Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller

In this paper the synthesis of a rotational speed closed-loop control system based on a fractional-order proportional-integral (FOPI) controller is presented. In particular, it is proposed the use of the SCoMR-FOPI procedure as the controller tuning method for an unmanned aerial vehicle’s propulsion unit. In this framework, both the Hermite-Biehler and Pontryagin theorems are used to predefine a stability region for the controller. Several simulations were conducted in order to try to answer the questions – is the FOPI controller good enough to be an alternative to more complex FOPID controllers? In what circumstances can it be advantageous over the ubiquitous PID? How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?info:eu-repo/semantics/publishedVersio

Em busca da construção de uma escola reflexiva:relatando uma parceria entre universidade e escola

Neste artigo narramos o processo de construção do projeto «Escola Singular: Ações Plurais», desenvolvido em uma escola pública de Campinas(SP – Brasil), que surge a partir de uma parceria entre a Faculdade de Educação da Universidade Estadual de Campinas com a Escola Municipal de Ensino Fundamental Padre Francisco Silva. A partir de discussões, dilemas, leituras, acontecidas nos espaços de reflexão coletiva da escola referida, encontros dos quais participam a equipe de gestão, os professores da escola e a universidade, decidiu-se por uma mudança na estrutura, organização e currículo da escola. A pareceria entre a escola e a universidade, a partir do ano 2003, teve como objetivo a melhoria da educação pública. O Projeto é financiado pela Fundação de Amparo à Pesquisa no estado de São Paulo (Fapesp).In this article we refer to the construction process of the «Escola Singular: Ações Plurais» (Singular School: Plural Actions) project, which is developed by a public school located in Campinas (SP – Brasil). This is the result of a partnership between Faculty of Education of Universidade Estadual de Campinas and theMunicipal School of Primary Teaching of Padre Francisco Silva. Through topic discussions, dilemmas and readings which happened at the provided reflection spaces of the school and university, it was decided to change the structure, organization and curriculum of the school. Since 2003 the partnership between the school and university has had as its main goal the improvement of public education. This project is financed by Fundação de Amparo à Pesquisa no estado de São Paulo (Fapesp)

Effects of hyperlinks on navigation in virtual environments

Hyperlinks introduce discontinuities of movement to 3-D virtual environments (VEs). Nine independent attributes of hyperlinks are defined and their likely effects on navigation in VEs are discussed. Four experiments are described in which participants repeatedly navigated VEs that were either conventional (i.e. obeyed the laws of Euclidean space), or contained hyperlinks. Participants learned spatial knowledge slowly in both types of environment, echoing the findings of previous studies that used conventional VEs. The detrimental effects on participants' spatial knowledge of using hyperlinks for movement were reduced when a time-delay was introduced, but participants still developed less accurate knowledge than they did in the conventional VEs. Visual continuity had a greater influence on participants' rate of learning than continuity of movement, and participants were able to exploit hyperlinks that connected together disparate regions of a VE to reduce travel time

Do residents’ perceptions of being well-placed and objective presence of local amenities match? A case study in West Central Scotland, UK

Background:<p></p> Recently there has been growing interest in how neighbourhood features, such as the provision of local facilities and amenities, influence residents’ health and well-being. Prior research has measured amenity provision through subjective measures (surveying residents’ perceptions) or objective (GIS mapping of distance) methods. The latter may provide a more accurate measure of physical access, but residents may not use local amenities if they do not perceive them as ‘local’. We believe both subjective and objective measures should be explored, and use West Central Scotland data to investigate correspondence between residents’ subjective assessments of how well-placed they are for everyday amenities (food stores, primary and secondary schools, libraries, pharmacies, public recreation), and objective GIS-modelled measures, and examine correspondence by various sub-groups.<p></p> Methods:<p></p> ArcMap was used to map the postal locations of ‘Transport, Health and Well-being 2010 Study’ respondents (n = 1760), and the six amenities, and the presence/absence of each of them within various straight-line and network buffers around respondents’ homes was recorded. SPSS was used to investigate whether objective presence of an amenity within a specified buffer was perceived by a respondent as being well-placed for that amenity. Kappa statistics were used to test agreement between measures for all respondents, and by sex, age, social class, area deprivation, car ownership, dog ownership, walking in the local area, and years lived in current home.<p></p> Results:<p></p> In general, there was poor agreement (Kappa <0.20) between perceptions of being well-placed for each facility and objective presence, within 800 m and 1000 m straight-line and network buffers, with the exception of pharmacies (at 1000 m straight-line) (Kappa: 0.21). Results varied between respondent sub-groups, with some showing better agreement than others. Amongst sub-groups, at 800 m straight-line buffers, the highest correspondence between subjective and objective measures was for pharmacies and primary schools, and at 1000 m, for pharmacies, primary schools and libraries. For road network buffers under 1000 m, agreement was generally poor.<p></p> Conclusion:<p></p> Respondents did not necessarily regard themselves as well-placed for specific amenities when these amenities were present within specified boundaries around their homes, with some exceptions; the picture is not clear-cut with varying findings between different amenities, buffers, and sub-groups

Stability region of a simplified multirotor motor–rotor model with time delay and fractional-order PD controller

The main aim of this paper is to present stability region analysis for a closed-loop system with the second-order model with a time delay and continuous-time fractional-order proportionalderivative (PD) controller. The model of the plant used in the paper approximates the dynamics of a simplified motor–rotor model of multirotor’s propulsion system. The controller tuning method is based on Hermite–Biehler and Pontryagin theorems. The tracking performance is also analysed in the paper by observing the integral of absolute error and integral of squared error indices. The presented results are expected to be useful in future when comparing simulation with experimental results

