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.

Ice as a vehicle for diarrheagenic Escherichia coli

In a recent study of the microbiological quality of commercial ice, 50 Escherichia coli isolates belonging to different serotypes were found. The potential hazard from these isolates was examined by testing their adherence patterns ill HeLa cells and searching for the presence of DNA sequences related to E. coli virulence properties. Twelve potentially diarrheagenic isolates were found and classified as enteroaggregative E. coli (EAEC) based oil their ability to produce aggregative adherence to HeLa cells. The remaining isolates were devoid of the virulence properties searched for. The EAEC isolates belonged to 10 different serotypes, among which O128ab:H35 is often found in diarrheic feces. None of these isolates reacted with a specific EAEC DNA probe or carried any of the known EAEC virulence genes. These data indicate that ice may be all important vehicle for transmission of enteropathogens, especially of the EAEC group. (C) 2003 Elsevier B.V. All rights reserved.

A study of reverse logistics flow management in vehicle battery industries in the midwest of the state of São Paulo (Brazil)

Having the objective of minimizing costs and improving their image in the consumer and export market, car battery industries began to seek environmental alternatives geared towards sustainable development. Reverse logistics flow represents an unprecedented tool for the economic and operational development of company activities, as well as a differential in the search for competitive advantages through environmentally correct practices. The aim of this paper is to describe the reverse logistics chain adopted by automotive battery industries in the midwest of the state of São Paulo, proposing a reverse logistics framework for small manufacturers that creates actions aimed at not harming the environment. (C) 2010 Elsevier Ltd. All rights reserved.

Influence of the type of vehicle and limit of obturation on apical and periapical tissue response in dogs' teeth after root canal filling with mineral trioxide aggregate

The purpose of this study was to investigate the influence of the type of vehicle (distilled water or propyleneglycol) on the response of apical tissues of dogs' teeth after root canal filling with mineral trioxide aggregate (MTA) at two different limits. Forty roots of incisors and premolars of two adult dogs were used. After pulpectomy, the root canals were prepared biomechanically, and the roots had the apical cemental barrier penetrated with a #15 K-file and widened to a #25 K-file. The root canals were assigned to four groups according to the vehicle used for MTA (ProRoot-MTA; Tulsa Dental, Tulsa, OK) preparation and the limit of root canal filling: group 1, filling with MTA/distilled water to the limit of the cemental canal; group 2, overfilling with MTA/distilled water, group 3, filling with MTA/propyleneglycol to the limit of the cemental canal; and group 4, overfilling with MTAlpropyleneglycol. The animals were killed by anesthetic overdose 90 days after endodontic treatment and the anatomic pieces were prepared for histomorphological analysis. The sections were stained with hematoxylin and eosin and Brown and Brenn techniques. The results showed that MTA pastes prepared with either distilled water or propyleneglycol as vehicles had similar biological behavior (p > 0.05); root fillings placed at the cemental canal limit showed better results than the overfillings (p = 0.01), and MTA/propyleneglycol paste was more easily placed into the root canals than MTA/distilled water paste.

Influences of the load centre of gravity on heavy vehicle acceleration

The aim of this paper is to analyse the influence of the load centre of gravity on heavy vehicle acceleration. This analysis is done through a method in which a vehicle centre of gravity map is used. A model for the driving force is presented for bus, truck and tractor-semi trailer combinations. The proposed model takes into consideration the resistance forces (drag, rolling resistance, translation and rotation acceleration, climbing resistance) and the 4 X 2 traction system. The positions of the vehicle centre of gravity as a function of the position of the load centre of gravity are determined. The vehicle acceleration is calculated based on the position of the load centre of gravity. This study analyses the acceleration of one of the Mercedes-Benz do Brasil tractor-semitrailer vehicle. A comparison of the acceleration for different maximum adhesion coefficients and ramps are presented, showing new results. An example showing the variations of the load centre of gravity position with the acceleration time and distance is provided. The load centre of gravity position is important for vehicle safety and the efficiency and economy in the transportation of the load.

