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.

Electropolymerization mechanism in aqueous solution of the oxo-manganese complex biomimicking of the enzymatic center present on the photosystem II

The [Mn4 IVO5(terpy)4(H 2O)2]6+ complex, show great potential for electrode modification by electropolymerization using cyclic voltammetry. The electropolymerization mechanism was based on the electronic transfer between dx2-y2 orbitals of the center metallic and pπ orbital of the ligand, which show great complexity of the system due to orbitals overlap present in octahedral complex of the metal-μ-oxo. The voltammetric behavior both in and after electropolymerization process were also discussed, where the best condition of electropolymerization was observed for low scan rate and 50 potential cycles. A study in ITO/glass electrode for better characterization of polymer was also performed. ©The Electrochemical Society.

Numerical solution of the FENE-CR model in complex flows

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

Numerical solution of the time dependent Ginzburg-Landau equations for mixed (d plus s)-wave superconductors

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

Exact Solution of the Elastica with Transverse Shear Effects

A new derivation of Euler's Elastica with transverse shear effects included is presented. The elastic potential energy of bending and transverse shear is set up. The work of the axial compression force is determined. The equation of equilibrium is derived using the variation of the total potential. Using substitution of variables an exact solution is derived. The equation is transcendental and does not have a closed form solution. It is evaluated in a dimensionless form by using a numerical procedure. Finally, numerical examples of laminates made of composite material (fiber reinforced) and sandwich panels are provided.

Influence of the network modifier on the characteristics of MSnO 3 (M=Sr and Ca) thin films synthesized by chemical solution deposition

CaSnO3 and SrSnO3 alkaline earth stannate thin films were prepared by chemical solution deposition using the polymeric precursor method on various single crystal substrates (R- and C-sapphire and 100-SrTiO3) at different temperatures. The films were characterized by X-ray diffraction (θ-2θ, ω- and φ-scans), field emission scanning electron microscopy, atomic force microscopy, micro-Raman spectroscopy and photoluminescence. Epitaxial SrSnO3 and CaSnO 3 thin films were obtained on SrTiO3 with a high crystalline quality. The long-range symmetry promoted a short-range disorder which led to photoluminescence in the epitaxial films. In contrast, the films deposited on sapphire exhibited a random polycrystalline growth with no meaningful emission regardless of the substrate orientation. The network modifier (Ca or Sr) and the substrate (sapphire or SrTiO3) influenced the crystallization process and/or the microstructure. Higher is the tilts of the SnO6 octahedra, as in CaSnO3, higher is the crystallization temperature, which changed also the nucleation/grain growth process. © 2012 Elsevier Inc. All rights reserved.

Influence of the network modifier on the characteristics of MSnO3 (M=Sr and,Ca) thin films synthesized by chemical solution deposition

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Substitution-newton-Raphson method for the solution of electric network equations

The power flow problem, in transmission networks, has been well solved, for most cases, using Newton-Raphson method (NR) and its decoupled versions. Generally speaking, the solution of a non-linear system of equations refers to two methods: NR and Successive Substitution. The proposal of this paper is to evaluate the potential of the Substitution-Newton-Raphson Method (SNR), which combines both methods, on the solution of the power flow problem. Simulations were performed using a two-bus test network in order to observe the characteristics of these methods. It was verified that the NR is faster than SNR, in terms of convergence, considering non-stressed scenarios. For those cases where the power flow in the network is closed to the limits (stressed system), the SNR converges faster. This paper presents the power flow formulation of the SNR and describes its potential for its application in special cases such as stressed scenarios. © 2006 IEEE.

Assessing the effectiveness of 30% sodium chloride aqueous solution for the preservation of fixed anatomical specimens: a 5-year follow-up study

Anatomical specimens used in human or veterinary anatomy laboratories are usually prepared with formaldehyde (a cancerous and teratogenic substance), glycerin (an expensive and viscous fluid), or ethanol (which is flammable). This research aimed to verify the viability of an aqueous 30% sodium chloride solution for preservation of anatomical specimens previously fixed with formaldehyde. Anatomical specimens of ruminant, carnivorous, equine, swine and birds were used. All were previously fixed with an aqueous 20% formaldehyde solution and held for 7days in a 10% aqueous solution of the same active ingredient. During the first phase of the experiment, small specimens of animal tissue previously fixed in formaldehyde were distributed in vials with different concentrations of formaldehyde, with or without 30% sodium chloride solution, a group containing only 30% sodium chloride, and a control group containing only water. During this phase, no contamination was observed in any specimen containing 30% sodium chloride solution, whether alone or in combination with different concentrations of formaldehyde. In the second phase of the experiment, the 30% sodium chloride solution, found to be optimal in the first phase of the experiment, was tested for its long-term preservation properties. For a period of 5years, the preserved specimens were evaluated three times a week for visual contamination, odors, and changes in color and texture. There was no visual contamination or decay found in any specimen. Furthermore, no strange odors, or changes in color or softness were noted. The 30% sodium chloride solution was determined to be effective in the preservation of anatomic specimens previously fixed in formaldehyde.

