Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

This paper describes an experimental study into the vibration control of a servo system comprising a servo motor and a flexible manipulator. Two modes of the system are controlled by using the servo motor and an accelerometer attached to the tip of the flexible manipulator. The control system is thus non-collocated. It consists of two electrical dynamic absorbers, each of which consists of a modal filter and, in case of an out-of-phase mode, a phase inverter. The experimental results show that each absorber acts as a mechanical dynamic vibration absorber attached to each mode and significantly reduces the settling time for the system response to a step input.

Spatial variability of soil CO2 emission in a sugarcane area characterized by secondary information

Soil CO2 emission (FCO2) is governed by the inherent properties of the soil, such as bulk density (BD). Mapping of FCO2 allows the evaluation and identification of areas with different accumulation potential of carbon. However, FCO2 mapping over larger areas is not feasible due to the period required for evaluation. This study aimed to assess the quality of FCO2 spatial estimates using values of BD as secondary information. FCO2 and BD were evaluated on a regular sampling grid of 60 m × 60 m comprising 141 points, which was established on a sugarcane area. Four scenarios were defined according to the proportion of the number of sampling points of FCO2 to those of BD. For these scenarios, 67 (F67), 87 (F87), 107 (F107) and 127 (F127) FCO2 sampling points were used in addition to 127 BD sampling points used as supplementary information. The use of additional information from the BD provided an increase in the accuracy of the estimates only in the F107, F67 and F87 scenarios, respectively. The F87 scenario, with the approximate ratio between the FCO2 and BD of 1.00:1.50, presented the best relative improvement in the quality of estimates, thereby indicating that the BD should be sampled at a density 1.5 time greater than that applied for the FCO2. This procedure avoided problems related to the high temporal variability associated with FCO2, which enabled the mapping of this variable to be elaborated in large areas.

Optimal design of smart structures using bonded plezoelectrics for vibration control

Smart material technology has become an area of increasing interest for the development of lighter and stronger structures which are able to incorporate actuator and sensor capabilities for collocated control. In the design of actively controlled structures, the determination of the actuator locations and the controller gains, is a very important issue. For that purpose, smart material modelling, modal analysis methods, control and optimization techniques are the most important ingredients to be taken into account. The optimization problem to be solved in this context presents two interdependent aspects. The first one is related to the discrete optimal actuator location selection problem which is solved in this paper using genetic algorithms. The second is represented by a continuous variable optimization problem, through which the control gains are determined using classical techniques. A cantilever Euler-Bernoulli beam is used to illustrate the presented methodology.

Optimal placement of piezoelectric sensor/actuators for smart structures vibration control

Smart material technology has become an area of increasing interest for the development of lighter and stronger structures that are able to incorporate actuator and sensor capabilities for collocated control. In the design of actively controlled structures, the determination of the actuator locations and the controller gains is a very important issue. For that purpose, smart material modeling, modal analysis methods, and control and optimization techniques are the most important ingredients to be taken into account. The optimization problem to be solved in this context presents two interdependent aspects. The first is related to the discrete optimal actuator location selection problem, which is solved in this paper using genetic algorithms. The second is represented by a continuous variable optimization problem, through which the control gains are determined using classical techniques. A cantilever Euler-Bernoulli beam is used to illustrate the presented methodology.

Optimal and robust modal control of a flexible structure using an active dynamic vibration absorber

This paper is concerned with feedback vibration control of a lightly damped flexible structure that has a large number of well-separated modes. A single active electrical dynamic absorber is used to reduce a particular single vibration mode selectively or multiple modes simultaneously. The absorber is realized electrically by feeding back the structural acceleration at one position to a collocated piezoceramic patch actuator via a controller consisting of one or several second order lowpass filters. A simple analytical method is presented to design a modal control filter that is optimal in that it maximally flattens the mobility frequency response of the target mode, as well as robust in that it works within a prescribed maximum control spillover of 2 dB at all frequencies. Experiments are conducted with a free-free beam to demonstrate its ability to control any single mode optimally and robustly. It is also shown that an active absorber with multiple such filters can effectively control multiple modes simultaneously.

