A modified contour error controller for a high speed XY table

This article deals with a contour error controller (CEC) applied in a high speed biaxial table. It works simultaneously with the table axes controllers, helping them. In the early stages of the investigation, it was observed that its main problem is imprecision when tracking non-linear contours at high speeds. The objectives of this work are to show that this problem is caused by the lack of exactness of the contour error mathematical model and to propose modifications in it. An additional term is included, resulting in a more accurate value of the contour error, enabling the use of this type of motion controller at higher feedrate. The response results from simulated and experimental tests are compared with those of common PID and non-corrected CEC in order to analyse the effectiveness of this controller over the system. The main conclusions are that the proposed contour error mathematical model is simple, accurate, almost insensible to the feedrate and that a 20:1 reduction of the integral absolute contour error is possible.

Environmental issues and international relations, a new global (dis)order - the role of International Relations in promoting a concerted international system

Is it possible to talk about the rise of a new global (dis)order founded on the challenges posed by environmental issues? Through the review of the state of the art on the subject, this article analyzes the growing importance of the environment, and natural resources in particular, in international relations; and aims to raise awareness among International Relations scholars to the potential positive impact of the development of the discipline in integration with global environmental change studies.

Reshaping European Union development policy: collective choices and the new global order

Abstract The European Union (EU) is one of the world´s leading donors in official development assistance (ODA) to give a strong weight in the relationship with recipient partner countries, in particular with those that are more dependent on it. Besides the material weight of its funding, the EU has retained historical ties and influence in diplomatic, political and economic terms in many of its ODA recipient partner countries (particular in Sub-Saharan Africa). Since the 2000s, the EU development policy has not only undergone major structural changes in its institutional framework but also has started to face a new international aid scenario. This paper explores why a normative-based EU development policy is being challenged by reformed EU institutions and a new global order, and how the EU is attempting to respond to this context in face of the deepest recession since the end of the Second World War.

Biologia reprodutiva de Apidoras fuscoguttatus (Siluriformes, Callichthyidae) em riacho de cabeceira da bacia do alto Rio Paraná

The reproductive biology of Aspidoras fuscoguttatus Nijssen & Isbrücker, 1976 from a stream in São José do Rio Preto, northwestern São Paulo State, Brazil, was monthly investigated in the period of August 1999 to July 2000. Measurements of total length, body weight, gonadal weight and macroscopic assessment of gonadal maturation were performed. Environmental parameters were considered in order to verify associations with the reproductive period. Populational structure showed total length amplitude between 14.2 and 50.8 mm. Pronounced sexual dimorphism was verified. The largest mean values of gonadosomatic relation for females coincided with the rainy season (November to March). Mean length at first sexual maturity was different for males (30.5 mm) and females (37.1 mm). Fecundity varied between 51 and 166 oocytes. Gonadal maturation curve, frequency of maturation stages and size frequency distributions of oocytes in mature ovaries revealed a long reproductive period, suggesting fractional spawning.

Study of the mayfly order Ephemeroptera (Insecta) in Brazil: a scienciometric review

Study of the mayfly order Ephemeroptera (Insecta) in Brazil: a scienciometric review. Despite an increase in the number of studies in recent years of the aquatic insect order Ephemeroptera (the mayflies) much still remains to be learnt. In order to identify the current state of knowledge of this group in Brazil, we performed a scienciometric analysis with the purpose of identifying the strong and weak points of Brazilian research into the group. Our research used the "Institute for Scientific Information - ISI" database and was based on the abstracts, titles and keywords of manuscripts published between 1992 and 2011. We selected the papers with the combination of the words "Ephemeroptera" and "Brazil*" based on a search in February 2012. We analyzed 92 articles, and noted a lack of studies in some Brazilian states, no specific studies about some families, and an absence of phylogenetic studies. To improve ecological studies, it is necessary to fine-tune taxonomic resolution. Moreover, there is a lack of studies investigating the environmental variables which influence the distribution of mayflies. Despite these gaps, if the rate of publication with mayflies proceeds at the same pace, we anticipate that many of these knowledge gaps will be closed.

Papaya seedlings growth using a low-cost, automatic watering controller

The study assessed growth and physiological parameters of 'Sunrise Golden' and 'Tainung 01' papaya seedlings grown in 280mL plastic tubes and watered using a low-cost automatic irrigation system adjusted to operate at substrate water tension for starting irrigation (STI) of 3.0, 6.0 or 9.0 kPa. The water depths applied by the dripping system and drainage were monitored during germination and seedling growth. Germination, emergence velocity index (EVI), leaf area, plant height, shoot and root dry weight, stomatal conductance, relative water content (RWC) and relative chlorophyll content (RCC) were evaluated. Soil nutrient levels were determined by electrical conductivity (EC). Water use efficiency (WUE) corresponded to the ratio of plant dry mass to depth of water applied. STI settings did not affect papaya germination or EVI. System configuration to 3.0 and 6.0 kPa STI exhibited the highest drainage and lowest EC and RCC, indicating soil nutrient loss and plant nutrient deficiency. Drainage was greater in tubes planted with the 'Tainung 01' variety, which developed smaller root systems and lower stomatal conductance than 'Sunrise Golden' seedlings. The highest values for shoot dry weight and WEU were obtained at 6.0 kPa STI for 'Sunrise Golden' (0.62 g and 0.69 g L-1) and at 9.0 kPa in 'Tainung 01' (0.35 g and 0.82 g L-1). RWC at 9.0 kPa STI was lower than at 3.0 kPa in both varieties. The results indicate that the low-cost technology developed for irrigation automation is promising. Even so, new studies are needed to evaluate low-flow irrigation systems as well as the nutrient and water needs of different papaya varieties.