Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Application of MLP and Kohonen networks for recognition of wear patterns of single-point dressers

Grinding is a parts finishing process for advanced products and surfaces. However, continuous friction between the workpiece and the grinding wheel causes the latter to lose its sharpness, thus impairing the grinding results. This is when the dressing process is required, which consists of sharpening the worn grains of the grinding wheel. The dressing conditions strongly affect the performance of the grinding operation; hence, monitoring them throughout the process can increase its efficiency. The objective of this study was to estimate the wear of a single-point dresser using intelligent systems whose inputs were obtained by the digital processing of acoustic emission signals. Two intelligent systems, the multilayer perceptron and the Kohonen neural network, were compared in terms of their classifying ability. The harmonic content of the acoustic emission signal was found to be influenced by the condition of dresser, and when used to feed the neural networks it is possible to classify the condition of the tool under study.

Neural networks models for wear patterns recognition of single-point dresser

Grinding is a workpiece finishing process for advanced products and surfaces. However, the constant friction between workpiece and grinding wheel causes the latter to lose its sharpness, thereby impairing the result of the grinding process. When this occurs, the dressing process is essential to sharpen the worn grains of the grinding wheel. The dressing conditions strongly influence the performance of the grinding operation; hence, monitoring them throughout the process can increase its efficiency. The purpose of this study was to classify the wear condition of a single-point dresser using intelligent systems whose inputs were obtained by digitally processing acoustic emission signals. Two multilayer perceptron (MLP) neural networks were compared for their classification ability, one using the root mean square (RMS) statistics and another the ratio of power (ROP) statistics as input. In this study, it was found that the harmonic content of the acoustic emission signal is influenced by the condition of the dresser, and that the condition of the tool under study can be classified by using the aforementioned statistics to feed a neural network. © IFAC.

Classificação de níveis de desgaste de dressadores de ponta única utilizando sinais de emissão acústica e redes neurais artificiais

Pós-graduação em Engenharia Elétrica - FEB

Monitoramento da dressagem na retificação através do sinal puro de emissão acústica

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Investigação de novas ferramentas estatísticas e utilização de microcontrolador no monitoramento da queima na retificação plana tangencial

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Proposta de uma máquina para processo de abrasão baseado na combinação de algumas características da lapidação e retificação

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Monitoramento da dressagem do processo de retificação

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avanços no desenvolvimento de um processo de acabamento para peças planas submetidas à cinemática de lapidação sobre um rebolo dressado com grau de recobrimento

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Aplicação de redes neurais artificiais no monitoramento da operação de dressagem

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

In Vivo study of an intracanal dressing of calcium hydroxide/chlorhexidine in necrotic primary teeth

AIM:To evaluate the clinical and radiographic success of endodontic treatment in human primary teeth with necrotic pulp with and without radiographically visible furcal/periapical lesion treated with a calcium hydroxide (CH) and chlorhexidine (CHX) intracanal dressing. The tested hypothesis was that there is no difference in the clinical and radiographic success in primary teeth medicated with CH pastes prepared with polyethylene glycol (PEG) or CHX.METHODS:Thirty-two teeth with necrotic pulp were used in this randomized clinical study: 12 without and 20 with lesion. Canals were prepared and medicated with CH pastes with polyethylene glycol (CH/PEG) (n=16) or 2% CHX gel (CH/CHX) (n=16). Definitive filling was done after 30 days. The teeth were clinically and radiographically examined during 12 months to determine the success of the endodontic therapy. Data from clinical and radiographic examination of the initial condition and 12 months after treatment were compared using the Z test (α = 0.05).RESULTS:There was no significant difference (p>0.05) in the success rate of teeth with and without lesion medicated with CH/PEG or CH/CHX. No significant difference (p>0.05) was found between the pastes regardless of the presence of lesion.CONCLUSIONS:Combination of CHX and CH was not more effective than the CH/PEG paste, as similar clinical and radiographic success rate was observed in teeth medicated with either type of intracanal dressing.

Utilization of teflon and aluminum oxide for wheel cleaning in Minimum Quantity Lubrication (MQL) grinding

Researches concerning cooling-lubrication optimization in grinding have been conducted to contribute to a more sustainable process. An alternative to flood coolant is minimum quantity lubrication (MQL), which spray oil droplets in a compressed air jet. However, problems related to wheel cleaning were reported, due to wheel loading by a mixture of chips and oil, resulting in worsening of surface quality. This work aims to evaluate the viability of Teflon and aluminum oxide for wheel cleaning, compared to MQL without cleaning and MQL with cleaning by compressed air, through the following output variables: surface roughness, roundness, wheel wear, grinding power and acoustic emission. Vickers microhardness measurements and optical microscopy were also carried out. The results showed that both materials were efficient in cleaning the wheel, compared to MQL without cleaning, but not as satisfactory as compressed air. Much work is to be done in order to select the right material for wheel cleaning.

Desgaste de dressadores de ponta única fabricados com diamantes cvd nacionais

This study attempted to observe the performance of three types of diamonds, two natural and one synthetic, to determine which features longer life and greater wear than the others. The methodology employed in this study was to dressed an aluminum oxide grinding wheel, and every twenty paces with a advance of depth dressing of 40 µm per passes, take an image of the tip in a horizontal position and the other in the vertical position of this diamond in a stereoscopic. Thereafter, the dresser was replaced in the rectifier to conduct a new dressing. The criteria to completion of the test was the spark generated by the grinding wheel contact with the base of the dresser, which indicates the end of the contact with the diamond wheel. After the tests, was calculated the areas worn of each diamond in accordance with each image obtained through the aid of a graphics software. The data were then arranged in graphs.

Effect of Indomethacin on Surface Treatment and Intracanal Dressing of Replanted Teeth in Dogs

Purpose: This study evaluated the healing process of teeth replanted after root treatment and intracanal dressing with indomethacin alone or indomethacin with calcium hydroxide (Ca[OH](2)).Materials and Methods: Through a case-control study, 24 teeth of 6 adult dogs were extracted, dried, and divided into 4 groups according to the root surface treatment protocols performed before replantation and the intracanal medication used after replantation. In group 1 (negative control), root surfaces were treated by immersion in a 0.9% saline solution and then replanted. In the other groups, the roots were immersed for 10 minutes in Ca(OH)(2) (group 2), indomethacin (group 3), or a solution of indomethacin and Ca(OH)(2) (group 4). After 2 weeks, group 1 teeth were subjected to single-visit root canal treatment and obturation with gutta-percha and sealer consisting of zinc oxide and eugenol. The teeth in the other groups were subjected to intracanal dressing with the same material used for immersion. After an additional period of 28 weeks, the animals were euthanized and the jaws containing the replanted teeth were processed for histologic analysis. Histometric values were statistically analyzed, with significance set at a P value less than or equal to .05.Results: Group 1 exhibited significantly more normal periodontium than group 4 (P = .02). Total resorption was greater in group 4 than in group 1 (P = .02). No statistically significant difference in the percentage of surface resorption or in total inactive resorption was observed between the groups.Conclusions: The findings of this study suggest that intracanal dressing and topical root treatment with Ca(OH)(2) with or without indomethacin is not recommended for teeth dried for 50 minutes, but the use of indomethacin alone as root surface treatment for delayed tooth replantation deserves further study using longer drying periods. In addition, the present results suggest that a single-visit root canal, performed up to 2 weeks after replantation, might be indicated for teeth dried for up to 50 minutes. (C) 2014 American Association of Oral and Maxillofacial Surgeons

Cellular and Molecular Tissue Response to Triple Antibiotic Intracanal Dressing

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