On nonlinear dynamics and control of a robotic arm with chaos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Immunomodulatory activity and control of Salmonella Enteritidis colonization in the intestinal tract of chickens by Lactobacillus based probiotic

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

Nonlinear state estimation and control for chaos suppression in MEMS resonator

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

On nonlinear dynamics behavior and control of a new model of a magnetically levitated vibrating system, excited by an unbalanced DC motor of limited power supply

We analyze new results on a magnetically levitated body (a block including a magnet whose bottom pole is set in such a way as to repel the upper pole of a magnetic base) excited by a non-ideal energy source (an unbalanced electric motor of limited power supply). These new results are related to the jump phenomena and increase of power required of such sources near resonance are manifestations of a non-ideal system and they are referred as the Sommerfeld effect, which emulates an energy sink. In this work, we also discuss control strategies to be applied to this system, in resonance conditions, in order to decrease its vibration amplitude and avoiding this apparent energy sink.

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.

Editorial dynamics and control of aerospace and vertical transportation systems

This Special Issue presents a selection of papers initially presented at the 11th International Conference on Vibration Problems (ICOVP-2013), held from 9 to 12 September 2013 in Lisbon, Portugal. The main topics of this Special Issue are linear and, mainly, nonlinear dynamics, chaos and control of systems and structures and their applications in different field of science and engineering. According to the goal of the Special Issue, the selected contributions are divided into three major parts: “Vibration Problems in Vertical Transportation Systems”, “Nonlinear Dynamics, Chaos and Control of Elastic Structures” and “New Strategies and Challenges for Aerospace and Ocean Structures Dynamics and Control”.

Capitalismo tardio e ideologia: transformação qualitativa das formas de controle

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Imperialismo e educação do campo: uma análise das políticas educacionais no estado de Rondônia a partir de 1990

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Acaricides used in conventional and organic citrus orchard: leprosis and phytoseiid mites population control

The citrus leprosis control in São Paulo state is performed exclusively by acaricides to control the vector mite, Brevipalpus phoenicis, which increases the production costs and may affect the beneficial organism's population. Therefore, the aim of this trial was to evaluate during four seasons, the effects of acaricides recommended to control the mite B. phoenicis in conventional and organic citrus over evolution of citrus leprosis and over phytoseiids' population. The experiment was installed in October of 2003 in a citrus orchard in Reginopolis city, state of São Paulo. The experimental design used randomized blocks, the dosages was expressed as mL c.p./100L of water and the treatments were the following: spirodiclofen (20 mL); cyhexatin (50 mL) (used in rotation), lime sulfur (4,000 mL) and control (without pesticide application). However, the rotation between spirodiclofen and cyhexatin began in September 2006. Prior to that time, only spirodiclofen had been used. Surveys were conducted every 15 days on the B. phoenicis, Iphiseioides zuluagai, and Euseius populations. The control level adopted by the B. phoenicis was 8.3%, and the pesticide applications were conducted using tractor-sprayers. During the 2007-08 seasons, 10 infected fallen fruits per plot were collected and the number of leprosis lesions was quantified by each fruit. By the end of the 2007-08 seasons, the productivity, harvest losses, the disease incidence and severity were evaluated. It was found that the lesions' location over the fruit is more important in determining its drop than the lesions' number. The more intense the mite infestation, the greater is the number of lesions, resulting in increased premature fruit drop. A strategy using acaricides spirodiclofen and cyhexatin in rotation promoted more efficient control of B. phoenicis compared to lime sulfur, resulting in greater productivity, lower fruit losses and severity levels. The lime sulfur applications reduced the mite population incidence below the control level; however it did not prevent the lesions' occurrence. The acaricides applicarevented adverse effects on phytoseiid population because there was a reduction of their density.

Free time and mixed constrained optimal control problems

We consider free time optimal control problems with pointwise set control constraints u(t) ∈ U(t). Here we derive necessary conditions of optimality for those problem where the set U(t) is defined by equality and inequality control constraints. The main ingredients of our analysis are a well known time transformation and recent results on necessary conditions for mixed state-control constraints. ©2010 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.

Daily biofilm control and oral health: Consensus on the epidemiological challenge-Latin American Advisory Panel

Our understanding of dental plaque biofilm has evolved since the nonspecific plaque hypothesis that considered plaque as a nonspecific mass of native microorganisms that, because of lack of oral hygiene, builds up in proportions great enough to overcome the host resistance threshold and affect the tooth structure and tooth supporting tissues. A great diversity of microorganisms-over 700 species-was detected in the oral cavity, and evidence shows that the investigation of specific microorganisms or associations of microorganisms as etiological agents for periodontal diseases and caries is not a simplistic approach. Although clinical evidence shows that oral mechanical hygiene is fundamental to prevent and control caries and periodontal disease, it is important to highlight that optimal control is not achieved by most individuals. Thus the complementary use of chemotherapeutic agents has been investigated as a way to overcome the deficiencies of mechanical oral hygiene habits, insofar as they reduce both plaque formation and gingival inflammation, and represent a valid strategy to change the biofilm and maintain dental and periodontal health. The role of the dental professional is to monitor patients and offer them the best recommendations to preserve oral health throughout their life. With this in mind, chemical control should be indicated as part of daily oral hygiene, together with mechanical procedures, for all individuals who present supragingival and/or subgingival biofilm, taking into account age, physical and/or psychological limitations, allergies, and other factors.

Impact of muscle fatigue on mechanics and motor control of walking

Pós-graduação em Ciências da Motricidade - IBRC

Controllability of control systems on complex simple lie groups and the topology of flag manifolds

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

Chaos control and sensitivity analysis of a double pendulum arm excited by an RLC circuit based nonlinear shaker

In this paper the dynamical interactions of a double pendulum arm and an electromechanical shaker is investigated. The double pendulum is a three degree of freedom system coupled to an RLC circuit based nonlinear shaker through a magnetic field, and the capacitor voltage is a nonlinear function of the instantaneous electric charge. Numerical simulations show the existence of chaotic behavior for some regions in the parameter space and this behaviour is characterized by power spectral density and Lyapunov exponents. The bifurcation diagram is constructed to explore the qualitative behaviour of the system. This kind of electromechanical system is frequently found in robotic systems, and in order to suppress the chaotic motion, the State-Dependent Riccati Equation (SDRE) control and the Nonlinear Saturation control (NSC) techniques are analyzed. The robustness of these two controllers is tested by a sensitivity analysis to parametric uncertainties.