Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Demulsification of water/sunflower oil emulsions by a tangential filtration process using chemically impregnated ceramic tubes

A tangential filtration process was implemented in this study using porous ceramic tubes made of alpha-alumina produced by the slip-casting technique. These tubes were sintered at 1450 degrees C and characterized by mercury intrusion porosimetry, which revealed a mean pore size of 0.5 mu m. The tubes were chemically impregnated with a zirconium citrate solution, after which they were calcined and heat treated at temperatures of up to 600 and 900 degrees C to eliminate volatile organic compounds and transform the zirconium citrate into zirconium oxide impregnated in the alumina in the form of nanoparticle agglomerates. The microporous pipes were tested on a microfiltration hydraulic system to analyze their performance in the demulsification of sunflower oil and water mixtures. The fluid-dynamic parameters of Reynolds number and transmembrane pressure were varied in the process. The volume of permeate was analyzed by measuring the Total Organic Carbon concentration (TOC), which indicated 99% of oil phase retention. The emulsified mixture was characterized by optical microscopy, while the morphology and composition of the impregnated microporous tubes were analyzed by scanning electron microscopy (SEM). Quantification of the TOC values for the tube impregnated once at 600 degrees C showed the best demulsification performance, with the concentration on permeate smaller than 10 mg/L. The impregnated tube sintered once at 900 degrees C presented low carbon concentration (smaller than 20 mg/L), has the advantage of presenting the greatest trans-membrane flux in relation to the other microporous tube. (c) 2006 Elsevier B.V. All rights reserved.

Construção de um dispositivo de simulação do escoamento pulsátil em artérias

Pós-graduação em Engenharia Mecânica - FEIS

Hastes instrumentadas com controle automatizado do escarificador atuando em profundidades variáveis

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Sistema eletrohidráulico para acionamento da esteira vibratória do arrancador-invertedor de amendoim

Pós-graduação em Agronomia (Ciência do Solo) - FCAV

Pré projeto de uma caçamba compactadora estacionária

This study describes the preliminary design of a static skip compactor and its hydraulic system. The objective of this study is to develop and to improve the design of a made project. The methodology used in this study was to analyze the faults of the already done projects and to suggest possible improvements. The result is a preliminary design of a skip with the main necessary dimensions and specifications to build that equipment. The conclusion of this study is a preliminary project of simple equipment that makes in very efficient way its work

Existence and asymptotic behaviour for the parabolic-parabolic Keller-Segel system with singular data

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

Effects of sire breed-grazing system and environmental parameters on the behaviour of beef calves just after birth

Effects of sire breed-grazing system and environmental factors on the first activities of high grade Nellore and crossbred Canchim x Nellore, Angus x Nellore, and Simmental x Nellore calves raised in intensive production systems and high grade Nellore calves raised in an extensive production system, after birth, were studied. During 2 years, 185 calves were observed from birth until the end of first suckling, and the following variables were estimated: duration of maternal attention (cow to calf) during the first 15 min after calving, latency to first attempt to stand up, latency to stand up, latency to first suckling, duration of first suckling and the interval from standing to suckling. Data were analyzed by least squares methods, with models that included fixed effects of year and time of the year of birth (March-April (early autumn) and May-June (late autumn)), sire breed-grazing system (Sy), sex of calf (Se), category of cow (primiparous and pluriparous), time of birth, Sy x Se, year x Sy and year x time of the year interactions and the covariates weight of calf, rainfall, air temperature and relative humidity in the day of birth. Calves born from 6:00 to 8:00 h presented the longest latencies to first stand up (40.3 +/- 5.1 min) and the shortest occur from 14:00 to 16:00 h (15.8 +/- 2.7 min) (P < 0.01). Primiparous cows provided longer attention toward the calf in the first 15 min after birth than pluriparous cows (13.0 +/- 0.7 min versus 11.1 +/- 0.5 min; P < 0.05). This attention was also shorter in earlier autumn (11.0 +/- 0.5 min) and longer in late autumn (13.1 +/- 0.8 min) (P < 0.05). Relative to sire breed-grazing system, Nellore calves raised intensively did take longer to stand and to suckle after birth as compared to crossbred calves also raised intensively (P < 0.01). However, grazing system did not affect (P > 0.05) any behaviour variable studied. As regard to sex differences, female calves did take less (P < 0.01) time to suckle after standing than male calves. Results showed that even purebred or crossbred Bos indicus calves in subtropical environmental need extra care when born on rainy days, especially during the first hours of the day. (C) 2006 Elsevier B.V. All rights reserved.

On the dynamic behaviour of a nonlinear system weakly connected to a linear single degree-of-freedom system

This paper discusses the dynamic behaviour of a nonlinear two degree-of-freedom system consisting of a harmonically excited linear oscillator weakly connected to a nonlinear attachment that behaves as a hardening Duffing oscillator. A system which behaves in this way could be a shaker (linear system) driving a nonlinear isolator. The mass of the nonlinear system is taken to be much less than that in the linear system and thus the nonlinear system has little effect on the dynamics of the linear system. Of particular interest is the situation when the linear natural frequency of the nonlinear system is less than the natural frequency of the linear system such that the frequency response curve of the nonlinear system bends to higher frequencies and thus interacts with the resonance frequency of the linear system. It is shown that for some values of the system parameters a complicated frequency response curve for the nonlinear system can occur; closed detached curves can appear as a part of the overall amplitude-frequency response. The reason why these detached curves appear is presented and approximate analytical expressions for the jump-up and jump-down frequencies of the system under investigation are given.

