Identificação em tempo real de modelo dinâmico de robô móvel com acionamento diferencial e zona morta

Several mobile robots show non-linear behavior, mainly due friction phenomena between the mechanical parts of the robot or between the robot and the ground. Linear models are efficient in some cases, but it is necessary take the robot non-linearity in consideration when precise displacement and positioning are desired. In this work a parametric model identification procedure for a mobile robot with differential drive that considers the dead-zone in the robot actuators is proposed. The method consists in dividing the system into Hammerstein systems and then uses the key-term separation principle to present the input-output relations which shows the parameters from both linear and non-linear blocks. The parameters are then simultaneously estimated through a recursive least squares algorithm. The results shows that is possible to identify the dead-zone thresholds together with the linear parameters

Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot

Método dinâmico aplicado para antenas cilíndricas

Nowadays there has been a major breakthrough in the aerospace area, with regard to rocket launches to research, experiments, telemetry system, remote sensing, radar system (tracking and monitoring), satellite communications system and insertion of satellites in orbit. This work aims at the application of a circular cylindrical microstrip antenna, ring type, and other cylindrical rectangular in structure of a rocket or missile to obtain telemetry data, operating in the range of 2 to 4 GHz, in S-band. Throughout this was developed just the theoretical analysis of the Transverse transmission line method which is a method of rigorous analysis in spectral domain, for use in rockets and missiles. This analyzes the spread in the direction "ρ" , transverse to dielectric interfaces "z" and "φ", for cylindrical coordinates, thus taking the general equations of electromagnetic fields in function of e [1]. It is worth mentioning that in order to obtain results, simulations and analysis of the structure under study was used HFSS program (High Frequency Structural Simulator) that uses the finite element method. With the theory developed computational resources were used to obtain the numerical calculations, using Fortran Power Station, Scilab and Wolfram Mathematica ®. The prototype was built using, as a substrate, the ULTRALAM ® 3850, of Rogers Corporation, and an aluminum plate as a cylindrical structure used to support. The agreement between the measured and simulated results validate the established processes. Conclusions and suggestions are presented for continuing this work

As Filhas do Arco-Íris, de Eulício Farias de Lacerda : mitos, lendas e contos populares como elementos estruturantes do romance

The corpus of this work constitutes an analysis the literary work As Filhas do Arco-Íris, by Eulício Farias de Lacerda, considering object of study myths, legends and popular stories as estruturant elements of the romance. The unchainment of this reading considers aspects of the oral tradition as starting point for the rupture tradition. In that perspective, it became fundamental to describe aspects of the popular culture that consolidated the Brazilian Literature during the 20th century. Like this, it was necessary to understand the development of oral elements and the structuring of the folk-tales, pointing out that As Filhas do Arco-Íris was built in a especial way with regionalist characteristics, following the parameters of the romances published among the years 1930 and 1950. In the researched work, it was noticed a narrative that gathers stories, legends, myths, proverbs and oral locutions. In this, it reveals that the Brazilian literary production grew in aesthetics and thematic. Like this, As Filhas do Arco-Íris is an exercise of the experience regionalist inserted in the contemporary novel, because even with your first publication in 1980, the narrative is configured to the molds of a Romance de 30

Monitoramento e avaliação da borracha natural crua utilizando a técnica de análise térmica dinâmico-mecânica

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

Avaliação de clones de borracha natural crua por ensaios padrão e análise dinâmico-mecânica

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

Experiência, memória e humor: representações sociais em as filhas do arco-íris e em primeiras estórias.

Este trabalho analisa relações da experiência, memória e humor e investiga representações da infância, da velhice, da loucura e do alcoolismo no romance As Filhas do Arco-Íris, de Eulício Farias de Lacerda e em contos de Primeiras Estórias, de Guimarães Rosa, destacando-se que meninos, velhos, cegos e loucos, mesmo marginalizados, podem ser encarados como atores sociais na formação das comunidades. Verifica-se que essas personagens constituem uma coletividade no sentido de evocar a representação de indivíduos. Também se procura examinar práticas literárias e culturais no âmbito do sistema literário brasileiro, com ênfase em regionalismos, oralidade e considerações sobre literatura e sociedade. É desse modo que se busca observar que as obras destacadas estão inseridas numa discussão moderna acerca do desenvolvimento sociocultural. Portanto, a preocupação desta pesquisa deriva da discussão moderna acerca do desenvolvimento social. Diante disso, observa-se nos textos de Guimarães Rosa e de Eulício Farias um tratamento narrativo em torno dessas personagens, enfatizando que as situações vividas por eles envolvem experiências que os levam a construir, em relação ao contexto social, aspectos de amadurecimento, rememoração, compartilhamento, encantamento, viagem ao desconhecido, movimentos históricos, alegrias e tristezas, sempre demonstrando uma sintonia com a temática da modernidade. Assim, as condições sociais são interpretadas para evidenciar e confrontar: discriminação, amizade, conflito, respeito, marginalização, memória social. Ainda são estabelecidas comparações entre personagens do romance As Filhas do Arco-Íris com as de alguns contos de Primeiras Estórias, salientando-se considerações sobre o narrador, as inter-relações, regionalismo e relações entre literatura, organização e processo social. Esta pesquisa tem por base o conceito de sistema literário consolidado idealizado por Antonio Candido e os postulados de estudiosos e teóricos como: Walter Benjamin, Jacqueline Held, Mikhail Bakhtin, Roland Barthes, Ana Paula Pacheco, Serge Moscovici, François Laplantine, Liane Trindade

