Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Análise da estabilidade do movimento rotacional de satélites artificiais com quatérnions e sob a influência de torques externos

The aim of this work is to analyze the stability of the rotational motion’s artificial satellite using the Routh Hurwitz Algorithm (CRH) and the quaternions to describe the satellite’s attitude. This algorithm allows the investigation of the stability of the motion using the coefficients of the characteristic equation associated with the equation of the rotational motion in the linear form. The equations of the rotational motion are given by the four cinematic equations for the quaternion and the three equations of Euler for the spin velocity’s components. In the Euler equations are included the components of the gravity gradient torque (TGG) and the solar radiation torque (TRS). The TGG is generated by the difference of the Earth gravity force direction and intensity actuating on each satellite mass element and it depends on the mass distribution and the form of the satellite. The TRS is created by changing of the linear momentum, which happens due to the interactions of solar photons with the satellite surface. The equilibrium points are gotten by the equation of rotational motion and the CRH is applied in the linear form of these equations. Simulations are developed for small and medium satellites, but the gotten equilibrium points are not stable by CRH. However, when some of the eigenvalues of the characteristic equation are analyzed, it is found some equilibrium points which can be pointed out as stables for an interval of the time, due to small magnitude of the real part of these eigenvalue

A Family of Stationary Solutions to the Euler Equations and Generalized Solutions

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Atenção temporal e análise da interferência da característica do estímulo na percepção

Attention is a phenomenon that allows the selection of relevant stimuli in order to prioritize them and improve their processing. This modulation could occur in any step of the process: in an early stage or in a late stage, more precisely, in a perceptive or motor stage. However, even with a rich literature about attention in time, there are still some divergences about how this modulation occurs. A hypothesis about it says that temporal attention would only be able to prepare the motor system to respond. The perceptual modulation would only occur when the temporal expectation is in combination with another expectation of a property with neuronal receptive field. In this situation, the receptive field's pre-activation is the explanation of how temporal attention would be capable to modulate perceptual process. The crucial objective was to test this hypothesis. In other words, it was to verify if the feature expectation of a stimulus (Gabor orientation) and its temporal expectancy interferes in perception quality. Two experiments were made: the first one tested the voluntary temporal expectation, and the second one tested the automatic temporal expectation. Our data shows that both Feature-based Attention and Temporal Attention improve the process of perception. Temporal expectation effects just occur in situations of competitive environment. Hypothesis verification was not conclusive, because of methodological problems

A característica universal de Leibniz: contextos, trajetórias e implicações

Pós-graduação em Educação Matemática - IGCE

Stability analysis of Crank-Nicolson and Euler schemes for time-dependent diffusion equations

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Solução das equações de Navier-Stokes e da equação de transporte por um método de elementos finitos estabilizado pela técnica de separação baseada na característica

Pós-graduação em Engenharia Mecânica - FEIS

Geração Y: característica de um novo ouvinte

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Estrutura populacional e parâmetros genéticos da característica classe de tempo em corridas de equinos da raça Quarto de Milha

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Lê–Greuel type formula for the Euler obstruction and applications

The Euler obstruction of a function f can be viewed as a generalization of the Milnor number for functions defined on singular spaces. In this work, using the Euler obstruction of a function, we establish several Lê–Greuel type formulas for germs f:(X,0)→(C,0) and g:(X,0)→(C,0). We give applications when g is a generic linear form and when f and g have isolated singularities.

Existence of solutions and asymtptotic limits of the Euler-Poisson and the quantum drift-diffusion systems

My work concerns two different systems of equations used in the mathematical modeling of semiconductors and plasmas: the Euler-Poisson system and the quantum drift-diffusion system. The first is given by the Euler equations for the conservation of mass and momentum, with a Poisson equation for the electrostatic potential. The second one takes into account the physical effects due to the smallness of the devices (quantum effects). It is a simple extension of the classical drift-diffusion model which consists of two continuity equations for the charge densities, with a Poisson equation for the electrostatic potential. Using an asymptotic expansion method, we study (in the steady-state case for a potential flow) the limit to zero of the three physical parameters which arise in the Euler-Poisson system: the electron mass, the relaxation time and the Debye length. For each limit, we prove the existence and uniqueness of profiles to the asymptotic expansion and some error estimates. For a vanishing electron mass or a vanishing relaxation time, this method gives us a new approach in the convergence of the Euler-Poisson system to the incompressible Euler equations. For a vanishing Debye length (also called quasineutral limit), we obtain a new approach in the existence of solutions when boundary layers can appear (i.e. when no compatibility condition is assumed). Moreover, using an iterative method, and a finite volume scheme or a penalized mixed finite volume scheme, we numerically show the smallness condition on the electron mass needed in the existence of solutions to the system, condition which has already been shown in the literature. In the quantum drift-diffusion model for the transient bipolar case in one-space dimension, we show, by using a time discretization and energy estimates, the existence of solutions (for a general doping profile). We also prove rigorously the quasineutral limit (for a vanishing doping profile). Finally, using a new time discretization and an algorithmic construction of entropies, we prove some regularity properties for the solutions of the equation obtained in the quasineutral limit (for a vanishing pressure). This new regularity permits us to prove the positivity of solutions to this equation for at least times large enough.

The Euler number of OGradys 10-dimensional symplectic manifold

Wir berechnen die Eulerzahl der 10-dimensionalen exzeptionellen irreduziblen symplektischen Mannigfaltigkeit, die von O Grady konstruiert wurde. Die Idee besteht darin, zunächst eine Lagrangefaserung zu konstruieren und dann die Eulerzahlen der Fasern zu berechnen. Es stellt sich heraus, dass fast alle Fasern die Eulerzahl 0 haben, und deswegen reduziert sich das Problem auf die Berechnung der Eulerzahlen der übrigen Fasern. Diese Fasern sind Modulräume von halbstabilen Garben auf singulären Kurven. Der Hauptteil dieser Dissertation ist der Berechnung der Eulerzahlen dieser Modulräume gewidmet. Diese Resultate sind von unabhängigem Interesse.