Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Application of an auditory steady-state response test to evaluate the attenuation of hearing protection devices

This research aims to present a new method to get real attenuation of hearing protection devices, with good reproducibility and a small standard deviation, without relying on skills and cooperation individual. Thus the authors performed tests in 10 individuals without protection and after with two kinds of ear protections (ear plug and ear muffs), to get the threshold limit value in each of the 3 stages. For this, the research used an electrophysical exam, normally used in speech therapy, named ASSR (auditory steady-state response). The principle of this exam is put on individual’s head 3 electrodes, to capture electrical signs directly in auditory nerve. In summary, the authors presented the final results. The method proposed by ANSI (American National Standards Institute) indicated an attenuation of 27.6 dB for ear plugs, while the value found in this work was 16 dB; and for ear muffs, the ANSI method indicated 29.8 dB while the value found here was 28.5 dB.

Processos de inclusão e exclusão escolar: um estudo em uma escola pública do ensino fundamental I utilizando o “Index para Inclusão”

Pós-graduação em Psicologia do Desenvolvimento e Aprendizagem - FC

Socioeconomic, financial and production infrastructure profile of farmers in rural settlements in the western region of the state of São Paulo, Brazil

Family agriculture, mostly represented by rural settlements especially in the state of São Paulo, makes up rural establishments in Brazil. Current investigation collects, analyzes and compares data on farmers on two rural settlements in the western region of the state of São Paulo, specifically in the municipality of Rancharia, with regard to their socioeconomic, financial and productive infrastructure profile, coupled to information on eventual restrictions to rural credit, by an analysis based on descriptive statistics. Results show that there are different factors between farmers and production systems, which cause loan restrictions due to such differences as age, agricultural and cattle-breeding activity, technical assistance and management. The valorization of these differences should be taken into account for the construction of new events, without extremes, and work for situations featuring demand-based development and characteristics of the locality