TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Modelagem da produção acumulada de biogás em biodigestores tipo batelada segundo a porcentagem de inóculo adicionada utilizando os modelos de regressão não-linear de Gompertz e expoencial

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

The influence of niche and neutral processes on a neotropical anuran metacommunity

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Temporal variability of soil CO2 emission after conventional and reduced tillage described by an exponential decay in time model

A quantificação do impacto das práticas de preparo sobre as perdas de carbono do solo é dependente da habilidade de se descrever a variabilidade temporal da emissão de CO2 do solo após preparo. Tem sido sugerido que as grandes quantidades de CO2 emitido após o preparo do solo podem servir como um indicador das modificações nos estoques de carbono do solo em longo termo. Neste trabalho é apresentado um modelo de duas partes baseado na temperatura e na umidade do solo e que inclui um termo exponencial decrescente do tempo que é eficiente no ajuste das emissões intermediárias após preparo: arado de disco seguido de uma passagem com a grade niveladora (convencional) e escarificador de arrasto seguido da passagem com rolo destorroador (reduzido). As emissões após o preparo do solo são descritas utilizando-se estimativa não linear com um coeficiente de determinação (R²) tão alto quanto 0.98 após preparo reduzido. Os resultados indicam que nas previsões da emissão de CO2 após o preparo do solo é importante considerar um termo exponencial decrescente no tempo após preparo.

Variance component estimates applying random regression models for test-day milk yield in Caracu heifers (Bos taurus Artiodactyla, Bovidae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

The shared influence of phylogeny and ecology on the reproductive patterns of Myrteae (Myrtaceae)

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A model for the plankton system of the Broa reservoir, Sao Carlos, Brazil

In this paper a model, called ELLOBO running in STELLA II, was set to describe the plankton system of the Broa reservoir (SP). The three state variables of the model are: phytoplankton, zooplankton, and the fish Astyanax fasciatus. The forcing variables are: temperature, nitrate, phosphorus and solar radiation. The model did not consider the cycling of nutrients inside the reservoir. The results show that: temperature is the principal forcing variable in the phytoplankton dynamic and in the subsequent evolution of the whole system. The zooplankton predation was described by Odum's equation, and there is a strong random component in zooplankton grazing, which was essential for the model, because zooplankton estimates have high variance. One must collect data in a short space of time (maybe daily) to better explain the zooplankton and phytoplankton variation. Validation was performed using simple statistics (arithmetic mean, standard deviation) and the results show concordance between observed and simulated values. Overhead was used to calibrate some parameters and to validate the model. The highest overhead value (5%) imply in the better accordance between estimated and;observed state variables values. We believe this approach in Broa reservoir will provide an useful tool for future research and it could be used comparatively in other continental aquatic ecosystems. (C) 2000 Elsevier B.V. B.V. All rights reserved.

Lobe identity in the Mongolian gerbil prostatic complex: A new rodent model for prostate study

Knowledge of structural and physiological differences among the prostatic lobes (PL) is the basis for development of experimental studies in traditional laboratory rodents. Although Mongolian gerbil reproductive organs have been increasingly investigated, its prostate structure is far from being properly known, and investigations of this organ focused on the ventral lobe (VL). Thus, the present study provides a thorough morphological description of prostatic complex in the male adult gerbil on the basis of topographic, histological, and ultrastructural analysis and ductal branching. Like other rodents, four pairs of PL were observed. However, in contrast to the rat and mouse, the VL is the least voluminous component and the dorsolateral lobe (DLL) is the most prominent and spatially isolated from remaining PL. The occurrence of a dorsal lobe (DL), hidden between bladder and insertion of seminal vesicles, has not been mentioned in previous reports with Mongolian gerbil. Collagenase digestion followed by microdissection revealed that, except for DL, which has a tubularacinar organization, all PL exhibit tubular organization and variable ductal branching. Distinct histological and ultrastructural features such as secretory epithelium, aspect of luminal secretion and stromal organization are reported for each PL and are confirmed by morphometric and stereological methods. Histological sections showed at least three intralobar segments in VL and DL. Ultrastructural analysis evidenced that, although luminal epithelial cells of PL share typical features of exocrine secretory cells, there are striking lobe phenotypical variations. Both merocrine and apocrine pathways are observed in variable rates in all PL, with the predominance of the former in the DLL and the latter in the CG. The morphological observations presented herein point to distinct structural identities for each PL, which probably reflects,specific functional compromise of seminal fluid secretion. These data also point to the gerbil as a good model for investigations concerning the regulation of prostate development and homeostasis, mainly with regard to the dorsal and dorsolateral PL.

Crystal structure of a dimeric Ser49 PLA(2)-like myotoxic component of the Vipera ammodytes meridionalis venomics reveals determinants of myotoxicity and membrane damaging activity

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Electromagnetic structure and weak decay of meson K in a light-front QCD-inspired model

The kaon electromagnetic (e.m.) form factor is reviewed considering a light-front constituent quark model. In this approach, it is discussed the relevance of the quark-antiquark pair terms for the full covariance of the e.m. current. It is also verified, by considering a QCD dynamical model, that a good agreement with experimental data can be obtained for the kaon weak decay constant once a probability of about 80% of the valence component is taken into account.

Electromagnetic structure and weak decay of pseudoscalar mesons in a light-front QCD-inspired model

We study the scaling of the S-3(1)-S-1(0) meson mass splitting and the pseudoscalar weak-decay constants with the mass of the meson, as seen in the available experimental data. We use an effective light-front QCD-inspired dynamical model regulated at short distances to describe the valence component of the pseudoscalar mesons. The experimentally known values of the mass splitting, decay constants (from global lattice-QCD averages) and the pion charge form factor up to 4 [GeV/c](2) are reasonably described by the model.

The higher grading structure of the WKI hierarchy and the two-component short pulse equation

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

High precision GPS network with precise ephemerides and earth body tide model

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A note on the horseshoe confinement model: the Poynting-Robertson effect

In the present work we numerically simulated the motion of particles coorbital to a small satellite under the Poynting-Robertson light drag effect in order to verify the symmetry suggested by Dermott et al. (1979, 1980) on their ring confinement model. The results reveal a more complex scenario, especially for very small particles (micrometer sizes), which present chaotic motion. Despite the complexity of the trajectories the particles remain confined inside the coorbital region. However, the dissipative force caused by the solar radiation also includes the radiation pressure component which can change this configuration. Our results show that the inclusion of the radiation pressure, which is not present in the original confinement model, can destroy the configuration in a time much shorter than the survival time predicted for a dust particle in a horseshoe orbit with a satellite.

A MODEL OF THE DEUTERON BASED ON A BREIT TYPE EQUATION

A relativistic treatment of the deuteron and its observables based on a two-body Dirac (Breit) equation, with phenomenological interactions, associated to one-boson exchanges with cutoff masses, is presented. The 16-component wave function for the deuteron (J(pi) = 1+) solution contains four independent radial functions which obey a system of four coupled differential equations of first order. This radial system is numerically integrated, from infinity to the origin, by fixing the value of the deuteron binding energy and using appropriate boundary conditions at infinity. Specific examples of mixtures containing scalar, pseudoscalar and vector like terms are discussed in some detail and several observables of the deuteron are calculated. Our treatment differs from more conventional ones in that nonrelativistic reductions of the order c-2 are not used.