Optimal moment to change pressure regulator and sprayer kit on center pivot irrigation machines: a theoretical proposal

A theoretical model was developed in order to determine the optimal moment for substituting the sprayer and pressure regulator kit on a center pivot irrigation machine. The model is based on the hypothesis that pressure regulator and sprayer deterioration decrease irrigation uniformity. To compensate the deficit that happens at under irrigated areas, an increase on irrigation depth is required. The model considers: additional water consumption and energy costs, maintenance and labor costs, as well as yield losses associated with under or over irrigated areas. The sum of all these components is compared to buying and installing a new spray kit cost, allowing the farmer to decide the best moment to renovate the sprayer and pressure regulator kits on a center pivot irrigation machine based on economic criteria.

Optimal moment to change pressure regulator and sprayer kit on center pivot irrigation machines: application to a study case

A theoretical model developed by the authors for determining the optimal moment to substitute sprayer and pressure regulator kit on a center pivot irrigating potatoes and beans has been applied. The methodology compares the sum of the costs due to additional consumption of water and energy, maintenance and labor, as well as yield losses associated to areas with deficit or over irrigation to the costs due to buy and install a new sprinkling set on the pivot. The results showed that for a reduction of 3.07% of the Hermann and Hein’s Uniformity Coefficient (UCh), the substitution of the sprinkling module on the pivot is justified when potatoes and beans are cultivated.

Use of myoelectric signals to command mobile entertainment robot by disabled children: Design and control architecture

Severely disabled children have little chance of environmental and social exploration and discovery. This lack of interaction and independency may lead to an idea that they are unable to do anything by themselves. In an attempt to help children in this situation, educational robotics can offer and aid, once it can provide them a certain degree of independency in the exploration of environment. The system developed in this work allows the child to transmit the commands to a robot through myoelectric and movement sensors. The sensors are placed on the child's body so they can obtain information from the body inclination and muscle contraction, thus allowing commanding, through a wireless communication, the mobile entertainment robot to carry out tasks such as play with objects and draw. In this paper, the details of the robot design and control architecture are presented and discussed. With this system, disabled children get a better cognitive development and social interaction, balancing in a certain way, the negative effects of their disabilities. © 2012 IEEE.

Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Fast robot voice interface through optimum-path forest

Voice-based user interfaces have been actively pursued aiming to help individuals with motor impairments, providing natural interfaces to communicate with machines. In this work, we have introduced a recent machine learning technique named Optimum-Path Forest (OPF) for voice-based robot interface, which has been demonstrated to be similar to the state-of-the-art pattern recognition techniques, but much faster. Experiments were conducted against Support Vector Machines, Neural Networks and a Bayesian classifier to show the OPF robustness. The proposed architecture provides high accuracy rates allied with low computational times. © 2012 IEEE.

A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

Development of a support vector machine-based navigation system for driving a mobile robot through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.

Gesture-based teleoperation using a holonomic robot

This work presents the development and integration of an user interface (UI) framework based on various current input devices that take advantage of our ergonomics. The purpose is to teleoperate a holonomic robot using upper member gestures and postures for studying the suitable of such interfaces when programming and interacting with a mobile robot. As performance vary from UI to UI the framework is focused to be used as a complementary industrial or didactic tool thus, changing how inexperience users tackle their first impressions when working with mobile robots while performing simple gesture-based teleoperation tasks. © 2012 ICROS.

A brazilian ergonomic human-robot interface case

Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesńt seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region. © (2013) Trans Tech Publications, Switzerland.

Vitrification of immature feline oocytes with a commercial kit for bovine embryo vitrification

The aim of this study was to evaluate the suitability of a commercial kit for bovine embryo vitrification for cryopreserving cat oocytes and to evaluate comparatively the effects of its use with slow freezing procedure on cryotolerance in terms of morphology and oocyte resumption of meiosis. Germinal vesicle stage oocytes isolated from cat ovaries were either vitrified (n=72) using a vitrification kit for bovine embryo or slow frozen (n=69) by exposing oocyte to ethylene glycol solution before being transferred to a programmable embryo freezer. After thawing and warming, oocytes were cultured for 48h and then were examined for meiosis resumption using bisbenzimide fluorescent staining (Hoechst 33342). Fresh immature oocytes (n=92) were used as the control group. The proportion of oocytes recovered in a morphologically normal state after thawing/warming was significantly higher in frozen oocytes (94.5%) than in the vitrified ones (75%, p<0.01). Morphological integrity after culture was similar in vitrified (73.6%) and slow frozen oocytes (76.8%); however, only 37.5% of the morphologically normal oocytes resumed meiosis after vitrification compared to 60.9% of those submitted to slow freezing procedure (p<0.01). Fresh oocytes showed higher morphological integrity (91.3%) and meiosis resumption rates (82.6%, p<0.002) than cryopreserved oocytes, irrespective of the procedure used. These results suggest that immature cat oocytes vitrified with a kit for bovine embryos retain their capacity to resume meiosis after warming and culture, albeit at lower rates than slow frozen oocytes. Vitrification and slow freezing methods show similar proportions of oocytes with normal morphology after culture, which demonstrate that thawed and warmed oocytes that resist to cryodamage have the same chances to maintain their integrity after 48h of culture. © 2012 Blackwell Verlag GmbH.

Local data fusion algorithm for fire detection through mobile robot

Multisensor data fusion is a technique that combines the readings of multiple sensors to detect some phenomenon. Data fusion applications are numerous and they can be used in smart buildings, environment monitoring, industry and defense applications. The main goal of multisensor data fusion is to minimize false alarms and maximize the probability of detection based on the detection of multiple sensors. In this paper a local data fusion algorithm based on luminosity, temperature and flame for fire detection is presented. The data fusion approach was embedded in a low cost mobile robot. The prototype test validation has indicated that our approach can detect fire occurrence. Moreover, the low cost project allow the development of robots that could be discarded in their fire detection missions. © 2013 IEEE.

Expressão de fator de crescimento semelhante à insulina (IGF-1), alvo da rapamicina em mamíferos (M-TOR), fator de célula tronco (SCF) e receptor C-KIT (CD117) em mastocitomas cutânios caninos em lâminas de arranjo de matriz tecidual (TMA)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação de duas técnicas coproparasitológicas convencionais e de um kit comercial na investigação da epidemiologia de parasitas gastrintestinais de cães no Estado de São Paulo

Pós-graduação em Medicina Veterinária - FMVZ

Um Kit de espelhos planos para o ensino de geometria

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Efeitos e regulação da expressão do kit ligante (KL) durante a maturação in vitro do complexo cumulus-oócito bovino

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