Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Evaluation of the Cartographic Communication Performance of a Route Guidance and Navigation System

This study evaluates the influence of different cartographic representations of in-car navigation systems on visual demand, subjective preference, and navigational error. It takes into account the type and complexity of the representation, maneuvering complexity, road layout, and driver gender. A group of 28 drivers (14 male and 14 female) participated in this experiment which was performed in a low-cost driving simulator. The tests were performed on a limited number of instances for each type of representation, and their purpose was to carry out a preliminary assessment and provide future avenues for further studies. Data collected for the visual demand study were analyzed using non-parametric statistical analyses. Results confirmed previous research that showed that different levels of design complexity significantly influence visual demand. Non-grid-like road networks, for example, influence significantly visual demand and navigational error. An analysis of simple maneuvers on a grid-like road network showed that static and blinking arrows did not present significant differences. From the set of representations analyzed to assess visual demand, both arrows were equally efficient. From a gender perspective, women seem to took at the display more than men, but this factor was not significant. With respect to subjective preferences, drivers prefer representations with mimetic landmarks when they perform straight-ahead tasks. For maneuvering tasks, landmarks in a perspective model created higher visual demands.

Ultrasound guidance is not necessary during easy embryo transfers

Purpose: To determine whether the use of ultrasound (US) to guide embryo transfer (ET) in a population previously defined as likely to have easy transfer would change the implantation and pregnancy rates in an ICSI program.Methods: A total of 100 patients identified as likely to have easy transfer after mock transfer were divided into two groups: Group I, US-guided ET (N = 50) and Group II, ET without the aid of US (N = 50).Results: Implantation and pregnancy rates were similar (p = 0.51, p = 0.29) for Group I (19.6%,42%) and Group II (16.3%,30%), as also was the abortion rate (p = 0.55) (Group I: 1/21; Group II: 2/15).Conclusion: As long as previous mock transfers are routinely performed during a cycle preceding assisted reproduction and the clinician considers transfer to be easy, ultrasound does not benefit the process of embryo transfer.

Precision Measurement of the Ratio B(t -> Wb)/B(t -> Wq) and Extraction of V-tb

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

High precision calculation of multipolar dynamic polarizabilities and two- and three-body dispersion coefficients of atomic hydrogen

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Harmonical oscillator and electro-mechanical analogy: an interdiscinary experiment to high precision mass variation measurements

De forma geral, os cursos de física clássica oferecidos nas universidades carecem de exemplos de aplicações nas áreas de química e biologia, o que por vezes desmotivam os alunos de graduação destas áreas a estudarem os conceitos físicos desenvolvidos em sala de aula. Neste texto, a analogia entre os osciladores elétrico e mecânico é explorada visando possívies aplicações em química e biologia, mostrando-se de grande valia devido ao seu uso em técnicas de medição de variação de massa com alta precisão, tanto de forma direta como indireta. Estas técnicas são conhecidas como técnicas eletrogravimétricas e são de especial importância em aplicações que envolvem biossensores. Desta forma, o texto explora o estudo da analogia eletromecânica de forma interdisciplinar envolvendo as áreas de física, química e biologia. Baseado nessa analogia é proposto um experimento que permite a sua aplicação em diferentes níveis conceituais dessas disciplinas, tanto em abordagem básica como mais profunda.

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

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Avaliação de métodos de diagnóstico da lesão de cárie

O objetivo deste trabalho foi comparar in vitro a efetividade de três métodos de diagnóstico da lesão de cárie em 26sítios de interesse, dispostos na face palatina de 20 coroas de dentes caninos permanentes de humanos. Quatro examinadores receberam orientação teórico-prática para o diagnóstico, através de três métodos: inspeção visual; táctil (inspeção visual - sonda exploradora com ponta romba); e videoscópico (sistema AcuCam). Para a validação dos dados, os dentes foram seccionados paralelamente ao seu longo eixo por um disco de diamante e analisados histologicamente em um microscópio estereoscópico com aumento de 40X. Diagnósticos compatíveis com o exame histológico apresentaram percentual de acerto no método de inspeção visual de 40,4%, no exame táctil de 38,5% e no videoscópico de 41,3%, resultados que não demonstraram diferença estatisticamente significante. Concluiu-se, pelos resultados obtidos, que os três métodos apresentaram acuidade semelhante no diagnóstico da lesão de cárie; dentre os métodos estudados, o exame ao videoscópio foi o que mais se aproximou do histológico, seguido pelo visual; o mais distante foi o táctil. Constatou-se também uma elevada porcentagem de erro de diagnósticos (59,9%), o que conseqüentemente acarretaria uma conduta terapêutica inadequada

ANOTHER QUADRATURE RULE OF HIGHEST ALGEBRAIC DEGREE OF PRECISION

We consider certain quadrature rules of highest algebraic degree of precision that involve strong Stieltjes distributions (i.e., strong distributions on the positive real axis). The behavior of the parameters of these quadrature rules, when the distributions are strong c-inversive Stieltjes distributions, is given. A quadrature rule whose parameters have explicit expressions for their determination is presented. An application of this quadrature rule for the evaluation of a certain type of integrals is also given.

