Heavy reliance on GPS is preventing unmanned air systems (UAS) from being fully inte- grated for many of their numerous applications. In the absence of GPS, GPS-reliant UAS have difficulty estimating vehicle states resulting in vehicle failures. Additionally, naively using erro- neous measurements when GPS is available can result in significant state inaccuracies. We present a simultaneous localization and mapping (SLAM) solution to GPS-degraded navigation that al- lows vehicle state estimation and control independent of global information. Optionally, a global map can be constructed from odometry measurements and can be updated with GPS measurements while maintaining robustness against outliers.We detail a relative navigation SLAM framework that distinguishes a relative front end and global back end. It decouples the front-end flight critical processes, such as state estimation and control, from back-end global map construction and optimization. Components of the front end function relative to a locally-established coordinate frame, completely independent from global state information. The approach maintains state estimation continuity in the absence of GPS mea- surements or when there are jumps in the global state, such as after map optimization. A global graph-based SLAM back end complements the relative front end by constructing and refining a global map using odometry measurements provided by the front end.Unlike typical approaches that use GPS in the front end to estimate global states, our unique back end uses a virtual zero and virtual constraint to allow intermittent GPS measurements to be applied directly to the map. Methods are presented to reduce the scale of GPS induced costs and refine the map’s initial orientation prior to optimization, both of which facilitate convergence to a globally consistent map. The approach uses a state-of-the-art robust least-squares optimization algorithm called dynamic covariance scaling (DCS) to identify and reject outlying GPS measure- ments and loop closures. We demonstrate our system’s ability to generate globally consistent and aligned maps in GPS-degraded environments through simulation, hand-carried, and flight test re- sults.

[pt] O aumento da penetração de fontes de energia intermitentes é uma realidade dentro da matriz energética brasileira. A utilização em larga escala de energia renovável diminui a flexibilidade operativa com a redução da inércia equivalente sincronizada no sistema, podendo colocar em risco a segurança e a qualidade do suprimento de energia dos sistemas elétricos de potência com a diminuição da capacidade de regulação de frequência. Com expectativas de crescimento acentuado, surgem os dispositivos de armazenamento de energia (Energy Storage Devices – ESD) como uma alternativa viável para contornar essas dificuldades, principalmente quando se trata de um sistema de potência isolado. Nesta dissertação, avalia-se o comportamento dinâmico do sistema elétrico do estado de Roraima, através de uma metodologia desenvolvida para quantificar a penetração de energia renovável intermitente em sistemas isolados. Avalia-se também como a utilização de dispositivos de armazenamento de energia podem contribuir para o controle de frequência, observando as vantagens que tais dispositivos podem acarretar nesse sistema. A construção do Mapa de Decisão pode auxiliar as análises tanto na etapa de planejamento como na fase de programação e operação dos sistemas. Nas simulações realizadas foi possível constatar que a utilização de ESD pode promover um aumento significativo na penetração de usinas renováveis intermitentes, como eólica e solar fotovoltaica, em sistemas de potência isolados / [en] The increase in the penetration of intermittent energy sources is a reality within the Brazilian energy matrix. The large-scale use of renewable energy decreases the operational flexibility with the reduction of the equivalent inertia synchronized in the system, which can endanger the safety and quality of the energy supply of electric power systems with the reduction of the frequency regulation capacity. With expectations of sharp growth, energy storage devices (ESD) appear as a feasible alternative to overcome these difficulties, particularly when it comes to an isolated power network. In this dissertation, the dynamic assessment of the electrical system of the state of Roraima is evaluated, using a methodology developed to quantify the penetration of intermittent renewable energy in isolated systems. It is also evaluated how the use of energy storage devices can contribute to frequency control, observing the advantages that such devices can bring to this system. The construction of the Decision Map can assist the analyses during the planning, programming and operation phases. In the simulations carried out, it was possible to verify that the use of ESD can promote a significant increase in the penetration of intermittent renewable plants, such as wind and solar photovoltaic, in isolated power systems.