Effect of simplicity and attractiveness on route selection for different journey types

This study investigated the effects of six attributes, associated with simplicity or attractiveness, on route preference for three pedestrian journey types (everyday, leisure and tourist). Using stated choice preference experiments with computer generated scenes, participants were asked to choose one of a pair of routes showing either two levels of the same attribute (experiment 1) or different attributes (experiment 2). Contrary to predictions, vegetation was the most influential for both everyday and leisure journeys, and land use ranked much lower than expected in both cases. Turns ranked higher than decision points for everyday journeys as predicted, but the positions of both were lowered by initially unranked attributes. As anticipated, points of interest were most important for tourist trips, with the initially unranked attributes having less influence. This is the first time so many attributes have been compared directly, providing new information about the importance of the attributes for different journeys. © 2014 Springer International Publishing

Responsabilidade tributária por ato lícito como dever instrumental: um enfoque sob a perspectiva do direito fundamental de propriedade

O presente trabalho tem por objetivo analisar o instituto jurídico da responsabilidade tributária por ato lícito sob um enfoque do direito fundamental de propriedade. Para tanto, apresenta-se as características do direito à propriedade, identificando sua prioridade erigida pela Constituição Federal de 1988. Igualmente necessário, traça-se mais uma premissa ao deslinde da questão central, isto é, disserta-se acerca das normas gerais no direito tributário, incluindo a questão das classificações, do veiculo introdutor competente e a diferença entre obrigação principal e os deveres instrumentais ou formais (obrigação acessória). A partir de então, investiga-se a sujeição passiva, contextualizando o contribuinte e o responsável tributário, este último, ponto mestre da pesquisa. O conceito e a natureza jurídica, portanto, serão traçados tendo em vista as premissas adotadas, chegando-se à conclusão de que a figura do contribuinte é dissociada da sujeição passiva tributária, sempre existindo, independentemente da eleição de terceiro para o recolhimento da exação. Neste viés, conclui-se que o instituto jurídico da responsabilidade tributária por ato lícito não é uma obrigação, no sentido pecuniário, mas sim um simples dever instrumental de fazer do terceiro, haja vista não arcar com o ônus econômico-financeiro. À luz desta conclusão, analisa-se cada uma das possibilidades de responsabilidade tributária por ato lícito previstas na legislação nacional. Por fim, esclarece-se a diferença entre repercussão jurídica e repercussão econômica, situando-as no presente trabalhoThe current article has by purpose to analyze the Legal Institute of tributary responsibility for licit act by a fundamental right of property approach. In order to do so, it presents the aspects of the right to property, identifying its priority made by the Federal Constitution of 1988. It has equally necessary been traced one more premise to verify the main question. It means discoursing to draw near to generally rules on Tributary Law including the question of the classifications, the question of the capable provider vehicle and the discrepancy between main duty and the formal or instrumental obligations. From now on it is investigated the liability subjection introducing the contributor and the tributary responsible. The last one mentioned is the key point of the research. The concept and juridical nature, therefore, will be traced in view of the adopted premises getting the conclusion that the image of the contributor is sundered of passive tributary subjection always existing, independently by the third part election to withdraw the tax. In this way, it is inferred that the legal institute of tributary responsibility for licit act is not an obligation by the pecuniary meaning. However, it is a simple instrumental duty to make to the third part not to struggle to the economicfinancial onus. According to this conclusion it is analyzed that each one of the foreseen possibilities of tributary responsibility for licit act at national statute law. Finall,y it is cleared up the difference between juridical repercussion and economical repercussion located in the current articl

The characteristics of asymmetric pedestrian behavior: A preliminary study using passive smartphone location data

Understanding the movements of people is essential for the design and management of urban areas. This article presents a novel approach to understanding the asymmetry in route choice (i.e., the degree to which people choose different walking routes for their outbound and return journeys). The study utilizes a large volume of traces of individual routes, captured using a smartphone application. The routes are aggregated to a regular grid, and matrix statistics are developed to estimate the aggregate degree of route asymmetry for different types of route (shortest, longest, weekday, weekend, etc.). The results suggest that people change their route approximately 15% of the time. Although this varied little when observing trips made at the weekend or on a weekday, people taking journeys that deviated substantially from the shortest possible path were 6 percentage points less likely to change their routes than those taking journeys that were closest to the shortest path (14 and 20% asymmetry, respectively). The absolute length also impacted on the asymmetry of journeys, but not as substantially. This result is important because, for the first time, it reports a correlation between deviation from shortest route and aggregate pedestrian choice

Knife-assisted resection (KAR) for small rectal neuroendocrine neoplasia

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Ética em pesquisa: análise das dissertações de um mestrado em educação cearense = Ethics in research: analysis of the dissertations of a masters in education in Ceará = Ética en investigación: análisis de los trabajos de un máster en educación cearense

Objetivou-se analisar como as dissertações de uma instituição de ensino cearense abordam as questões éticas na pesquisa. Realizou-se um estudo quantitativo com 104 dissertações, considerando a presença de cuidados éticos no resumo; a presença de seção sobre os aspectos éticos da pesquisa; a presença de Termo de Consentimento Livre e Esclarecido; e a aprovação por um Comitê de Ética em Pesquisa. Realizou-se análise estatística não paramétrica por meio do teste de Kruskal-Wallis, com nível de significância de 0,05, mediante utilização do software SigmaStat 3. 5. Os dados revelaram que a maioria das dissertações não atende na íntegra a Resolução CNS n. º 466/2012, apesar disso fazem referências éticas ao longo do trabalho. Não houve diferenças estatisticamente significativas (pchr(38)gt;0,05) em relação às categorias de análise, em função do ano de defes