Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Restructured products from tilapia industry by products: the effects of tapioca starch and washing cycles

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

Egg production curve fitting using nonlinear models for selected and nonselected lines of White Leghorn hens

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

Controle de plantas daninhas na cultura de soja resistente ao glyphosate

O objetivo da pesquisa foi avaliar o controle de plantas daninhas em área cultivada com soja resistente ao herbicida glyphosate, sem a utilização de práticas complementares de manejo de plantas daninhas. Foram desenvolvidos experimentos, em condições de campo, nos anos agrícolas 2005/2006 e 2006/2007 em Jaboticabal (SP). Foram avaliadas duas cultivares de soja resistentes ao glyphosate (CD 214 RR e M-SOY 8008 RR), oito tratamentos de herbicidas (glyphosate, em aplicação única, nas doses de 0,48; 0,72; 0,96 e 1,20 kg ha-1 de equivalente ácido, associadas ou não a aplicação sequencial na dose de 0,48 kg ha-1), além de duas testemunhas, uma capinada e outra mantida infestada. As cultivares de soja influenciaram na infestação das espécies de plantas daninhas na área. Sem a aplicação de glyphosate, houve o predomínio de X. strumarium na área, desfavorecendo a ocorrência de outras espécies. Quando utilizado glyphosate, independentemente da dose, a infestação contabilizada aos 35 e 40 dias após a primeira aplicação, no primeiro e segundo ano, respectivamente, foi baixa. O controle de plantas daninhas na cultura da soja transgênica é diretamente influenciado pela dose de glyphosate, havendo controle satisfatório com a aplicação única de 0,96 kg ha-1 ou a sequencial de 0,48 + 0,48 kg ha-1 de glyphosate. em situação de menor infestação (2006/2007), a aplicação única de 0,48 kg ha-1 de glyphosate é suficiente para o controle das plantas daninhas. As cultivares de soja transgênica CD 214 RR e M-SOY 8008 RR influenciam diferencialmente a dinâmica das espécies de plantas daninhas, sendo o controle químico mais efetivo na situação de cultivo de M-SOY 8008 RR, em que houve menor diversidade e desenvolvimento das plantas daninhas.

Seletividade de herbicidas: III - aplicação de herbicidas em pós emergência inicial e tardia da cana-de-açúcar na época da estiagem

Este trabalho objetivou avaliar a seletividade dos herbicidas diuron+hexazinone, azafenidin+hexazinone, metribuzin e isoxaflutole aplicados em pós-emergência inicial e tardia das plantas de cana-de-açúcar, variedade RB835089, na época da estiagem, em soqueira de quarto corte, após colheita com queima prévia do canavial, em Araras, SP. O delineamento experimental foi o de blocos casualizados com testemunhas pareadas, com cinco tratamentos e quatro repetições, existindo uma testemunha capinada para cada tratamento químico dentro de cada bloco. Os tratamentos foram: diuron+hexazinone (1.170+330 g ha-1), azafenidin+ hexazinone (192,5+247,5 g ha-1), metribuzin (1.920 g ha-1), isoxaflutole (127,5 g ha¹) e testemunha capinada. Concluiu-se que os herbicidas foram mais fitotóxicos quando aplicados na pós-emergência tardia. em pós-emergência inicial, as plantas recuperaram-se totalmente dos efeitos fitotóxicos dos herbicidas. Na pós-emergência tardia, azafenidin+hexazinone, isoxaflutole e diuron+hexazinone prejudicaram o índice de fluorescência e a produtividade agrícola.

Seletividade de herbicidas: II - aplicação de herbicidas em pós-emergência inicial e tarida da cana-de-açúcar na época das chuvas

Objetivou-se com este trabalho testar a seletividade dos herbicidas diuron+hexazinone, azafenidin+hexazinone, metribuzin e isoxaflutole, aplicados em pósemergência inicial e tardia das plantas de cana-de-açúcar, cultivar RB835089, na época das chuvas, em soqueira de terceiro corte, após colheita com queima prévia do canavial, em Araras-SP. O delineamento experimental foi o de blocos casualizados com testemunhas pareadas, com cinco tratamentos e quatro repetições, existindo uma testemunha capinada para cada tratamento químico dentro de cada bloco. Os tratamentos foram: diuron+hexazinone (1.170+330 g ha-1), azafenidin+hexazinone (192,5+247,5 g ha-1), metribuzin (1.920 g ha-1), isoxaflutole (127,5 g ha-1) e testemunha. Concluiu-se que os herbicidas foram mais fitotóxicos quando aplicados na pós-emergência tardia. em pós-emergência inicial, o isoxaflutole foi o único produto que afetou a produtividade agrícola. Na pós-emergência tardia, todos os herbicidas prejudicaram a produtividade agrícola, sendo o diuron+hexazinone o único produto que não afetou as características tecnológicas e o rendimento de açúcar.