Robust broadband vibration control of a flexible structure using an electrical dynamic absorber

This paper presents a simple but practical feedback control method to suppress the vibration of a flexible structure in the frequency range between 10 Hz and 1 kHz. A dynamic vibration absorber is designed for this, which has a natural frequency of 100 Hz and a normalized bandwidth (twice the damping ratio) of 9.9. The absorber is realized electrically by feeding back the structural acceleration at one position on the host structure to a collocated piezoceramic patch actuator via an analog controller consisting of a second-order lowpass filter. This absorber is equivalent to a single degree-of-freedom mechanical oscillator consisting of a serially connected mass-spring-damper system. A first-order lowpass filter is additionally used to improve stability at very high frequencies. Experiments were conducted on a free-free beam embedded with a piezoceramic patch actuator and an accelerometer at its center. It is demonstrated that the single absorber can simultaneously suppress multiple vibration modes within the control bandwidth. It is further shown that the control system is robust to slight changes in the plant. The method described can be applied to many other practical structures, after retuning the absorber parameters for the structure under control.

Molecular Characterization and Physical Mapping of Two Classes of 5S rDNA in the Genomes of Gymnotus sylvius and G. inaequilabiatus (Gymnotiformes, Gymnotidae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Morphology and anatomy of inflorescence and inflorescence axis in Paepalanthus sect. Diphyomene Ruhland (Eriocaulaceae, Poales) and its taxonomic implications

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Geochemical characterization of heavy metal contaminated area using multivariate factorial kriging

This paper describes a geostatistical method, known as factorial kriging analysis, which is well suited for analyzing multivariate spatial information. The method involves multivariate variogram modeling, principal component analysis, and cokriging. It uses several separate correlation structures, each corresponding to a specific spatial scale, and yields a set of regionalized factors summarizing the main features of the data for each spatial scale. This method is applied to an area of high manganese-ore mining activity in Amapa State, North Brazil. Two scales of spatial variation (0.33 and 2.0 km) are identified and interpreted. The results indicate that, for the short-range structure, manganese, arsenic, iron, and cadmium are associated with human activities due to the mining work, while for the long-range structure, the high aluminum, selenium, copper, and lead concentrations, seem to be related to the natural environment. At each scale, the correlation structure is analyzed, and regionalized factors are estimated by cokriging and then mapped.

Variabilidade espacial do fósforo e das frações granulométricas de um Latossolo Vermelho Amarelo

This study was conducted to study the spatial variability of phosphorus, estimating it through cokriging taking as covariables the size fractions of soil. The study was conducted at the experimental farm INCAPER-ES. The soil was sampled in the canopy projection of culture and depth of 0-0.20 meters in an irregular mesh with 109 points. The data were initially submitted to a descriptive analysis and correlation. Through geostatistics was made the adjustment of the variograms. The P showed significant correlation with the sand and clay fractions indicating that areas with higher concentrations of clay have lower availability of this nutrient. Both fractions have equal performance as co-variable in the estimate of the levels of P in the soil.

NDACC/SAOZ UV-visible total ozone measurements: improved retrieval and comparison with correlative ground-based and satellite observations

