Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Perception of brazilian citizens about Darwinism and the (Non) Influence of God in the evolutionary process

The current context is unique in relation to the teaching of evolution in Brazil and the population's perception of evolution. On the one hand, it is said often about Darwinism in various media, especially due to the relatively recent commemoration of the two hundred years of the birth of Charles Darwin and one hundred and fifty years of the launch of the book The Origin of Species. On the other hand, it is clear, in recent years, a timid movement, more worryingly, in favor of equitable approach of creationist and evolutionist theories in the classroom. This article is a part of a research whose goal is to raise the design that Brazilian respondents have about the Darwinian view (which disregards the divine influence in the evolution of the species). The instrument used for data collection is a questionnaire, type Likert scale, which consists of a series of statements in which respondents must express their degree of agreement or disagreement with each statement. In this study, we present the results of the statement. "The thought of Darwin, which does not consider God as a participant in the process of evolution, is...". Analysis correlated with data on religion and education of the respondents are also held. The results point to a tendency of respondents not to accept the Darwinian view that disregards God's interference in the evolutionary process. The data also show that respondents' choices are influenced by religion and education. The frequency of responses that tend to accept the Darwinian view (which disregards the divine participation in the evolution of the species) is higher among respondents with higher levels of education. Adherents to religions "evangelical" tend to deny this view more often than followers of other religions. Given the potential risks of inserting creationist approaches in school education, it is necessary a discussion of the possible impacts of this rejection of Darwin's thinking (which does not consider God as a participant in the evolutionary process), indicated here, in the teaching of evolution. This work was supported by FAPEMIG.

Factors affecting conception rates following artificial insemination or embryo transfer in lactating holstein cows

The objective of this study was to evaluate the factors that may affect conception rates (CR) following artificial insemination (AI) or embryo transfer (ET) in lactating Holstein cows. Estrous cycling cows producing 33.1 +/- 7.2 kg of milk/d received PGF(2 alpha) injections and were assigned randomly to 1 of 2 groups (AI or ET). Cows detected in estrus (n = 387) between 48 and 96 h after the PGF2a injection received AI (n = 227) 12 h after detection of estrus or ET (n = 160) 6 to 8 d later (1 fresh embryo, grade 1 or 2, produced from nonlactating cows). Pregnancy was diagnosed at 28 and 42 d after estrus, and embryonic loss occurred when a cow was pregnant on d 28 but not pregnant on d 42. Ovulation, conception, and embryonic loss were analyzed by a logistic model to evaluate the effects of covariates [days in milk (DIM), milk yield, body temperature (BT) at d 7 and 14 post-AI, and serum concentration of progesterone (P4) at d 7 and 14 post-AI] on the probability of success. The first analysis included all cows that were detected in estrus. The CR of AI and ET were different on d 28 (AI, 32.6% vs. ET, 49.4%) and 42 (AI, 29.1% vs. ET, 38.8%) and were negatively influenced by high BT (d 7) and DIM. The second analysis included only cows with a corpus luteum on d 7. Ovulation rate was 84.8% and was only negatively affected by DIM. Conception rates of AI and ET were different on d 28 (AI, 37.9% vs. ET, 59.4%) and 42 (AI, 33.8% vs. ET, 46.6%) and were negatively influenced by high BT (d 7). The third analysis included only ovulating cows that were 7 d postestrus. Conception rates of AI and ET were different on d 28 (AI, 37.5% vs. ET, 63.2%) and 42 (AI, 31.7% vs. ET, 51.7%) and were negatively influenced by high BT (d 7). There was a positive effect of serum concentration of P4 and a negative effect of milk production on the probability of conception for the AI group but not for the ET group. The fourth analysis was embryonic loss (AI, 10.8% vs. ET, 21.5%). The transfer of fresh embryos is an important tool to increase the probability of conception of lactating Holstein cows because it can bypass the negative effects of milk production and low P4 on the early embryo. The superiority of ET vs. AI is more evident in high-producing cows. High BT measured on d 7 had a negative effect on CR and embryonic retention.

