Discrete-time sliding mode control of input-delay systems applied on a power generation system

This paper presents two discrete sliding mode control (SMC) design. The first one is a discrete-time SMC design that doesn't take into account the time-delay. The second one is a discrete-time SMC design, which takes in consideration the time-delay. The proposed techniques aim at the accomplishment simplicity and robustness for an uncertainty class. Simulations results are shown and the effectiveness of the used techniques is analyzed. © 2006 IEEE.

Desempenho operacional de semeadora-adubadora em diferentes manejos da cobertura e da velocidade

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Comparações entre equações de predição de consumo de capim-elefante cortado para vacas lactantes

This work aimed to compare intake prediction equations with values obtained by direct methods using chopped elephant-grass offered to crossbreed lactating cows with rumen canulas. The experimental design was a 3 x 3 Latin square (three animals and three cutting ages: 30, 45 and 60 days). The equations used for intake prediction (y) were: (1) y= -1.19 + 0.035(a+b) + 28.5c; (2) y= [%NDF on DM]*[NDF intake]/[(1- a - b)/KP+b/(c+kp)]/24; (3) y= -0.822 + 0.0748(a+b) + 40.7c and (4) equation 2 with values of intake measured directly. The predictions of NDF intake by equations were not different among treatments, instead of the difference among values measured directly: the 30 day-old had lower intake (5.29 kg/day) in relation to 45 (6.57 kg/day) and 60 (7.31 kg/day) day-old grasses. In general, equations overestimated the DM intake in relation to direct measuring (9.0 kg/cow/day), with exception of equation 3 which underestimated the intake (7.7 kg/day). The means of DM intake found by equations 1 and 2 (13.7 and 13.4 kg/cow/day, respectively) were similar between themselves and superior in relation to those found by equation 4 (9.7 kg/cow/day). The intakes measured directly were similar to those found in equation 4 and higher than those found by equation 3. The mean of rumen fill of 7.5 kg was superior to those of 5.2 kg estimated by equation. The prediction equations based on in situ degradability parameters do not supply estimates of DM intake, NDF intake and rumen fill in agreement with values obtained by direct methods.

Desempenho de novilhas de corte alimentadas com cana hidrolisada

The objective of this study was to evaluate the performance, consumption and feed conversion of Angus x Nellore heifers fed hydrolyzed sugarcane. Twenty-four (1/2 Angus x Nellore crossbred) heifers were used with average body weight of 242 kg ± 23 kg, confined in individual pens with total area of 15 m2. The study consisted of six treatments distributed as follows: T1-in natura sugarcane: sugarcane was given to animals after being chopped; T2-hydrolyzed sugarcane with 0.5 % lime and 24 hours of air exposure; T3-hydrolyzed sugarcane with 0.5 % lime and 48 hours of air exposure; T4-hydrolyzed sugarcane with 1.0 % lime and 24 hours of air exposure; T5-hydrolyzed sugarcane with 1.0 % lime and 48 hours of air exposure; T6-hydrolyzed sugarcane with 1.0 % lime and 72 hours of air exposure. We used a completely randomized design with four replicates per treatment, and averages were compared by Tukey test at 5 % significant level of probability. No statistical difference was found for any of the treatments (P>0.05). The processing of sugarcane with lime did not increase the intake and performance of animals evaluated in this study.

Selecting the most adequate bedding material for broiler production in Brazil

Broiler chicken production is widely dispersed across the globe, and one important issue for growers is the selection of adequate bedding material, as the availability and price of substrates varies among countries and regions within a same country. This study aimed at applying a multiple criteria analysis approach for the selection of the most appropriate bedding material for broiler production. Based on field research data and growers' experience, the most desirable characteristics of a litter material were chosen as the main criteria. The selected materials were wood shavings, rice husks, chopped Napier grass (Pennisetum pupureum), 50% sugar cane bagasse (Saccharum L.) plus 50% wood shavings, 50% sugar cane bagasse (Saccharum L.) plus 50% rice husks, and pure sugar cane bagasse (Saccharum L.). The analytical hierarchy process (AHP) was applied for selecting the most suitable bedding material. Validation was performed using data from previous studies carried out in central-western Brazil on the effects of different types of bedding material on broiler carcass quality. Considering the selected criteria, several bedding materials were tested and ranked, and the results showed that wood-shavings litter was the best option (weight = 0.28), followed by rice husks (weight = 0.24). All other tested alternatives presented lower scores and were, therefore, not considered for use. The AHP approach was found to be an efficient tool to select the most appropriate litter material under specific scenarios.

