Command and Control Regulation

OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 1presented at:IEC Workshop on Automation ObjectsGeneva, Switzerland2001-04-03by:JAMES H. CHRISTENSEN , Ph.D. Senior Principal EngineerRockwell AutomationJHChristensen@ra.rockwell.comOpen Distributed Automation and Controlwith IEC 61499Open Distributed Automation and Controlwith IEC 61499 OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 2Open Distributed Automation and Controlwith IEC 61499Open Distributed Automation and Controlwith IEC 61499• Background• Architecture• Object Models• Software Tool Requirements• Status and Future OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 3Distributed Automation:An Architectural DialecticDistributed Automation:An Architectural DialecticdistributabilityagilityprogrammabilityagilityagilitydistributabilityconfigurabilityprogrammabilityAgileManufacturingFunction BlocksIEC 61499PLCIEC 61131-3CentralizedProgrammableConfigurableDCSIEC 61804ThesisAntithesisDistributedConfigurableSynthesis OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 4IEC 61131-3: Modern (1993) Software Engineering for Automation and ControlIEC 61131-3: Modern (1993) Software Engineering for Automation and Control• Encapsulation/Reuse Mechanisms– Function Blocks, Functions, Data Types, Programs• Application-adapted Languages– Ladder Diagram (LD) for logic control (“power flow”) – Function Block Diagram (FBD) for regulatory control (“data flow”)– Sequential Function Chart (SFC) for state-machine control– Structured Text (ST) for information processing– Instruction List (IL) for assembly-level programming• A Mature, Internationally Adopted Standard– First edition: 1993– Second edition: 2001 OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 5Function Blocks: Object-OrientedEncapsulation and Reuse in IEC 61131-3Function Blocks: Object-OrientedEncapsulation and Reuse in IEC 61131-3Control Algorithm SpecificationExternal Interface SpecificationINBOOLDB_TIMETIMEOUT BOOLDEBOUNCEDB_FFS1RQ1OFF_TMRTONINPTQETOUTDB_TIMEININPTQETTONON_TMRSRINPTQETTONOFF_TMRON_TMRTONINPTQET| |IN|/|IN(R)OUT(S)OUTDB_TIMEDB_TIME OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 6Centralized System Configuration in IEC 61131-3Centralized System Configuration in IEC 61131-3CONFIGURATIONRESOURCETASK TASKPROGRAMPROGRAMFB FBRESOURCETASK TASKPROGRAMPROGRAMFB FBGLOBAL and DIRECTLY ACCESS PATHSREPRESENTED VARIABLESCommunication function OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 7Distributed Configuration in Fieldbus Systems(Physical View)Distributed Configuration in Fieldbus Systems(Physical View)Control RoomPCH1 FieldbusSegment # 1H1 FieldbusSegment # 2CV-101A/OIP102201921AT107ALT101AT107BTT105AT106Re-BurnedLimeLT108 PurchasedLimeLT112 Green Liquor StorageIP104AIP104BHeaterCoolerLT111 SC111SC112SC108DT109FT110SC110TT104FT102AT10324252322H1 FieldbusSegment # 3 OPEN DISTRIBUTED AUTOMATION AND CONTROL WITH IEC 61499JHC/2001-04-03 p. 8Distributed Configuration in Fieldbus Systems (Logical View)Distributed Configuration in Fieldbus Systems (Logical View)AIISELPIDAIAIPIDRATIO AIAO CV-102 A/OConductivityPIDAOAI Command-and-Control Regulation Command-and-Control Regulation By: OpenStaxCollege When the United States started passing comprehensive environmental laws in the late 1960s and early 1970s, a typical law specified how much pollution could be emitted out of a smokestack or a drainpipe and imposed penalties if that limit was exceeded Other laws required the installation of certain equipment—for example, on automobile tailpipes or on smokestacks—to reduce pollution These types of laws, which specify allowable quantities of pollution and which also may detail which pollution-control technologies must be used, fall under the category of command-and-control regulation In effect, command-and-control regulation requires that firms increase their costs by installing anti-pollution equipment; firms are thus required to take the social costs of pollution into account Command-and-control regulation has been highly successful in protecting and cleaning up the U.S environment In 1970, the Environmental Protection Agency (EPA) was created to oversee all environmental laws In the same year, the Clean Air Act was enacted to address air pollution Just two years later, in 1972, Congress passed and the president signed the far-reaching Clean Water Act These command-and-control environmental laws, and their amendments and updates, have been largely responsible for America’s cleaner air and water in recent decades However, economists have pointed