Robust Controller Design for an Autonomous Underwater Vehicle

Worldwide there has been a surge of interest in Autonomous Underwater Vehicles (AUV). The ability to operate without human intervention is what makes this technology so appealing. On the other hand, the absence of the human narrows the AUV operation to its control system, computing, and sensing capabilities. Therefore, devising a robust control is mandatory to allow the feasibility of the AUV. Motivated by this fact, this thesis aims to present, discuss and evaluate two linear control solutions being proposed for an AUV developed by a consortium led by CEiiA. To allow the controller design, the dynamic model of this vehicle and respective considerations are firstly addressed. Since the purpose is to enable the vehicle’s operation, devising suitable guidance laws becomes essential. A simple waypoint following and station keeping algorithm, and a path following algorithms are presented. To devise the controllers, a linear version of the dynamic model is derived considering a single operational point. Then, through the decoupling of the linear system into three lightly interactive subsystems, four Proportional Integral Derivative controllers (PIDs) are devised for each Degree Of Freedom (DOF) of the vehicle. A Linear Quadratic Regulator (LQR) design, based on the decoupling of the linear model into longitudinal and lateral subsystems is also devised. To allocate the controller output throughout the actuators, a control allocation law is devised, which improves maneuverability of the vehicle. The results present a solid performance for both control methods, however, in this work, LQR proved to be slightly faster than PID.É visível, a nível mundial, um aumento considerável do interesse em Veículos Autónomos Subaquáticos (Autonomous Underwater Vehicles - AUV). O que torna esta tecnologia tão atraente é a capacidade de operar sem intervenção humana. Contudo, a ausência do ser humano restringe a operação do AUV ao seu sistema de controlo, computação e capacidades de detecção. Desta forma, conceber um controlo robusto é obrigatório para viabilizar o AUV. Motivado por este facto, esta tese tem como objetivo apresentar, discutir e avaliar duas soluções de controlo linear, a propor a um AUV desenvolvido por um consórcio liderado pelo CEiiA. Para que o projeto do controlador seja possível, o modelo dinâmico deste veículo e respectivas considerações são primeiramente abordados. Com a finalidade de possibilitar a operação do veículo, torna-se essencial a elaboração de leis de guidance adequadas. Para este efeito são apresentados algorítmos de Waypoint following e Station keeping, e de path following. Para a projeção dos controladores é derivada uma versão linear do modelo dinâmico, considerando um único ponto operacional. Através da separação do modelo linear em três subsistemas são criados quatro controladores Proporcional Integral Derivativo (PID) para cada grau de liberdade (Degree Of Freedom - DOF) do veículo. É também projetado um Regulador Linear Quadrático (LQR), baseado na separação do modelo linear em dois subsistemas, longitudinal e lateral. É ainda apresentada uma lei de alocação de controlo para distribuir o sinal de saída dos controladores pelos diferentes atuadores. Esta provou melhorar a manobrabilidade do veículo. Os resultados finais apresentam um desempenho sólido para ambos os métodos de controlo. No entanto, neste trabalho, o LQR provou ser mais rápido do que o PID

Guidance and Robust Control of a Double-Hull Autonomous Underwater Vehicle

The aim of this paper is to present, discuss and evaluate two linear control solutions for an Autonomous Underwater Vehicle (AUV). As guidance solution, a waypoint following and station-keeping algorithm is presented. Then a PID design is proposed, through the decoupling of the linear system into three lightly interactive subsystems. A Linear Quadratic Regulator (LQR) design is also presented, based on the division of the linear system into longitudinal and lateral subsystems. A control allocation law is also presented to deal with the underactuation problems. Both controllers proved robust for this operating point although, regarding performance, and, for the performed simulation, the LQR controller proved more responsive.info:eu-repo/semantics/publishedVersio

Microorganismos para a sustentabilidade ambiental / Microorganisms for environmental sustainability

