The rigid-flexible nonlinear robotic manipulator: Modeling and control

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

Mathematical modeling and control of population systems: Applications in biological pest control

The aim of this paper is to apply methods from optimal control theory, and from the theory of dynamic systems to the mathematical modeling of biological pest control. The linear feedback control problem for nonlinear systems has been formulated in order to obtain the optimal pest control strategy only through the introduction of natural enemies. Asymptotic stability of the closed-loop nonlinear Kolmogorov system is guaranteed by means of a Lyapunov function which can clearly be seen to be the solution of the Hamilton-Jacobi-Bellman equation, thus guaranteeing both stability and optimality. Numerical simulations for three possible scenarios of biological pest control based on the Lotka-Volterra models are provided to show the effectiveness of this method. (c) 2007 Elsevier B.V. All rights reserved.

An Intelligent Controller Design for Magnetorheological Damper Based on a Quarter-car Model

This paper presents the control strategies of nonlinear vehicle suspension using a magnetorheological (MR) damper. We used two different approaches for modeling and control of the mechanical and electrical parts of the suspension systems with the MR damper. First, we have formulated and resolved the control problem in order to design the linear feedback dumping force controller for a nonlinear suspension system. Then the values of the control dumping force functions were transformed into electrical control signals by the application of a fuzzy logic control method. The numerical simulations were provided in order to show the effectiveness of this method for the semi-active control of the quarter-car suspension.

A single-phase single-stage buck-boost inverter intended for low power alternative energy conversion systems: Analysis, design and experimentation

This paper presents the operational analysis of the single-phase integrated buck-boost inverter. This topology is able to convert the DC input voltage into AC voltage with a high static gain, low harmonic content and acceptable efficiency, all in one single-stage. Main functionality aspects are explained, design procedure, system modeling and control, and also component requirements are detailed. Main simulation results are included, and two prototypes were implemented and experimentally tested, where its results are compared with those corresponding to similar topologies available in literature. © 2012 IEEE.

Navegação de robôs em ambientes internos usando slam

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sistema de geração fotovoltaico multifuncional

Pós-graduação em Engenharia Elétrica - FEB

Microinversor integrado ao módulo fotovoltaico para sistemas conectados à rede elétrica utilizando controlador ressonante

This paper shows the modeling and control of a single-phase full-bridge inverter with high-frequency transformer that may be used as part of a two-stage converter with transformerless DC-DC side or as a single-stage converter (simple DC-AC converter) for grid-connected PV applications. The inverter is modeled in order to obtain a small-signal transfer function used to design the P+Resonant current controller. A highfrequency step-up transformer results in reduced voltage switches and better efficiency compared with converters in which the transformer is used on the DC-DC side. Simulations and experimental results with a 200 W prototype are shown. 1

Management of vomplex systems: Modeling the biological pest control

The aim of this paper is to study the cropping system as complex one, applying methods from theory of dynamic systems and from the control theory to the mathematical modeling of the biological pest control. The complex system can be described by different mathematical models. Based on three models of the pest control, the various scenarios have been simulated in order to obtain the pest control strategy only through natural enemies' introduction. © 2008 World Scientific Publishing Company.

Control of Limit Cycle Oscillation in a Three Degrees of Freedom Airfoil Section Using Fuzzy Takagi-Sugeno Modeling

This work presents a strategy to control nonlinear responses of aeroelastic systems with control surface freeplay. The proposed methodology is developed for the three degrees of freedom typical section airfoil considering aerodynamic forces from Theodorsen's theory. The mathematical model is written in the state space representation using rational function approximation to write the aerodynamic forces in time domain. The control system is designed using the fuzzy Takagi-Sugeno modeling to compute a feedback control gain. It useds Lyapunov's stability function and linear matrix inequalities (LMIs) to solve a convex optimization problem. Time simulations with different initial conditions are performed using a modified Runge-Kutta algorithm to compare the system with and without control forces. It is shown that this approach can compute linear control gain able to stabilize aeroelastic systems with discontinuous nonlinearities.