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Research was performed at a pilot-scale wastewater treatment plant operating an adsorption/bio-oxidation (A/B) process at 20C. The study compared B-Stage performance under DO Control, Ammonia Based Aeration Control (ABAC), and Ammonia vs. NOx (AvN) control. AvN in 1) fully-intermittent and 2) intermittently-aerated MLE configurations was compared to DO Control and ABAC, each with continuous aeration, in an MLE configuration. The study also examined operation of each aeration strategy with two different feed types: A-Stage effluent (ASE) and primary clarifier effluent (PCE). Operating modes were compared on the basis of nitrogen removal performance, COD utilization efficiency for denitrification, and alkalinity consumption. AvN was found to provide comparable nitrogen removal performance to DO Control and ABAC. The highest nitrogen removal performance was seen when operating DO Control (81.4 ± 1.2%) and ABAC (81.1 ± 1.2%) with PCE. High nitrogen removal efficiency (77.5 ± 6.1%) was seen when fully-intermittent AvN operation was fed ASE containing a high particulate COD fraction. A high effluent nitrite accumulation ratio (NAR = NO2-/(NO2-+NO3-)) was seen during this period (46 ± 15%) accompanied by the out-selection of Nitrospira. Feeding effluent from AvN control to an Anammox MBBR improved removal efficiency. Increased soluble COD loading resulted in greater nitrogen removal with strategies operating in an MLE configuration while particulate COD was found to be important for processes where removal was designed to occur in downstream reactors. Efficiency of COD for denitrification was found to vary based on the amount and type of influent COD; however AvN in an MLE configuration was found to use COD more efficiently than fully-intermittent AvN. In either configuration, AvN required less alkalinity addition than DO Control or ABAC. High sCOD concentrations in PCE led to increased nutrient removal as compared to ASE but increased heterotrophic growth and mixed liquor concentrations in the B-Stage making the A-Stage an attractive option for its ability to control the C/N ratio fed to BNR processes. / Master of Science

The intermittent fasting diet has a historical past, but recently, it has regained popularity as a weight loss strategy for the general public. Athletes have also picked up this specialized diet in search of a competitive edge. There are ample studies testing athletes of all levels, but most do not include females or report sex-specific results. This systematic review aimed to identify current research on the effects of intermittent fasting in the understudied population of female athletes. Following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines, a comprehensive search was conducted in three databases, including PubMed, Cochrane, and SPORTDiscus, and a total of six studies with experimental or observational designs testing the various effects of intermittent fasting on physical, physiological, and psychological parameters were included. This systematic review shows that studies found significant changes in calorie and fluid intake, body composition, nutrient utilization, well-being, and athletic performances with no changes in muscle strength, ratings of perceived exertion, blood lactate levels, and cognitive function. Multiple studies in this review found mixed results on changes in heart rate and athletic performance (vertical jump height), and no studies found negative effects on athletic performance except in the survey of athletes’ perceptions. Due to conflicting results of current research, more studies are needed to determine the effects of intermittent fasting combined with continuous exercise on athletic women.

Introduction: Memory is a complex cognitive process formerly linked to mechanisms of brain plasticity that can be estimated in the left dorsolateral prefrontal cortex (DLPFC) using transcranial magnetic stimulation and electroencephalography (TMS-EEG). Also, cortical thickness in the DLPFC may be a potential proxy measure of brain plasticity as previous literature reports a link between better memory and thicker cortex. However, the link between brain plasticity and memory performance as well as DLPFC thickness remains to be clarified. Methods: Intermittent theta burst stimulation (iTBS) probed plasticity-like mechanisms in the left DLPFC in 17 cognitively healthy participants. TMS-EEG recordings were performed before and after sham and active iTBS to quantify plasticity via transcranial magnetic stimulation-evoked potentials (TEPs). Composite memory scores for each domain (verbal episodic, visual episodic and working memory) were obtained using the Cambridge Neuropsychological Test Automated Battery. Anatomical T1 images were acquired by magnetic resonance imaging and processed by open-source software (CIVET) and the Automated Anatomical Labeling atlas to extract cortical thickness of the DLPFC. All statistical analyses (linear mixed model, Tukey's post hoc test and Pearson's correlations) were completed in R Studio. Results: iTBS resulted in increased TEP amplitude P30 (F= 5.239, p = 0.029), as shown by a significant interaction between condition (iTBS, sham) and time (pre- and post-condition). Specifically, Tukey's post hoc test revealed that the P30 increase was near trending significant post-iTBS compared to pre-iTBS for the active condition (p = 0.166) but not for the sham condition (p = 0.294). A trending significant relationship was observed between the magnitude of P30 change post-iTBS and thicker left DLPFC (r = 0.488; p = 0.108). Lastly, no significant relationships between P30 change and memory performance were observed. Conclusion: These preliminary findings suggest there could be a relationship between increased capacity for brain plasticity and a thicker left DLPFC. To further investigate these relationships, we plan to recruit additional cognitively healthy participants. Our preliminary findings support the foundation for future clinical studies in which DLPFC thickness could be explored as a predictive factor for response to plasticity-targeting iTBS treatment.

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No description available.

