Control of a one-legged robot with energy savings

This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared.

Electrophysiological measurements of spectral sensitivities: a review

Spectral sensitivities of visual systems are specified as the reciprocals of the intensities of light (quantum fluxes) needed at each wavelength to elicit the same criterion amplitude of responses. This review primarily considers the methods that have been developed for electrophysiological determinations of criterion amplitudes of slow-wave responses from single retinal cells. Traditional flash methods can require tedious dark adaptations and may yield erroneous spectral sensitivity curves which are not seen in such modifications as ramp methods. Linear response methods involve interferometry, while constant response methods involve manual or automatic adjustments of continuous illumination to keep response amplitudes constant during spectral scans. In DC or AC computerized constant response methods, feedback to determine intensities at each wavelength is derived from the response amplitudes themselves. Although all but traditional flash methods have greater or lesser abilities to provide on-line determinations of spectral sensitivities, computerized constant response methods are the most satisfactory due to flexibility, speed and maintenance of a constant adaptation level

Measurement of the ultrasonic properties of human coronary arteries in vitro with a 50-MHz acoustic microscope

Ultrasonic attenuation coefficient, wave propagation speed and integrated backscatter coefficient (IBC) of human coronary arteries were measured in vitro over the -6 dB frequency bandwidth (36 to 67 MHz) of a focused ultrasound transducer (50 MHz, focal distance 5.7 mm, f/number 1.7). Corrections were made for diffraction effects. Normal and diseased coronary artery sub-samples (N = 38) were obtained from 10 individuals at autopsy. The measured mean ± SD of the wave speed (average over the entire vessel wall thickness) was 1581.04 ± 53.88 m/s. At 50 MHz, the average attenuation coefficient was 4.99 ± 1.33 dB/mm with a frequency dependence term of 1.55 ± 0.18 determined over the 36- to 67-MHz frequency range. The IBC values were: 17.42 ± 13.02 (sr.m)-1 for thickened intima, 11.35 ± 6.54 (sr.m)-1 for fibrotic intima, 39.93 ± 50.95 (sr.m)-1 for plaque, 4.26 ± 2.34 (sr.m)-1 for foam cells, 5.12 ± 5.85 (sr.m)-1 for media and 21.26 ± 31.77 (sr.m)-1 for adventitia layers. The IBC results indicate the possibility for ultrasound characterization of human coronary artery wall tissue layer, including the situations of diseased arteries with the presence of thickened intima, fibrotic intima and plaque. The mean IBC normalized with respect to the mean IBC of the media layer seems promising for use as a parameter to differentiate a plaque or a thickened intima from a fibrotic intima.

The influence of the broccoli (Brassica oleracea var. itálica)fill weigth on postharvest quality

Broccoli is a vegetable of important economic value as well as a source of vitamin C and anticarcinogenic property substances. Although it can be minimally processed, this vegetable presents fast senescence, characterized by yellowing, loss of turgescence, development of off-odors, increase in enzymatic activity and reduction of nutritional value. Among the frequently used techniques that can extend the shelf-life of minimally processed broccoli, we have the use of cool storage and modified atmosphere packaging (MAP). Several factors interfere in the efficiency of MAP, influencing the speed and intensity of the changes on atmosphere composition. This work aimed to study the influence of the amount packaged broccoli on its postharvest quality, when stored at 1ºC. Results demonstrated strong influence of the use of MAP compared to control treatment. It was observed that for all packaged treatments there was better vitamin C retention, lower loss of weight, lower peroxidase activity and better turgidity score of broccoli. This study demonstrated that the treatments with higher amounts of product showed the worst performance on vitamin C and aroma evaluation. The peroxidase activity was also influenced, and the best results were found in the treatment with higher amounts, which presented lowest values. However there is a tendency of increase in the activity along the time, especially at the end of the experiment. It was not detected the influence of the fill weight about color evaluation.

Direct effects of soybean seed vigor on weed competition

Seed vigor is one of the factors that determines the speed and uniformity of seedling emergence and initial plant growth, which are crucial aspects in the competition against weeds. The objective of this study was to verify the direct effects of soybean seed vigor on weed competition and grain yield. A field experiment was conducted with three seed lots of the "Conquista" cultivar, previously characterized by physiological tests as having high, intermediate and low vigor. The experiment was divided into weeded and unweeded plots with six treatments. Crop plant height, weed dry mass accumulation and crop grain yield data were recorded. Seed vigor did not affect plant height and grain yield. Plants which developed from seeds with high and intermediate vigor showed the best results for competition against weeds, reducing weed dry mass accumulation. Plants which developed from high vigor seeds give the best results for grain yield for both weeded and unweeded treatments.

Physiological potential of Brachiaria brizantha cv. Marandu seeds kept in contact with phosphatic fertilizers

The effect of mixture of seeds of Brachiaria brizantha, cv. Marandu, with different sources, granulometry, and phosphatic fertilizer doses during various periods of exposure on the physiological potential of the seeds has been assessed. The treatments consisted in seed exposure during periods of 0, 3, 6, 12, 24, 36, 48, 72, 96, and 120 h to the following fertilizers: ground granulated single superphosphate (SS), and powdered (SSp); and ground granulated ammonium monophosphate (AMP), at doses of 40 and 80 kg P2O5 ha-1. Tests of germination, tetrazolium, moisture content, and vigor (first count, electrical conductivity, emergence, emergence speed, and fresh mass of seedlings) were performed. It has been concluded that seed physiological potential of B. brizantha cv. Marandu is reduced with increase on the exposure period to phosphatic fertilizer. Such effect, however, is dependent on the product source, granulometry, and dose. SSp was the most harmful to seeds, followed by SSp and AMP, respectively. Moreover, considering a 60% germination rate as acceptable, it may be inferred that seeds can be kept in contact with AMP and SSp, in dose of 80 kg of P2O5 ha-1, respectively, for periods of 71.2 and 16.2 hours.