out three difficulties with command-and-control environmental regulation First, command-and-control regulation offers no incentive to improve the quality of the environment beyond the standard set by a particular law Once the command-andcontrol regulation has been satisfied, polluters have zero incentive to better Second, command-and-control regulation is inflexible It usually requires the same standard for all polluters, and often the same pollution-control technology as well This means that command-and-control regulation draws no distinctions between firms that would find it easy and inexpensive to meet the pollution standard—or to reduce pollution even further—and firms that might find it difficult and costly to meet the standard Firms have no reason to rethink their production methods in fundamental ways that might reduce pollution even more and at lower cost 1/3 Command-and-Control Regulation Third, command-and-control regulations are written by legislators and the EPA, and so they are subject to compromises in the political process Existing firms often argue (and lobby) that stricter environmental standards should not apply to them, only to new firms that wish to start production Consequently, real-world environmental laws are full of fine print, loopholes, and exceptions Although critics accept the goal of reducing pollution, they question whether commandand-control regulation is the best way to design policy tools for accomplishing that goal A different approach is the use of market-oriented tools, which are discussed in the next section Key Concepts and Summary Command-and-control regulation sets specific limits for pollution emissions and/or specific pollution-control technologies that must be used Although such regulations have helped to protect the environment, they have three shortcomings: they provide no incentive for going beyond the limits they set; they offer limited flexibility on where and how to reduce pollution; and they often have politically-motivated loopholes Self-Check Questions Consider two approaches to reducing emissions of CO2 into the environment from manufacturing industries in the United States In the first approach, the U.S government makes it a policy to use only predetermined technologies In the second approach, the U.S government determines which technologies are cleaner and subsidizes their use Of the two approaches, which is the command-and-control policy? The first policy is command-and-control because it is a requirement that applies to all producers Review Questions What is command-and-control environmental regulation? What are the three problems that economists have noted with regard to command-andcontrol regulation? Critical Thinking Questions Would environmentalists favor command-and-control policies as a way to reduce pollution? Why or why not? 2/3 Command-and-Control Regulation Consider two ways of protecting elephants from poachers in African countries In one approach, the government sets up enormous national parks that have sufficient habitat for elephants to thrive and forbids all local people to enter the parks or to injure either the elephants or their habitat in any way In a second approach, the government sets up national parks and designates 10 villages around the edges of the park as official tourist centers that become places where tourists can stay and bases for guided tours inside the national park Consider the different incentives of local villagers—who often are very poor—in each of these plans Which plan seems more likely to ... 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Sci. & Devel., Vol. 10, No. 4: 633-639 Tạp chí Khoa học và Phát triển 2012 Tập 10, số 4: 633-639 www.hua.edu.vn Neospora caninum INFECTION IN CATTLE - ECONOMIC LOSS, PREVENTION AND CONTROL Nguyen Hoai Nam 1* , Suneerat Aiumlamai 2 , Aran Chanlun 2 , Kwankate Kanistanon 2 1 Faculty of Veterinary Medicine, Hanoi University of Agriculture, Vietnam 2 Faculty of Veterinary Medicine, Khon Kaen University, Thailand * Email: hoainam26061982@yahoo.com Received date: 02.03.2012 Accepted date: 26.05.2012 ABSTRACT Nespora caninum is a parasite which was first detected in Norwegian dogs and has been known as an important abortive cause of cattle. A high abortion rate up to 44% occurs in N. caninum positive pregnant cows Besides, consequence of infection could be culling of the aborted dams, reduction of milk production and weight gain, and increase of veterinary, diagnosis and replacement purchase costs. Various methods have been studied to prevent and control N. caninum infection