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.

Influence of optimized lubrication-cooling and minimum quantity lubrication on the cutting forces, on the geometric quality of the surfaces and on the micro-structural integrity of hardened steel parts

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

Estimating hardness of eucalyptus wood with a portable hardness tester

More than 80% of the 29600 km of the Brazilian railroad mesh employs wooden sleepers. The problem of hard availability of native wood for this purpose leads to the alternative use of reforestation species to produce sleepers. Considering the great difficulty to, in field condition, evaluate characteristics that are of major importance to define its suitability to sleeper production the Research Group on Forest Products from FCA/UNESP - Brazil had developed equipment for field evaluation of hardness in wood - Portable Hardness Tester. This paper reports the functional validation tests, performed with different species of Eucalyptus. Results revealed the equipment great functionality, easy-to-use characteristics and applicability to Eucalyptus wood. Moderate to strong relationships between laboratory and validated values of hardness were found. The best validation model was obtained using the data provided by the experimental dispositive 3 (R2=0.74 and SSE= 7.71 kJ/m2) while the experimental dispositive 1 gave the worse validation (R2=0.55 and SSE= 13.46 kJ/m2).

Application of MLP and Kohonen networks for recognition of wear patterns of single-point dressers

Grinding is a parts finishing process for advanced products and surfaces. However, continuous friction between the workpiece and the grinding wheel causes the latter to lose its sharpness, thus impairing the grinding results. This is when the dressing process is required, which consists of sharpening the worn grains of the grinding wheel. The dressing conditions strongly affect the performance of the grinding operation; hence, monitoring them throughout the process can increase its efficiency. The objective of this study was to estimate the wear of a single-point dresser using intelligent systems whose inputs were obtained by the digital processing of acoustic emission signals. Two intelligent systems, the multilayer perceptron and the Kohonen neural network, were compared in terms of their classifying ability. The harmonic content of the acoustic emission signal was found to be influenced by the condition of dresser, and when used to feed the neural networks it is possible to classify the condition of the tool under study.

Neural networks models for wear patterns recognition of single-point dresser

Grinding is a workpiece finishing process for advanced products and surfaces. However, the constant friction between workpiece and grinding wheel causes the latter to lose its sharpness, thereby impairing the result of the grinding process. When this occurs, the dressing process is essential to sharpen the worn grains of the grinding wheel. The dressing conditions strongly influence the performance of the grinding operation; hence, monitoring them throughout the process can increase its efficiency. The purpose of this study was to classify the wear condition of a single-point dresser using intelligent systems whose inputs were obtained by digitally processing acoustic emission signals. Two multilayer perceptron (MLP) neural networks were compared for their classification ability, one using the root mean square (RMS) statistics and another the ratio of power (ROP) statistics as input. In this study, it was found that the harmonic content of the acoustic emission signal is influenced by the condition of the dresser, and that the condition of the tool under study can be classified by using the aforementioned statistics to feed a neural network. © IFAC.

Vale de ferro: estudo histórico e estético das estações ferroviárias do Vale do Paraíba Paulista

Pós-graduação em Artes - IA

Indicadores de qualidade do sistema de preparo do solo para a cultura de citros

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

Indústria cultural e infância: uma análise da relação entre as propagandas midiáticas, o consumo e o processo formativo das crianças

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação das metodologias de derterminação das áreas de contato e deformações elásticas de pneus agrícolas em função das pressões de inflação e cargas radiais

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Análise comparativa da viabilidade econômica da utilização de coletores solar para aquecimento de água

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Avaliação não-destrutiva de madeiras para dormentes ferroviários

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Proposta de uma máquina para processo de abrasão baseado na combinação de algumas características da lapidação e retificação

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Determinação da distribuição de lei de potência aos tempos de reparo de uma linha férrea

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Violência na Vila de São Sebastião do Ribeirão Preto (1874-1888): livres e escravos nas barras da justiça

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Entre rios e trilhos: as possibilidades de integração economica de Goiás na Primeira República

Pós-graduação em História - FCHS