Discriminação de fitofisionomias de floresta de várzea a partir do algoritmo Iterated Conditional Modes aplicado aos dados SAR/R99 (QUAD-POL/Banda L)

Utilizando-se dados do sensor aerotransportado SAR R99, adquiridos na banda L (1,28 GHz) em amplitude e com quatro polarizações (HH, VV, HV e VH), avaliou-se a distinção de fitofisionomias de floresta de várzea existentes nas Reservas de Desenvolvimento Sustentável Amanã e Mamirauá e áreas adjacentes, com a aplicação do algoritmo Iterated Conditional Modes (ICM) de classificação polarimétrica pontual/contextual. Os resultados mostraram que o uso das distribuições multivariadas em amplitude, conjuntamente com uma banda de textura, produziu classificações de qualidade superior àquelas obtidas com dados polarimétricos uni/bivariados. Esta abordagem permitiu a obtenção de um índice Kappa de 0,8963, discriminando as três classes vegetacionais de interesse, comprovando assim o potencial dos dados do SAR R99 e do algoritmo ICM no mapeamento de florestas de várzea da Amazônia.

Water distribuition characteristics and soil loss of LEPA Quad-Spray emitter nozzles

The objective of this study was to characterize water application rate, water application pattern width, flow rate, water distribution uniformity and soil loss caused by nozzles of the Low Energy Precision Aplication (LEPA) type Quad-Spray emitter. The study was carried out at the Hydraulic and Irrigation Laboratory of the Department of Engineering at the Federal University of Lavras, in Lavras, state of Minas Gerais - MG, Brazil. Twenty-two (22) LEPA Quad-Spray emitter nozzles were evaluated, with nozzle diameter ranging from 1.59 to 9.92 mm. The experimental design used was entirely randomized, with three replications.Increasing values of nozzle flow rate ranging from 77.44 up to 3,044 L h-1, were obtained with increasing nozzle diameter sizes. Application pattern width ranged from 0.56 up to 3.24m, according to nozzles diameter size. Low values of CDU (maximum of 35.73%) were observed when using the Quad-Spray nozzles. Observed average water application rates covered the range between 68.05 mm h-1 (the lowest value that was obtained with the 2.38mm nozzle) and 258.15 mm h-1 (the highest value that was observed with the 9.92 mm). Average water application rates increased in a simple non-linear function with the increase of nozzle size diameter. However, the weighted average increase in the amount of soil loss by erosion was not related to the increase of weighted average water application values.

Accuracy of modelling and identification of malfunctions in rotor systems: experimental results

The accuracy of modelling of rotor systems composed of rotors, oil film bearings and a flexible foundation, is evaluated and discussed in this paper. The model validation of different models has been done by comparing experimental results with numerical results by means. The experimental data have been obtained with a fully instrumented four oil film bearing, two shafts test rig. The fault models are then used in the frame of a model based malfunction identification procedure, based on a least square fitting approach applied in the frequency domain. The capability of distinguishing different malfunctions has been investigated, even if they can create similar effects (such as unbalance, rotor bow, coupling misalignment and others) from shaft vibrations measured in correspondence of the bearings.

Robots, intencionalidade e inteligência artificial

O artigo aborda problemas filosóficos relativos à natureza da intencionalidade e da representação mental. A primeira parte apresenta um breve histórico dos problemas, percorrendo rapidamente alguns episódios da filosofia clássica e da filosofia contemporânea. A segunda parte examina o Chinese Room Argument (Argumento do Quarto do Chinês) formulado por J. Searle. A terceira parte desenvolve alguns argumentos visando mostrar a inadequação do modelo funcionalista de mente na construção de robots. A conclusão (quarta parte) aponta algumas alternativas ao modelo funcionalista tradicional, como, por exemplo, o conexionismo.

Desempenho de uma bomba d'água acionada por correnteza de rios

Uma bomba d'água acionada por correntezas de rios mediante um rotor Savonius sub-merso foi. testada. Depois de um ano de uso contínuo a bomba ainda estava em funcionamen to. Porém, certas modificações foram concebidas para diminuir os desgastes dos componen tes. Novos desenhos e uma nova lista de materiais são apresentados. Um gráfico da vazão diária da bomba em função da velocidade da correnteza, mostrou que com correntezas de 0,5 até 1,1 m.s-1 a vazão (y litros/dia) depende Linearmente da corrente ( x m.s-1), sabendo-se a altura (a metros) do bombeamento segundo a equação:y = 7692 x - 1250 - 500 a/3A bomba é considerada prática, econômica, com uma vida útil adequada. Contudo a evolução da tecnologia é limitada pelo fiato de que o rotor fica consideravelmente mais caro quando não se usa um camburão de Óleo para a sua costrução.

