Notes on Newton-Euler formulation of robotic manipulators

The equations corresponding to Newton-Euler iterative method for the determination of forces and moments acting on the rigid links of a robotic manipulator are given a new treatment using composed vectors for the representation of both kinematical and dynamical quantities. It is shown that Lagrange equations for the motion of a holonomic system are easily found from the composed vectors defined in this note. Application to a simple model of an industrial robot shows that the method developed in these notes is efficient in solving the dynamics of a robotic manipulator. An example is developed, where it is seen that with the application of appropriate control moments applied to each arm of the robot, starting from a given initial position, it is possible to reach equilibrium in a final pre-assigned position.

O chute com o membro dominante e não dominante realizado com a bola parada e em deslocamento no futsal

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Desenvolvimento de um método numérico para simular escoamentos viscoelásticos axissimétricos com superfícies livres: Modelo PTT

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

Simulação e controle de um quadcopter utilizando lógica fuzzy

The present work develops a model to simulate the dynamics of a quadcopter being controlled by a PD fuzzy controller. Initially is presented a brief history of quadcopters an introduction to fuzzy logic and fuzzy control systems. Afterwards is presented an overview of the quadcopter dynamics and the mathematical modelling development applying Newton-Euler method. Then the modelling are implemented in a Simulink model in addition to a PD fuzzy controller. A prototype proposition is made, by describing each necessary component to build up a quadcopter. In the end the results from the simulators are discussed and compared due to the discrepancy between the model using ideal sensor and the model using non-ideal sensors

The Poisson-exponential regression model under different latent activation schemes

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Growth rates in modern speleothems from Santana Cave, Brazil, by the Pb-210-method

The Santana Cave is located at the Upper Ribeira Touristic State Park (PETAR-Parque Estadual Turistico do Alto Ribeira) in southern São Paulo State, Brazil. This paper describes Pb-210 activity concentration data in soda straw stalactites samples collected at Salao das Flores in Santana Cave that is a fossil tributary of the cave river. Non-expensive alpha counting following some analytical steps for extracting and depositing Pb-210 were used for providing the Pb-210 data. In the analyzed samples, Pb-210 values of increasingly older samples fitted an exponential curve, thus suggesting that the production of Pb-210 has been constant with time. Also, the near-ideal fit indicated that the growth was uniform and there was no break in the continuous growth. The soda straw growth rates were determined from the best fit to the exponential curve through the Pb-210 activity concentration. The results of the measurements allowed estimate a longitudinal rate corresponding to 1.3 mm/yr and a lateral rate of 0.01 mm/yr, which permitted calculate times of 70 years and 317-498 years for their formation, respectively. The lateral growth rate is compatible with values from studies of chemical weathering rates held under laboratory and natural conditions. (C) 2011 Elsevier Ltd. All rights reserved.

Study of the thermal behavior of the transition phase of Co(II)-diclofenac compound by non-isothermal method

The Co(II)-diclofenac complex was evaluated by simultaneous thermogravimetry-differential thermal analysis (TG-DTA) and differential scanning calorimetry (DSC). The DTA curve profile shows one exothermic peak because of the transition phase of the compound between 170 and 180 A degrees C, which was confirmed by X-ray powder diffractometry. The transition phase behavior was studied by DSC curves at several heating rates of a sample mass between 1 and 10 mg in nitrogen atmosphere and in a crucible with and without a lid. Thus, the kinetic parameters were evaluated using an isoconversional non-linear fitting proposed by Capela and Ribeiro. The results show that the activation energy and pre-exponential factor for the transition phase is dependant on the different experimental conditions. Nevertheless, these results indicate that the kinetic compensation effect shows a relationship between them.

Variational iterative method for scattering problems

A parameter-free variational iterative method is proposed for scattering problems. The present method yields results that are far better, in convergence, stability and precision, than any other momentum space method. Accurate result is obtained for the atomic exponential (Yukawa) potential with an estimated error of less than 1 in 1015 (1010) after some 13 (10) iterations.

Numerical simulation of viscous three-dimensional flow over aerospace vehicles using Euler/boundary-layer zonal approach

This paper presents a viscous three-dimensional simulations coupling Euler and boundary layer codes for calculating flows over arbitrary surfaces. The governing equations are written in a general non orthogonal coordinate system. The Levy-Lees transformation generalized to three-dimensional flows is utilized. The inviscid properties are obtained from the Euler equations using the Beam and Warming implicit approximate factorization scheme. The resulting equations are discretized and approximated by a two-point fmitedifference numerical scheme. The code developed is validated and applied to the simulation of the flowfield over aerospace vehicle configurations. The results present good correlation with the available data.

Method for estimating railroad track settlements due to dynamic traffic loads

This paper is the result of real-scale physical modeling study designed to simulate the load-deformation characteristics of railroad foundation systems that include the railroad ties, the ballast, and the sub-base layers of a railroad embankment. The study presents comparisons of the application of dynamic loads of 100kN on the rails, and the resulting deformations during a 500,000 cycle testing period for three rail support systems; wood, concrete and steel. The results show that the deformation curve has an exponential shape, with the larger portion of the deformation occurring during the first 50,000 load cycles followed by a tendency to stabilize between 100,000 to 500,000 cycles. These results indicate that the critical phase of deformations of a new railroad is within the first 50,000 cycles of loading, and after that, it slowly attenuates as it approaches a stable value. The paper also presents empirically derived formulations for the estimation of the deformations of the rail supports as a result of rail traffic.

Stochastic exponential stability of singular linear systems with Markov jump parameters

This paper deals with exponential stability of discrete-time singular systems with Markov jump parameters. We propose a set of coupled generalized Lyapunov equations (CGLE) that provides sufficient conditions to check this property for this class of systems. A method for solving the obtained CGLE is also presented, based on iterations of standard singular Lyapunov equations. We present also a numerical example to illustrate the effectiveness of the approach we are proposing.

Effective synchronization of a class of chua's chaotic systems using an exponential feedback coupling

A robust exponential function based controller is designed to synchronize effectively a given class of Chua's chaotic systems. The stability of the drive-response systems framework is proved through the Lyapunov stability theory. Computer simulations are given to illustrate and verify the method. © 2013 Patrick Louodop et al.

Complex modal analysis of a vertical rotor through finite element method

Natural frequencies were analyzed (axial, torsional and flexural) and frequency response of a vertical rotor with a hard disk at the edge through the classical and complex modal analysis. The mathematical modeling was based on the theory of Euler-Bernoulli beam. The equation that rules the movement was obtained through the Lagrangian formulation. The model considered the effects of bending, torsion and axial deformation of the shaft, besides the gravitational and gyroscopic effects. The finite element method was used to discretize the structure into hollow cylindrical elements with 12 degrees of freedom. Mass, stiffness and gyroscopic matrices were explained consistently. This type of tool, based on the use of complex coordinates to describe the dynamic behavior of rotating shaft, allows the decomposition of the system in two submodes, backward and forward. Thus, it is possible to clearly visualize that the orbit and direction of the precessional motion around the line of the rotating shaft is not deformed. A finite element program was developed using Matlab ®, and numerical simulations were performed to validate this model.