Development of a support vector machine-based navigation system for driving a mobile robot through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.

Impacts of enemy-mediated effects and the additivity of interactions in an insect trophic system

In this study, we used data from both experiments and mathematical simulations to analyze the consequences of the interacting effects of intraguild predation (IGP), cannibalism and parasitism occurring in isolation and simultaneously in trophic interactions involving two blowfly species under shared parasitism. We conducted experiments to determine the short-term response of two blowfly species to these interactions with respect to their persistence. A mathematical model was employed to extend the results obtained from these experiments to the long-term consequences of these interactions for the persistence of the blowfly species. Our experimental results revealed that IGP attenuated the strength of the effects of cannibalism and parasitism between blowfly host species, increasing the probability of persistence of both populations. The simulations obtained from the mathematical model indicated that IGP is a key interaction for the long-term dynamics of this system. The presence of different species interacting in a tri-trophic system relaxed the severity of the effects of a particular interaction between two species, changing species abundances and promoting persistence through time. This pattern was related to indirect interactions with a third species, the parasitoid species included in this study. © 2012 The Society of Population Ecology and Springer Japan.

An investigation of a two-stage nonlinear vibration isolation system

This paper investigates the most desirable configuration of a two-stage nonlinear vibration isolation system, in which the isolators contain hardening geometric stiffness nonlinearity and linear viscous damping. The force transmissibility of the system is used as the measure of the effectiveness of the isolation system. The hardening nonlinearity is achieved by placing horizontal springs onto the suspended and intermediate masses, which are supported by vertical springs. It is found that nonlinearity in the upper stage has very little effect and thus serves little purpose. The nonlinearity in the lower stage, however, has a profound effect, and can significantly improve the effectiveness of the isolation system. Further, it is found that it is desirable to have high damping in the upper stage and very low damping in the lower stage. © 2012 Elsevier Ltd.

On the influence of the mode-shapes of a marine propulsion shafting system on the prediction of torsional stresses

Torsional vibration predictions and measurements of a marine propulsion system, which has both damping and a highly flexible coupling, are presented in this paper. Using the conventional approach to stress prediction in the shafting system, the numerical predictions and the experimental torsional vibration stress curves in some parts of the shafting system are found to be quite different. The free torsional vibration characteristics and forced torsional vibration response of the system are analyzed in detail to investigate this phenomenon. It is found that the second to fourth natural modes of the shafting system have significant local deformation. This results in large torsional resonant responses in different sections of the system corresponding to different engine speeds. The results show that when there is significant local deformation in the shafting system for different modes, then multi-point measurements should be made, rather than the conventional method of using a single measurement at the free end of the shaft, to obtain the full torsional vibration characteristics of the shafting system.

Experimental research on the influence of the air humidity conditions in an air conditioning system

The factors that have influence on the energy consumption of a small air conditioning system that are worth mentioning are the efficiencies of the compressor, evaporator and condenser, the form that the refrigerant flow is controlled, the fan model used, and climatic conditions. Within the climate issue, an interesting factor is that the relative humidity when it comes to the effect that it causes, especially in the performance of the air condenser, which generally is not considered in the projects. This study aims to evaluate the influence of humidity on the coefficient of system performance (COP), seeking to quantify their influence when it happens. The tests were performed on a testing bench, mounted at the Laboratory for Energy Efficiency (LAMOTRIZ) UNESP-Campus Guaratinguetá. In the study, the wet bulb temperature was ranged, keeping the rotation of the scroll compressor with application of a frequency inverter in its best performance. The test bench is provided with a supervisory system of data collection that is also able to control all functions of the bench. In the results, there was a significant influence, particularly when comparing high humidity conditions with low humidity, noting that only over 65% relative humidity is that significant changes are observed in the COP of the system. © 2013 Elsevier Inc.

Defining a fish bio-assessment tool to monitoring the biological condition of a cascade reservoirs system in tropical area

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

Application of passive control to energy harvester efficiency using a nonideal portal frame structural support system

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

A theoretical characterization of scaling properties in a bouncing ball system

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Influence of ideal and non-ideal excitation sources on the dynamics of a nonlinear vibro-impact system

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

Nonlinear dynamical analysis of an aeroelastic system with multi-segmented moment in the pitch degree-of-freedom

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

Fuzzy rule-based system for evaluation of uncertainty transaction in cassava chain

A fuzzy ruled-based system was developed in this study and resulted in an index indicating the level of uncertainty related to commercial transactions between cassava growers and their dealers. The fuzzy system was developed based on Transaction Cost Economics approach. The fuzzy system was developed from input variables regarding information sharing between grower and dealer on “Demand/purchase Forecasting”, “Production Forecasting” and “Production Innovation”. The output variable is the level of uncertainty regarding the transaction between seller and buyer agent, which may serve as a system for detecting inefficiencies. Evidences from 27 cassava growers registered in the Regional Development Offices of Tupa and Assis, São Paulo, Brazil, and 48 of their dealers supported the development of the system. The mathematical model indicated that 55% of the growers present a Very High level of uncertainty, 33% present Medium or High. The others present Low or Very Low level of uncertainty. From the model, simulations of external interferences can be implemented in order to improve the degree of uncertainty and, thus, lower transaction costs.

Mating system variation and assortative mating of sympatric bromeliads (Pitcairnia spp.) endemic to neotropical inselbergs

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

On the effects of mistuning a force-excited system containing a quasi-zero-stiffness vibration isolator

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Comparative study of the ovarian morphology in the order Polydesmida (Diplopoda) and description of unusual structures in the female reproductive system

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

Development of CAN-based distributed control system for variable rate technology in agricultural machinery

The number of electronic devices connected to agricultural machinery is increasing to support new agricultural practices tasks related to the Precision Agriculture such as spatial variability mapping and Variable Rate Technology (VRT). The Distributed Control System (DCS) is a suitable solution for decentralization of the data acquisition system and the Controller Area Network (CAN) is the major trend among the embedded communications protocols for agricultural machinery and vehicles. The application of soil correctives is a typical problem in Brazil. The efficiency of this correction process is highly dependent of the inputs way at soil and the occurrence of errors affects directly the agricultural yield. To handle this problem, this paper presents the development of a CAN-based distributed control system for a VRT system of soil corrective in agricultural machinery. The VRT system is composed by a tractor-implement that applies a desired rate of inputs according to the georeferenced prescription map of the farm field to support PA (Precision Agriculture). The performance evaluation of the CAN-based VRT system was done by experimental tests and analyzing the CAN messages transmitted in the operation of the entire system. The results of the control error according to the necessity of agricultural application allow conclude that the developed VRT system is suitable for the agricultural productions reaching an acceptable response time and application error. The CAN-Based DCS solution applied in the VRT system reduced the complexity of the control system, easing the installation and maintenance. The use of VRT system allowed applying only the required inputs, increasing the efficiency operation and minimizing the environmental impact.