Accurate long-term monitoring of total ozone is one of the most important requirements for identifying possible natural or anthropogenic changes in the composition of the stratosphere. For this purpose, the NDACC (Network for the Detection of Atmospheric Composition Change) UV-visible Working Group has made recommendations for improving and homogenizing the retrieval of total ozone columns from twilight zenith-sky visible spectrometers. These instruments, deployed all over the world in about 35 stations, allow measuring total ozone twice daily with limited sensitivity to stratospheric temperature and cloud cover. The NDACC recommendations address both the DOAS spectral parameters and the calculation of air mass factors (AMF) needed for the conversion of O-3 slant column densities into vertical column amounts. The most important improvement is the use of O-3 AMF look-up tables calculated using the TOMS V8 (TV8) O-3 profile climatology, that allows accounting for the dependence of the O-3 AMF on the seasonal and latitudinal variations of the O-3 vertical distribution. To investigate their impact on the retrieved ozone columns, the recommendations have been applied to measurements from the NDACC/SAOZ (Systeme d'Analyse par Observation Zenithale) network. The revised SAOZ ozone data from eight stations deployed at all latitudes have been compared to TOMS, GOMEGDP4, SCIAMACHY-TOSOMI, SCIAMACHY-OL3, OMI-TOMS, and OMI-DOAS satellite overpass observations, as well as to those of collocated Dobson and Brewer instruments at Observatoire de Haute Provence (44 degrees N, 5.5 degrees E) and Sodankyla (67 degrees N, 27 degrees E), respectively. A significantly better agreement is obtained between SAOZ and correlative reference ground-based measurements after applying the new O-3 AMFs. However, systematic seasonal differences between SAOZ and satellite instruments remain. These are shown to mainly originate from (i) a possible problem in the satellite retrieval algorithms in dealing with the temperature dependence of the ozone cross-sections in the UV and the solar zenith angle (SZA) dependence, (ii) zonal modulations and seasonal variations of tropospheric ozone columns not accounted for in the TV8 profile climatology, and (iii) uncertainty on the stratospheric ozone profiles at high latitude in the winter in the TV8 climatology. For those measurements mostly sensitive to stratospheric temperature like TOMS, OMI-TOMS, Dobson and Brewer, or to SZA like SCIAMACHY-TOSOMI, the application of temperature and SZA corrections results in the almost complete removal of the seasonal difference with SAOZ, improving significantly the consistency between all ground-based and satellite total ozone observations.

Optimal design of smart structures using bonded piezoelectrics for vibration control

Smart material technology has become an area of increasing interest for the development of lighter and stronger structures which are able to incorporate actuator and sensor capabilities for collocated control. In the design of actively controlled structures, the determination of the actuator locations and the controller gains, is a very important issue. For that purpose, smart material modelling, modal analysis methods, control and optimization techniques are the most important ingredients to be taken into account. The optimization problem to be solved in this context presents two interdependent aspects. The first one is related to the discrete optimal actuator location selection problem, which is solved in this paper using genetic algorithms. The second is represented by a continuous variable optimization problem, through which the control gains are determined using classical techniques. A cantilever Euler-Bernoulli beam is used to illustrate the presented methodology.

Correlação espacial entre a altitude e as precipitaç ões pluviométricas no estado de São Paulo

The rain occurrence is one of the most important phenomena to determinate the climate and, as most of the other climatic phenomena, shows a continuous spatial variability that can be detected through special geostatistical methods. Besides the great influence of the topographic relief on the specific climate of each region, it is normal to expect spatial correlations of this variable with the precipitations; the determinism of this correlation may help to elaborate more precise conclusions involving these phenomena. In this paper, the spatial variability of altitude and of the pluviometric precipitations was rigorously analyzed, besides the existing correlation between these variables. It was concluded that these variables show strong spatial dependence and they are directly correlated. The mapping of the occurrence of both the phenomena was done by geostatistical methods pased on the infomiation concerning the spatial variability of each one.

Active vibration control using delayed resonant feedback

Delayed feedback (DF) control is a well-established technique to suppress single frequency vibration of a non-minimum phase system. Modal control is also a well-established technique to control multiple vibration modes of a minimum phase system. In this paper these techniques are combined to simultaneously suppress multiple vibration modes of a non-minimum phase system involving a small time delay. The control approach is called delayed resonant feedback (DRF) where each modal controller consists of a modal filter to extract the target mode signal from the vibration response, and a phase compensator to account for the phase delay of the mode. The methodology is first discussed using a single mode system. A multi-mode system is then studied and experimental results are presented to demonstrate the efficacy of the control approach for two modes of a beam. It is shown that the system behaves as if each mode under control has a dynamic vibration absorber attached to it, even though the actuator and the sensor are not collocated and there is a time delay in the control system. © 2013 IOP Publishing Ltd.

Estudo comparativo de métodos geoestatísticos aplicados em agricultura de precisão

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)