Influência do desgaste das garras dos pneus e das condições superficiais do solo nas operações de campo de um trator agrícola

The objective of this work was to compare the performance of a tractor equipped with used and new bias-ply tires (63.4% and 41.2%, front and rear tire waste, respectively), in three surface conditions: tillage soil, vegetal covered soil and firm soil. Field data were collected to calculate: forward speed, front and rear slippage tires, drawbar pull, available power at drawbar bar and fuel consumption. Results showed that both, tires and soil conditions, changed tractor capacity on developing drawbar traction. The worst performance was observed on tillage soil. The best performance of the tractor was observed at firm soil track. On the track with tilled soil, results showed that the forward speed was the lowest among the three soil conditions due to the front and rear slippage tires which was higher than vegetal covered and firm soil tracks. Fuel consumption results showed higher values on tilled tracks when compared with firm and vegetal covered tracks. The fuel consumption levels evaluated on bias-ply tires lead to significant changes on tractor’s performance at tilled soil, indicating that, at this condition, it’s necessary to replace the used tires by new tires. For vegetal covered soil operations, and also on firm soil conditions, used tires, at studied levels, indicated that these tires might still be used without tractor performance changing.

Tractor PT: A traction prediction software for agricultural tractor

Traction prediction modelling, a key factor in farm tractor design, has been driven by the need to find the answer to this question without having to build physical prototypes. A wide range of theories and their respective algorithms can be used in such predictions. The “Tractors and Tillage” research team at the Polytechnic University of Madrid, which engages, among others, in traction prediction for farm tractors, has developed a series of programs based on the cone index as the parameter representative of the terrain. With the software introduced in the present paper, written in Visual Basic, slip can be predicted in two- and four-wheel drive tractors using any one of four models. It includes databases for tractors, front tyres, rear tyres and working conditions (soil cone index and drawbar pull exerted). The results can be exported in spreadsheet format.

Distributed active traction control system applied to the RoboCup middle size league

This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies in local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto robots and was used to control and detect loss of for traction. %and to detect the ball in the kicking device. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented.

Field oriented control of an axial flux permanent magnet synchronous motor for traction solutions

Electric Vehicles (EVs) are increasingly used nowadays, and different powertrain solutions can be adopted. This paper describes the control system of an axial flux Permanent Magnet Synchronous Motor (PMSM) for EVs powertrain. It is described the implemented Field Oriented Control (FOC) algorithm and the Space Vector Modulation (SVM) technique. Also, the mathematical model of the PMSM is presented. Both, simulation and experimental, results with different types of mechanical load are presented. The experimental results were obtained using a laboratory test bench. The obtained results are discussed.

OnBoard reconfigurable battery charger for electric vehicles with traction-to-auxiliary mode

This paper proposes a single-phase reconfigurable battery charger for Electric Vehicle (EV) that operates in three different modes: Grid-to-Vehicle (G2V) mode, in which the traction batteries are charged from the power grid; Vehicle-to-Grid (V2G) mode, in which the traction batteries deliver part of the stored energy back to the power grid; and in Traction-to-Auxiliary (T2A) mode, in which the auxiliary battery is charged from the traction batteries. When connected to the power grid, the battery charger works with sinusoidal current in the AC side, for both G2V and V2G modes, and also regulates the reactive power. When the EV is disconnected from the power grid, the control algorithms are modified and the full-bridge AC-DC bidirectional converter works as a full-bridge isolated DC-DC converter that is used to charge the auxiliary battery of the EV, avoiding the use of an additional charger to accomplish this task. To assess the behavior of the proposed reconfigurable battery charger under different operation scenarios, a 3.6 kW laboratory prototype has been developed and experimental results are presented.

Direct magnetic resonance arthrography of the wrist with axial traction: A feasibility study to assess joint cartilage.

PURPOSE: To assess the impact of axial traction during acquisition of direct magnetic resonance (MR) arthrography of the wrist with regard to joint space width and amount of contrast material between the opposing cartilage surfaces. MATERIALS AND METHODS: Fifteen consecutive patients (12 male, mean age 38.1 years) were included in this Institutional Review Board-approved prospective study. Three-compartment wrist MR arthrographies were performed between October and December 2009 on a 3 T unit using a fat-suppressed T1-weighted isotropic high-resolution volumetric interpolated breathhold examination (VIBE) sequence in the coronal plane, with and without axial traction (3 kg). Two radiologists measured radiocarpal (radioscaphoid, radiolunate) and midcarpal (lunocapitate, hamatolunate) joint space widths, with and without traction, and assessed the amount of contrast material between the opposing cartilage surfaces using a three-point scale: 0 = absence, 1 = partial, 2 = complete. RESULTS: With traction, joint space width increased significantly at the radioscaphoid (Delta = 0.78 mm, P < 0.01), radiolunate (Delta = 0.18 mm, P < 0.01), and lunocapitate (Delta = 0.45 mm, P < 0.01) spaces, and both observers detected significantly more contrast material between the cartilage surfaces. At the hamatolunate space, the differences in joint space width (Delta = 0.14 mm, P = 0.54) and amount of contrast material were not significant. CONCLUSION: Direct wrist MR arthrography with axial traction of 3 kg increases joint space width at the radiocarpal and lunocapitate spaces, and prompts better coverage of the articular cartilage by the contrast material. J. Magn. Reson. Imaging 2011;. (c) 2011 Wiley-Liss, Inc.

Direct MR arthrography of the shoulder under axial traction: Feasibility study to evaluate the superior labrum-biceps tendon complex and articular cartilage.