Caracterização de uso e cobertura da terra na Amazônia utilizando imagens duais multitemporais do COSMO-SkyMed

A utilização de imagens de radar é fonte alternativa de informações para subsidiar o monitoramento da região amazônica, visto que as imagens ópticas têm limitações de imageamento em zonas tropicais face a ocorrência de nuvens. Por conseguinte este trabalho teve como objetivo analisar a capacidade das imagens-radar de banda X multitemporais e polarizadas obtidas pelo satélite COSMO-SkyMed (COnstellation of small Satellites for Mediterranean basin Observation), no modo intensidade, isoladamente e agregados às informações texturais, na caracterização temática de uso e cobertura da terra no município de Humaitá/AM. A metodologia empregada consistiu da: análise das imagens duais obtidas em duas aquisições subsequentes, de forma a explorar a potencialidade do conjunto de dados na forma quad-pol intensidade; extração dos atributos texturais a partir da matriz de coocorrência (Gray Level Co-occurrence Matrix) e posterior classificação contextual; avaliação estatística de desempenho temático das imagens intensidade e texturais, isoladas e em grupos polarizados. Dentre os vários resultados alcançados, foi verificado que o grupo formado somente pelas imagens intensidade apresentou o melhor desempenho, comparado àqueles contendo os atributos texturais. Nesta separabilidade, estavam envolvidas as classes de floresta, floresta aluvial, reflorestamento, savana, pasto e queimada, obtendo-se 66% de acurácia total e valor Kappa de 0,55. Os resultados mostraram que as imagens de banda X do COSMO-SkyMed, modo StripMap (Ping-Pong), multipolarizadas, têm potencial moderado para a caracterização e monitoramento da dinâmica de uso e cobertura da terra na Amazônia brasileira.

Análise dos ciclos de tensões em colhedoras de forragens

O estudo das tensões em colhedoras de forragens é imprescindível, uma vez que as condições de operação são muito variáveis e severas. Utilizou-se um sistema "datalogger" devidamente calibrado para medir as tensões, em função do tempo, numa colhedora de forragem. Foram desenvolvidos modelos matemáticos para obter a variação periódica dessas tensões, considerando-se a influência da roda de apoio e da velocidade angular do rotor de corte. O ajuste dos modelos foi verificado pelo coeficiente de determinação (R²). A variação periódica das tensões, em função do tempo, para os valores experimentais e teóricos, foi representada graficamente, utilizando-se da planilha eletrônica EXCEL. Observou-se que as menores amplitudes de tensões e os maiores períodos do ciclo corresponderam aos tratamentos que utilizaram a roda de apoio. A análise estatística mostrou que a velocidade angular do rotor de corte apresentou diferença significativa, conforme o Teste de Tukey, para 5%. Com base nos resultados obtidos, concluiu-se que os ciclos de tensões em colhedoras de forragens podem ser representados com bom ajuste por funções senoidais e que o uso da roda de apoio pode aumentar o tempo de serviço da colhedora.

Qualidade de sementes de soja em função do horário de colheita e do sistema de trilha de fluxo radial e axial

O trabalho objetivou avaliar dois tipos de colhedoras, de fluxo radial e axial, em relação à qualidade física e fisiológica de sementes de duas cultivares de soja, BRS 184 e BRS 133, colhidas em dois horários, às 10 e 18 horas. A colhedora de fluxo radial trabalhou a 5,0 km h-1 , com o cilindro batedor a 750 rotações por minuto (rpm). A colhedora de fluxo axial trabalhou a 8,0 km h-1, e rotor com 650 rpm. Para a avaliação da qualidade física e fisiológica das sementes, foram realizados testes de germinação, envelhecimento acelerado, tetrazólio, dano mecânico (hipoclorito), umidade de campo e laboratório, sementes quebradas (bandinha) e pureza. A colheita realizada às 18 horas, com grau de umidade menor que 12%, ocasionou maiores danos mecânicos nas sementes da cultivar BRS 184. A colhedora de sistema de fluxo axial resultou em sementes de melhor qualidade fisiológica para a cultivar BRS 184, e em menores percentuais de sementes quebradas e maior pureza para ambas as cultivares, comparativamente à colhedora de sistema de trilha com fluxo radial.

Design and development of the architecture of an agricultural mobile robot

Parameters such as tolerance, scale and agility utilized in data sampling for using in Precision Agriculture required an expressive number of researches and development of techniques and instruments for automation. It is highlighted the employment of methodologies in remote sensing used in coupled to a Geographic Information System (GIS), adapted or developed for agricultural use. Aiming this, the application of Agricultural Mobile Robots is a strong tendency, mainly in the European Union, the USA and Japan. In Brazil, researches are necessary for the development of robotics platforms, serving as a basis for semi-autonomous and autonomous navigation systems. The aim of this work is to describe the project of an experimental platform for data acquisition in field for the study of the spatial variability and development of agricultural robotics technologies to operate in agricultural environments. The proposal is based on a systematization of scientific work to choose the design parameters utilized for the construction of the model. The kinematic study of the mechanical structure was made by the virtual prototyping process, based on modeling and simulating of the tension applied in frame, using the.

Modeling, optimizing and simulating robot calibration with accuracy improvement

This work describes techniques for modeling, optimizing and simulating calibration processes of robots using off-line programming. The identification of geometric parameters of the nominal kinematic model is optimized using techniques of numerical optimization of the mathematical model. The simulation of the actual robot and the measurement system is achieved by introducing random errors representing their physical behavior and its statistical repeatability. An evaluation of the corrected nominal kinematic model brings about a clear perception of the influence of distinct variables involved in the process for a suitable planning, and indicates a considerable accuracy improvement when the optimized model is compared to the non-optimized one.

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.

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.

Variable structure position control of an industrial robotic manipulator

The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first from a theoretical perspective and then applied to the control of a two degree-of-freedom manipulator. Simulation results that backed the implementation are presented, followed by the experiments conducted and the results that were obtained. The conclusion is that variable structure control is readily applicable to industrial robots for the robust control of positions.

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 validation of a 3-D vision-based measurement system applied to robot calibration

One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations.