Abstract
For an efficient and reliable operation of an Airborne Wind Energy System, it is widely accepted that the kite should follow a pre-defined optimized path. In this article, we address the problem of designing a trajectory controller so that such path is closely followed. The path-following controllers investigated are based on a well-known nonlinear guidance logic termed L1 and on a proposed modification of it, which we termed L0. We have developed and implemented both L0 and L1 controllers for an AWES. The two controllers have an easy implementation with an explicit expression for the control law based on the cross-track error, on the heading angle relative to the path, and on a single parameter L (L0 or L1, depending on each controller) that we are able to tune. The L0 controller has an even easier implementation since the explicit control law can be used without the need to switch controllers. Since the switching of controllers might jeopardize stability, the L0 controller has an important theoretical advantage in being able to guarantee stability on a larger domain of attraction.The simulation study shows that both nonlinear guidance logic controllers exhibit appropriate performance when the L parameter is adequately tuned, with the L0 controller showing a better performance when measured in terms of the average cross-track error.

Abstract
Continuous ambulatory peritoneal dialysis (CAPD) is a treatment used by patients in the end-stage of chronic kidney diseases. Those patients need to be monitored using blood tests and those tests can present some patterns or correlations. It could be meaningful to apply data mining (DM) to the data collected from those tests. To discover patterns from meaningless data, it becomes crucial to use DM techniques. DM is an emerging field that is currently being used in machine learning to train machines to later aid health professionals in their decision-making process. The classification process can found patterns useful to understand the patients’ health development and to medically act according to such results. Thus, this study focuses on testing a set of DM algorithms that may help in classifying the values of serum creatinine in patients undergoing CAPD procedures. Therefore, it is intended to classify the values of serum creatinine according to assigned quartiles. The better results obtained were highly satisfactory, reaching accuracy rate values of approximately 95%, and low relative absolute error values. © 2019, Springer Science+Business Media, LLC, part of Springer Nature.

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In source localization problems, the relative geometry between sensors and source will influence the localization performance. The optimum configuration of sensors depends on the measurements used for the source location estimation, how these measurements are affected by noise, the positions of the source, and the criteria used to evaluate the localization performance. This paper addresses the problem of optimum sensor placement in a plane for the localization of an underwater vehicle moving in 3D. We consider sets of sensors that measure the distance to the vehicle and model the measurement noises with distance dependent covariances. We develop a genetic algorithm and analyze both single and multi-objective problems. In the former, we consider as the evaluation metric the arithmetic average along the vehicle trajectory of the maximum eigenvalue of the inverse of the Fisher information matrix. In the latter, we estimate the Pareto front of pairs of common criteria based on the Fisher information matrix and analyze the evolution of the sensor positioning for the different criteria. To validate the algorithm, we initially compare results with a case with a known optimal solution and constant measurement covariances, obtaining deviations from the optimal less than 0.1%. Posterior, we present results for an underwater vehicle performing a lawn-mower maneuver and a spiral descent maneuver. We also present results restricting the allowed positions for the sensors.