of the amphibian model and underscore the importance of bioassays, as a complement to physicochemical data, for risk evaluation

Genotoxic and stress inductive potential of cadmium in Xenopus laevis larvae

The present investigation evaluates the toxic potential of Cd in larvae of the frog Xenopus laevis after 12 days of exposure to environmentally relevant contamination levels, close to those measured in the river Lot (France). Several genotoxic and detoxification mechanisms were analyzed in the larvae: clastogenic and/or aneugenic effects in the circulating blood by micronucleus (MN) induction, metallothionein (MT) production in whole larvae, gene analyses and Cd content in the liver and also in the whole larvae. The results show: (i) micronucleus induction at environmental levels of Cd contamination (2, 10, 30 μg L−1); (ii) an increased and concentration-dependent quantity of MT in the whole organism after contamination with 10 and 30 μg Cd L−1 (a three- and six-fold increase, respectively) although no significant difference was observed after contamination with 2 μg Cd L−1; (iii) Cd uptake by the whole organism and by the liver as a response to Cd exposure conditions; (4) up-regulation of the genes involved in detoxification processes and response to oxidative stress, while genes involved in DNA repair and apoptosis were repressed. The results confirm the relevance of the amphibian model and highlight the complementarity between a marker of genotoxicity, MT production, bioaccumulation and genetic analysis in the evaluation of the ecotoxicological impact

Revista de Ingeniería:Espejo del progreso de la Facultad de Ingeniería y de la Universidad de los Andes

Espejo del progreso de la Facultad de Ingeniería y de la Universidad de los Ande

Jointly Equivariant Dynamics for Interacting Particles

Let a finite set of interacting particles be given, together with a symmetry Lie group $G$. Here we describe all possible dynamics that are jointly equivariant with respect to the action of $G$. This is relevant e.g., when one aims to describe collective dynamics that are independent of any coordinate change or external influence. We particularize the results to some key examples, i.e. for the most basic low dimensional symmetries that appear in collective dynamics on manifolds

Palabras de Instalación.

Foro “Innovación en los sectores de la minería y la energía”, 26 de Julio de 201

Observability, Identifiability and Epidemiology -- A survey

In this document we introduce the concepts of Observability and Iden-tifiability in Mathematical Epidemiology. We show that, even for simple and well known models, these properties are not always fulfilled. We also consider the problem of practical observability and identi-fiability which are connected to sensitivity and numerical condition numbers