Os probióticos são microrganismos vivos que conferem benefícios à saúde animal ou ambiental. São constituídos de consórcios de microrganismos e seus genomas, que modulam as respostas metabólicas a fatores internos e externos, participando da manutenção do equilíbrio ecológico. Por conta disso, eles podem ser utilizados como uma estratégia de baixo custo na restauração da resiliência de um ecossistema. Este trabalho apresenta uma revisão sobre os principais microrganismos usados como probióticos como Lactobacillus sp., Bifidobacterium sp., Streptomyces sp., Saccharomyces sp., Aspergillus sp., Bacillus sp., Rhodopseudomonas sp. e Rhodobacter sp. e seus mecanismos de ação. Estes mecanismos são regulados pelo quorum sensing, que permite aos microrganismos atuarem coletivamente na competição para exploração, competição por interferência e aderência epitelial. Eles atuam no aumento da disponibilidade de nutrientes e geração de compostos bioativos, como bacteriocinas, ácidos graxos de cadeia curta, exopolissacarídeos, enzimas e vitaminas. Adicionalmente, eles também participam da desintoxicação de micotoxinas, sequestro de metais pesados, biorremediação de hidrocarbonetos aromáticos policíclicos, aminas aromáticas heterocíclicas, nitrosaminas e pesticidas. O presente trabalho também relata a utilização de microrganismos probióticos na remediação de águas contaminadas por diversas fontes, descrevendo as possibilidades de uso desta tecnologia sustentável para revitalizar o meio ambiente

Relação entre nível de atividade f/ísica em lazer, antropometria, composição corporal e aptidão física de mulheres submetidas à cirurgia bariátrica e um grupo equivalente não operado

Background: Bariatric surgery is an alternative to the obesity treatment. Aim: To compare anthropometric variables such as body composition and physical fitness of those who performed Roux-en-Y gastric bypass. Methods: Were evaluated 108 women. They were subdivided in three groups: those who performed the bariatric surgery by private health insurance (SAS, n=36)by the public health care (SUS, n=36), and an equivalent group which did not perform the surgery (NO, n=36). Were performed physical fitness, anthropometric and body composition tests. Was evaluated the level of physical activity during the leisure period. Results: Statistically significant differences were observed between the groups sedentary operated (n=28) and sedentary non-operated (n=13) on anthropometry and fat percentage, being the highest indexes in the group operated. Conclusion: The level of physical activity showed a positive influence related to anthropometric variables, body composition of the individuals who performed the bariatric surgery when compared to the ones non-operated.Racional: Observa-se o aumento da realização da cirurgia bariátrica como alternativa de tratamento para obesidade. Objetivo: Comparar a antropometria, composição corporal e aptidão física de pacientes submetidos ao bypass gástrico em Y-de-Roux. Métodos: Foram avaliadas 108 mulheres subdivididas em: operadas por convênios de saúde particulares (SAS, n=36), Sistema Único de Saúde (SUS, n=36) e um grupo equivalente não operado (NO, n=36). Foram realizados testes de aptidão física, antropometria e composição corporal, e avaliado nível de atividade física no lazer. Resultados: Não houve diferença estatisticamente significativa nas variáveis estudadas entre os grupos SAS, SUS e NO. Observaram-se diferenças estatisticamente significativas entre os grupos operados sedentários (n=28) e não operados sedentários (n=13) na antropometria e percentual de gordura, sendo ao grupo operado os índices mais altos. Conclusões: O nível de atividade física apresentou influência positiva sobre as variáveis antropométricas, de composição corporal de pacientes submetidos à cirurgia bariátrica quando comparados aos não operados.CNPqUniv Estadual Maringa, Phys Educ Dept, Maringa, Parana, BrazilUniv Estadual Maringa, Postgrad Program UEM UEL, Maringa, Parana, BrazilFed Tocantins Inst, Araguatins, TO, BrazilEduc Bur, Malatya City Hall, Marialva, PR, BrazilUniv Fed Sao Paulo, Interdisciplinary Hlth Sci Postgrad Program, Santos, SP, BrazilUniv Estadual Maringa, Multidisciplinary Ctr Obes Studies, Maringa, Parana, BrazilUniv Fed Sao Paulo, Interdisciplinary Hlth Sci Postgrad Program, Santos, SP, BrazilWeb of Scienc

