Coloured Petri nets and graphical simulation for the validation of a robotic cell in aircraft industry

This paper proposes a mixed validation approach based on coloured Petri nets and 3D graphic simulation for the design of supervisory systems in manufacturing cells with multiple robots. The coloured Petri net is used to model the cell behaviour at a high level of abstraction. It models the activities of each cell component and its coordination by a supervisory system. The graphical simulation is used to analyse and validate the cell behaviour in a 3D environment, allowing the detection of collisions and the calculation of process times. The motivation for this work comes from the aeronautic industry. The automation of a fuselage assembly process requires the integration of robots with other cell components such as metrological or vision systems. In this cell, the robot trajectories are defined by the supervisory system and results from the coordination of the cell components. The paper presents the application of the approach for an aircraft assembly cell under integration in Brazil. This case study shows the feasibility of the approach and supports the discussion of its main advantages and limits. (C) 2011 Elsevier Ltd. All rights reserved.

Modeling of Distributed Control Systems in Intelligent Building based on Colored Petri Nets

Distributed control systems consist of sensors, actuators and controllers, interconnected by communication networks and are characterized by a high number of concurrent process. This work presents a proposal for a procedure to model and analyze communication networks for distributed control systems in intelligent building. The approach considered for this purpose is based on the characterization of the control system as a discrete event system and application of coloured Petri net as a formal method for specification, analysis and verification of control solutions. With this approach, we develop the models that compose the communication networks for the control systems of intelligent building, which are considered the relationships between the various buildings systems. This procedure provides a structured development of models, facilitating the process of specifying the control algorithm. An application example is presented in order to illustrate the main features of this approach.

Modeling extended Petri nets compatible with GHENeSys IEC61131 for industrial automation

Petri net (PN) modeling is one of the most used formal methods in the automation applications field, together with programmable logic controllers (PLCs). Therefore, the creation of a modeling methodology for PNs compatible with the IEC61131 standard is a necessity of automation specialists. Different works dealing with this subject have been carried out; they are presented in the first part of this paper [Frey (2000a, 2000b); Peng and Zhou (IEEE Trans Syst Man Cybern, Part C Appl Rev 34(4):523-531, 2004); Uzam and Jones (Int J Adv Manuf Technol 14(10):716-728, 1998)], but they do not present a completely compatible methodology with this standard. At the same time, they do not maintain the simplicity required for such applications, nor the use of all-graphical and all-mathematical ordinary Petri net (OPN) tools to facilitate model verification and validation. The proposal presented here completes these requirements. Educational applications at the USP and UEA (Brazil) and the UO (Cuba), as well as industrial applications in Brazil and Cuba, have already been carried out with good results.

A assembléia de abelhas (Hymenoptera, Apidae) de uma área restrita de campos naturais do Parque Estadual de Vila Velha, Paraná e comparações com áreas de campos e cerrado

A assembléia de abelhas (Hymenoptera, Apidae) de uma área restrita de campos naturais do Parque Estadual de Vila Velha, Paraná e comparações com áreas de campos e cerrado. Foram realizadas coletas sistemáticas de abelhas em uma área restrita no Parque Estadual de Vila Velha, Paraná, no período de outubro de 2003 a setembro de 2004. Essa amostragem visou gerar subsídios para comparações entre áreas de campo dentro do Parque e com outras áreas de vegetação aberta brasileiras. A área de estudo possui cerca de quatro hectares e foi subdividida em quatro subáreas contínuas e com o mesmo perímetro. As abelhas em flores e em vôo foram capturadas com auxílio de rede entomológica. Foram coletados 1.459 espécimes pertencentes a 122 espécies de abelhas. Estas espécies estão distribuídas em 51 gêneros, 20 tribos e cinco subfamílias. As plantas visitadas correspondem a 93 espécies, pertencentes a 62 gêneros e 29 famílias. Neste estudo e em outro estudo realizado anteriormente em outra área do Parque foram coletadas 222 espécies sendo 74 espécies em comum as duas áreas e uma soma de 148 espécies restritas a uma ou outra área. Ainda, registros históricos de abelhas para Vila Velha elevam a riqueza conhecida para 261 espécies. O índice de similaridade de Morisita entre as áreas foi de 0,50 quando utilizadas as plantas como variáveis e 0,88 quando utilizados gêneros e espécies de abelhas, revelando uma notável heterogeneidade. Comparações entre as áreas do Parque Estadual de Vila Velha e áreas de campos e cerrado foram realizadas através do índice de similaridade e da análise de correspondência. Foram observados dois agrupamentos fortemente evidentes, referentes aos campos e ao cerrado. A análise de correspondência sugere que alguns gêneros podem ser relacionados a determinadas formações vegetais. Esse estudo indica que a fauna de abelhas de Vila Velha é composta principalmente por gêneros relacionados às áreas de campos, porém com presença de elementos de cerrado.

