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.

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.

A new sufficient condition for optimal impulsive control problems

In this article we introduce the concept of MP-pseudoinvexity for general nonlinear impulsive optimal control problems whose dynamics are specified by measure driven control equations. This is a general paradigm in that, both the absolutely continuous and singular components of the dynamics depend on both the state and the control variables. The key result consists in showing the sufficiency for optimality of the MP-pseudoinvexity. It is proved that, if this property holds, then every process satisfying the maximum principle is an optimal one. This result is obtained in the context of a proper solution concept that will be presented and discussed. © 2012 IEEE.

Branchial O2 chemoreceptors in Nile tilapia Oreochromis niloticus: Control of cardiorespiratory function in response to hypoxia

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

Optimal impulsive control in a powered Swing-By

This paper studies the problem of applying an impulsive control in a spacecraft that is performing a Swing-By maneuver. The objective is to study the changes in velocity, energy and angular momentum for this maneuver as a function of the three usual parameters of the standard Swing-By plus the three parameters (the magnitude of the impulse, the point of its application and the angle between the impulse and the velocity of the spacecraft) that specify the impulse applied. The dynamics used is the restricted three body problem under the regularization of Lemaitre, made to increase the accuracy of the numerical integration near the primaries. The present research develops an algorithm to calculate the variation of energy and angular momentum in a maneuver where the application of the impulsive control occurs before or after the passage of the spacecraft by the periapsis, but within the sphere of influence of the secondary body and in a non-tangential direction. Using this approach, it is possible to find the best position and direction to apply the impulse to maximize the energy change of the total maneuver. The results showed that the application of the impulse at the periapsis and in the direction of motion of the spacecraft is usually not the optimal solution.

Validation of an immunohistochemistry assay to detect turkey coronavirus: A rapid and simple screening tool for limited resource settings

The objective of the present study was to develop and apply the direct immunohistochemistry (D-IHC) assay to search for turkey coronavirus (TCoV) antigens in formalin-fixed embedded-paraffin tissues by the use of biotin-labeled polyclonal antibody. Twenty-eight-day-old embryonated turkey eggs (n = 50) were inoculated with TCoV-purified virus, and 3 d after inoculation, sections from ileum, ileum-cecal junction, and ceca were harvested, fixed in neutral formalin, and embedded in paraffin blocks and used as positive control. In addition, a total of 100 field samples from ileum, ileum-cecal junction, and ceca, collected from 30 to 45-d-old turkeys poults experiencing an outbreak of acute enteritis, were used to search for TCoV by the same D-IHC. All results were compared with those obtained by conventional RT-PCR and indirect fluorescent antibody assay (IFA) for all tested samples. Turkey coronavirus was detected in experimentally infected embryo tissues and also in field samples in 100% of ileum-cecal junction and ceca by the 3 detection procedures. With IFA as a reference assay, sensitivity and specificity of D-IHC were 98 and 58%, whereas sensitivity and specificity of reverse transcription-PCR were 96 and 66%, calculated from the total of tested samples from experimental infection. Each of the examined procedures was highly specific (D-IHC, 93%; RT-PCR, 90%), sensitive (D-IHC, 85%; RT-PCR, 86%), and agreement of both D-IHC and RT-PCR was 99 and 100%, respectively, compared with IFA results obtained from all the field samples. These findings demonstrated the utility of D-IHC for direct detection of TCoV from field samples and considering the sensitivity and specificity found here, can be used as an alternative technique.

AATS for the X̄ Chart with Variable Parameters

A Fortran computer program is given for the computation of the adjusted average time to signal, or AATS, for adaptive X̄ charts with one, two, or all three design parameters variable: the sample size, n, the sampling interval, h, and the factor k used in determining the width of the action limits. The program calculates the threshold limit to switch the adaptive design parameters and also provides the in-control average time to signal, or ATS.

X̄ Charts with Variable Parameters

Varying the parameters of the X̄ chart has been explored extensively in recent years. In this paper, we extend the study of the X̄ chart with variable parameters to include variable action limits. The action limits establish whether the control should be relaxed or not. When the X̄ falls near the target, the control is relaxed so that there will be more time before the next sample and/or the next sample will be smaller than usual. When the X̄ falls far from the target but not in the action region, the control is tightened so that there is less time before the next sample and/or the next sample will be larger than usual. The goal is to draw the action limits wider than usual when the control is relaxed and narrower than usual when the control is tightened. This new feature then makes the X̄ chart more powerful than the CUSUM scheme in detecting shifts in the process mean.

