Phase-Locked Loop design applied to frequency-modulated atomic force microscope

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

Contribution of forest species to the floristic composition of a forested savanna in southeastern Brazil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Design of a fuzzy Takagi-Sugeno controller to vary the joint knee angle of paraplegic patients

The papers shows, through theoretical studies and simulations, that using the description of the plant by Takagi-Sugeno (T-S), it is possible to design a nonlinear controller to control the position of the leg of a paraplegic patient. The control system was designed to change the angle of the joint knee of 60 degrees. This is the first study that describes the application of Takagi-Sugeno (T-S) models in this kind of problem.

Fuzzy distributed artificial intelligence systems

In this paper, we introduce a DAI approach called hereinafter Fuzzy Distributed Artificial Intelligence (FDAI). Through the use of fuzzy logic, we have been able to develop mechanisms that we feel may effectively improve current DAI systems, giving much more flexibility and providing the subsidies which a formal theory can bring. The appropriateness of the FDAI approach is explored in an important application, a fuzzy distributed traffic-light control system, where we have been able to aggregate and study several issues concerned with fuzzy and distributed artificial intelligence. We also present a number of current research directions necessary to develop the FDAI approach more fully.

Uma aplicacao da celula de comutacao ZVS-PWM-GEPAE ao conversor DC-AC

This work presents the design and procedure of a DC-to-AC converter using a ZVS Commutation Cell developed by Barbi and Martins (1991) and applied to the family of DC-to-DC PWM converters. Firstly, we show the cell applied to buck converter. The stages of operation and the main current and voltage equations of the resonant devices are presented. Next, we adapt the converter to the regenerative operation mode. Hence, the full bridge converter at low frequency operation is conected on the DC-to-DC stage (at high frequency) output ends (Seixas, 1993). Commutation of zero voltage for all switches, PWM at constant frequency and neither overvoltage nor additional current stress are observed by digital simulation. The design example and experimental results obtained by prototype rated at 275 V, 1 kW and 40 kHz are also presented.

Well-conditioned robust observer for detection of faulty systems components

A new concept of fault detection and isolation using robust observation for systems with random noises is presented. The method selects the parameters from components that may fault during the process and constructs well conditioned robust observers, considering sensors faults. To isolate component failures via robust observation, a bank of detection observers is constructed, where each observer is only sensitive to one specified component failure while robust to all other component failures.

Cumulative effects of vinasse on the characteristics of red-yellow latosols under cerrado vegetation

Vinasse, a liquor effluent from the alcohol and sugar making industry, was applied annually for twelve years to medium-textured red-yellow latosols under cerrado vegetation sensu stricto, to study the environmental impacts on the biotic and abiotic factors. Four plots were established of which two acted as control and the other two received annual doses of vinasse. The studies were begun in 1980 when the first annual dose of 20 L m-2 year-1 was added to the soil without removing the top scrub layer. Theses doses were added to the soil until 1983, but in 1984 the doses were increased to 50 L m-2 year-1 and used until 1991. Soil samples were taken at a depth of 15 cm every three months from 1987 to 1991. Twenty seven environmental variables in the vinasse-treated and untreated plots were studied. These factors consisted of different enzymatic activities, a number of filamentous fungi, bacteria, actinomycetes and other micro-organisms, nutrients and some micro-climatic factors. The results obtained were statistically analyzed using the Tukey test, Pearson correlation and variance test methods with replicates and three factors. Matrices were determined using the correlation coefficient method and were compared with those of earlier published studies in the same area. The comparison of the results helped characterize changes in the environmental factors studied and in the correlation between them, after using annual cumulative doses of vinasse. Positive effects were observed only for the first six years of this application but vinasse had negative effects after the seventh year. It is concluded that medium-textured red-yellow latosols cannot be treated with vinasse for proloned periods.

During the initiation of fermentation overexpression of hexokinase PII in yeast transiently causes a similar deregulation of glycolysis as deletion of Tps1