Estádios de desenvolvimento dos órgãos reprodutivos dos machos de Panulirus echinatus Smith (Decapoda: Palinuridae)

Esta pesquisa caracteriza os estádios de desenvolvimento dos testículos e canais deferentes da lagosta Panulirus echinatus Smith, 1869 a partir da relação entre seus aspectos macroscópicos, microscópicos e a relação gonadossomática (RGS). Através de amostragem mensal (novembro de 1999 a outubro de 2000) foram capturados 1716 machos, empregando-se redes de espera de fundo. Retirou-se a região dorsal da carapaça para avaliação dos órgãos reprodutivos. Os testículos e canais deferentes foram dissecados, pesados, fixados em solução de Bouin e submetidos aos procedimentos histológicos. A análise microscópica dos órgãos reprodutivos foi avaliada pela presença ou ausência de espermatozóides nos testículos e canais deferentes. Esta, quando associada a macroscopia (mudança de cor, tamanho, diâmetro e desenvolvimento de espermatóforo) e a relação gonadossomática (RGS), possibilitou a caracterização de três estádios de desenvolvimento: imaturo, intermediário e maturo. Ficou evidenciada que a maturidade dos testículos precedeu a maturidade dos canais deferentes. Para avaliar se a RGS é um bom indicador quantitativo dos estádios de maturidade, um teste t (alfa = 0,05) foi usado e constatou diferença significativa nas médias da RGS. A RGS pode ser utilizada como indicadora dos estádios de maturidade para P. echinatus.

Capture fishery in northern Todos os Santos Bay, tropical southwestern Atlantic, Brazil

Information on marine and estuarine capture fishery activity in northern Todos os Santos Bay, northeastern Brazil, based on daily data collected between September 2003 and June 2005 is presented. Small-scale artisanal fishery in this area includes the use of traditional vessels both nonmotorized and motorized for locomotion, being carried out mainly by canoe or on foot, and involves many different kinds of gear, including gillnet, hook and line, seine nets, and traps. A total of 113 taxa were grouped into 77 resources, including 88 fish, 10 crustaceans, and 15 mollusks. Data on nominal catches of fish, crustaceans and mollusks are presented by month and location. A total of 345.2 tonnes of fishery resources were produced (285.4 tonnes of fish, 39.2 tonnes of fresh invertebrates, and 20.6 tonnes of processed invertebrates). Temporal variation in the fish catch was associated with the life cycle of the species or with the hydrographic conditions. The first-sale value of this catch amounted to around US$ 615,000.00, fishes representing 71.3% of it. A table of the average price of each fishery resource is presented. The results produced in this study may be considered a reference for future monitoring programs of fishery resources in the area.

The ichthyofauna of upper rio Capivari: defining conservation strategies based on the composition and distribution of fish species

Although the rio Capivari basin is recognized as an area of great importance for the ichthyofauna, it lacks virtually every basic requirement for the definition of appropriate conservation strategies, since not even its species composition is known. The objective of this work is to determine the composition and distribution of fish species in the upper rio Capivari basin, relating them to the local physical features, and to evaluate the effectiveness of proposed conservations units, delimited based on areas of native vegetation remains, on the conservation of local ichthyofauna. During 2007, 50 different watercourses were sampled with gillnets, cast nets and kick nets. A total of 1308 individuals belonging to 41 species were captured. Degree of conservation, altitude and width were the parameters that best explained fish species richness. Considering the recently proposed boundaries for potential conservation units in the region only 15 or 20 out of 41 species would be found in the State Park and Environmental Protection Area respectively. In practice, the proposed conservation units would not be effective tools for fish conservation, since it would be located in mountainous areas of high altitude, of headwaters streams and where few species are found. In such context, the conservation of specific stretches of larger rivers is critical.

