Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

Productivity characteristics of endive as a function of spacing

Endive (Cichorium intybus) is one of the vegetables least studied in Brazil with respect to the behavior of the most commercialized cultivars, but it is known that the number of plants per area is one of the factors that most influences the productivity of various crops. Thus, the objective of this work was to evaluate the behavior of endive using four spacings between rows and five spacings between plants, in the region of Jaboticabal-SP. The experiment was conducted in the field in the period of August 12, 2008 to November 6, 2008, in the experimental area of the Sector of Vegetable Crops and Aromatic-Medicinal Plants, Department of Crop Sciences, School of Agricultural and Veterinary Sciences - UNESP-FCAV. The experimental design utilized was a randomized block design with a 4 × 5 factorial scheme, i.e., four spacings between rows (0.15, 0.20, 0.25 and 0.30 m) and five spacings between plants (0.10, 0.15, 0.20, 0.25 and 0.30 m), with three repetitions. The endive cultivar studied was 'Pão-de-Acucar', obtained from the company Tecnoseed. Seedlings were established utilizing the sowing system in 200-cell Styrofoam trays containing the substrate Plantmax Vegetables® HA. The seedlings were transplanted at 37 days after planting. After harvesting, the following characteristics were determined: height (cm), diameter of the plant in rows (cm), diameter of the plant in between rows (cm), number of leaves, fresh weight (g) and total estimated productivity (t/ha). There were no interactions between the factors studied. Based on the data, we conclude that spacings of 0.15 m between rows and of 0.15 m between plants produce plants of higher quality and with greater productivity.

Possible mechanism by which zinc protects the testicular function of rats exposed to cigarette smoke

Background: The aim of this study was to evaluate the changes in testicular function of rats due to cigarette smoke exposure and the possible mechanism by which zinc protects against these alterations. Methods: MaleWistar rats (60 days old) were randomly divided into 3 groups: control (G1, n = 10); exposed to cigarette smoke (G2, n = 10; 20 cigarettes/day/9 weeks) and exposed to cigarette smoke and supplemented with zinc (G3, n = 8; 20 cigarettes/day/9 weeks; 20 mg/kg zinc chloride daily for 9 weeks, by gavage). After the treatment period, the animals were euthanized, and materials were collected for analyses. Results: G2 rats showed a reduction in body mass; impaired sperm concentration, motility, morphology and vitality; and increased malonaldehyde and thiol group levels and superoxide dismutase activity as compared to G1. Zinc prevented the reduction of sperm concentration and the excessive increase of lipid peroxidation and induced an increase in plasma testosterone levels, wet weight of testis and thiol group concentration. Conclusions: Exposure to cigarette smoke led to harmful effects on testicular function at least partially due to the exacerbation of oxidative stress. Supplementary zinc had an important modulator/protector effect on certain parameters. The mechanism of zinc protection can be through an increase of SH concentration. Thus, zinc supplementation may be a promising addition to conventional treatments for male infertility related to smoking. Copyright © 2012 by Institute of Pharmacology Polish Academy of Sciences.

A mixed-integer linear programming approach for optimal type, size and allocation of distributed generation in radial distribution systems

This paper presents a mixed-integer linear programming approach to solving the problem of optimal type, size and allocation of distributed generators (DGs) in radial distribution systems. In the proposed formulation, (a) the steady-state operation of the radial distribution system, considering different load levels, is modeled through linear expressions; (b) different types of DGs are represented by their capability curves; (c) the short-circuit current capacity of the circuits is modeled through linear expressions; and (d) different topologies of the radial distribution system are considered. The objective function minimizes the annualized investment and operation costs. The use of a mixed-integer linear formulation guarantees convergence to optimality using existing optimization software. The results of one test system are presented in order to show the accuracy as well as the efficiency of the proposed solution technique.© 2012 Elsevier B.V. All rights reserved.

