Abstract
Simple and easy to use methods are of great practical demand in the design of Proportional, Integral, and Derivative (PID) controllers. Controller design criteria are to achieve a good set-point tracking and disturbance rejection with minimal actuator variation. Achieving satisfactory trade-offs between these performance criteria is not easily accomplished with classical tuning methods. A particle swarm optimization technique is proposed to design PID controllers. The design method minimizes a compromise cost function based on both the integral absolute error and control signal total variation criteria. The proposed technique is tested on an Arduino-based Temperature Control Laboratory (TCLab) and compared with the Grey Wolf Optimization algorithm. Both TCLab simulation and physical data show that satisfactory trade-offs between the performance and control effort are enabled with the proposed technique.

Abstract
In this paper it is described a low-cost robotic manipulator that was developed to be applied in the study of over-sensored systems and state estimation. The prototype was developed to be a teaching aid in advanced courses, such as a Robotics Doctoral Program, although it is also suitable to be applied in some other educational contexts, to support experiments, for graduate and undergraduate students. Its features and software implementation are described, as well as two possible approaches to the problem of estimating its pose, based on a wide variety of sensors use. © 2020 ACM.

Abstract

Abstract
The performance of tomographic adaptive optics (AO) systems is intrinsically linked to the vertical profile of optical turbulence. First, a sufficient number of discrete turbulent layers must be reconstructed to model the true continuous turbulence profile. Secondly over the course of an observation, the profile as seen by the telescope changes and the tomographic reconstructor must be updated. These changes can be due to the unpredictable evolution of turbulent layers on meteorological time-scales as short as minutes. Here, we investigate the effect of changing atmospheric conditions on the quality of tomographic reconstruction by coupling fast analyticalAOsimulation to a large data base of 10 691 high-resolution turbulence profiles measured over two years by the Stereo-SCIDAR instrument at ESO Paranal, Chile. This work represents the first investigation of these effects with a large, statistically significant sample of turbulence profiles. The statistical nature of the study allows us to assess not only the degradation and variability in tomographic error with a set of system parameters (e.g. number of layers and temporal update period), but also the required parameters to meet some error threshold. In the most challenging conditions where the profile is rapidly changing, these parameters must be far more tightly constrained in order to meet this threshold. By providing estimates of these constraints for a wide range of system geometries as well as the impact of different temporal optimization strategies we may assist the designers of tomographic AO for the extremely large telescope to dimension their systems.

Abstract
This article presents an innovative hybrid imaging system that provides dense and accurate 3D information from harsh underwater environments. The proposed system is called MARESye and captures the advantages of both active and passive imaging methods: multiple light stripe range (LSR) and a photometric stereo (PS) technique, respectively. This hybrid approach fuses information from these techniques through a data-driven formulation to extend the measurement range and to produce high density 3D estimations in dynamic underwater environments. This hybrid system is driven by a gating timing approach to reduce the impact of several photometric issues related to the underwater environments such as, diffuse reflection, water turbidity and non-uniform illumination. Moreover, MARESye synchronizes and matches the acquisition of images with sub-sea phenomena which leads to clear pictures (with a high signal-to-noise ratio). Results conducted in realistic environments showed that MARESye is able to provide reliable, high density and accurate 3D data. Moreover, the experiments demonstrated that the performance of MARESye is less affected by sub-sea conditions since the SSIM index was 0.655 in high turbidity waters. Conventional imaging techniques obtained 0.328 in similar testing conditions. Therefore, the proposed system represents a valuable contribution for the inspection of maritime structures as well as for the navigation procedures of autonomous underwater vehicles during close range operations.

Abstract
Soybean is one of the main sources of protein directly and indirectly in human nutrition, and it is highly dependent on logistics to connect country growers and international markets. Although recent studies deal with the impact of logistics on international trade, this impact in agricultural commodities is still an open research question. Moreover, these studies usually do not consider the influence of all components of the logistics on trade. This paper, therefore, aims at identifying the role of logistics performance in soybean exports among Argentina, Brazil, the US and their trading partners from 2012 to 2018. Using an extended gravity model, we examine whether the indicators of the World Bank Logistics Performance Index (LPI), adopted as a proxy of logistics efficiency, are an important determinant of bilateral soybean trade facilitation. The results lead to the conclusion that it is necessary to analyze the LPI throughout its indicators because they may affect trade differently. The novelty of this article is to provide an analysis of the impact of different logistics aspects on commodity trade, more specifically in the soybean case. Finally, regarding the model results, logistics infrastructure has a positive and significant correlation with soybean trade as supposed in most of the literature.