As aves da Estação Ecológica Serra Geral do Tocantins, Centro do Brasil

A Estação Ecológica Serra Geral do Tocantins (EESGT) é uma das maiores Unidades de Conservação dentro do Bioma Cerrado. A avifauna desta UC foi inventariada entre os dias 25 de janeiro e 15 de fevereiro de 2008. Durante esse trabalho buscou-se amostrar os diferentes hábitats encontrados na EESGT, bem como algumas localidades no entorno. Além de registros auditivos e visuais foram utilizadas redes-de-neblina e armas de fogo para coletas de material testemunho, que se encontra depositado na coleção ornitológica do Museu de Zoologia da Universidade de São Paulo (MZUSP). Os resultados obtidos foram comparados com os dados disponíveis para outras unidades de conservação presentes na região. Foram registradas 254 espécies de aves, incluindo 11 endêmicas do Cerrado e outras três ameaçadas de extinção (Taoniscus nanus, Anodorhynchus hyacinthinus e Procnias averano). Três indivíduos pertencentes ao gênero Picumnus foram coletados; estes apresentam um distinto padrão de plumagem e de vocalização, podendo representar um táxon ainda não descrito.

Butterflies (Lepidoptera, Papilionoidea and Hesperioidea) of the "Baixada Santista" region, coastal São Paulo, southeastern Brazil

Butterflies (Lepidoptera, Papilionoidea and Hesperioidea) of the "Baixada Santista" region, coastal São Paulo, southeastern Brazil. A list with 538 species of butterflies recorded in the Baixada Santista, São Paulo ( SE Brazil) is presented. Standard sampling protocols (i.e. with entomological nets) were followed. Baited traps were installed for fruit feeding species. Data from the literature and entomological collections were also considered in the total estimated species richness. The species richness recorded in the Baixada Santista region represents about 16% of the Brazilian butterfly fauna, and 34% of the known butterfly fauna for the state of São Paulo. The present list contains an appreciably higher number of species in comparison to other lists from similar biomes farther south, such as Blumenau in Santa Catarina, and Maquiné in Rio Grande do Sul.

Qualidade de luz na biometria e anatomia foliar de plântulas de Cattleya loddigesii L. (Orchidaceae) micropropagadas

A qualidade de luz pode alterar a morfogênese das plantas por meio de uma série de processos mediados por receptores de luz, principalmente na região do vermelho e azul. O objetivo do presente estudo foi verificar alterações anatômicas foliares e características biométricas de Cattleya loddigesii 'Tipo', cultivadas in vitro, sob diferentes malhas coloridas com nível de radiação de 50% de sombreamento. Plântulas oriundas de autopolinização e sementes germinadas in vitro, com aproximadamente 1,0cm de comprimento e com raízes, foram inoculadas em meio WPM e submetidas a diferentes condições de incubação. Testou-se o efeito de sombrites coloridos (vermelho e azul) sobre os frascos cultivados em casa de vegetação (CV) e sala de crescimento (SC), além dos tratamentos, nos dois ambientes, sem utilização das telas coloridas. A avaliação foi efetuada 180 dias após inoculação. Com os resultados obtidos, observou-se que o ambiente de cultivo promove alterações anatômicas e biométricas em plântulas de Cattleya loddigesii 'Tipo' micropropagadas. As alterações promovidas pelo cultivo em luz natural evidenciam maior capacidade fotossintética, por meio de maior diferenciação dos tecidos clorofilianos, promovendo uma superfície foliar anatomicamente adaptada à fase de aclimatização.

Ecologia de Haemagogus e Sabethes (Diptera: Culicidae) em áreas epizoóticas do vírus da febre amarela, Rio Grande do Sul, Brasil

Objetivou-se com este estudo investigar característica ecológica e o hábito alimentar de Haemagogus e Sabethes em área epizoótica da febre amarela silvestre em duas localidades do Rio Grande do Sul, capturados com aspirador, armadilha de Shannon e puçá. Para identificação do sangue ingerido pelas fêmeas foi utilizada a técnica imunoenzimática ELISA de captura. Obteve-se maior atividade de Hg. leucocelaenus na primavera e outono, entre 12 e 17 horas, enquanto Sabethes albiprivus e Sa. quasycianus durante todo o ano. Para fêmeas de Hg. leucocelaenus em Santo Antônio das Missões, houve predomínio de sangue humano e para as demais espécies destaca-se a atratividade para bovinos nos dois municípios. A capacidade vetorial do Hg. leucocelaenus fundamenta vigilância entomológica em seu papel de estratificar áreas problemas ou a sustentabilidade do programa de imunização da população

Influence of Annealing Heat Treatment and Cr, Mg, and Ti Alloying on the Mechanical Properties of High-Silicon Cast Iron