Use of ideal protein concept for precision formulation of amino acid levels in fish-meal-free diets for juvenile Nile tilapia (Oreochromis niloticus L.)

This study was undertaken in a closed system with Nile tilapia (Oreochromis niloticus) to examine the effects of total replacement of fish meal (FM) by soybean meal. Nile tilapia fingerlings with an average weight of 5.34+/-0.08 g were hand-fed one of the five isoenergetic (approximate to13.5 MJ digestible energy kg(-1)) and isoproteic (approximate to31% of digestible protein) experimental diets to satiation, six times a day during 85 days in eight replicate fibreglass tanks (six fish per tank). The control diet containing FM was substituted by soybean meal, with and without essential amino acids (lysine, methionine and threonine) or dicalcium phosphate supplementation. The supplemental amino acids were added at levels to simulate the reference amino acid profile of Nile tilapia carcass protein, based on the ideal protein concept. The results showed that soybean meal diet supplemented only with dicalcium phosphate was inferior to the control diet with FM and soybean meal diets supplemented with dicalcium phosphate and essential amino acids. Multiple essential amino acids and dicalcium phosphate incorporation in soybean meal diets was associated with performance, whole-body composition and carcass yield equal to that of the fish fed with the control diet containing FM. These data suggest that a diet with all plant protein source, supplemented with essential amino acids, based on tissue amino acid profile, can totally replace FM in a diet for Nile tilapia, without adverse effects on the growth performance, carcass yield and composition.

Precision measurements of the ∧c + and D0 lifetimes

A measurement technique of charm baryons lifetimes from hadro-production data was presented. The measurement verified the lifetime analysis procedure in a sample with higher statistical precision. Other effects studied include mass reflections; effects of the presence of a second charm particle; and mismeasurement of charm decays. Monte carlo simulations were used for the detailed study of systematic effects using the charm data.

Precision of yule-walker methods for the arma spectral model

In this work a new method is proposed of separated estimation for the ARMA spectral model based on the modified Yule-Walker equations and on the least squares method. The proposal of the new method consists of performing an AR filtering in the random process generated obtaining a new random estimate, which will reestimate the ARMA model parameters, given a better spectrum estimate. Some numerical examples will be presented in order to ilustrate the performance of the method proposed, which is evaluated by the relative error and the average variation coefficient.

In vitro evaluation of the precision of working casts for implant-supported restoration with multiple abutments

Objective: The purpose of this study was to compare the accuracy of two working cast fabrication techniques using strain-gauge analysis. Methods: Two working cast fabrication methods were evaluated. Based on a master model, 20 working casts were fabricated by means of an indirect impression technique using polyether after splinting the square transfer copings with acrylic resin. Specimens were assigned to 2 groups (n=10): Group A (GA): type IV dental stone was poured around the abutment analogs in the conventional way; Group B (GB), the dental stone was poured in two stages. Spacers were used over the abutment analogs (rubber tubes) and type IV dental stone was poured around the abutment analogs in the conventional way. After the stone had hardened completely, the spacers were removed and more stone was inserted in the spaces created. Six strain-gauges (Excel Ltd.), positioned in a cast bar, which was dimensionally accurate (perfect fit) to the master model, recorded the microstrains generated by each specimen. Data were analyzed statistically by the variance analysis (ANOVA) and Tukey's test (α= 5%). Results: The microstrain values (με) were (mean±SD): GA: 263.7±109.07με, and GB: 193.73±78.83με. Conclusion: There was no statistical difference between the two methods studied.

Galileo's surveying potential E5 pseudorange precision

New Galileo signals have great potential for pseudorange-based surveying and mapping in both optimal open-sky conditions and suboptimal under-canopy environments. This article reviews the main features of Galileo's E5 AItBO( and El (BOC signals, describes generation of realistic E5 and El pseudoranges with and without multipath sources, and presents anticipated horizontal positioning accuracy results, ranging from 4 centimeters (open-sky) to 14 centimeters (under-canopy) for E5/El.