Antibody-cytokeratin marker 34βe12 In prostate cancer detection

The histological diagnosis of prostate cancer is commonly based on morphological patterns. The presence of malignant tissue mixed with benign tissue, or the presence of carcinoma that mimics benignity may generate difficulty in the diagnostic elucidation. Therefore, the application of immunohistochemistry contributes its diagnostic value. Objectives: To evaluate the 34βE12 marker in the detection of adenocarcinoma (ADn), atypical small acinar proliferation (ASAp), regular prostatic tissue (RPT) and regular prostatic tissue alternated by atrophy spotlights (RPTa) in transrectal biopsy guided by ultrasonography of patients with suspected prostate cancer. Method: Analysis of 34 patients who underwent ultrasound-guided transrectal biopsy with subsequent analysis by H&E staining and 34βE12 labeling for elucidation of neoplasms or diseased tissues with doubtful diagnosis. Results: The marker 34βE12 showed negativity in 100% of the neoplasms ADn, positivity in 100% of the benign prostatic tissues (RPT and RPTa); the patients with ASAp presented positivity (20%) and negativity (80%). The chi-square test (χ)² showed that there is an association (χ ²= 29.55 and p < 0.0001) between the groups, that is, the 34βE12 marker has a significant value (p < 0.0001) in the elucidation of patients with prostatic neoplasia and benign prostatic tissues. Discussion and Conclusion: With the early screening of prostate cancer in the modern era, pathologists have become increasingly challenged to diagnose small outbreaks of cancer when only a few atypical glands are present in transrectal biopsy-guided ultrasonography. The 34βE12 marker becomes an important tool in elucidating diagnoses such as ADn and ASAp

Morphometric analysis of the effects of immobilization on the gastrocnemius muscle of rats

O objetivo deste trabalho e compreender os efeitos da imobilizacao em encurtamento do musculo gastrocnemio de ratos, por meio de analise de variaveis como peso e comprimento muscular, diametro das fibras e alteracoes morfologicas. Utilizamos 15 Rattus norvegicus machos da linhagem Wistar, distribuidos em tres grupos: Controle (GC), intactos em gaiolas por 7 dias; Imobilizado (GI) com a pata esquerda encurtada por 3 semanas e Imobilizado e Solto (GIS), imobilizados durante 3 semanas e, apos esse periodo, livres nas gaiolas durante 3 semanas, sem intervencao. Apos a eutanasia, os musculos foram coletados para as analises. A imobilizacao promoveu reducao de peso em todos os grupos. Nao houve alteracao significativa em relacao ao comprimento, exceto entre o GC e GIS (p=0,01). Na analise do diametro nao foi observada diferenca estatistica entre os grupos (p>0,05). As alteracoes morfometricas, apos imobilizacao, causaram reducao de peso e de comprimento. Na variavel diametro muscular, nao foram observadas diferencas estatisticamente significativas.The aim of this study is to analyze the effects of immobilization in shortening of the gastrocnemius muscle of rats, analyzing variables such as weight and muscle length, fiber diameter and morphological changes. We used 15 male Wistar rats, divided into three groups: control (CG), intact in cages for 7 days; Immobilized (IG) with the left leg shortened by three weeks and Immobilized and loose (IGL), immobilized for 3 weeks and after this period, free in Their cages for 3 weeks without intervention. The immobilization promoted weight loss in all groups. There was the Significant change in relation to length, except between CG and GIS (P = 0.01). In the statistical analysis of the diameter difference between groups (p> 0,05). Morphological changes after immobilization causes reduced weight and length. Muscle diameter variable in statistically significant differences were observed

Prevalence of shigatoxigenic Escherichia coli in bovine cattle: a survey in the north region of portugal

