The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Thermal, rheological, and structural behaviors of natural and modified cassava starch granules, with sodium hypochlorite solutions

The use of chemically modified starches is widely accepted in various industries, with several applications. In this research, natural cassava starch granules were treated with standard sodium hypochlorite solution at 0.8, 2.0, and 5.0 g Cl/100 g starch. The native and modified starch samples were investigated by means of the following techniques: simultaneous thermogravimetry-differential thermal analysis, which allowed us to verify the thermal decomposition associated with endothermic or exothermic phenomena; and differential scanning calorimetry that was used to determine gelatinization enthalpy as well as the rapid viscoamylographic analysis that provided the pasting temperature and viscosity. By means of non-contact-atomic force microscopy method and X-ray powder patterns diffractometry, it was possible to observe the surface morphology, topography of starch granules, and alterations in the granules' crystallinity. © 2012 Akadémiai Kiadó, Budapest, Hungary.

O ensino do Modelo de Leitura Documentária como recurso pedagógico para indexação na perspectiva entre profissional experiente e aprendiz: a aplicação do Protocolo Verbal Interativo na avaliação do uso e da ação de aprendizagem

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Efeitos de um curso de formação de professores sobre Avaliação nos Comportamentos de Avaliar de uma professora de educação infantil

Pós-graduação em Psicologia do Desenvolvimento e Aprendizagem - FC

A variação da concordância verbal entre os falantes do Mato Grosso do Sul

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Load Characterization and Revenue Metering Under Non-Sinusoidal and Asymmetrical Operation

This paper proposes an approach to load characterization and revenue metering, which accounts for the influence of supply deterioration and line impedance. It makes use of the Conservative Power Theory and aims at characterizing the load from the measurements done at the point of common coupling. Despite the inherent limitations of a single-point measurement, the proposed methodology enables evaluation of power terms, which clarify the effects of reactivity, asymmetry and distortion, and attempts to depurate the power consumption accounted to the load from those terms deriving from supply nonidealities.

Numerical modeling of flow through an industrial burner orifice

This paper presents numerical modeling of a turbulent natural gas flow through a non-premixed industrial burner of a slab reheating furnace. The furnace is equipped with diffusion side swirl burners capable of utilizing natural gas or coke oven gas alternatively through the same nozzles. The study is focused on one of the burners of the preheating zone. Computational Fluid Dynamics simulation has been used to predict the burner orifice turbulent flow. Flow rate and pressure at burner upstream were validated by experimental measurements. The outcomes of the numerical modeling are analyzed for the different turbulence models in terms of pressure drop, velocity profiles, and orifice discharge coefficient. The standard, RNG, and Realizable k-epsilon models and Reynolds Stress Model (RSM) have been used. The main purpose of the numerical investigation is to determine the turbulence model that more consistently reproduces the experimental results of the flow through an industrial non-premixed burner orifice. The comparisons between simulations indicate that all the models tested satisfactorily and represent the experimental conditions. However, the Realizable k-epsilon model seems to be the most appropriate turbulence model, since it provides results that are quite similar to the RSM and RNG k-epsilon models, requiring only slightly more computational power than the standard k-epsilon model. (C) 2014 Elsevier Ltd. All rights reserved.

A Multi-Stage Stochastic Non-Linear Model for Reactive Power Planning Under Contingencies

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

Modeling of piezoelectric energy harvesting considering the dependence of the rectifier circuit

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A Time-domain Harmonic Power-Flow Analysis in Electrical Energy Distribution Networks, Using Norton Models for Non-linear Loading

The purpose of this paper is to present the application of a three-phase harmonic propagation analysis time-domain tool, using the Norton model to approach the modeling of non-linear loads, making the harmonics currents flow more appropriate to the operation analysis and to the influence of mitigation elements analysis. This software makes it possible to obtain results closer to the real distribution network, considering voltages unbalances, currents imbalances and the application of mitigation elements for harmonic distortions. In this scenario, a real case study with network data and equipments connected to the network will be presented, as well as the modeling of non-linear loads based on real data obtained from some PCCs (Points of Common Coupling) of interests for a distribution company.

O sintagma verbal em português: construções perifrásticas e não-perifrásticas

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

Ecological strategies of Al-accumulating and non-accumulating functional groups from the cerrado sensu stricto

Coordenação de Aperfei çoamento de Pessoal de Nível Superior (CAPES)

Transtorno dismórfico corporal: uma revisão de literatura

This study aimed to review articles about BDD published from 1980 to 2008, indexed in Lilacs, Francis, Scielo, Psychinfo and Ovid's databases. The main categories of analysis in the study were bibliography, method, results and their specifications. Among the results it is emphasized the considerable increase of publications from 1996 on and the low frequency of national publications on this topic. The articles consulted were mostly of characterization, their designs were more frequent as the non-experimental and experimental and used the verbal report as the main source of data collection. The results of the investigated studies focus mainly the typical behaviors and characteristics of the population diagnosed with BDD. This paper discusses the articles consulted, their contributions to the area and knowledge gaps.

Contingências facilitadoras de comportamento verbal em crianças usuárias de implante coclear e práticas parentais: uma intervenção com mães

Pós-graduação em Psicologia do Desenvolvimento e Aprendizagem - FC

Comportamento, fluência verbal e ritmos circadianos em indivíduos com o Transtorno do Espectro do Autismo (TEA) antes e após o uso de melatonina

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)