A method for plotting the complementary root locus using the root-locus (positive gain) rules

The root-locus method is a well-known and commonly used tool in control system analysis and design. It is an important topic in introductory undergraduate engineering control disciplines. Although complementary root locus (plant with negative gain) is not as common as root locus (plant with positive gain) and in many introductory textbooks for control systems is not presented, it has been shown a valuable tool in control system design. This paper shows that complementary root locus can be plotted using only the well-known construction rules to plot root locus. It can offer for the students a better comprehension on this subject. These results present a procedure to avoid problems that appear in root-locus plots for plants with the same number of poles and zeros.

Design of a Takagi-Sugeno Fuzzy Regulator for a Set of Operation Points

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Haematological response and growth performance of Nile tilapia (Oreochromis niloticus L.) fed diets containing folic acid

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

Phase-Locked Loop design applied to frequency-modulated atomic force microscope

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

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Design of a fuzzy Takagi-Sugeno controller to vary the joint knee angle of paraplegic patients

The papers shows, through theoretical studies and simulations, that using the description of the plant by Takagi-Sugeno (T-S), it is possible to design a nonlinear controller to control the position of the leg of a paraplegic patient. The control system was designed to change the angle of the joint knee of 60 degrees. This is the first study that describes the application of Takagi-Sugeno (T-S) models in this kind of problem.

Fuzzy distributed artificial intelligence systems

In this paper, we introduce a DAI approach called hereinafter Fuzzy Distributed Artificial Intelligence (FDAI). Through the use of fuzzy logic, we have been able to develop mechanisms that we feel may effectively improve current DAI systems, giving much more flexibility and providing the subsidies which a formal theory can bring. The appropriateness of the FDAI approach is explored in an important application, a fuzzy distributed traffic-light control system, where we have been able to aggregate and study several issues concerned with fuzzy and distributed artificial intelligence. We also present a number of current research directions necessary to develop the FDAI approach more fully.

Uma aplicacao da celula de comutacao ZVS-PWM-GEPAE ao conversor DC-AC

This work presents the design and procedure of a DC-to-AC converter using a ZVS Commutation Cell developed by Barbi and Martins (1991) and applied to the family of DC-to-DC PWM converters. Firstly, we show the cell applied to buck converter. The stages of operation and the main current and voltage equations of the resonant devices are presented. Next, we adapt the converter to the regenerative operation mode. Hence, the full bridge converter at low frequency operation is conected on the DC-to-DC stage (at high frequency) output ends (Seixas, 1993). Commutation of zero voltage for all switches, PWM at constant frequency and neither overvoltage nor additional current stress are observed by digital simulation. The design example and experimental results obtained by prototype rated at 275 V, 1 kW and 40 kHz are also presented.

During the initiation of fermentation overexpression of hexokinase PII in yeast transiently causes a similar deregulation of glycolysis as deletion of Tps1

In the yeast Saccharomyces cerevisiae a novel control exerted by TPS1 (=GGS1=FDP1=BYP1=CIF1=GLC6=TSS1)-encoded trehalose-6-phosphate synthase, is essential for restriction of glucose influx into glycolysis apparently by inhibiting hexokinase activity in vivo. We show that up to 50-fold overexpression of hexokinase does not noticeably affect growth on glucose or fructose in wild-type cells. However, it causes higher levels of glucose-6-phosphate, fructose-6-phosphate and also faster accumulation of fructose-1,6-bisphosphate during the initiation of fermentation. The levels of ATP and Pi correlated inversely with the higher sugar phosphate levels. In the first minutes after glucose addition, the metabolite pattern observed was intermediate between those of the tps1Δ mutant and tile wild-type strain. Apparently, during the start-up of fermentation hexokinase is more rate-limiting in the first section of glycolysis than phosphofructokinase. We have developed a method to measure the free intracellular glucose level which is based on the simultaneous addition of D-glucose and an equal concentration of radiolabelled L-glucose. Since the latter is not transported, the free intracellular glucose level can be calculated as the difference between the total B-glucose measured (intracellular + periplasmic/extracellular) and the total L-glucose measured (periplasmic/extracellular). The intracellular glucose level rose in 5 min after addition of 100 mM-glucose to 0.5-2 mM in the wild-type strain, ± 10 mm in a hxk1Δ hxk2Δ glk1Δ and 2-3 mM in a tps1Δ strain. In the strains overexpressing hexokinase PII the level of free intracellular glucose was not reduced. Overexpression of hexokinase PII never produced a strong effect on the rate of ethanol production and glucose consumption. Our results show that overexpression of hexokinase does not cause the same phenotype as deletion of Tps1. However, it mimics it transiently during the initiation of fermentation. Afterwards, the Tps1-dependent control system is apparently able to restrict Properly up to 50-fold higher hexokinase activity.