in cattle. However, there are no highly effective approaches available in terms of both epidemiological and economic aspects so far. Keyw ords: Cattle, control, economic loss, Neospora caninum, prevention. Bệnh do Neospora caninum gây ra ở bò - Thiệt hại kinh tế, phòng và khống chế bệnh TÓM TẮT Neospora caninum là một ký sinh trùng được phát hiện đầu tiên trên chó ở Na Uy và đang được biết đến như một trong những nguyên nhân quan trọng gây xảy thai ở bò. Tỷ lệ xảy thai có thể lên đến 44%, ngoài ra hậu quả của việc bị nhiễm N. caninum còn có thể là sự loại thải động vật bị xảy thai, giảm sản lượng sữa, giảm tăng trọng, tăng chi phí thú y, chẩn đoán và phí mua bò thay thế. Đã có nhiều biện pháp được nghiên cứu nhằm phòng và khống chế N. caninum trên bò. Tuy nhiên, đến nay chưa có phương pháp nào cho hiệu quả cao, đáp ứng được cả hai phương diện dịch tễ và kinh tế. Từ khóa: Bò, Neospora caninum, khống chế, phòng ngừa, tổn thất kinh tế. . 1. INTRODUCION Neospora caninum is an obligate intracellular parasite which was detected and described in the 1980s (Bjerkas et al., 1984; Dubey et al., 1988). Infection of N. caninum has been reported worldwide in a variety of animals in which cattle is the most affected livestock so far. N. caninum causes abortion in cattle mostly at 5 th to 7 th month of gestation, and a very high percentage of the pregnancies could be lost in the positive cattle (Huang et al., 2004; Lopez- Gatius et al., 2004). Therefore, it has been recognized as one of the most important bovine abortive pathogens. This review focuses on N. caninum infection in terms of ecnomic loss and measures applied to prevent and control neosporosis in cattle. 2. ECONOMIC LOSS IN CATTLE RAISING INDUSTRY INCURRED BY N. CANINUM 633 The economic loss due to N. caninum has been reported mostly in cattle despite the facts that neosporosis is also found in several other domestic and wild animals. The direct damage is fetal loss beside the indirect loss including cost of reduced milk production, culling and replacement, low weight gain, veterinary cost, rebreeding and diagnosis. Neospora caninum infection in cattle - Economic loss, prevention and control Ab ortion is the most significant loss caused by neosporosis (Pabon et al., 2007). Seropositive cows may have up to 23.6 times higher risk of abortion than seronegative counterparts (Weston et al., 2005). Proportion of pregnancy loss could be DNA supercoiling in Escherichia coli is under tight and subtle homeostatic control, involving gene-expression and metabolic regulation of both topoisomerase I and DNA gyrase Jacky L. Snoep 1,2 , Coen C. van der Weijden 1 , Heidi W. Andersen 2,3 , Hans V. Westerhoff 1,4 and Peter Ruhdal Jensen 3 1 Departments of Molecular Cell Physiology and Mathematical Biochemistry, BioCentrum Amsterdam, Free University, Amsterdam, the Netherlands; 2 Department of Biochemistry, University of Stellenbosch, South Africa; 3 Section of Molecular Microbiology, Biocentrum, Technical University of Denmark, Lyngby, Denmark; 4 Stellenbosch Institute for Advanced Study, South Africa DNA of prokaryotes is in a nonequilibrium structural state, characterized as ÔactiveÕ DNA supercoiling. Altera- tions in this state aect many life processes and a homeostatic control of DNA supercoiling has been sug- gested [Menzel, R. & Gellert, M. ( 1983) Ce ll 34, 105±113]. We here report on a new method for quantifying home- ostatic control of the high-energy state of in vivo DNA. The method involves making small perturbation in the expression of topoisomerase I, and m easuring the e ect on DNA supercoiling of a reporter plasmid and on the expression of DNA gyrase. In a separate set of experi- ments the expression of DNA g yrase w as man ipulated and the control on DNA supercoiling and topoisom- erase I expression was measured [part of these latter experiments has been published in Jensen, P.R., van der Weijden, C.C., Jensen, L.B., Westerho, H.V. & Snoep, J.L. (1999) E ur. J. Bio chem. 266, 865±877]. Of t he two regulatory mechanisms via which homeostasis is conferred, regulation of enzyme activity or regulation of enzyme expression, we quanti®ed the ®rst to be res ponsible for 72% and the latter for 28%. The gene expression regu- lation could be dissected to DNA gyrase (21%) and to topoisomerase I (7%). On a scale from 0 (no homeostatic control) to 1 (full homeostatic control) we quanti®ed the homeostatic control o f DNA supercoiling at 0.87. A 10% manipulation o f either topoisomerase I or DNA gyrase activity results in a 1.3% change of DNA supercoiling only. We conclude