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.

Fuzzy control embedded in microcontroller and applied to an experimental apparatus using magnetorheological fluid damper

This work focuses on applying fuzzy control embedded in microcontrollers in an experimental apparatus using magnetorheological fluid damper. The non-linear behavior of the magnetorheological dampers associated with the parametric variations on vehicle suspension models corroborate the use of the fuzzy controllers. The fundamental formulation of this controller is discussed and its performance is shown through numeric simulations. An experimental apparatus representing a two degree of freedom system containing a magnetorheological damper is used to identify the main parameters and to evaluate the performance of the closed-loop system with the embedded low-cost microcontroller-based fuzzy controller. © 2013 Brazilian Society for Automatics - SBA.

Development and validation of a D-loop mtDNA SNP assay for the screening of specimens in forensic casework

Mitochondrial DNA (mtDNA) analysis is usually a last resort in routine forensic DNA casework. However, it has become a powerful tool for the analysis of highly degraded samples or samples containing too little or no nuclear DNA, such as old bones and hair shafts. The gold standard methodology still constitutes the direct sequencing of polymerase chain reaction (PCR) products or cloned amplicons from the HVS-1 and HVS-2 (hypervariable segment) control region segments. Identifications using mtDNA are time consuming, expensive and can be very complex, depending on the amount and nature of the material being tested. The main goal of this work is to develop a less labour-intensive and less expensive screening method for mtDNA analysis, in order to aid in the exclusion of non-matching samples and as a presumptive test prior to final confirmatory DNA sequencing. We have selected 14 highly discriminatory single nucleotide polymorphisms (SNPs) based on simulations performed by Salas and Amigo (2010) [1] to be typed using SNaPShotTM (Applied Biosystems, Foster City, CA, USA). The assay was validated by typing more than 100 HVS-1/HVS-2 sequenced samples. No differences were observed between the SNP typing and DNA sequencing when results were compared, with the exception of allelic dropouts observed in a few haplotypes. Haplotype diversity simulations were performed using 172 mtDNA sequences representative of the Brazilian population and a score of 0.9794 was obtained when the 14 SNPs were used, showing that the theoretical prediction approach for the selection of highly discriminatory SNPs suggested by Salas and Amigo (2010) [1] was confirmed in the population studied. As the main goal of the work is to develop a screening assay to skip the sequencing of all samples in a particular case, a pair-wise comparison of the sequences was done using the selected SNPs. When both HVS-1/HVS-2 SNPs were used for simulations, at least two differences were observed in 93.2% of the comparisons performed. The assay was validated with casework samples. Results show that the method is straightforward and can be used for exclusionary purposes, saving time and laboratory resources. The assay confirms the theoretic prediction suggested by Salas and Amigo (2010) [1]. All forensic advantages, such as high sensitivity and power of discrimination, as also the disadvantages, such as the occurrence of allele dropouts, are discussed throughout the article. © 2013 Elsevier B.V.

Speed estimation for induction motor using neural networks method

This work presents an alternative approach based on neural network method in order to estimate speed of induction motors, using the measurement of primary variables such as voltage and current. Induction motors are very common in many sectors of the industry and assume an important role in the national energy policy. The nowadays methodologies, which are used in diagnosis, condition monitoring and dimensioning of these motors, are based on measure of the speed variable. However, the direct measure of this variable compromises the system control and starting circuit of an electric machinery, reducing its robustness and increasing the implementation costs. Simulation results and experimental data are presented to validate the proposed approach. © 2003-2012 IEEE.

Effect of muscle fatigue and physical activity level in motor control of the gait of young adults

The aim of this study was to analyze the effect of muscle fatigue in active and inactive young adults on the kinematic and kinetic parameters of normal gait and obstacle crossing. Twenty male subjects were divided into active (10) and inactive (10), based on self-reported physical activity. Participants performed three trials of two tasks (normal gait and obstacle crossing) before and after a fatigue protocol, consisting of repeated sit-to-stand transfers until the instructed pace could no longer be maintained. MANOVAs were used to compare dependent variables with the following factors: physical activity level, fatigue and task. The endurance time in the fatigue protocol was lower for the inactive group. Changes of gait parameters with fatigue, among which increased step width and increased stride speed were the most consistent, were independent of task and physical activity level. These findings indicate that the kinematic and kinetic parameters of gait are affected by muscle fatigue irrespective of the physical activity level of the subjects and type of gait. Inactive individuals used a slightly different strategy than active individuals when crossing an obstacle, independently of muscle fatigue. © 2013.