PURPOSE: To assess the value of adding axial traction to direct MR arthrography of the shoulder, in terms of subacromial and glenohumeral joint space widths, and coverage of the superior labrum-biceps tendon complex and articular cartilage by contrast material. MATERIALS AND METHODS: Twenty-one patients investigated by direct MR arthrography of the shoulder were prospectively included. Studies were performed with a 3 Tesla (T) unit and included a three-dimensional isotropic fat-suppressed T1-weighted gradient-recalled echo sequence, without and with axial traction (4 kg). Two radiologists independently measured the width of the subacromial, superior, and inferior glenohumeral joint spaces. They subsequently rated the amount of contrast material around the superior labrum-biceps tendon complex and between glenohumeral cartilage surfaces, using a three-point scale: 0 = no, 1 = partial, 2 = full. RESULTS: Under traction, the subacromial (Δ = 2.0 mm, P = 0.0003), superior (Δ = 0.7 mm, P = 0.0001) and inferior (Δ = 1.4 mm, P = 0.0006) glenohumeral joint space widths were all significantly increased, and both readers noted significantly more contrast material around the superior labrum-biceps tendon complex (P = 0.014), and between the superior (P = 0.001) and inferior (P = 0.025) glenohumeral cartilage surfaces. CONCLUSION: Direct MR arthrography of the shoulder under axial traction increases subacromial and glenohumeral joint space widths, and prompts better coverage of the superior labrum-biceps tendon complex and articular cartilage by contrast material. J. Magn. Reson. Imaging 2013;37:1228-1233. © 2012 Wiley Periodicals, Inc.

Direct magnetic resonance arthrography of the knee: utility of axial traction.

The purpose of this study was to determine the impact of axial traction during acquisition of direct magnetic resonance (MR) arthrography examination of the knee in terms of joint space width and amount of contrast material between the cartilage surfaces. Direct knee MR arthrography was performed in 11 patients on a 3-T MR imaging unit using a T1-weighted isotropic gradient echo sequence in a coronal plane with and without axial traction of 15 kg. Joint space widths were measured at the level of the medial and the lateral femorotibial joint with and without traction. The amount of contrast material in the medial and lateral femorotibial joint was assessed independently by two musculoskeletal radiologists in a semiquantitative manner using three grades ('absence of surface visualization, 'partial surface visualization or 'complete surface visualization'). With traction, joint space width increased significantly at the lateral femorotibial compartment (mean = 0.55 mm, p = 0.0105) and at the medial femorotibial compartment (mean = 0.4 mm, p = 0.0124). There was a trend towards an increased amount of contrast material in the femorotibial compartment with axial traction. Direct MR arthrography of the knee with axial traction showed a slight and significant increase of the width of the femorotibial compartment with a trend towards more contrast material between the articular cartilage surfaces.

Arthro-IRM du poignet à 3-T en traction axiale : impact sur la caractérisation des lésions ligamentaires.

Objectifs: Déterminer l'impact de la traction axiale en arthro-IRM du poignet sur la largeur des espaces interosseux et la caractérisation des lésions ligamentairesintrinsèques du carpe. Matériels et méthodes: Etude prospective incluant 34 patients entre septembre et décembre 2010. Arthro-IRM du poignet réalisées sur une machine 3-Tesla et incluant des séquencescoronales isotropiques haute résolution en pondération T1-VIBE avec suppression de graisse, sans et avec traction axiale (4kg). Lecture consensuelle par 2radiologues avec mesure des espaces scapho-lunaire, luno-triquétral et ulna-TFC, sans et avec traction. Evaluation semi-quantitative des déchiruresligamentaires: 0=absente, 1=partielle, 2=transfixiante avec moignon, 3=transfixiante sans moignon. Résultats: Augmentation significative, en traction axiale, des espaces interosseux scapho-lunaire (Delta=0.21mm, p=0.0016) et luno-triquétral (Delta=0.17mm, p=0.0002)ainsi que de l'espace ulna-TFC (Delta=0.17, p=0.0071). Meilleure caractérisation des lésions dans 5 cas, avec une amélioration significative pour la portioncentrale du ligament scapho-lunaire (p=0.0313). Conclusion: L'arthro-IRM du poignet à 3-Tesla en traction axiale augmente significativement la largeur des espaces scapho -lunaire, luno-triquétral et ulna-TFC et améliore lacaractérisation des lésions de la portion centrale du ligament scapho-lunaire.

Thrombin-induced contraction in alveolar epithelial cells probed by traction microscopy

Contractile tension of alveolar epithelial cells plays a major role in the force balance that regulates the structural integrity of the alveolar barrier. The aim of this work was to study thrombin-induced contractile forces of alveolar epithelial cells. A549 alveolar epithelial cells were challenged with thrombin, and time course of contractile forces was measured by traction microscopy. The cells exhibited basal contraction with total force magnitude 55.0 ± 12.0 nN (mean ± SE, n = 12). Traction forces were exerted predominantly at the cell periphery and pointed to the cell center. Thrombin (1 U/ml) induced a fast and sustained 2.5-fold increase in traction forces, which maintained peripheral and centripetal distribution. Actin fluorescent staining revealed F-actin polymerization and enhancement of peripheral actin rim. Disruption of actin cytoskeleton with cytochalasin D (5 µM, 30 min) and inhibition of myosin light chain kinase with ML-7 (10 µM, 30 min) and Rho kinase with Y-27632 (10 µM, 30 min) markedly depressed basal contractile tone and abolished thrombin-induced cell contraction. Therefore, the contractile response of alveolar epithelial cells to the inflammatory agonist thrombin was mediated by actin cytoskeleton remodeling and actomyosin activation through myosin light chain kinase and Rho kinase signaling pathways. Thrombin-induced contractile tension might further impair alveolar epithelial barrier integrity in the injured lung.