Shiga toxin-producing Escherichia coli (STEC) strains are food-borne pathogens that can be transmitted to humans through many different routes, but mainly through consumption of contaminated foods. STEC strains are characterized by the production of Shiga toxins (Stx) that are encoded by two genes stx1 and/or stx2. Each toxin can be subdivided into subtypes and, currently, there are three known subtypes for stx1 (stx1a, stx1c, and stx1d) and seven for stx2 (stx2a, stx2b, stx2c, stx2d, stx2e, stx2f, and stx2g). Others virulence factors, such the production of intimin protein, encoded by eae gene, are associated with severe outcomes of STEC-associated diseases. The most common STEC serotype implicated worldwide is E. coli O157:H7, but many other STEC strains are associated with severe human diseases. Ruminants, especially cattle, are a major reservoir for O157 and non-O157 STEC. Information on STEC prevalence in Portuguese dairy cattle is limited, so we analysed for the presence of STEC 329 faecal specimens collected from the rectum of healthy dairy cattle. The samples were collected from adults lactating cows (n=194) and from heifers (n=135) with ages among 6 to 18 months, between March and June 2019, at milk farms (n=17) in the North region of Portugal. After enrichment, in modified TSB with novobiocin, samples were analysed by real time PCR to detect the presence of stx1, stx2 and eae in accordance to ISO/TS 13136:2012(E). In addition, conventional PCR for the detection of sxt1 and stx2 gene subtypes was performed according to the guidelines of the VTEC European Union Reference Laboratory. A total of 139 isolates were recovered from 108 positive animals (dairy cows and heifers). The STEC prevalence was significantly higher in heifers (68/135; 50.4%) than in adult cows (40/194; 20.6%) (p < 0.05, Fisher exact test statistic value is <0.00001). STEC harbouring only stx2 (67/139; 48.2%) were the most common strains, followed by both genes stx1 and stx2 (40/139, 28.8%) and stx1 (32/139, 23%). Of the 139 STEC isolates, 35.3% have also the eae gene. Subtyping of stx1 (72) showed that stx1a was the most prevalent (100%), followed by stx1c (88.9%) and stx1d (6.9%). Stx1a and stx1c subtypes occurred alone or combination with other subtypes. However, subtype stx1d was only found in combination with subtype stx1a and or stx1c. Concerning strains with stx2 (107), the stx2a subtype was the most common and was found in 84.1% of the isolates, followed by stx2d (76.6%), stx2c (74.8%), stx2g (23.4%), stx2b (4.7%), stx2e (3.7%) and stx2f (0.9%). No strains carried stx2b or stx2f alone. For isolates carrying stx1 and stx2 simultaneously, combinations of subtypes stx1a, stx1c, stx2a, stx2c and stx2d were the most common. Furthermore, in 42 isolates (30.2%) 4 or more stx subtypes were detected simultaneously. These results show that STEC prevalence in dairy cattle is high, and that most isolates present a diverse combination of Shiga-toxin genes. Future strategies are needed to mitigate the presence of STEC in cattle and then reduce the possible contamination of food and, thus, humans.Project PhageSTEC (POCI-01-0145-FEDER-029628) funded by FEDER through COMPETE2020 (Programa Operacional Competitividade e Internacionalização) and by National Funds thought FCT (Fundação para a Ciência e a Tecnologia).info:eu-repo/semantics/publishedVersio

Thiophene- and carbazole-substituted N-Methyl-Fulleropyrrolidine acceptors in PffBT4T-2OD based solar cells

The impact of fullerene side chain functionalization with thiophene and carbazole groups on the device properties of bulk-heterojunction polymer:fullerene solar cells is discussed through a systematic investigation of material blends consisting of the conjugated polymer poly[(5,6-difluoro-2,1,3-benzothiadiazol-4,7-diyl)-alt-(3,3‴-di(2-octyldodecyl)-2,2′;5′,2″;5″,2‴-quaterthiophen-5,5‴-diyl)] (PffBT4T-2OD) as donor and C60 or C70 fulleropyrrolidines as acceptors. The photovoltaic performance clearly depended on the molecular structure of the fulleropyrrolidine substituents although no direct correlation with the surface morphology of the photoactive layer, as determined by atomic force microscopy, could be established. Although some fulleropyrrolidines possess favorable lowest unoccupied molecular orbital levels, when compared to the standard PC71BM, they originated OPV cells with inferior efficiencies than PC71BM-based reference cells. Fulleropyrrolidines based on C60 produced, in general, better devices than those based on C70, and we attribute this observation to the detrimental effect of the structural and energetic disorder that is present in the regioisomer mixtures of C70-based fullerenes, but absent in the C60-based fullerenes. These results provide new additional knowledge on the effect of the fullerene functionalization on the efficiency of organic solar cells.This work was financially supported by: Base Funding — UIDB/00511/2020 of the Laboratory forProcess Engineering, Environment, Biotechnology and Energy — LEPABE — funded by national funds through theFCT/MCTES (PIDDAC). This work was partially funded within the scope of the project i3N, UIDB/50025/2020 & UIDP/50025/2020, financed by national funds through the FCT/MEC. Thanks are also due to FCT/MEC for thefinancial support to QOPNA (FCT UID/QUI/00062/2019), CICECO-Aveiro Institute of Materials (UIDB/50011/2020& UIDP/50011/2020), CQE (FCT UIDB/00100/2020), and CIQUP (FCT UID/QUI/UI0081/2019) research units, throughnational funds and where applicable co-financed by the FEDER, within the PT2020 Partnership Agreement. H.G.thanks Fundação para a Ciência e a Tecnologia (FCT) for his PhD scholarship (SFRH/BD/103009/2014). The researchcontracts of F.F. (REF. -168-89-ARH/2018) is funded by national funds (OE), through FCT—Fundação para aCiência e Tecnologia, I.P., in the scope of the framework contract foreseen in the numbers 4, 5, and 6 of article 23,of the Decree-Law 57/2016, of August 29, changed by Law 57/2017, of July 19. M.M.F. acknowledges also supportfrom FCT under the project IF/00894/2015

