Petri nets and autonomous systems: A case study

This work presents the Petri net-based modeling of an autonomous robot's navigation system used for the application of supplies in agriculture. The model was developed theoretically and implemented through the CPNTools software. It simulates the behavior of the robot, capturing environmental characteristics by means of sensors, making appropriate decisions, and forwarding them to the corresponding actuators. By exciting the model using CPNTools it is possible to simulate situations that the robot might undergo, without the need to expose it to real potentially dangerous situations. ©2009 IEEE.

Diversidade e distribuição dos lagartos de uma área de ecótono entre Cerrado e Mata Atlântica, no sudeste do Brasil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

The reproductive biology of Cybistax antisyphilitica (Bignoniaceae), a characteristic tree of the South American savannah-like "Cerrado" vegetation

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

Influence of environmental temperature, dietary energy level and sex on performance and carcass characteristics of pigs

Pigs are quite sensitive to high environmental temperatures and the thermoregulation mechanisms represent great expenses in energy for heating loss, reducing animal well-being and production performance, and altering carcass quality. The aim of this study was to assess the effects of sex and dietary energy level in growing-finishing pigs submitted to characteristic seasonal variation of temperature in subtropical humid climate, and to propose a mathematical model to predict growth performance and carcass characteristics. Twenty-eight crossbred growing-finishing pigs were randomly allotted to twelve treatments, in a 2x2x3 factorial trial (2 sex; 2 environmental conditions, and 3 energy levels). Heat stress condition (climatic chamber) showed temperatures of 31 oC at 7:00 and 22 oC at 17:00 (maximum of 33 °C) and thermal comfort condition (stall) showed temperatures of 18 °C at 7:00 and 24 °C (maximum of 27 °C). Pigs were fed ad libitum with diets containing 12.2 (low), 13.6 (medium) and 15.0 (high) MJ ME/ kg DM. Voluntary feed intake, daily weight gain, and final body weight were higher (P<0.01) at thermal comfort condition and were influenced by sex (P<0.01) in growing pigs. Feed to gain ratio decreased as the energy level increased (P<0.01), with values of 2.67, 2.59, and 2.32 (12.2, 13.6, and 15.0 MJ ME/kg DM, respectively). There was energy level and sex interaction only for daily weight gain. Regarding finishing pigs, environmental conditions also showed effects (P<0.01) on voluntary feed intake, daily weight gain, and final body weight. Performance of pigs was better at thermal comfort condition. Feed to gain ratio values were 3.55, 3.42, and 2.95 for low, medium, and high energy level, respectively. Interactions between energy level and sex were observed for voluntary feed intake, daily weight gain, and final body weight (P<0.05). Carcass yield and quality were affected by environmental condition and dietary energy level. Both hot and cold carcass weight increased as energy of ration increased. Cold carcass weight increased by 1.142 kg/MJ EM whereas backfat thickness was up to 252 mm/MJ EM. Longissimus thoracis muscle thickness was around 16 mm smaller in pigs under heat stress, but lean content was 2.68% higher in those animals. Regression equations were proposed to predict the performance values in the different situations studied.

Biological Hydrogen production from environmental sample in tropical countries

The hydrogen gas is regarded as clean and renewable energy source, since it generates only water during combustion when used as fuel. It shows 2.75 times more energy content than any hydrocarbon and it can be converted into electrical, mechanical energy or heat. Inoculum sources have been successfully tested for hydrogen biological production in temperate climate countries as sludge treatment plants sewage, sludge treatment plant wastewater, landfill sample, among others. However, hydrogen biologic production with inoculum from environmental samples such as sediment reservoirs, especially in tropical countries like Brazil, is rarely investigated. Reservoirs and fresh water lake sediment may contain conditions for the survival of a wide variety of microorganisms which use different carbon sources mainly glucose and xylose, in the fermentation. Glucose is an easily biodegradable, present in most of the industrial effluents and can be obtained abundantly from agricultural wastes. A wide variety of wastewater resulting from agriculture, industry and pulp and paper processed from wood may contain xylose in its constitution. Such effluent contains glucose and xylose concentrations of about 2 g/L. In this sense, this work verified hydrogen biological production in anaerobic batch reactor (1L), at 37 ° C, initial pH 5.5, headspace with N2 (100%), Del Nery medium, vitamins and peptone (1 g/L), fed separately with glucose (2g/L) and xylose (2 g/L). The inoculum was taken from environmental sample (sediment reservoir Itupararanga - Ibiúna - SP-Brazil). It was previously purified in serial dilutions at H2 generation (10-5, 10-7, 10-10), and heat treated (90º C - 10 min) later to inhibited the H2 consumers. The maximum H2 generations obtained in both tests were observed at 552 h, as described below. At the reactors fed with glucose and xylose were observed, respectively, 9.1 and 8.6 mmol H2/L, biomass growth (0.2 and 0.2 nm); consumption of sugar concentrations 53.6% (1.1 glucose g/L) and 90.5% (1.8 xylose g/L); acetic acid generation (124.7 mg/L and 82.7 mg/L), butyric acid (134.0 mg/L and 230.4 mg/L) and there wasn’t methane generation in the reactors. Microscopic analysis of biomass in anaerobic reactors showed the predominance of Gram positive rods and rods with endospores, whose morphology is characteristic of H2-generating bacteria, in both tests. These species were selected from the natural environment. In DGGE analysis performed difference were observed between populations from inoculum and in tests. This analysis confirmed that some species of bacteria were selected which remained under the conditions imposed on the experiment. The efficiency of the pre-treatment of inoculum and the imposition of pH 5.5 inhibited methane-producing microorganisms and the consumers of H2. Therefore, the experimental conditions imposed allowed the attainment of bacterial consortium of producer H2 taken from an environmental sample with concentration of xylose and glucose similar to the ones of the industrial effluents.