Development of an automated bench top electronic penetrometer

The aim of this study was to develop a an automated bench top electronic penetrometer (ABEP) that allows performing tests with high rate of data acquisition (up to 19,600 Hz) and with variation of the displacement velocity and of the base area of cone penetration. The mechanical components of the ABEP are: a supporting structure, stepper motor, velocity reducer, double nut ball screw and six penetration probes. The electronic components of ABEP are: a "driver" to control rotation and displacement, power supply, three load cells, two software programs for running and storing data, and a data acquisition module. This penetrometer presented in compact size, portable and in 32 validation tests it proved easy to operate, and showed high resolution, high velocity in reliability in data collection. During the validation tests the equipment met the objectives, because the test results showed that the ABEP could use different sizes of cones, allowed work at different velocities, showed for velocity and displacement, were only 1.3% and 0.7%, respectively, at the highest velocity (30 mm s-1) and 1% and 0.9%, respectively for the lowest velocity (0.1 mm s-1).

Linear-quadratic optimal control of descriptor systems

In recent years the analysis and synthesis of (mechanical) control systems in descriptor form has been established. This general description of dynamical systems is important for many applications in mechanics and mechatronics, in electrical and electronic engineering, and in chemical engineering as well. This contribution deals with linear mechanical descriptor systems and its control design with respect to a quadratic performance criterion. Here, the notion of properness plays an important role whether the standard Riccati approach can be applied as usual or not. Properness and non-properness distinguish between the cases if the descriptor system is exclusively governed by the control input or by its higher-order time-derivatives additionally. In the unusual case of non-proper systems a quite different problem of optimal control design has to be considered. Both cases will be solved completely.

Speed Control of an Autonomous Mobile Robot: Comparison between a PID Control and a Control Using Fuzzy Logic

An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.

Proposal of methodology for the modeling and control of manipulators

Industrial applications demand that robots operate in agreement with the position and orientation of their end effector. It is necessary to solve the kinematics inverse problem. This allows the displacement of the joints of the manipulator to be determined, to accomplish a given objective. Complete studies of dynamical control of joint robotics are also necessary. Initially, this article focuses on the implementation of numerical algorithms for the solution of the kinematics inverse problem and the modeling and simulation of dynamic systems. This is done using real time implementation. The modeling and simulation of dynamic systems are performed emphasizing off-line programming. In sequence, a complete study of the control strategies is carried out through the study of several elements of a robotic joint, such as: DC motor, inertia, and gearbox. Finally a trajectory generator, used as input for a generic group of joints, is developed and a proposal of the controller's implementation of joints, using EPLD development system, is presented.

Respuestas morfológicas y anatómicas de Tessaria absinthioides (Hook. et Arn.) DC. a la salinidad

T. absinthioides, Inuleae, Compositae, is a weedy species that is spreading in the irrigation area of the Colorado River, Argentina. This species can be found in normal and saline soils. Morphological and anatomical variables were measured with two salts, sodium chloride and sodium sulfate, with three levels of osmotic potential -0.4, -0.8 and -1.5 MPa, in hydroponic culture, using Hoagland solution as the cultivation media. The total diameter of the roots of plants growing in Na2SO4 and NaCl increased when the osmotic potential was -0.4 MPa. In plants growing in NaCl this may have resulted from the increase in the size of the cortical cells and in plants growing in Na2SO4, the diameter increased may be due to an increase in the cambial activity. The number and length of shoot internodes decreased with increasing salinity, even though this was not statistically significant. In comparison to the control, the total diameter of the shoot increased at -0.4 MPa and decreased with the reduction of the osmotic potential. In comparison to the control, the length of the leaves decreased at -0.4 MPa and the leaves width increased at the same concentration. The palisade parenchyma appeared less developed in saline conditions. In comparison to the control, the number of hairs increased at -0.4 MPa. T. absinthioides acts as a semihalophytic species, according to the salt ranks it tolerates. The mechanisms of adaptation to saline conditions are succulence in root and stunted growth if the salt in the media is NaCl, and the production of haloxeromorphic characters if the salt in the media is Na2 SO4

Evaluation of the antiedematogenic activity of artemetin isolated from Cordia curassavica DC

The species Cordia curassavica (Boraginaceae), known popularly as "erva baleeira", is used in folk medicine for the treatment of several inflammatory processes and as a healing agent. The objective of the present study was to evaluate the antiedematogenic activity of crude dichloromethane extracts of Cordia curassavica and of the artemetin-enriched fraction. The crude extract and artemetin fraction were tested in the model of carrageenin-induced paw edema in male Swiss mice (25-30 g). The crude dichloromethane extract (300 and 1000 mg/kg, po, N = 6) showed significant antiedematogenic activity, reducing the edema by 42, 57 and 45% and 46, 62 and 69%, 3, 4 and 5 h after carrageenin administration, respectively. Indomethacin (10 mg/kg, po, N = 6) reduced the edema by 45 and 48%, after 4 and 5 h, but the artemetin-enriched fraction (30, 100 and 300 mg/kg, po, N = 6) had no activity. The dichloromethane extract (300 and 1000 mg/kg, po, N = 6) also showed antinociceptive activity by reducing acetic acid-induced writhing in mice from 37.1 ± 2.28 (control) to 17.3 ± 1.34 and 13.2 ± 1.44, respectively, but had no activity in the hot-plate test.

Vancomycin-resistant enterococcus outbreak in a pediatric intensive care unit: report of successful interventions for control and prevention

The objective of this study is to retrospectively report the results of interventions for controlling a vancomycin-resistant enterococcus (VRE) outbreak in a tertiary-care pediatric intensive care unit (PICU) of a University Hospital. After identification of the outbreak, interventions were made at the following levels: patient care, microbiological surveillance, and medical and nursing staff training. Data were collected from computer-based databases and from the electronic prescription system. Vancomycin use progressively increased after March 2008, peaking in August 2009. Five cases of VRE infection were identified, with 3 deaths. After the interventions, we noted a significant reduction in vancomycin prescription and use (75% reduction), and the last case of VRE infection was identified 4 months later. The survivors remained colonized until hospital discharge. After interventions there was a transient increase in PICU length-of-stay and mortality. Since then, the use of vancomycin has remained relatively constant and strict, no other cases of VRE infection or colonization have been identified and length-of-stay and mortality returned to baseline. In conclusion, we showed that a bundle intervention aiming at a strict control of vancomycin use and full compliance with the Hospital Infection Control Practices Advisory Committee guidelines, along with contact precautions and hand-hygiene promotion, can be effective in reducing vancomycin use and the emergence and spread of vancomycin-resistant bacteria in a tertiary-care PICU.