In the yeast Saccharomyces cerevisiae a novel control exerted by TPS1 (=GGS1=FDP1=BYP1=CIF1=GLC6=TSS1)-encoded trehalose-6-phosphate synthase, is essential for restriction of glucose influx into glycolysis apparently by inhibiting hexokinase activity in vivo. We show that up to 50-fold overexpression of hexokinase does not noticeably affect growth on glucose or fructose in wild-type cells. However, it causes higher levels of glucose-6-phosphate, fructose-6-phosphate and also faster accumulation of fructose-1,6-bisphosphate during the initiation of fermentation. The levels of ATP and Pi correlated inversely with the higher sugar phosphate levels. In the first minutes after glucose addition, the metabolite pattern observed was intermediate between those of the tps1Δ mutant and tile wild-type strain. Apparently, during the start-up of fermentation hexokinase is more rate-limiting in the first section of glycolysis than phosphofructokinase. We have developed a method to measure the free intracellular glucose level which is based on the simultaneous addition of D-glucose and an equal concentration of radiolabelled L-glucose. Since the latter is not transported, the free intracellular glucose level can be calculated as the difference between the total B-glucose measured (intracellular + periplasmic/extracellular) and the total L-glucose measured (periplasmic/extracellular). The intracellular glucose level rose in 5 min after addition of 100 mM-glucose to 0.5-2 mM in the wild-type strain, ± 10 mm in a hxk1Δ hxk2Δ glk1Δ and 2-3 mM in a tps1Δ strain. In the strains overexpressing hexokinase PII the level of free intracellular glucose was not reduced. Overexpression of hexokinase PII never produced a strong effect on the rate of ethanol production and glucose consumption. Our results show that overexpression of hexokinase does not cause the same phenotype as deletion of Tps1. However, it mimics it transiently during the initiation of fermentation. Afterwards, the Tps1-dependent control system is apparently able to restrict Properly up to 50-fold higher hexokinase activity.

H2 and/or H∞-norm model reduction of uncertain discrete-time systems

This paper addresses the problem of model reduction for uncertain discrete-time systems with convex bounded (polytope type) uncertainty. A reduced order precisely known model is obtained in such a way that the H2 and/or the H∞ guaranteed norm of the error between the original (uncertain) system and the reduced one is minimized. The optimization problems are formulated in terms of coupled (non-convex) LMIs - Linear Matrix Inequalities, being solved through iterative algorithms. Examples illustrate the results.

Global optimization approach for the H2-norm model reduction problem

A branch and bound algorithm is proposed to solve the H2-norm model reduction problem for continuous-time linear systems, with conditions assuring convergence to the global optimum in finite time. The lower and upper bounds used in the optimization procedure are obtained through Linear Matrix Inequalities formulations. Examples illustrate the results.

Posicionamento por ponto de alta precisão utilizando o GPS: Uma solução para a geodinâmica

Point positioning from GPS data can provide precision varying from 100 meters to a few millimeters at the level of 95% probability. To reach the best level of accuracy, users need proper equipment and software, as well as access capability to GPS products available at the International GPS Geodynamics Service. In this paper, the theory related to point positioning using GPS is presented as well as the results of an experiment conducted using data from the Brazilian Active Control System. The results show repeatability better than 5mm and 10mm for the N and E baseline components respectively, and 6mm + 4ppb (parts per billion) for the vertical. Comparison with SIRGAS campaign showed results at the same level of uncertainty as that of the stations used to tie the SIRGAS frame to ITRF94. Therefore, precise point positioning is a powerful tool to be used in applications requiring high level of precision, such as Geodynamics.

Novos resultados sobre a estabilidade e controle de sistemas nao-lineares utilizando modelos fuzzy e LMI

Relaxed conditions for the stability study of nonlinear, continuous and discrete-time systems given by fuzzy models are presented. A theoretical analysis shows that the proposed method provides better or at least the same results of the methods presented in the literature. Digital simulations exemplify this fact. These results are also used for the fuzzy regulators design. The nonlinear systems are represented by the fuzzy models proposed by Takagi and Sugeno. The stability analysis and the design of controllers are described by LMIs (Linear Matrix Inequalities), that can be solved efficiently by convex programming techniques. The specification of the decay rate, constraints on control input and output are also described by LMIs. Finally, the proposed design method is applied in the control of an inverted pendulum.

Lyapounov stability for impulsive dynamical systems

This article addresses the problem of stability of impulsive control systems whose dynamics are given by measure driven differential inclusions. One important feature concerns the adopted solution which allows the consideration of systems whose singular dynamics do not satisfy the so-called Frobenius condition. After extending the conventional notion of control Lyapounov pair for impulsive systems, some stability conditions of the Lyapounov type are given. Some conclusions follow the outline of the proof of the main result.

Alocação de zeros aplicada a sistemas de controle via LMI

A systematic procedure of zero placement to design control systems is proposed. A state feedback controller with vector gain K is used to perform the pole placement. An estimator with vector gain L is also designed for output feedback control. A new systematic method of zero assignment to reduce the effect of the undesirable poles of the plant and also to increase the velocity error constant is presented. The methodology places the zeros in a specific region and it is based on Linear Matrix Inequalities (LMIs) framework, which is a new approach to solve this problem. Three examples illustrate the effectiveness of the proposed method.