Optimal control strategy for fed-batch enzymatic hydrolysis of lignocellulosic biomass based on epidemic modeling

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Semiparametric modeling of the spatial distribution of occupational accident risk in the casual labor market, Piracicaba, southeast Brazil

The objective of this study was to estimate the spatial distribution of work accident risk in the informal work market in the urban zone of an industrialized city in southeast Brazil and to examine concomitant effects of age, gender, and type of occupation after controlling for spatial risk variation. The basic methodology adopted was that of a population-based case-control study with particular interest focused on the spatial location of work. Cases were all casual workers in the city suffering work accidents during a one-year period; controls were selected from the source population of casual laborers by systematic random sampling of urban homes. The spatial distribution of work accidents was estimated via a semiparametric generalized additive model with a nonparametric bidimensional spline of the geographical coordinates of cases and controls as the nonlinear spatial component, and including age, gender, and occupation as linear predictive variables in the parametric component. We analyzed 1,918 cases and 2,245 controls between 1/11/2003 and 31/10/2004 in Piracicaba, Brazil. Areas of significantly high and low accident risk were identified in relation to mean risk in the study region (p < 0.01). Work accident risk for informal workers varied significantly in the study area. Significant age, gender, and occupational group effects on accident risk were identified after correcting for this spatial variation. A good understanding of high-risk groups and high-risk regions underpins the formulation of hypotheses concerning accident causality and the development of effective public accident prevention policies.

Modeling of weeds interference periods in bean

Objetivou-se com este trabalho determinar o período de convivência anterior à interferência das plantas daninhas (PAI) e o período anterior ao dano no rendimento econômico (PADRE) na cultura do feijão, em diferentes espaçamentos (0,45 e 0,60 m) e densidade de plantas (10 e 15 plantas m-1). Os tratamentos foram constituídos de períodos de convivência entre a cultura e as plantas daninhas (0 a 10, 0 a 20, 0 a 30, 0 a 40, 0 a 50, 0 a 60, 0 a 70 e 0 a 80 dias), mais uma testemunha sem convívio com as plantas daninhas. Adotou-se o delineamento experimental de blocos casualizados, com quatro repetições. Os períodos anteriores à interferência (PAI) da cultura foram de 23, 27, 13 e 19 dias após emergência, e os períodos anteriores ao dano no rendimento econômico (PADRE), de 10, 9, 8 e 8 dias, para os tratamentos com espaçamento de 0,45 m e densidades de semeadura de 10 e 15 plantas m-1 e para aqueles com espaçamento de 0,60 m e densidades de semeadura de 10 e 15 plantas m-1, respectivamente, o que reduziu a produtividade de grãos em 63, 50, 42 e 57%, respectivamente, com a presença das plantas daninhas durante todo o ciclo do feijoeiro.

Modeling and analysis of artificial neural networks applied in operations research

Artificial neural networks are dynamic systems consisting of highly interconnected and parallel nonlinear processing elements. Systems based on artificial neural networks have high computational rates due to the use of a massive number of these computational elements. Neural networks with feedback connections provide a computing model capable of solving a rich class of optimization problems. In this paper, a modified Hopfield network is developed for solving problems related to operations research. The internal parameters of the network are obtained using the valid-subspace technique. Simulated examples are presented as an illustration of the proposed approach. Copyright (C) 2000 IFAC.

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.

Effects of Resinous Monomers Used in Restorative Dental Modeling on the Cohesive Strength of Composite Resin

Purpose: The purpose of this study was to evaluate the cohesive strength of the composite using different resinous monomers to lubricate instruments used in the Restorative Dental Modeling Insertion Technique (RDMIT).Materials and Methods: The composite specimens were made by using a prefabricated Teflon device. Different resinous monomers were used at the interface to lubricate the instruments, for a total of 72 specimens divided into 6 groups: 1. control group, no resinous monomer was used; 2. Composite Wetting Resin; 3. C & B Liquid; 4. Scotchbond Multi-Purpose Adhesive; 4. Adper Single Bond Adhesive; 6. Prime & Bond NT. Specimens were submitted to the circular area tensile test to evaluate the cohesive strength at the composite interfaces. Data were analyzed using ANOVA and Tukey's test (alpha = 0.05).Results: ANOVA showed a value of p < 0.0001, which indicated that there were significant differences among the groups. The means (SD) for the different groups were: Adper Single Bond Adhesive: 26 (12) a; control group: 28 (3) ab; Prime & Bond NT: 32 (12) ab; Composite Wetting Resin: 36 (9) abc; C&B Liquid: 38 (7) bc; Scotchbond Multi-Purpose Adhesive: 46 (10) c. Groups denoted with the same letters were not significantly different. Only Scotchbond Multi-Purpose Adhesive, used for direct restorations, had a statistically significantly higher bond strength than the control group, Adper Single Bond Adhesive, and Prime & Bond NT. Adper Single Bond with Adhesive showed a statistically significantly lower mean value than C & B Liquid.Conclusion: The results of this study indicate that the resinous monomers used for lubricating the instruments in the RDMIT did not alter the mechanical properties of the composite, and therefore did not reduce the cohesive bond strength at the composite interfaces.