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.

Experimental results and modeling of poultry carcass cooling by water immersion

Poultry carcasses have to be chilled to reduce the central breast temperatures from approximately 40 to 4 °C, which is crucial to ensure safe products. This work investigated the cooling of poultry carcasses by water immersion. Poultry carcasses were taken directly from an industrial processing plant and cooled in a pilot chiller, which was built to investigate the influence of the method and the water stirring intensity on the carcasses cooling. A simplified empiric mathematical model was used to represent the experimental results. These results indicated clearly that the understanding and quantification of heat transfer between the carcass and the cooling water is crucial to improve processes and equipment. The proposed mathematical model is a useful tool to represent the dynamics of carcasses cooling, and it can be used to compare different chiller operational conditions in industrial plants. Therefore, this study reports data and a simple mathematical tool to handle an industrial problem with little information available in the literature.

Modeling the water uptake by chicken carcasses during cooling by immersion

In this study, water uptake by poultry carcasses during cooling by water immersion was modeled using artificial neural networks. Data from twenty-five independent variables and the final mass of the carcass were collected in an industrial plant to train and validate the model. Different network structures with one hidden layer were tested, and the Downhill Simplex method was used to optimize the synaptic weights. In order to accelerate the optimization calculus, Principal Component Analysis (PCA) was used to preprocess the input data. The obtained results were: i) PCA reduced the number of input variables from twenty-five to ten; ii) the neural network structure 4-6-1 was the one with the best result; iii) PCA gave the following order of importance: parameters of mass transfer, heat transfer, and initial characteristics of the carcass. The main contributions of this work were to provide an accurate model for predicting the final content of water in the carcasses and a better understanding of the variables involved.

Study of the enthalpy-entropy mechanism from water sorption of orange seeds (C. sinensis cv. Brazilian) for the use of agro-industrial residues as a possible source of vegetable oil production

Orange seeds are a promising agroindustry-waste which can be implemented in the extraction and production of vegetable oil. The relationship between moisture content and water activity provides useful information for the processing and storage of this waste item. The aim of this study was to determine the mechanism of water sorption enthalpy-entropy of orange seeds (C. sinensis cv. Brazilians) according to the moisture content. Therefore, desorption isotherms were determined at five different temperature (30, 40, 50, 60, and 70 ºC) under a wide range of moisture content (0.005-0.057 kg kg-1 d.b.) and water activity (0.02-0.756). Theoretical and empirical models were used for modeling the desorption isotherms. An analytical solution of the Clausius-Clapeyron equation was proposed to compute the isosteric heat of sorption, the differential entropy, and Gibbs free energy using the Oswin model when the effect of temperature on the hygroscopic equilibrium was considered.

Biomassa seca acumulada, partições e rendimento industrial da cana-de-açúcar irrigada no Semiárido brasileiro

Objetivou-se, com este trabalho, determinar parâmetros de crescimento e de rendimento da cana-de-açúcar cv. RB92579, sob regime de irrigação, no Semiárido brasileiro, visando a avaliar o desempenho desta cultura nas condições edafoclimáticas locais. Foram avaliados o acúmulo de biomassa seca e as suas respectivas partições, durante dois ciclos consecutivos de cana-de-açúcar (soca e ressoca), além dos indicadores de rendimento e de qualidade da cultura ao final do período experimental. Em ambos os ciclos, foram realizadas dez coletas de amostras para se determinar a biomassa seca de seis componentes estruturais dos perfilhos (folhas verdes, bainhas, parte emergente, pseudocolmos, folhas e bainhas mortas e colmo). A cana-de-açúcar apresentou elevado acúmulo de biomassa seca da parte aérea da planta, com valor médio de 6.493 g m-2 para os dois ciclos de cultivo. No início do seu crescimento, os fotoassimilados foram destinados prioritariamente às folhas verdes, bainhas, parte emergente e pseudocolmos. Em fase posterior de crescimento, os fotoassimilados passaram a ser utilizados na formação dos colmos. Os resultados obtidos foram muito semelhantes para os ciclos de soca e ressoca. Os modelos ajustados para descrever a evolução da biomassa seca e de suas respectivas partições apresentaram ajustes satisfatórios, em função dos dias após o corte. O elevado rendimento industrial (133,88 ± 40,84 t ha-1) e a alta concentração de sacarose por biomassa seca (0,34 ± 0,10 g g-1) proporcionaram valores elevados de produção de açúcar (17,75 ± 4,44 t ha-1) e de álcool (12,73 ± 3,23 t ha-1), indicando alto desempenho produtivo da RB92579 para a região.

Desempenho de clones elite de batata para caracteres agronômicos e de qualidade industrial

O objetivo deste trabalho foi verificar o desempenho de clones elite de batata, em relação a caracteres agronômicos e de qualidade industrial. Os experimentos foram realizados em Pelotas, RS, Canoinhas, SC, e Londrina, PR. Foi avaliado um conjunto de clones elite, pertencentes ao Programa de Melhoramento Genético de Batata, da Embrapa. O delineamento experimental foi o de blocos casualizados, com três repetições para Pelotas e Londrina e quatro para Canoinhas. Foram avaliados os caracteres massa total de tubérculos, massa comercial de tubérculos, número de tubérculos comerciais, percentagem de massa de tubérculos comerciais, massa média de tubérculos comerciais, peso específico, cor de fritura e ciclo vegetativo. A partir dos dados obtidos foram realizadas as análises de variância para cada local e teste de agrupamento de médias para cada caráter. Para identificação de clones apropriados ao mercado 'in natura', em que é fundamental o elevado potencial produtivo e precocidade, os clones mais promissores foram F80-03-06 e CL02-05, quando comparados à cultivar testemunha Ágata. Para o processamento industrial, em que o peso específico, a cor de fritura e o rendimento de tubérculo são caracteres importantes, destacou-se o clone F81-01-06, que apesar de não apresentar os maiores rendimentos totais, apresentou tubérculos grandes, ciclo vegetativo intermediário e boa aptidão para fritura, quando comparando-se ao cultivar testemunha Asterix.