On dichotomic maps for non autonomous discrete equations

A new procedure is given for the study of stability and asymptotic stability of the null solution of the non autonomous discrete equations by the method of dichotomic maps, which it includes Liapunov's Method asa special case. Examples are given to illustrate the application of the method.

Vehicle influence on calcium hydroxide pastes diffusion in human and bovine teeth

The purpose of this study was to compare the pH and calcium ion liberation after use of calcium hydroxide pastes with different paste vehicles in human or bovine teeth. Ninety-two single-rooted human and bovine roots were used. The roots were instrumented and an external cavity preparation was performed. The roots were divided in to human and bovine groups. Each group was subdivided into four subgroups (SB) according to the vehicle:SB1, detergent; SB2, saline; SB3, polyethylenoglycol + camphorated paramonochlorophenol (Calen PMCC) and SB4, polyethylenoglycol + furacyn paramonochlorophenol (FPMC). Specimens were immersed into saline solution at 37 degrees C and after 7 and 14 days pH and calcium ion measurements were made. The results were analyzed by ANOVA and Tukey tests (P < 0.05). There was no statistical difference between bovine and human teeth in the pH analysis (P < 0.05), but bovine teeth provided larger calcium ion liberation than human teeth. Calen PMCC was statistically more effective for pH increase and calcium ion liberation in all analyses, followed by FPMC and saline. Detergent showed the lowest pH alterations and calcium ion liberation. The period of 14 days showed more calcium ionic liberation than the 7-day period.

Paraconsistent Autonomous Mobile Robot Emmy III

This work presents some improvements regarding to the autonomous mobile robot Emmy based on Paraconsistent Annotated Evidential Logic ET. A discussion on navigation system is presented.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Low-cost PWM speed controller for an electric mini-baja type vehicle

This paperwork presents a Pulse Width Modulation (PWM) speed controller for an electric mini-baja-type car. A battery-fed 1-kW three-phase induction motor provides the electric vehicle traction. The open-loop speed control is implemented with an equal voltage/frequency ratio, in order to maintain a constant amount of torque on all velocities. The PWM is implemented by a low-cost 8-bit microcontroller provided with optimized ROM charts for distinct speed value implementations, synchronized transition between different charts and reduced odd harmonics generation. This technique was implemented using a single passenger mini-baja vehicle, and the essays have shown that its application resulted on reduced current consumption, besides eliminating mechanical parts. Copyright © 2007 by ABCM.

An investigation into the loss of the Brazilian space programme's launch vehicle VLS-1 V03

There has been a rapid increase in the complexity and integration of many safety-critical systems. In consequence, it is becoming increasingly difficult to identify the causes of incidents and accidents back through the complex interactions that lead to an adverse event. At the same time, there is a growing appreciation of the need to consider a broad range of contextual factors in the aftermath of any mishap. A number of regulators, operators and research teams have responded to these developments by proposing novel techniques to support the analysis of complex, safety-critical incidents. It is important to illustrate these different approaches by applying them to a number of common case studies. The following pages, therefore, show how STAMP and AcciMap might support the Serviço Público Federal investigation into the explosion and fire of the Brazilian launch vehicle VLS-1 VO3. © 2006 Elsevier Ltd. All rights reserved.

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.

Modeling of a MIT for the application of a frequency inverter of the electric vehicle

Nowadays, drives that use a combination of induction motors and frequency inverters are very common, a fact due to the financial practicality and viability in purchasing and operating that system. This system modeling and simulation becomes important when it wants to evaluate the performance, to calculate and correct parameters, and it has a fundamental role in functionality and viability analysis for application of new configurations and technologies. This work is about to elaborate a simple induction motor model based in the torque versus speed characteristic, using the linearization method for application in a specific operation range to be controlled by a frequency inverter. © 2011 Springer-Verlag Berlin Heidelberg.

TAO - A software platform for autonomous mobile robots

To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to system incompabilities. This paper proposes a software platform that provides means for creating reusable software modules through the standardization of software interfaces, which represent the various robot modules. © 2012 ICROS.