H2 and/or H∞-norm model reduction of uncertain discrete-time systems

This paper addresses the problem of model reduction for uncertain discrete-time systems with convex bounded (polytope type) uncertainty. A reduced order precisely known model is obtained in such a way that the H2 and/or the H∞ guaranteed norm of the error between the original (uncertain) system and the reduced one is minimized. The optimization problems are formulated in terms of coupled (non-convex) LMIs - Linear Matrix Inequalities, being solved through iterative algorithms. Examples illustrate the results.

Posicionamento por ponto de alta precisão utilizando o GPS: Uma solução para a geodinâmica

Point positioning from GPS data can provide precision varying from 100 meters to a few millimeters at the level of 95% probability. To reach the best level of accuracy, users need proper equipment and software, as well as access capability to GPS products available at the International GPS Geodynamics Service. In this paper, the theory related to point positioning using GPS is presented as well as the results of an experiment conducted using data from the Brazilian Active Control System. The results show repeatability better than 5mm and 10mm for the N and E baseline components respectively, and 6mm + 4ppb (parts per billion) for the vertical. Comparison with SIRGAS campaign showed results at the same level of uncertainty as that of the stations used to tie the SIRGAS frame to ITRF94. Therefore, precise point positioning is a powerful tool to be used in applications requiring high level of precision, such as Geodynamics.

Lyapounov stability for impulsive dynamical systems

This article addresses the problem of stability of impulsive control systems whose dynamics are given by measure driven differential inclusions. One important feature concerns the adopted solution which allows the consideration of systems whose singular dynamics do not satisfy the so-called Frobenius condition. After extending the conventional notion of control Lyapounov pair for impulsive systems, some stability conditions of the Lyapounov type are given. Some conclusions follow the outline of the proof of the main result.

Alocação de zeros aplicada a sistemas de controle via LMI

A systematic procedure of zero placement to design control systems is proposed. A state feedback controller with vector gain K is used to perform the pole placement. An estimator with vector gain L is also designed for output feedback control. A new systematic method of zero assignment to reduce the effect of the undesirable poles of the plant and also to increase the velocity error constant is presented. The methodology places the zeros in a specific region and it is based on Linear Matrix Inequalities (LMIs) framework, which is a new approach to solve this problem. Three examples illustrate the effectiveness of the proposed method.

Pattern of silver nitrate-staining during meiosis and spermiogenesis in testicular lobes of Antiteuchus tripterus (Heteroptera: Pentatomidae)

The pattern of silver nitrate (Ag)-staining differed among testicular lobes of Antiteuchus tripterus. In general, these differences are in regard to the number, size, shape, coloring intensity, and location of the stained bodies or masses, observed during meiosis and spermiogenesis. These characteristics were similar in lobes 1-3. Lobes 4-6, however, differed from each other and from lobes 1-3 as well. Because the Ag-staining method is specific for nucleolar organizing regions and nucleolar material, the observations in meiosis of lobes 1-3 suggested the presence of a single pair of nucleolar organizing region-bearing chromosomes in A. tripterus, as previously found in other Pentatomidae species. In general, the amount of Ag-stained material seen in meiosis of the testicular lobes 1-3 of A. tripterus is smaller than in the other lobes. The differences among lobes observed during spermiogenesis included a striking variation in morphology of the Ag-stained material found in the head and tail of the spermatids. Given that the key role of the nucleolar material is to participate in protein synthesis, interlobular variations seem to be related to the different functions attributed to each lobe (reproduction to lobes 1-3 and basically nutrition to lobes 4-6). To our knowledge, this is the first time that the nucleolar material was studied in each testicular lobe during spermatogenesis. The present observations encourage further studies since, in addition to being of basic biological interest, several Pentatomidae species are agricultural pests and added knowledge of their biology, mainly in reproduction, may be important for the development of control strategies. ©FUNPEC-RP.

Fault section estimation in automated distribution substations

In this paper, a methodology based on Unconstrained Binary Programming (UBP) model and Genetic Algorithms (GAs) is proposed for estimating fault sections in automated distribution substations. The UBP model, established by using the parsimonious set covering theory, looks for the match between the relays' protective alarms informed by the SCADA system and their expected states. The GA is developed to minimize the UBP model and estimate the fault sections in a swift and reliable manner. The proposed methodology is tested by utilizing a real-life automated distribution substation. Control parameters of the GA are tuned to achieve maximum computational efficiency and reduction of processing time. Results show the potential and efficiency of the methodology for estimating fault section in real-time at Distribution Control Centers. ©2009 IEEE.