Dimensionality effects in the local density of states of ferromagnetic hosts probed via STM: Spin-polarized quantum beats and spin filtering

We theoretically investigate the local density of states (LDOS) probed by an STM tip of ferromagnetic metals hosting a single adatom and a subsurface impurity. We model the system via the two-impurity Anderson Hamiltonian. By using the equation of motion with the relevant Green's functions, we derive analytical expressions for the LDOS of two host types: a surface and a quantum wire. The LDOS reveals Friedel-like oscillations and Fano interference as a function of the STM tip position. These oscillations strongly depend on the host dimension. Interestingly, we find that the spin-dependent Fermi wave numbers of the hosts give rise to spin-polarized quantum beats in the LDOS. Although the LDOS for the metallic surface shows a damped beating pattern, it exhibits the opposite behavior in the quantum wire. Due to this absence of damping, the wire operates as a spatially resolved spin filter with a high efficiency. © 2013 American Physical Society.

Water availability determines the richness and density of fig trees within Brazilian semideciduous forest landscapes

The success of fig trees in tropical ecosystems is evidenced by the great diversity (+750 species) and wide geographic distribution of the genus. We assessed the contribution of environmental variables on the species richness and density of fig trees in fragments of seasonal semideciduous forest (SSF) in Brazil. We assessed 20 forest fragments in three regions in Sao Paulo State, Brazil. Fig tree richness and density was estimated in rectangular plots, comprising 31.4 ha sampled. Both richness and fig tree density were linearly modeled as function of variables representing (1) fragment metrics, (2) forest structure, and (3) landscape metrics expressing water drainage in the fragments. Model selection was performed by comparing the AIC values (Akaike Information Criterion) and the relative weight of each model (wAIC). Both species richness and fig tree density were better explained by the water availability in the fragment (meter of streams/ha): wAICrichness = 0.45, wAICdensity = 0.96. The remaining variables related to anthropic perturbation and forest structure were of little weight in the models. The rainfall seasonality in SSF seems to select for both establishment strategies and morphological adaptations in the hemiepiphytic fig tree species. In the studied SSF, hemiepiphytes established at lower heights in their host trees than reported for fig trees in evergreen rainforests. Some hemiepiphytic fig species evolved superficial roots extending up to 100 m from their trunks, resulting in hectare-scale root zones that allow them to efficiently forage water and soil nutrients. The community of fig trees was robust to variation in forest structure and conservation level of SSF fragments, making this group of plants an important element for the functioning of seasonal tropical forests. © 2013 Elsevier Masson SAS. All rights reserved.

Penalty-based nonlinear solver for optimal reactive power dispatch with discrete controls

The optimal reactive dispatch problem is a nonlinear programming problem containing continuous and discrete control variables. Owing to the difficulty caused by discrete variables, this problem is usually solved assuming all variables as continuous variables, therefore the original discrete variables are rounded off to the closest discrete value. This approach may provide solutions far from optimal or even unfeasible solutions. This paper presents an efficient handling of discrete variables by penalty function so that the problem becomes continuous and differentiable. Simulations with the IEEE test systems were performed showing the efficiency of the proposed approach. © 1969-2012 IEEE.

Diastolic function is associated with quality of life and exercise capacity in stable heart failure patients with reduced ejection fraction

Exercise capacity and quality of life (QOL) are important outcome predictors in patients with systolic heart failure (HF), independent of left ventricular (LV) ejection fraction (LVEF). LV diastolic function has been shown to be a better predictor of aerobic exercise capacity in patients with systolic dysfunction and a New York Heart Association (NYHA) classification >II. We hypothesized that the currently used index of diastolic function E/e' is associated with exercise capacity and QOL, even in optimally treated HF patients with reduced LVEF. This prospective study included 44 consecutive patients aged 55±11 years (27 men and 17 women), with LVEF,0.50 and NYHA functional class I-III, receiving optimal pharmacological treatment and in a stable clinical condition, as shown by the absence of dyspnea exacerbation for at least 3 months. All patients had conventional transthoracic echocardiography and answered the Minnesota Living with HF Questionnaire, followed by the 6-min walk test (6MWT). In a multivariable model with 6MWT as the dependent variable, age and E/e' explained 27% of the walked distance in 6MWT (P=0.002; multivariate regression analysis). No association was found between walk distance and LVEF or mitral annulus systolic velocity. Only normalized left atrium volume, a sensitive index of diastolic function, was associated with decreased QOL. Despite the small number of patients included, this study offers evidence that diastolic function is associated with physical capacity and QOL and should be considered along with ejection fraction in patients with compensated systolic HF.