Evaluation of the fretting fatigue behaviour of commercially pure titanium

Fretting fatigue occurs when the contact surfaces of two components undergo small oscillatory movement while they are subjected to a clamping force. A cyclic external load gives rise to the early initiation of fatigue cracks, thus reducing their service life. In this paper, the fretting fatigue behaviour of commercially pure titanium flat samples (1.5 mm thick) is evaluated. A fretting device composed of a frame, load cell, and two screw-mounted cylindrical fretting pads with convex extremities was built and set to a servo-hydraulic testing machine. The fatigue tests were conducted under load control at a frequency of 10 Hz and stress ratio R = 0.1, with various contact load values applied to the fretting pads. Additional tests under inert environment allowed assessing the role of oxidation on the wear debris formation. The fracture surfaces and fretting scars were analysed via scanning electron microscopy in order to evaluate the surface damage evolution and its effect on the fatigue crack features. The effect of the fretting condition on the S-N curve of the material in the range of 10(4)-10(6) cycles is described. Fatigue crack growth calculations allowed estimating the crack initiation and propagation lives under fretting conditions. The effect of the fretting condition in fatigue life is stronger for the lower values of cyclic stress and does not seem to depend on the contact loading value.

Hydrodynamic characterization and performance evaluation of an aerobic three phase airlift fluidized bed reactor in a recirculation aquaculture system for Nile Tilapia production

The hydrodynamic characterization and the performance evaluation of an aerobic three phase fluidized bed reactor in wastewater fish culture treatment are presented in this report. The objective of this study was to evaluate the organic matter, nitrogen and phosphorous removal efficiency in a physical and biological wastewater treatment system of an intensive Nile Tilapia laboratory production with recirculation. The treatment system comprised of a conventional sedimentation basin operated at a hydraulic detention time HDT of 2.94 h and an aerobic three phase airlift fluidized bed reactor AAFBR operated at an 11.9 min HDT. Granular activated carbon was used as support media with density of 1.64 g/cm(3) and effective size of 0.34 mm in an 80 g/L constant concentration. Mean removal efficiencies of BOD, COD, phosphorous, total ammonia nitrogen and total nitrogen were 47%, 77%, 38%, 27% and 24%, respectively. The evaluated system proved an effective alternative for water reuse in the recirculation system capable of maintaining water quality characteristics within the recommended values for fish farming and met the Brazilian standards for final effluent discharges with exception of phosphorous values. (C) 2011 Elsevier B.V. All rights reserved.

On the dynamic behaviour of a mass supported by a parallel combination of a spring and an elastically connected damper

This paper presents a consistent and concise analysis of the free and forced vibration of a mass supported by a parallel combination of a spring and an elastically supported damper (a Zener model). The results are presented in a compact form and the physical behaviour of the system is emphasised. This system is very similar to the conventional single-degree-of freedom system (sdof)-(Voigt model), but the dynamics can be quite different depending on the system parameters. The usefulness of the additional spring in series with the damper is investigated, and optimum damping values for the system subject to different types of excitation are determined and compared.There are three roots to the characteristic equation for the Zener model; two are complex conjugates and the third is purely real. It is shown that it is not possible to achieve critical damping of the complex roots unless the additional stiffness is at least eight times that of the main spring. For a harmonically excited system, there are some possible advantages in using the additional spring when the transmitted force to the base is of interest, but when the displacement response of the system is of interest then the benefits are marginal. It is shown that the additional spring affords no advantages when the system is excited by white noise. (c) 2007 Elsevier Ltd. All rights reserved.

Suppressing grazing chaos in impacting system by structural nonlinearity

In this note we investigate the influence of structural nonlinearity of a simple cantilever beam impacting system on its dynamic responses close to grazing incidence by a means of numerical simulation. To obtain a clear picture of this effect we considered two systems exhibiting impacting motion, where the primary stiffness is either linear (piecewise linear system) or nonlinear (piecewise nonlinear system). Two systems were studied by constructing bifurcation diagrams, basins of attractions, Lyapunov exponents and parameter plots. In our analysis we focused on the grazing transitions from no impact to impact motion. We observed that the dynamic responses of these two similar systems are qualitatively different around the grazing transitions. For the piecewise linear system, we identified on the parameter space a considerable region with chaotic behaviour, while for the piecewise nonlinear system we found just periodic attractors. We postulate that the structural nonlinearity of the cantilever impacting beam suppresses chaos near grazing. (C) 2007 Elsevier Ltd. All rights reserved.

On a nonlinear and chaotic non-ideal vibrating system with shape memory alloy (SMA)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)