Um novo sistema de refrigeração com controle de temperatura, compressor aberto, máquina de indução trifásica com velocidade variável e correção ativa do fator de potência do estágio de entrada

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Portaferramentas para torneamento com refrigeração interna baseada na mudança de fase do fluido

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sistema eletrônico para geração e avaliação de movimentos em paraplégicos

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

Development of a Loop-Mediated Isothermal Amplification Method for Detection of Histoplasma capsulatum DNA in Clinical Samples

Improved methods for the detection of Histoplasma capsulatum are needed in regions with limited resources in which the organism is endemic, where delayed diagnosis of progressive disseminated histoplasmosis (PDH) results in high mortality rates. We have investigated the use of a loop-mediated isothermal amplification (LAMP) assay to facilitate rapid inexpensive molecular diagnosis of this disease. Primers for LAMP were designed to amplify the Hcp100 locus of H. capsulatum. The sensitivity and limit of detection were evaluated using DNA extracted from 91 clinical isolates of known geographic subspecies, while the assay specificity was determined using DNA extracted from 50 other fungi and Mycobacterium tuberculosis. Urine specimens (n = 6) collected from HIV-positive individuals with culture- and antigen-proven histoplasmosis were evaluated using the LAMP assay. Specimens from healthy persons (n = 10) without evidence of histoplasmosis were used as assay controls. The Hcp100 LAMP assay was 100% sensitive and specific when tested with DNA extracted from culture isolates. The median limit of detection was <= 6 genomes (range, 1 to 300 genomes) for all except one geographic subspecies. The LAMP assay detected Hcp100 in 67% of antigen-positive urine specimens (4/6 specimens), and results were negative for Hcp100 in all healthy control urine specimens. We have shown that the Hcp100 LAMP assay is a rapid affordable assay that can be used to expedite culture confirmation of H. capsulatum in regions in which PDH is endemic. Further, our results indicate proof of the concept that the assay can be used to detect Histoplasma DNA in urine. Further evaluation of this assay using body fluid samples from a larger patient population is warranted.

Energy Management and Control for Islanded Microgrid Using Multi-Agents

This paper presents a multi-agent system for real-time operation of simulated microgrid using the Smart-Grid Test Bed at Washington State University. The multi-agent system (MAS) was developed in JADE (Java Agent DEvelopment Framework) which is a Foundation for Intelligent Physical Agents (FIPA) compliant open source multi-agent platform. The proposed operational strategy is mainly focused on using an appropriate energy management and control strategies to improve the operation of an islanded microgrid, formed by photovoltaic (PV) solar energy, batteries and resistive and rotating machines loads. The focus is on resource management and to avoid impact on loads from abrupt variations or interruption that changes the operating conditions. The management and control of the PV system is performed in JADE, while the microgrid model is simulated in RSCAD/RTDS (Real-Time Digital Simulator). Finally, the outcome of simulation studies demonstrated the feasibility of the proposed multi-agent approach for real-time operation of a microgrid.

Control of instabilities in non-Newtonian free surface fluid flows

Free surface flows in inclined channels can develop periodic instabilities that are propagated downstream as shock waves with well-defined wavelengths and amplitudes. Such disturbances are called roll waves and are common in channels, torrential lava, landslides, and avalanches. The prediction and detection of such waves over certain types of structures and environments are useful for the prevention of natural risks. In this work, a mathematical model is established using a theoretical approach based on Cauchy's equations with the Herschel-Bulkley rheological model inserted into the viscous part of the stress tensor. This arrangement can adequately represent the behavior of muddy fluids, such as water-clay mixture. Then, taking into account the shallow water and the Rankine-Hugoniot's (shock wave) conditions, the equation of the roll wave and its properties, profile, and propagation velocity are determined. A linear stability analysis is performed with an emphasis on determining the condition that allows the generation of such instabilities, which depends on the minimum Froude number. A sensitivity analysis on the numerical parameters is performed, and numerical results including the influence of the Froude number, the index flow and dimensionless yield stress on the amplitude, the wavelength of roll waves and the propagation velocity of roll waves are shown. We show that our numerical results were in agreement with Coussot's experimental results (1994).

Gait stability in diabetic peripheral neuropathy

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

Writing saturated holograms in LiNbO3 crystals through phase control and double diffraction

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

Effect of sublethal doses of the insecticide imidacloprid on adaptive traits of Drosophila melanogaster: Response to treatment over and after 15 consecutive generations

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

Dental and skeletal components of Class II open bite treatment with a modified Thurow appliance

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)