Optimisation of a fermentation process for butanol production by particle swarm optimisation (PSO)

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

Influence of the colony cycle on physiological and morphological caste variation in the perennial neotropical swarm-founding social wasp, Protonectarina sylveirae (Hymenoptera, Vespidae, Epiponini)

This paper describes the influence of the colony cycle on caste differences in Protonectarina sylveirae. Despite invariably keeping the main aspects of the conspicuous dimorphism between the castes, it is shown that: 1- queen-worker differences varied according to the progress of the colony cycle, 2- queens in pre-emergence colonies were smaller than those in male-producing ones, 3- workers were larger in pre-emergence than in other colony stages, 4- at particular steps of the colony cycle, non-inseminated ovary-developed queens and workers were detected. The size of the spermatheca differed between inseminated and non-inseminated queens with the highest values appearing in those bearing the most developed kind of ovary development. Differences between inseminated and non-inseminated queens were found in tergites III and IV, ovarian development and amount of fatty tissues. Because tergite size relates to gaster size, this character may be an important stimulus for selection of larger queens in the course of the colony cycle.

Daily activity resources collection by the swarm-founding wasp Angiopolybia pallens (Hymenoptera: Vespidae)

Angiopolybia pallens (Lepeletier, 1836) exhibited an intense activity at the beginning (6:00-7:00 a.m.) and end of the day (5:30-6:00 p.m.) (bimodal daily activity) and a low efficiency index in resources collection. The species also exhibited an equivalence relation in the items collected (nectar, prey and pulp) and a negative reaction to temperature and luminosity increasing, and reacted positively to an increase in the relative air humidity.

Classification of petroleum well drilling operations with a hybrid particle swarm/ant colony algorithm

This paper describes an investigation of the hybrid PSO/ACO algorithm to classify automatically the well drilling operation stages. The method feasibility is demonstrated by its application to real mud-logging dataset. The results are compared with bio-inspired methods, and rule induction and decision tree algorithms for data mining. © 2009 Springer Berlin Heidelberg.

Chartergellus golfitensis West-Eberhard: A new species of Neotropical swarm-founding wasp (Hymenoptera: Vespidae, Polistinae) with notes on the taxonomy of Chartergellus zonatus Spinola

Chartergellus golfitensis West-Eberhard new species, is described from Central America and compared with C. zonatus Spinola, a species heretofore inadequately described.

Swarm control designs applied to a non-ideal load transportation system

In this paper, a load transport system in platforms is considered. It is a transport device and is modelled as an inverted pendulum built on a car driven by a DC motor. The motion equations were obtained by Lagrange's equations. The mathematical model considers the interaction between the DC motor and the dynamic system. The dynamic system was analysed and a Swarm Control Design was developed to stabilize the model of this load transport system. ©2010 IEEE.

Swarm control designs applied to a micro-electro-mechanical gyroscope system (MEMS)

This paper analyzes the non-linear dynamics of a MEMS Gyroscope system, modeled with a proof mass constrained to move in a plane with two resonant modes, which are nominally orthogonal. The two modes are ideally coupled only by the rotation of the gyro about the plane's normal vector. We demonstrated that this model has an unstable behavior. Control problems consist of attempts to stabilize a system to an equilibrium point, a periodic orbit, or more general, about a given reference trajectory. We also developed a particle swarm optimization technique for reducing the oscillatory movement of the nonlinear system to a periodic orbit. © 2010 Springer-Verlag.

Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

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.

The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Age polyethism in the swarm-founding wasp Metapolybia miltoni (andena & carpenter) (Hymenoptera: Vespidae; Polistinae, epiponini)

In Epiponini division of labor is associated with age polyethism and individual task specialization. We observed worker activities in three colonies of Metapoybia miltoni in Brazil. We analyzed differences of task allocation among age groups. Old workers tend to forage more than young, but age polyethism was less evident in other tasks. Age composition of population could be a determinant factor in task allocation. Workers are probably allocating to perform tasks according to colony needs, and not to individual's age. Considering age population in studies of division of labor could help to understand how colonies respond to different situations.

Metaheurística particle swarm utilizada para alocação ótima de bancos de capacitores em sistemas de distribuição radial

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Particle swarm optimization aplicada ao planejamento da expansão de sistemas de transmissão

Pós-graduação em Engenharia Elétrica - FEIS

Age polyethism in the swarm-founding wasp Metapolybia miltoni (Andena & Carpenter) (Hymenoptera: Vespidae; Polistinae, Epiponini)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Marimbondos: a review on the neotropical swarm-founding polistines

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