O efeito de Coriolis: de pêndulos a moléculas

Coriolis force is an effect which arises in rotating reference frames such as the Earth. This force influences large oceanic motions, atmospheric inertial circles, horizontal and vertical deviations in moving bodies. The Foucault's pendulum is another special case about the Coriolis force influence on macroscopic processes. This pendulum is an example of how experimental sciences can be essential for philosophical and social changes, since it was crucial to prove the Earth's rotation. The Coriolis force has an important role also at microscopic level; it couples vibrational and rotational molecular motions and this fact has consequences in spectroscopic and energetic molecular processes. These points are discussed in this paper.

Influence of pioneer-species combinations on restoration of disturbed ecosystems in the Atlantic Forest, Rio de Janeiro, Brazil

The analysis of species composition and its effects on sustainability restoration processes in the Atlantic Forest with poor environmental attributes is important to improve rehabilitation techniques for disturbed ecosystems. Reforestation projects were used as Biological Measures (BM) of rehabilitation, where treatments differ in the composition of exotic species, utilized as anthropic pioneers: BM1 - 82% (73% Mimosa caesalpiniifolia Benth, 9% Eucalyptus citriodora Hook.); BM2 - 91% (9%, 82%); and BM3 - 25% (15%, 10%). The monitoring of spontaneous regeneration was evaluated in three 12-year-old reforestation sites between thr rainy season of 2004 and 2005, and compared with an approximately 100-year-old native forest fragment and a grassland: ecosystems with inertial tendency toward recuperation and degradation, respectively. It was detected that exotic species used as anthropic pioneers strongly influenced regeneration: BM1 (75%), BM2 (85%), BM3 (55%), Forest (0%) and Grassland (50%). The highest similarity of species with forest regeneration (5%) was found for treatment BM3.

A Design Methodology for the Compensation of Positioning Deviation in Gantry Manipulators

This work presents recent results concerning a design methodology used to estimate the positioning deviation for a gantry (Cartesian) manipulator, related mainly to structural elastic deformation of components during operational conditions. The case-study manipulator is classified as gantry type and its basic dimensions are 1,53m x 0,97m x 1,38m. The dimensions used for the calculation of effective workspace due to end-effector path displacement are: 1m x 0,5m x 0,5m. The manipulator is composed by four basic modules defined as module X, module Y, module Z and terminal arm, where is connected the end-effector. Each module controlled axis performs a linear-parabolic positioning movement. The planning path algorithm has the maximum velocity and the total distance as input parameters for a given task. The acceleration and deceleration times are the same. Denavit-Hartemberg parameterization method is used in the manipulator kinematics model. The gantry manipulator can be modeled as four rigid bodies with three degrees-of-freedom in translational movements, connected as an open kinematics chain. Dynamic analysis were performed considering inertial parameters specification such as component mass, inertia and center of gravity position of each module. These parameters are essential for a correct manipulator dynamic modelling, due to multiple possibilities of motion and manipulation of objects with different masses. The dynamic analysis consists of a mathematical modelling of the static and dynamic interactions among the modules. The computation of the structural deformations uses the finite element method (FEM).

A Test Bed Applied Mobile Robot Navigation

It is presented a test bed applied to studies on dynamics, control, and navigation of mobile robots. A cargo ship scale model was chosen, which can be radio-controlled or operated autonomously through an embedded control system. A control program, which manages on board mission execution, is implemented on a microcontroller. Navigation is based on an electronic compass, which includes automatic compensation for pitch and roll motions. Heading control loop is based on this sensor, and on a rudder positioning system. A propulsion control system is also implemented. Typical manoeuvres as the turning test and "zig-zag", were implemented and tested. They are included on a manoeuvre library, and can be accessed independently or in combined modes. The embedded system is also in charge of signal acquisition and storing during the missions. It is possible to analyse experiments on identification of ship dynamics, control, and navigation, through the data transferred to a PC by serial communication. Navigation is going to be improved by including inertial sensors on board, and a DGPS. Preliminary tests are aimed to ship identification, and manoeuvrability, using free model tests. Future steps include extending this system for developing other mobile robots as, ROVs, AUVs, and aerial vehicles.

Mário Henrique Simonsen e a construção do conceito de inflação inercial

The paper analyzes the contributions of Mário Henrique Simonsen to the construction of the concept of inertial inflation and to its connected literature. Simonsen's curve, in which the idea of inertial inflation was implicit, is analyzed, alongside with the feedback model (modelo de realimentação) and it's shown how Simonsen built a model which considered inflationary inertia, neutralization possibilities and possible problems and costs of stabilization, anticipating many of the issued that guided the debate in the 1980s.