Aplicação superficial de escória, lama cal, lodos de esgoto e calcário na cultura da soja

O objetivo deste trabalho foi avaliar o efeito da aplicação superficial de lodos de esgoto, lama cal, escória de aciaria e calcário sobre o estado nutricional e a produtividade da soja, em sistema plantio direto. O delineamento foi o de blocos ao acaso em arranjo fatorial 4x4+1, constituído por quatro tratamentos - resíduos de lodo de esgoto centrifugado (LC) e de biodigestor (LB), escória de aciaria (E) e lama cal (Lcal) - nas doses 0, 2, 4 e 8 Mg ha-1, mais o controle com 2 Mg ha-1 de calcário. As plantas de soja apresentaram maior concentração de nitrogênio, fósforo e cálcio, em 2003, 2004 e 2005, e de potássio, em 2003 e 2004, em razão dos tratamentos LC, LB, E, Lcal e calagem. A produtividade da soja foi favorecida pela aplicação dos tratamentos no sistema plantio direto, em 2003, 2004 e 2005. O fósforo, e o cálcio contribuíram para o aumento da produtividade da soja em 2003 e 2004.

On the dynamic behaviour of the "click" mechanism in dipteran flight

In this paper, the dynamic behaviour of the "click" mechanism is analysed. A more accurate model is used than in the past, in which the limits of movement due to the geometry of the flight mechanism are imposed. Moreover, the effects of different damping models are investigated. In previous work, the damping model was assumed to be of the linear viscous type for simplicity, but it is likely that the damping due to drag forces is nonlinear. Accordingly, a model of damping in which the damping force is proportional to the square of the velocity is used, and the results are compared with the simpler model of linear viscous damping. Because of the complexity of the model an analytical approach is not possible so the problem has been cast in terms of non-dimensional variables and solved numerically. The peak kinetic energy of the wing root per energy input in one cycle is chosen to study the effectiveness of the "click" mechanism compared with a linear resonant mechanism. It is shown that, the "click" mechanism has distinct advantages when it is driven below its resonant frequency. When the damping is quadratic, there are some further advantages compared to when the damping is linear and viscous, provided that the amplitude of the excitation force is large enough to avoid the erratic behaviour of the mechanism that occurs for small forces. (C) 2011 Elsevier Ltd. All rights reserved.

Effect of disinfection by microwave irradiation on the strength of intact and relined denture bases and the water sorption and solubility of denture base and reline materials

This study evaluated the influence of microwave disinfection on the strength of intact and relined denture bases. Water sorption and solubility were also evaluated. A heat-polymerized acrylic resin (Lucitone 550) was used to construct 4-mm-thick (n = 40) and 2-mm-thick (n = 160) denture bases. Denture bases (2mm) were relined with an autopolymerizing resin (Tokuso Rebase Fast, Ufi Gel Hard, Kooliner, or New Truliner). Specimens were divided into four groups (n = 10): without treatment, one or seven cycles of microwave disinfection (650 W for 6 min), and water storage at 37 degrees C for 7 days. Specimens were vertically loaded (5 mm/min) until failure. Disc-shaped specimens (50 min x 0.5 mm) were fabricated (n = 10) to evaluate water sorption and solubility. Data on maximum fracture load (N), deflection (%), and solubility (%) were analyzed by two-way analysis of variance and Student-Newman-Keuls tests (alpha = 0.05). One cycle of microwave disinfection decreased the deflection at fracture and fracture energy of Tokuso Rebase Fast and New Truliner specimens. The strength of denture bases microwaved daily for 7 days was similar to the strength of those immersed in water for 7 days. Microwave disinfection increased the water sorption of all materials and affected the solubility of the reline materials. (C) 2007 Wiley Periodicals, Inc.