Hypogaeic anti epigaeic ant (Hymenoptera: Formicidae) assemblages of atlantic costal rainforest and dry mature and secondary amazon forest in Brazil: Continuums or communities

Meat, flour and sugar baits were used on the soil surface and buried to examine species composition of the ant fauna in three separate tropical forests in Brazil, and to control for the effect of the regional faunal pool. Compositional mosaic diversities were comparable among areas, bait types and foraging strata. Mosaic diversity was independent of mean assemblage size. The number of unique species per sampling unit was correlated with mean assemblage size. Canonical correspondence analysis ordered species first by foraging substrate, second by geographic location, and third by diet. The first axis was significantly correlated with mean similarity and affinity. Mean Mahanalobis distances between centroids of groups based upon foraging strata were significantly larger than between localities, indicating local ecological pressures stronger than regional species pool constraints. As most. species foraged in only one stratum in one geographical position and were not omnivorous, the response of species to environmental gradients (continuums) showed a lower coherency with these patterns than did communities, structured around guilds based upon foraging strata and diet.

Naso-orbicular tissue necrosis by Streptococcus parasanguis in a patient with Fanconi anemia: Clinical and laboratory aspects

Fanconi anemia (FA) is a rare autosomal recessive disorder, characterized by pancytopenia and progressive hypoplasia of the bone marrow. A 23-year-old woman with FA showed severe pancytopenia and developed an abscess on the infraorbicular region on the right side of the face that progressed to phlegmon and caused tissue necrosis of the nostrils, nasal septum, nasal fossa, and posterior orbital region. Laboratory examination showed Streptococcus parasanguis as the etiologic agent of the phlegmon. Supportive treatment was recommended due to donor incompatibility for bone marrow transplant. The intraoral examination showed spontaneous gingival bleeding, edema of the interdental papillae, hematomas on the superior and inferior lips, bacterial and fungal infections, and adequate oral hygiene. The patient was treated with the administration of an antibiotic (imipenem), an antifungal (amphotericin B), and mouth washing with antiseptic solutions. Periodontal prophylaxis and orientation to and control of oral hygiene and diet were also used during the remission period. For functional and esthetic rehabilitation of the alar regions and nasal dorsum, an acrylic resin nasal prosthesis was made, supported by a spectacle frame.

Um modelo para orientação de imagens orbitais baseado em feições retas

The aim of this paper is to present a model for orientation of pushbroom sensors that allows estimating the polynomial coefficients describing the trajectory of the platform, using linear features as ground control. Considering that pushbroom image acquisition is not instantaneous, six EOP (Exterior Orientation Parameters) for each scanned line must be estimated. The sensor position and attitude parameters are modeled with a time dependent polynomial. The relationship between object and image space is established through a mathematical model based on the equivalence between the vector normal to the projection plane in the image space and to the vector normal to the rotated projection plane in the object space. The equivalence property between planes was adapted to consider the pushbroom geometry. Some experiments with simulated data corresponding to CBERS scene (China-Brazil Earth Resource Satellite) were accomplished in order to test the developed model using straight lines. Moreover, experiments with points ground with the model based on collinearity equations adapted to the pushbroom geometry were also accomplished. The obtained results showed that the proposed model can be used to estimate the EOP of pushbroom images with suitable accuracy.

Comparative study of LMI-based output feedback spr synthesis for plants with different numbers of inputs and outputs

New Linear Matrix Inequalities (LMI) conditions are proposed for the following problem, called Strictly Positive Real (SPR) synthesis: given a linear time-invariant plant, find a constant output feedback matrix Ko and a constant output tandem matrix F for the controlled system to be SPR. It is assumed that the plant has the number of outputs greater than the number of inputs. Some sufficient conditions for the solution of the problem are presented and compared. These results can be directly applied in the LMI-based design of Variable Structure Control (VSC) of uncertain plants. ©2008 IEEE.

Desenvolvimento e implementação de um sistema de controle de posição e velocidade de uma esteira transportadora usando inversor de frequência e microcontrolador

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Mecanismos de controle durante a manutenção da postura ereta em participantes de 4,8 e 12 anos e adultos

Pós-graduação em Ciências da Motricidade - IBRC

Orientação exterior de imagens orbitais usando modelos rigorosos com feições retas

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)