that the homeostatic regulation of the nonequilibrium DNA structure in wild-type Escherichia coli is almost complete and subtle (i.e. i nvolving at least three regulatory mechanisms). Keywords: metabolic control analysis (MCA); hierarchical control a nalysis (HCA); homeostasis coecient. DNA in the bacterial nucleoid i s negatively supercoiled and it has been estimated that roughly 50% of the supercoiling is constrained by proteins binding to the DNA [1]. This constraint does not depend on the c ontinuous expenditure of ATP. The r emaining supercoils are maintained actively at the cost of ATP hydrolysis, via topoisomerase activities. Four topoisomerases h ave been identi®ed in Escherichia coli (reviewed in [2]). Topoisomerase I [3,4] and DNA gyrase (topoisomerase II) are mostly held responsible for main- taining the supercoiled state of the DNA while topoisom- erase I II and IV manage the decatenation reactions. A recent publication suggested that topoisomerase IV may also be important for the relaxation of DNA supercoiling [5]. The importance of DNA gyrase DESIGN AND DEVELOPMENT OF COMMAND AND CONTROL SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES By TAN YEW TECK SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF ENGINEERING AT NATIONAL UNIVERSITY OF SINGAPORE SINGAPORE OCTOBER 2008 c Copyright by TAN YEW TECK, 2008 Table of Contents Table of Contents ii List of Tables v List of Figures vi 1 Introduction 1.1 Motivation . . . . . . . . 1.2 The STARFISH Project 1.3 Problem Statement . . . 1.4 The Thesis Layout . . . . . . . 1 1 3 6 7 2 Background 2.1 Command and Control Architecture . . . . . . . . . . . . . . . . . . . 2.2 Component Based Software Architecture . . . . . . . . . . . . . . . . 8 8 11 3 Command and Control System 3.1 Introduction . . . . . . . . . . 3.2 The C2 Architecture . . . . . 3.3 Supervisory Level . . . . . . . 3.3.1 Captain . . . . . . . . 3.3.2 Chief Scientist . . . . . 3.3.3 Safety Officer . . . . . 3.4 Mission Level . . . . . . . . . 3.4.1 Task Planner . . . . . 3.5 Vehicle Level . . . . . . . . . 3.5.1 Obstacle Detector . . . 3.5.2 Chart Checker . . . . . 3.5.3 Path Executor . . . . . 15 15 16 18 18 19 19 21 22 29 29 33 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.6 3.7 3.5.4 Scientist . . . . . 3.5.5 Health Monitor . External Communication 3.6.1 Signalling Officer Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Command and Control Software Architecture 4.1 Introduction . . . . . . . . . . . . . . . . . . . . 4.2 Architectural Overview . . . . . . . . . . . . . . 4.3 Container and C2Component Object . . . . . . 4.3.1 Activity and state transition . . . . . . . 4.3.2 Component input and output methods . 4.4 Component Communication mechanism . . . . . 4.4.1 Communication Object : The C2Msg . . 4.4.2 Point of Communication : The C2Server 4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Simulation Studies 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . 5.2 The STARFISH Simulator . . . . . . . . . . . . . . 5.3 Path Following and WayPoint Following Navigation 5.3.1 Simulation Results . . . . . . . . . . . . . . 5.4 Obstacle Avoidance . . . . . . . . . . . . . . . . . . 5.4.1 Simulation Results . . . . . . . . . . . . . . 5.5 Station Keeping . . . . . . . . . . . . . . . . . . . . 5.5.1 Simulation Results . . . . . . . . . . . . . . 5.6 Mission Abort . . . . . . . . . . . . . . . . . . . . . 5.6.1 Simulation Results . . . . . . . . . . . . . . 5.7 Full Mission . . . . . . . . . . . . . . . . . . . . . . 5.7.1 Simulation Results . . . . . . . . . . . . . . 5.8 Summary . . . . . . . . . . . . . . . . . . . . . . . 6 Field Trials 6.1 Introduction . . . . . . . . . . . . . . . . . . . . . 6.2 Hardware Implementation: The STARFISH AUV 6.2.1 Mechanical Design . . . . . . . . . . . . . 6.2.2 Computer and Electronic module . . . . . 6.2.3 Power System and Sensor Suite . . . . . . 6.3 Field Trial . . . . . . . . . . . . . . . . . . . . . . iii . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .Command- and- Control Regulation Third, command- and- control regulations are written by legislators and the EPA, and so they are subject to compromises in... producers Review Questions What is command- and- control environmental regulation? What are the three problems that economists have noted with regard to command- andcontrol regulation? Critical Thinking... determines which technologies are cleaner and subsidizes their use Of the two approaches, which is the command- and- control policy? The first policy is command- and- control because it is a requirement