In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing.

Transesterification of Palm Oil Catalyzed by Pseudomonas fluorescens Lipase in a Packed-Bed Reactor

Transesterification of palm oil with ethanol catalyzed by Pseudomonas fluorescens lipase immobilized on epoxy-polysiloxane-polyvinyl alcohol composite (epoxy-SiO2-PVA) was performed in a continuous packed-bed reactor (PBR). Two strategies were used for improving the miscibility of the substrates: the addition of the organic solvent tert-butanol and the surfactant Triton X-100. Results were compared to those obtained in a solventless reactor, which displayed a biphasic system that passed through the reactor. Using this system, the ethyl ester yield of 61.6 +/- 1.2% was obtained at steady state. Both Triton X-100 and tert-butanol systems were found to be suitable to promote the miscibility of the starting materials; however, the use of Triton X-100 reduced the yield to levels lower than 20%, because of the enzyme desorption from the support surface, as confirmed by scanning electron microscopy analysis. The best performance was found for the reactor running in the presence of tert-butanol which resulted in a stable operating system and an average yield of 87.6 +/- 2.5%. This strategy also gave high biocatalyst operational stability, revealing a half-life of 48 days and an inactivation constant of 0.6 X 10(-3) h(-1).

ANALYSIS OF MANGROVE FOREST SUCCESSION, USING SEDIMENT CORES: A CASE STUDY IN THE CANANEIA-IGUAPE COASTAL SYSTEM, SAO PAULO-BRAZIL

Sediment cores are an essential tool for the analysis of the dynamics of mangrove succession. Coring was used to correlate changes in depositional environments and lateral sedimentary facies with discrete stages of forest succession at the Cananeia-Iguape Coastal System in southeastern Brazil. A local level successional pattern was examined based on four core series T1) a sediment bank; T2) a smooth cordgrass Spartina alterniflora bank; T3) an active mangrove progradation fringe dominated by Laguncularia racemosa, and; T4) a mature mangrove forest dominated by Avicennia schaueriana. Cores were macroscopically described in terms of color, texture, sedimentary structure and organic components. The base of all cores exhibited a similar pattern suggesting common vertical progressive changes in depositional conditions and subsequent successional colonization pattern throughout the forest. The progradation zone is an exposed bank, colonized by S. alterniflora. L. racemosa, replaces S. alterniflora as progradation takes place. As the substrate consolidates A. schaueriana replaces L. racemosa and attains the greatest structural development in the mature forest. Cores collected within the A. schaueriana dominated stand contained S. alterniflora fragments near the base, confirming that a smooth cordgrass habitat characterized the establishment and early seral stages. Cores provide a reliable approach to describe local-level successional sequences in dynamic settings subject to drivers operating on multiple temporal and spatial scales where spatial heterogeneity can lead to multiple equilibria and where similar successional end-points may be reached through convergent paths.

Robust and optimal adjustment of Power System Stabilizers through Linear Matrix Inequalities

This work presents the application of Linear Matrix Inequalities to the robust and optimal adjustment of Power System Stabilizers with pre-defined structure. Results of some tests show that gain and zeros adjustments are sufficient to guarantee robust stability and performance with respect to various operating points. Making use of the flexible structure of LMI's, we propose an algorithm that minimizes the norm of the controllers gain matrix while it guarantees the damping factor specified for the closed loop system, always using a controller with flexible structure. The technique used here is the pole placement, whose objective is to place the poles of the closed loop system in a specific region of the complex plane. Results of tests with a nine-machine system are presented and discussed, in order to validate the algorithm proposed. (C) 2012 Elsevier Ltd. All rights reserved.