Thermal treatment of superconductor thin film of the BSCCO system using domestic microwave oven

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

Influence of physical and chemical factors during foraging and culture of the symbiont fungus in Atta sexdens rubropilosa (Hymenoptera : Formicidae)

The aim of this paper is to investigate the influence of physical and chemical factors on transport and use of substrate for Atta sexdens rubropilosa workers. Three types of rectangular fragments were used to study the physical influence factors: filter paper with paraffin, filter paper without paraffin and polyester film. To study the chemical factors, some fragments were impregnated with organic extract of orange albedo, others were soaked with soybean oil and for the remaining ones nothing was applied. The following parameters were evaluated: (i) attractiveness of substrate for transport and number of loading workers per treatment; (ii) foraged material incorporation; (iii) rejection by numbers of fragments deposited in the garbage or beside the fungus garden. All the polyester film fragments carried out to the fungus garden were subsequently rejected. We verified that chemical factors of the substrate were more quickly detected by the workers, whereas physical factors were used as a criterion in the decision-making to reject or accept the substrate collected.

Preliminary data on the feeding habits of the freshwater stingrays Potamotrygon falkneri and Potamotrygon motoro (Potamotrygonidae) from the Upper Paraná River basin, Brazil

As raias da família Potamotrygonidae representam um grupo singular da ictiofauna Neotropical. Apesar de serem antigos os relatos sobre o grupo, ainda são muitas as questões que permanecem sem resposta, sobretudo no que diz respeito à biologia das espécies que ocorrem na Bacia do Paraná-Paraguai. No presente trabalho foi analisada a dieta de Potamotrygon falkneri e Potamotrygon motoro, capturadas no Alto Rio Paraná, a jusante da Usina Hidrelétrica Engenheiro Souza Dias (UHE Jupiá). As duas espécies de raias apresentaram dieta diversificada, ingerindo 14 itens, entre moluscos, crustáceos, insetos e peixes, porém com predominância de insetos aquáticos em diversidade e abundância. Somente um indivíduo de cada espécie ingeriu peixe. Potamotrygon motoro consumiu principalmente Ephemeroptera, enquanto P. falkneri, principalmente Mollusca, Hemiptera e Trichoptera. Os dados aparentemente indicam uma dieta mais especializada de P. motoro, com maior consumo de Ephemeroptera (Baetidae), e uma dieta mais generalizada de P. falkneri. A análise dos indivíduos capturados em três micro-hábitats, que diferem quanto ao tipo de substrato e presença de vegetação marginal, sugere diferenças nos tipos de alimentos consumidos.

Composition of the aquatic invertebrate fauna associated to the mangrove vegetation of a coastal river, analyzed through a manipulative experiment.

The present study analyzed the composition of the aquatic fauna associated to the mangrove forest in a southeastern Brazilian river. The composition of the macrofauna in the roots of the marginal vegetation located at three different salinity stretches was analyzed by sampling pieces of the submerged branches of the vegetation (natural substrate) and pieces of sisal rope (artificial substrate), installed close to the natural vegetation and sampled after a period of 14 colonization days. In both types of substrate, twelve taxonomic groups were sampled, representing three phyla (Cnidaria, Annelida and Arthropoda). The crustaceans, corresponding to the most diversified group, were represented by Copepoda, Tanaidacea, Isopoda, Amphipoda and Decapoda. The highest salinity stretch showed the highest abundance, with a progressive decrease from high to low salinity for both substrates. Copepoda and Tanaidacea predominated on both substrates, although the artificial substrate exhibited the highest total abundance and species richness. Considering the relative abundance of the taxonomic groups on both substrates, the majority of groups predominated in the highest salinity range. Significant differences on the longitudinal distribution of abundance were associated to the variation on salinity and with the complexity of the substrate.

Crystallization and preliminary X-ray diffraction analysis of the catalytic subunit of ADP-glucose pyrophosphorylase from potato tuber

ADP-glucose pyrophosphorylase is the key regulatory enzyme in the biosynthesis of starch in plants and glycogen in bacteria. The enzyme from potato tuber is comprised of a regulatory subunit and a catalytic subunit and is present as a heterotetramer (alpha(2)beta(2)) the catalytic subunit from potato tuber (50 kDa) was crystallized in four different forms, two of which are suitable for structural studies. A tetragonal crystal form obtained in the presence of the substrate analog Cr-ATP diffracted to 2.2 Angstrom and belongs to space group P4(1) (or its enantiomorph), with unit-cell parameters a = b = 110.57, c = 190.14 Angstrom. A second crystal form obtained diffracted to 2.8 Angstrom and belongs to space group PZ, with unit-eel parameters a = 80.06, b = 138.84, c = 92.20 Angstrom, beta = 112.40 degrees. As this protein displays no significant homology to any currently known protein structure, a search for heavy-atom derivatives has been initiated.

Asymptotic soliton train solutions of the defocusing nonlinear Schrodinger equation

Asymptotic behavior of initially large and smooth pulses is investigated at two typical stages of their evolution governed by the defocusing nonlinear Schrodinger equation. At first, wave breaking phenomenon is studied in the limit of small dispersion. A solution of the Whitham modulational equations is found for the case of dissipationless shock wave arising after the wave breaking point. Then, asymptotic soliton trains arising eventually from a large and smooth initial pulse are studied by means of a semiclassical method. The parameter varying along the soliton train is calculated from the generalized Bohr-Sommerfeld quantization rule, so that the distribution of eigenvalues depends on two functions-intensity rho(0)(x) of the initial pulse and its initial chirp v(0)(x). The influence of the initial chirp on the asymptotic state is investigated. Excellent agreement of the numerical solution of the defocusing NLS equation with predictions of the asymptotic theory is found.