[pt] O estudo do escoamento intermitente de gás e líquido é de enorme relevância. Devido a sua vasta ocorrência em diversos problemas industriais, como na indústria do petróleo, em escoamentos de água e vapor em trocadores de calor e em sistemas de refrigeração de usinas nucleares, diversos estudos experimentais e numéricos buscam obter um conhecimento mais profundo deste complexo fenômeno. Devido a esta complexidade, se fazem necessários experimentos detalhados de maneira a dar suporte aos modelos matemáticos desenvolvidos. O presente trabalho descreve um estudo experimental de um escoamento turbulento gás-líquido no regime intermitente para tubo horizontal. As técnicas de velocimetria por imagem de partícula estereoscópica de alta frequência (SPIV ) e fluorescência induzida por laser (LIF) foram usadas para medir todos os três componentes do vetor de velocidade em diferentes seções do tubo, referenciadas pelo nariz da bolha de gás. A seção de testes consistiu de uma tubulação de acrílico com diâmetro interno de 40mm e 17,7m de comprimento. Os fluidos de trabalho utilizados foram água e ar, com velocidades superficiais de jL igual 0,3 0,4 e 0,5m/s e jG igual 0,5m/s que formaram o padrão de escoamento intermitente. Um sistema de sensores fotossensíveis foi utilizado para medir a velocidade de translação da bolha de gás, além de acionar o sistema SPIV. Desta forma, foi possível determinar os campos médios das três componentes de velocidade da fase líquida do escoamento turbulento gás-líquido em regiões de interesse na vizinhança da bolha alongada. Os dados obtidos revelaram a influência das bolhas de gás de maior velocidade, na dinâmica do campo de velocidade do líquido. Tais dados contém informações valiosas que contribuem não apenas para uma melhor compreensão da física que rege o escoamento, mas também como forma de validação e aprimoramento de modelos numéricos. / [en] The analysis of gas-liquid intermittent flow in horizontal pipes is of great relevance importance due its applications in many industrial problems, such as in the petroleum industry, boiler and heat exchanger tubes and cooling systems of nuclear power plants. A considerable number of experimental and analytical studies have been carried out on the pursuit of a deeper knowledge of this complex phenomenon. The present work describes an experimental study of a horizontal, gas-liquid pipe flow in the intermittent regime. Experimental techniques such as high frequency stereoscopic particle image velocimetry (SPIV ) and laser induced fluorescence (LIF), were applied in order to obtain all three components of the velocity vector at different pipe sections, referred to the gas bubble nose tip. A 40mm inner diameter, 17.7m long acrylic pipe was used as test section (L/D approximately 450). The working fluids, water and air formed the intermittent flow pattern, with superficial velocities of jL equal 0.3, 0.4 and 0.5 m/s and jG equal 0.5 m/s. A set of three photogate sensors, equally-spaced along the pipe, were used to measure the bubble translational velocities, and to trigger the SPIV system, allowing for the determination of ensemble-averaged, threecomponent velocity fields of the turbulent liquid flow in cross-stream planes around the gas bubble. The original data obtained revealed the influence of the faster-moving gas bubbles on the dynamics of the liquid velocity field, providing valuable information that contribute to a better understanding of the physics governing the flow, also serving for the validation of numerical simulations.

<p>Our ability to control unstable objects highlights the sophistication of voluntary motor behaviour. In this thesis, we used an inverted pendulum (i.e., stick) balancing paradigm to investigate the task, learning and context-dependent attributes of unstable object control. We hypothesized that learning would mediate the functional integration of posture and upper limb dynamics and expected changes in the task demand and context to be reflected in the control of posture and the upper limb. We found that training increased the average length of balancing trials and applied this result to further investigate the circumstantial properties of unstable object control.</p> <p>We investigated the temporal structure of posture and upper limb dynamics using statistical and nonlinear time series analysis. We demonstrated that subjects used an intermittent strategy to control the inverted pendulum (Chapters 3 and 5) and found that motor learning modulated the statistical and spatiotemporal attributes of posture (Chapter 5) and upper limb displacements (Chapters 2, 3 and 5). We confirmed the balance control strategy was intermittent by showing that posture and upper limb time series are composed of two independent timescale components: a fast component linked to small stochastic displacements and a slow component related to feedback control (Chapters 3, 4 and 5). The interplay between timescale components was affected by the balancing context (Chapter 3) and task demand (Chapter 4).</p> <p>Chapter 5 investigated the acquisition of individual and coupled posture-upper limb control mechanisms. We found that motor learning involved two independent adaptation processes. The first process modified the timescale composition of posture and upper limb displacements and was followed by incremental changes in the occurrence and duration of correlated posture-upper limb trajectories. In Chapter 6, we investigated learning-mediated changes in multijoint coordination and control. Motor learning led to the flexible, error-compensating recruitment of individual joints and we showed that the preferential constraint of destabilizing joint angle variance was the putative mechanism underlying performance.</p> <p>This thesis performed a detailed examination of unstable object control mechanisms. The undertaken studies have provided knowledge about the acquisition and adaptation of control mechanisms at multiple levels of the motor system. Our data provide convergent evidence that the control mechanisms governing complex human balancing tasks are intermittent and modulated by the task and context.</p> / Doctor of Philosophy (PhD)