The influence of annealing on the mechanical properties of high-silicon cast iron for three alloys with distinct chromium levels was investigated. Each alloy was melted either with or without the addition of Ti and Mg. These changes in the chemical composition and heat treatment aimed to improve the material's mechanical properties by inhibiting the formation of large columnar crystals, netlike laminae, precipitation of coarse packs of graphite, changing the length and morphology of graphite, and rounding the extremities of the flakes to minimize the stress concentration. For alloys with 0.07 wt.% Cr, the annealing reduced the impact resistance and tensile strength due to an enhanced precipitation of refined carbides and the formation of interdendritic complex nets. Annealing the alloys containing Ti and Mg led to a decrease in the mechanical strength and an increase in the toughness. Alloys containing approximately 2 wt.% Cr achieved better mechanical properties as compared to the original alloy. However, with the addition of Ti and Mg to alloys containing 2% Cr, the chromium carbide formation was inhibited, impairing the mechanical properties. In the third alloy, with 3.5 wt.% of Cr additions, the mechanical strength improved. The annealing promoted a decrease in both hardness and amount of iron and silicon complex carbides. However, it led to a chromium carbide formation, which influenced the mechanical characteristics of the matrix of the studied material.

Avaliação de modelos geoidais gravimétricos determinados com funções covariâncias planas e esféricas (Estudo de Caso: Estado de São Paulo e adjacências)

The least squares collocation is a mathematical technique which is used in Geodesy for representation of the Earth's anomalous gravity field from heterogeneous data in type and precision. The use of this technique in the representation of the gravity field requires the statistical characteristics of data through covariance function. The covariances reflect the behavior of the gravity field, in magnitude and roughness. From the statistical point of view, the covariance function represents the statistical dependence among quantities of the gravity field at distinct points or, in other words, shows the tendency to have the same magnitude and the same sign. The determination of the covariance functions is necessary either to describe the behavior of the gravity field or to evaluate its functionals. This paper aims at presenting the results of a study on the plane and spherical covariance functions in determining gravimetric geoid models.

k(0)-INAA for determining chemical elements in bird feathers

The k(0)-method instrumental neutron activation analysis (k(0)-INAA) was employed for determining chemical elements in bird feathers. A collection was obtained taking into account several bird species from wet ecosystems in diverse regions of Brazil. For comparison reason, feathers were actively sampled in a riparian forest from the Marins Stream, Piracicaba, Sao Paulo State, using mist nets specific for capturing birds. Biological certified reference materials were used for assessing the quality of analytical procedure. Quantification of chemical elements was performed using the k(0)-INAA Quantu Software. Sixteen chemical elements, including macro and micronutrients, and trace elements, have been quantified in feathers, in which analytical uncertainties varied from 2% to 40% depending on the chemical element mass fraction. Results indicated high mass fractions of Br (max=7.9 mgkg(-1)), Co (max= 0.47 mg kg(-1)), Cr (max =68 mg kg(-1)), Hg (max =2.79 mg kg(-1)), Sb (max= 0.20 mg kg(-1)), Se (max=1.3 mg kg(-1)) and Zn (max =192 mg kg(-1)) in bird feathers, probably associated with the degree of pollution of the areas evaluated. In order to corroborate the use of k(0)-INAA results in biomonitoring studies using avian community, different factor analysis methods were used to check chemical element source apportionment and locality clustering based on feather chemical composition. (C) 2010 Elsevier B.V. All rights reserved.

A safety assessment methodology applied to CNS/ATM-based air traffic control system

In the last decades, the air traffic system has been changing to adapt itself to new social demands, mainly the safe growth of worldwide traffic capacity. Those changes are ruled by the Communication, Navigation, Surveillance/Air Traffic Management (CNS/ATM) paradigm, based on digital communication technologies (mainly satellites) as a way of improving communication, surveillance, navigation and air traffic management services. However, CNS/ATM poses new challenges and needs, mainly related to the safety assessment process. In face of these new challenges, and considering the main characteristics of the CNS/ATM, a methodology is proposed at this work by combining ""absolute"" and ""relative"" safety assessment methods adopted by the International Civil Aviation Organization (ICAO) in ICAO Doc.9689 [14], using Fluid Stochastic Petri Nets (FSPN) as the modeling formalism, and compares the safety metrics estimated from the simulation of both the proposed (in analysis) and the legacy system models. To demonstrate its usefulness, the proposed methodology was applied to the ""Automatic Dependent Surveillance-Broadcasting"" (ADS-B) based air traffic control system. As conclusions, the proposed methodology assured to assess CNS/ATM system safety properties, in which FSPN formalism provides important modeling capabilities, and discrete event simulation allowing the estimation of the desired safety metric. (C) 2011 Elsevier Ltd. All rights reserved.