Simulation of the energy performance of maize production integrated to pig farming

Foi avaliado o desempenho energético da suinocultura integrada à produção de milho em grão em sistema de plantio direto mecanizado. Nesta concepção de integração proposta, os dejetos suínos são utilizados como fertilizantes na produção de milho. O sistema foi delimitado envolvendo as atividades associadas ao manejo dos suínos e de produção do milho (manejo do solo, cultivo e colheita). O período de análise considerado foi de um ano, o que possibilita a produção de três lotes de suínos e duas safras de milho. Para avaliar o desempenho energético, foram criados três indicadores: eficiência energética, eficiência de uso de fontes não renováveis e o custo de energia não renovável para a produção de proteína. As entradas energéticas são compostas pelos insumos e pela infraestrutura, utilizados na criação dos suínos e na produção de milho, e pela radiação solar incidente no agrossistema. Já as saídas são representadas pelos seus produtos (suínos terminados e o milho). Os resultados obtidos nas simulações apontam que a integração melhora o desempenho energético das granjas suinícolas, aumentando a eficiência energética (186%) e a eficiência não renovável (352%), além de reduzir o custo de energia não renovável para a produção de proteína (‑58%).

Modeling for performance analysis of electromagnetic zero-sequence suppressor

The purpose of this work is to present a frequency domain model to demonstrate the operation of an electromagnetic arrangement for controlling the injection of zero-sequence currents in the electrical system. Considering the diversity of sequential distribution of harmonic components of a current, the device proposed can be used in the process of mitigation of zero-sequence components. This device, here called electromagnetic suppressor, consists of a blocker and filter both electromagnetic, whose joint operation can provide paths of high and low impedances that can be conveniently adjusted in order to search for a desired performance. This study presents physical considerations, mathematical modeling and computer simulations that clearly demonstrate the viability of this application as a more viable alternative in the conception of filtering systems. The performance analysis is based on the frequency response of harmonic transmittances. The efficacy of this technique in direct actions to maximize the harmonic mitigation process is demonstrated. ©2010 IEEE.

A sound education: Becoming aware of the sound around us

In this article it is intended to discuss the issue of noise pollution from an unusual point of view: noise pollution is not only the result of sound increase worldwide, but, particularly, the poor quality of our listening habits in modern life as well. In contemporary society we are subject to a considerable amount of stimulus to all our senses: vision, scent, taste and hearing which are becoming more and more insensible due to over exposure in our environment. These increased stimuli make us look for alternatives to reduce our ability to perceive them and be protected from injuries. However, our sensitivity will also decrease. In the specific case of environment noise, over exposure has made us forget the enchantment of certain sounds that used to give us pleasure or evoke good feelings by many ways, making us recall certain good things, bringing particular moments of our lives to our memory or even filling us with strong emotion. The Canadian composer and music educator, R. Murray Schafer, believes that noise pollution is the result of a society who became deaf. Closing our ears to noise protect us from noise pollution but also prevent us from grasping subtleties of listening. Contemporary world does not help us to be aware of sound in the space around us; acquiring this hearing ability is a matter of focus, interest and practice. Sound education exercises are aimed at children, teenagers and adults who want to improve their listening ability to environmental sounds, perceive its proprieties and learn how sound affects us and touches our feelings. The results are easy to accomplish and contribute to our awareness of the sound environment around us and to the conception of the environmental sound as a composition made by everybody and everything through positive actions, strong will and high sensitivity. Copyright © (2011) by the International Institute of Acoustics & Vibration.

Design and development of a low-cost solar tracker

To become competitive, ultimately, photovoltaics should have its costs reduced and use photovoltaic systems of greater efficiency. The main steps in this direction are the use of new materials, the improvement in the manufacture of modules and the adoption of techniques of maximum power point tracking and of solar tracking. This article aims at presenting the project and development of an azimuth and elevation solar tracker, based on a new conception of the positioning sensor, composed of an array of four photoresistors. The two direct current motors that operate in the vertical and horizontal axes are controlled by a proportional-integral microcontroller. The conditions of the project were low cost, small energy consumption and versatility. The microcontroller can also incorporate a maximum power point tracking algorithm. The performance of solar tracker prototype in the initial phase of field tests can be considered appropriate. © Institution of Engineers Australia, 2013.

Filosofia da história hegeliana: liberdade, razão e o mundo germânico

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Optimization of the sampling scheme for maps of physical and chemical properties estimated by kriging