Differentially expressed genes in giant cell tumor of bone

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

Morphological deformities in the osseous structure in spotted sorubim Pseudoplatystoma coruscans (agassiz & spix, 1829) with vitamin c deficiency

A vitamina C é essencial para dietas de peixe porque muitas espécies não conseguem sintetizá-la. Esta vitamina é necessária par a formação de cartilagem e matriz óssea. Além disso, age como antioxidante e melhora as resposta do sistema imunológico. O presente trabalho investigou os efeitos da suplementação de vitamina C em dietas para alevinos de pintado (Pseudoplatystoma corruscans) pela incidência de deformidades na estrutura óssea e cartilaginosa. O ascorbil polifosfato (AP) foi utilizado como fonte de vitamina C em dietas para alevinos de pintado durante o período de três meses. Seis dietas foram formuladas: uma dieta controle (0 mg de vitamina C / kg) e cinco dietas 500, 1.000, 1.500, 2.000 e 2.500 mg de AP / kg. Os peixes alimentados sem suplementação de vitamina C apresentaram deformidades óssea na cabeça e mandíbula e fragilidade de nadadeiras. Assim, a dieta de 500 mg de AP/kg foi suficiente para prevenir a ocorrência de deformidades, e a ausência desta vitamina prejudica o desenvolvimento ósseo de juvenis de pintados.

Ovarian follicular dynamics in Nelore breed (Bos indicus) cattle

The most common beef cattle raised in Brazil is the Nelore breed (Bos indicus). Information obtained by ultrasonography on follicular growth in Bos taurus cattle has been accumulating rapidly. However, there are few publications to date on follicular development in Bos indicus breeds. The follicular dynamics in Nelore heifers and cows during natural or prostaglandin (PG)-induced estrous cycle were studied. From the detection of estrus onward, all animals were examined daily by ultrasonography for one (n=35) or two (n=10) consecutive estrous cycles. The follicular dynamic in Nelore cattle was characterized by the predominance of 2 follicular waves in the cows (83.3%, n=18, P<0.05) and 3 waves in the heifers (64.7%, n=16, P<0.05). Most of the cattle observed over 2 consecutive estrous cycles presented the same pattern of follicular waves in the first and second cycle, and only 30% showed variation in the number of waves from one cycle to the other. Most of the follicular parameters analyzed were not affected by PG treatment or age but were altered by follicular waves. Consequently, data on cows and heifers were combined according to the number of follicular waves. The ovulatory follicle was larger than the other dominant follicles (P<0.05), and the ovulatory wave was shorter than the preceding waves (P<0.05). The interovulatory interval was longer in animals showing 3 waves than those exhibiting 2 waves (P<0.05). Maximum diameter of the dominant follicle (around 11 mm) and of the corpus luteum (CL, approximately 17 mm) were smatter than those reported for European breeds. In conclusion, the results demonstrate that although the dominant follicle and corpus luteum are smaller than in European breeds, the follicular dynamics in Nelore cattle were similar to those observed in European breeds and were characterized by 2 or 3 follicular waves for cows and heifers, respectively, during the natural or prostaglandin-induced estrous cycle. (C) 1997 by Elsevier B.V.

Simulation and analysis of a collisionless optical interconnection network

This article describes the simulation and analysis of collisionless optical interconnection network, which the objective is to achieve a high performance level based on a single protocol control. The optical coupler has one shared control channel and N communication channels. Each network node two communication modules one for packet transmission/reception and another for control channel access. We show by simulation that system achieves a high performance and ensures high scalability.

Thermostimulated sol-gel transition in suspensions of sulfate zirconium oxychloride

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Immunization of bovines using a DNA vaccine (pcDNA3.1/MSP1b) prepared from the jaboticabal strain of Anaplasma marginale

Anaplasma is a tick-borne ehrlichial pathogen of cattle that causes the disease, anaplasmosis. In the present study, a total of 11 Anaplasma marginale seronegative calves were assigned into two groups: one immunized (G1, n = 6) and one nonimmunized-control (G2, n = 5). Six calves were immunized by using a DNA vaccine containing the gene of a major surface protein, MSP1b, encoded by the plasmid identified as pcDNA3.1/MSPIb. Calves received three intramuscular inoculations of 100 mug of pcDNA3.1/MSP1b at a 20-day interval. The control group received buffer phosphate at the same schedule as the experimental group. The immune response elicited by immunization with pcDNA3.1/MSP1b was evaluated in mice and calves. Twenty days following initial immunization, specific serum antibody from four BALB/c mice bound MSP1b in inummoblots. Sixty days after the last immunization, all calves were challenged with cryopreserved A. marginale at a dose of 10(4) parasites/mL/animal by intravenous injection. Results of packed cell volume (PCV) and detection of infected erythrocytes in all experimental groups revealed that the decrease of PCV and detection of infected erythrocytes occurred at 28 to 42 days after challenge. Mean temperature values did not increase over 39.85degreesC. Antibodies developed by immunized bovines from G2 were detected 14 days after challenge. MSP1b was characterized during the immunization period and MSP2 was the most predominant polypeptide at the challenge period. DNA of A. marginale was detected in all groups just after challenge by nested PCR assay. It can be concluded that all immunized bovines were partially protected against homologous challenge.