UMA PROPOSTA DE ATIVIDADE DE MRUV A PARTIR DE UM EXPERIMENTO REMOTO FEITO COM LIXO ELETRÔNICO – WEBLAB ITA

Há alguns anos a tecnologia vem remodelando a natureza dos laboratórios, principalmente com o desenvolvimento dos Laboratórios Controlados Remotamente, chamados de WebLabs. WebLabs são ambientes que permitem interagir, controlar, monitorar e analisar os dados de experimentos remotamente, através da Internet. São semelhantes às técnicas de simulação, porém, permite ao aluno trabalhar com dados reais, além de otimizar espaço, tempo e custo perante um laboratório tradicional. Com o intuito de melhorar a aprendizagem de física, este trabalho apresenta uma proposta de estudo do Movimento Retilíneo Uniformemente Variável (MRUV) por meio de um experimento físico construído a partir de lixo eletrônico reciclável com acesso remoto. Atualmente o Lixo Eletrônico está presente em diversos lugares, e o seu descarte ainda é difícil. A vista que esse lixo é composto de motores, sensores e demais componentes, usamos esse material para confeccionar o experimento. A obtenção dos dados e a análise foi feita usando os softwares Mathematica® e Tracker®

Prevalence and serotypes of Shiga toxin-producing Escherichia coli (STEC) in dairy cattle from Northern Portugal

The prevalence of Shiga toxin (Stx)-producing Escherichia coli (STEC) was determined by evaluating its presence in faecal samples from 155 heifers, and 254 dairy cows in 21 farms at North of Portugal sampled between December 2017 and June 2019. The prevalence of STEC in heifers (45%) was significantly higher than in lactating cows (16%) (p<0.05, Fisher exact test statistic value is <0.00001). A total of 133 STEC were isolated, 24 (13.8%) carried Shiga-toxin 1 (stx1) genes, 69 (39.7%) carried Shiga-toxin 2 (stx2) genes, and 40 (23%) carried both stx1 and stx2. Intimin (eae) virulence gene was detected in 29 (21.8%) of the isolates. STEC isolates belonged to 72 different O:H serotypes, comprising 40 O serogroups and 23 H types. The most frequent serotypes were O29:H12 (15%) and O113:H21 (5.2%), found in a large number of farms. Two isolates belonged to the highly virulent serotypes associated with human disease O157:H7 and O26:H11. Many other bovine STEC serotypes founded in this work belonged to serotypes previously described as pathogenic to humans. Thus, this study highlights the need for control strategies that can reduce STEC prevalence at the farm level and, thus, prevent food and environmental contamination.This study was financially supported by: i) project PhageSTEC (POCI-01-0145 -FEDER 029628) funded by FEDER through COMPETE2020 (Programa Operacional Competitividade e Internacionalizac¸ão) and by National Funds thought FCT (Fundac¸ão para a Ciência e a Tecnologia); ii) strategic project UIDB/04469/2020 unit and BioTecNorte operation (NORTE-01-0145-FEDER 000004) funded by FCT under the scope of the European Regional Development Fund (Norte2020 - Programa Operacional Regional do Norte); iii) project PI16/01477 from Plan Estatal de I+D+I 2013-2016, Instituto de Salud Carlos III (ISCIII), Subdireccio´n General de Evaluacio´n y Fomento de la Investigacio´n, Ministerio de Economı´a y Competitividad (Gobierno de España) and FEDER; and iv) grant ED431C2017/57 from the Consellerı´a de Cultura, Educacio´n e Ordenación Universitaria, (Xunta de Galicia) and FEDER; UIDB/AGR/04033/2020 by National Funds thought FCT. Author IGM acknowledges the Consellerı´a de Cultura, Educacio´n e Ordenacio´n Universitaria, Xunta de Galicia for the individual grant ED481A-2015/149 and and author SCFS acknowledges the FPU programme for the individual grant FPU15/02644 from the Secretarı´a General de Universidades, Spanish Ministerio de Educacio´n, Cultura y Deporte. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.info:eu-repo/semantics/publishedVersio