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.

The igapó of the Negro River in central Amazonia: Linking late-successional inundation forest with fluvial geomorphology

Despite important progress on Amazonian floodplain research, the flooded forest of the Negro River igapó has been little investigated. In particular, no study has previously focused the linkage between fluvial geomorphology and the floristic variation across the course of the river. In this paper we describe and interpret relations between igapó forest, fluvial geomorphology and the spatial evolution of the igapó forest through the Holocene. Therefore, we investigate the effect of geomorphological units of the floodplain and channel patterns on tree diversity, composition and structural parameters of the late-successional igapó forest. Our results show that sites sharing almost identical flooding regime, exhibit variable tree assemblages, species richness and structural parameters such as basal area, tree density and tree heights, indicating a trend in which the geomorphologic styles seem to partially control the organization of igapó's tree communities. This can be also explained by the high variability of well-developed geomorphologic units in short distances and concentrated in small areas. In this dynamic the inputs from the species pool of tributary rivers play a crucial role, but also the depositional and erosional processes associated with the evolution of the floodplain during the Holocene may control floristic and structural components of the igapó forests. These results suggest that a comprehensive approach integrating floristic and geomorphologic methods is needed to understand the distribution of the complex vegetation patterns in complex floodplains such as the igapó of the Negro River. This combination of approaches may introduce a better comprehension of the temporal and spatial evolutionary analysis and a logic rationale to understand the vegetation distribution and variability in function of major landforms, soil distributions and hydrology. Thus, by integrating the past into macroecological analyses will sharpen our understanding of the underlying forces for contemporary floristic patterns along the inundation forests of the Negro River. © 2013 Elsevier Ltd.

Thermophysical properties of cotton, canola, sunflower and soybean oils as a function of temperature

Vegetable oils are used in the industry of processed food, including deep-fat frying. This work determined data on the thermophysical properties of cotton, canola, sunflower, corn, and soybean oils. Thermal conductivity, heat capacity, density, and viscosity were measured within the temperature range of 299.15-433.15 K. The data showed that the temperature influenced the thermophysical properties of the oils studied. The developed correlations could be used to predict these properties within the range of temperatures studied. © 2013 Copyright Taylor and Francis Group, LLC.

Microbiological responses to depuration and transport of native and exotic clams at optimal and stressful temperatures

The microbiological responses of two bivalves species from Tagus estuary, Venerupis pullastra (native clam) and Ruditapes philippinarum (exotic clam) were investigated during 48h of depuration and subsequent simulated transport in semi-dry conditions at two temperatures (4 and 22°C) until reaching 50% lethal time (LT50). Regardless of temperature and species, the maintenance of clams in water for 48h (depuration period) did not affect LT50 during transport. R.philippinarum showed higher survival rates than V.pullastra, always reaching LT50 later, especially at 4°C. Significant differences between clams' species were found in almost all microbiological parameters. This can be related with clams' biological activity and habitat environmental conditions since both clams do not coexist in Tagus estuary. Depuration was efficient to reduce the bacterial load, particularly Escherichia coli, but not efficient to remove Vibrio spp. In both species, the growth of Vibrio spp. was inhibited at 4°C, whereas exponential growth occurred at 22°C. Total viable counts significantly increased in most treatments, while E.coli counts significantly decreased to undetected levels, except for non-depurated R.philippinarum simulated transported at 4°C. Thus, this study highlights the importance of clams depuration for at least 24h in polluted estuarine areas, followed by transport at low temperatures (4°C). © 2013 Elsevier Ltd.

On the regularity of the pressure field of relaxed solutions to Euler equations with variable density

In this paper we improve the regularity in time of the gradient of the pressure field in the solution of relaxed version of variational formulation proposed by V. I. Arnold and by Y. Brenier, for the incompressible Euler equations with variable density. We obtain that the pressure field is not only a measure, but a function in Lloc2((0,T);BVloc(D)) as an extension of the work of Ambrosio and Figalli (2008) in [1] to the variable density case. © 2013 Elsevier Ltd.

Otimização vetorial e técnicas de mistura de herbicidas aplicadas ao controle de plantas daninhas

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Otimização de um ciclo Brayton irreversível com regeneração, inter-resfriamento e reaquecimento

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)