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.

Seleção de agentes alternativos ao ágar para propagação de plântulas de Cattleya loddigesii Lindley (Orchidaceae)

The aim of this study was to evaluate the in vitro growth of Cattleya loddigesii in alternative agents to agar with starch and physical matrix with acclimatization of regenerated plants. Protocorms with 90 days after sowing (0.5 cm of length) were subcultured in 1/2 MS culture medium among the treatments consisting of: agar 7 g L-1 (T1, which corresponds the control), agar 3,5 g L-1 with cassava starch 30 g L-1 (T2), cassava starch 60 g L-1 (T3), cotton fiber (T4) and chopped polyurethane foam (T5). Plantlets were retained in these treatments for over 150 days, and at the end of in vitro culture, were analyzed by their biometric data and acclimatized in a greenhouse during 120 days and evaluated the survival and relative growth rate (RGR). The substrate comprising of chopped polyurethane foam (T5) showed greater efficiency for growth in vitro and also increased survival rate, while substrate cassava starch (T3) provided delay for plantlet growth. Therefore, chopped polyurethane foam is recommended because of low cost and suitable characteristics for the propagation of Cattleya loddigesii.

Structural and ultrastructural evidence for telocytes in prostate stroma

The prostate comprises a glandular epithelium embedded within a fibromuscular stroma. The stroma is a complex arrangement of cells and extracellular matrix (ECM) components in addition to growth factors, regulatory molecules, remodelling enzymes, blood vessels, nerves and immune cells. The principal sources of ECM components are fibroblasts and smooth muscle cells (SMC), which synthesize the structural and regulatory components of the ECM. Telocytes (TCs) were recently described as a novel stromal cell type that exhibited characteristic features. The aim of this study was to confirm the presence of TCs in prostate stromal tissue of gerbils, as the stromal compartment of this gland is a dynamic microenvironment. We used transmission electron microscopy (TEM), light microscopy and immunohistochemistry methods to provide morphological evidence for the presence of TCs. Cells that resembled TCs were observed in gerbil prostatic stroma. These cells had small cellular bodies with very thin and extremely long cellular processes. They were found primarily in the subepithelial area and also at the periphery of SMC layers. TCs also exhibited moniliform processes, caveolae and nuclei surrounded by small amounts of cytoplasm. Close contacts between TC podomers were evident, particularly in the adjacent epithelial compartment. This morphological evidence supported the presence of TCs in the gerbil prostatic stroma, which we report for the first time. © 2013 The Authors. Published by Foundation for Cellular and Molecular Medicine/Blackwell Publishing Ltd. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

Sistema plantio direto: avaliação de semeadora em função do manejo da palhada e velocidade de trabalho na cultura da soja

Pós-graduação em Agronomia (Ciência do Solo) - FCAV

Requisitos nutricionais e reprodução massal de Bipolaris euphorbiae

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Cana-de-açúcar hidrolisada com duas formas de aplicação e tamanhos de partículas

Pós-graduação em Zootecnia - FCAV

Avaliação de implantes de titânio com modificação da superfície por abrasão a laser ou recobrimento por hidroxiapatita biomimétrica. Estudo biomecânico em tíbia de coelhos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Degradabilidade in situ e consumo voluntário de capim Tanzânia (Panicum maximu, J. cv. Tanzânia), sob pastejo, por vacas em lactação

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

Comparativo econômico do corte, carregamento e transporte de cana-de-açúcar com e sem palhada no sistema de colheita mecanizada

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

Controle discreto com modos deslizantes em sistemas incertos com atraso no sinal de controle

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)