The sampling scheme is essential in the investigation of the spatial variability of soil properties in Soil Science studies. The high costs of sampling schemes optimized with additional sampling points for each physical and chemical soil property, prevent their use in precision agriculture. The purpose of this study was to obtain an optimal sampling scheme for physical and chemical property sets and investigate its effect on the quality of soil sampling. Soil was sampled on a 42-ha area, with 206 geo-referenced points arranged in a regular grid spaced 50 m from each other, in a depth range of 0.00-0.20 m. In order to obtain an optimal sampling scheme for every physical and chemical property, a sample grid, a medium-scale variogram and the extended Spatial Simulated Annealing (SSA) method were used to minimize kriging variance. The optimization procedure was validated by constructing maps of relative improvement comparing the sample configuration before and after the process. A greater concentration of recommended points in specific areas (NW-SE direction) was observed, which also reflects a greater estimate variance at these locations. The addition of optimal samples, for specific regions, increased the accuracy up to 2 % for chemical and 1 % for physical properties. The use of a sample grid and medium-scale variogram, as previous information for the conception of additional sampling schemes, was very promising to determine the locations of these additional points for all physical and chemical soil properties, enhancing the accuracy of kriging estimates of the physical-chemical properties.

Ethical Care of the Self and the Teacher in the Pedagogical Relationship: Reflections Based on the Latest Foucault

Our conception of education is that it is the responsible action whereby man becomes human, trains and faces the challenges that life and the world present, as man enters a larger, shared cultural tradition and thus joins the world. However such sharing implies that we must not just rely on tradition, but remain open to new ideas. It is essential for schooling to preserve a field where the art of living intersects with the world for which future generations are being prepared. It is in this field of intersection that this essay seeks to discuss Michel Foucault's thought, care of the self and the role played by others in the acquisition of ethical attitudes pertaining to one's conduct in life. Through reconstructing Foucault's ideas, we elaborate on the hypothesis that, before morally shaping students, teaching them values, or aiding in their skill acquisition in the sense prevailing in schooling today, it is important to understand the notion of care of the self (and how the notion implies interaction with others for effective care of the self). Care of the self is vital for thoroughly understanding the relationships between ethics and education in school. We particularly examine how Foucault's ideas and his analysis of the teacher's role in shaping the student's life conduct can help educators rethink pedagogical action in an ethical sense and find within it a certain openness to the formation of attitudes in educators and students

The Grounding of Regional Integration for Brazil: Universalism, Sovereignty and Elite Perception

The aim of this article is to analyse the meaning of Mercosur for Brazilian foreign policy. To this end, we discuss the perceptions of the Brazilian elites concerning the regional integration process. The defence of the principle of inter-governmentalism is related to the conception of Mercosur's place within Brazil's international relations. The fact that principles such as universalism and sovereignty are very highly valued ends up affecting the deepening of the integration. The hypothesis of this article is that the Mercosur structure is in line with the perceptions of part of the Brazilian elites, which has put less emphasis on integration since the late 1990s. Our argument is that the current structure is insufficient to guarantee the dynamics of integration.

The Role of the (In)visible and the Secret in the Translation of Harryette Mullen s Muse & Drudge

This paper, based on Jacques Derrida’s thoughts in Des Tours of Babel, addresses the issue regarding the (in)visible in translation, by arguing that the latter, beyond the traditional conception of communication, produces a complex set of relations between the visible and the invisible, which highlights the values of the non-dit and the secret that take place in their relation to interpretation. This line of thought underpins the discussion of my translation of two poems from Muse & Drudge (1995), by the African-American poet Harryette Mullen, whose dense poetry displays un(expected) possibilities of meanings and associations that proliferate in translation. It is argued that every act of translation entails a relationship between that which is translated (and made visible or intelligible through this act) and that which remains invisible and secret by resisting a definitive translation, which, as such, requires further interpretations in search for intelligibility (or “visibility”). We analyze the extent to which such relation between the visible and the invisible takes part in the translation of the notion of blackness raised by Mullen’s poems and how her translated poetry dialogues with issues of reception in Brazilian culture.

Management of age at puberty in beef heifers to optimize efficiency of beef production

Age at puberty in beef heifers can influence economic efficiency of beef production through effects on both age at first calving (2 vs. 3+ years of age) and the time of conception of heifers in their initial breeding season. An overarching factor that influences age at puberty in heifers is nutritional management during both the preweaning period and between weaning and the breeding season. Age at puberty is heritable and selection for precocious puberty in populations such as the Nelore breed has the potential to substantially influence production efficiency. Highly effective hormonal technologies exist to aid in induction of puberty in well managed heifers. Age at first ovulation and pregnancy in heifers can be substantially influenced through implementation of nutritional and/or hormonal manipulation strategies. In the long term, combinations of genetic selection, nutritional strategies, and hormonal intervention when necessary will optimize efficiency of this aspect of beef production.

Imaginary irishness: the feminine in dramatisations of the Paster Rising in Sean O’Casey’s the plough and the stars and Tom Murphy’s The Patriot Game

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