Efeitos do treinamento de dupla tarefa no controle do equilíbrio dinâmico e estático de idosas pré-frágeis: um estudo piloto

The increasing world population of older individuals has become a subject of growing research for prevention and reversibility of the frailty because it is a major risk factor for the occurrence of falls, especially when it involves everyday situations of dual task. Some rehabilitation programs have already used the methods of dual-task with general exercises for improving gait and postural control, but has been reported that these interventions have little specificity with limited success to improve certain aspects of static and dynamic position during the performance of functional tasks. This study aimed to verify the measures of postural control in a group of elderly women with fragility phenotype after physical therapy intervention program based on dual-task treadmill training. We selected six pre-frail elderly subjects, with a minimum age of 65, female, living in the community and randomly assigned to two groups. The survey was conducted twice a week for 45 minutes, for four weeks. The simple task intervention consisted only in training on a treadmill and the dual task consisted of in treadmill training associated with visual stimuli. The assessments were made with the use of the Berg Balance Scale (BBS) and the Balance Master® computerized posturography, static and dynamically. The effects of retention were observed after one month, using the same instruments earlier used. The results showed a tendency toward improvement or maintenance of the balance after training on a treadmill, especially with respect to static equilibrium. Both groups showed the most notable changes in the variables related to gait, as the length and speed. The BBS scores and the baropodometric variables showed that the experimental group could keep all values similar or better even one month after completion of training unlike the control group. We concluded that the dual-task performance had no additional value in relation to the improvement of balance in general, but we observed that the effectiveness of visual stimulation occurred in the maintenance of short term balancevariables

Qualidade de vida, eficiência mastigatória e presença de disfunção temporomandibular em usuários de prótese parcial removível com arco dental curto inferior

Even nowadays there is in Brasil a large number of edentulous and a precarious financial condition of most of the population. In addition, World Health Organization aims for oral health, which consists on the maintenance of a natural dentition, functional and aesthetic composed of at least 20 teeth, without need of prosthetic intervention throughout life. From this and considering the lack of researches about the permanence of edentulous spaces in the oral cavity, and also avoiding overtreatment, this research has been proposed. Thus, the aim was to evaluate the effect of different lengths of the shortened lower dental arch in the presence or absence of a removable partial denture (RPD) on masticatory function, quality of life and occurrence of temporomandibular dysfunction. To achieve this goal, we compared the masticatory efficiency (colorimetric test), the oral comfort through the analysis of the impact of oral health in quality of life (OHIP-14), the presence of temporomandibular dysfunction (RDC/TMD) and the general quality of life (WHOQOL) of patients with shortened dental arches (SDA) (n=60), which is an arch with a reduction of teeth starting posteriorly, and patients with complete dental arch (Complete DA) (n = 34). The group of patients whit SDA was divided among PPR wears (PPD + SDA) (n = 17) and non-wears (n = 43). The population of this study consisted on patients who received or looked for treatment at the clinics of the Department of Dentistry of UFRN, from clinical analysis and records. The sample was chosen by convenience. For statistical analysis, it was a database in SPSS 17.0, followed by descriptive analysis with frequencies, absolute values, tests of central tendency and variability. The statistical tests used were chi-squared and analysis of variance as well as Tukey s post test, when applicable, all with a 95% confidence level. The results shown a prevalence of TMD of 47,1% among patients using PRP and 69,8% among those who didn t, but this result wasn t statistically significant. The mean of the results of masticatory efficiency, WHOQOL and OHIP didn t show association to the presence or absence of PPR and to the lower number of occlusal units of the patients (0, 1, 2 or more occlusal). The association only occurred among the different groups of SDA and the patients with complete dental arch. Taking into account the results, it could be observed that studied patients with low posterior support using lower PRP didn t have better masticatory efficiency, general quality of life, less impacts of their oral conditions in quality of life or not even less temporomandibular dysfunction or better masticatory efficiency when compared to those who didn t use the prosthesis

Caracterização do processo de gelificação de soluções quitosana utilizando reometria e espalhamento dinâmico da luz

Gels consist of soft materials with vast use in several activities, such as in pharmaceutical industry, food science, and coatings/textile applications. In order to obtain these materials, the process of gelification, that can be physical (based on physical interactions) and/or chemical (based on covalent crosslinking), has to be carried out. In this work we used dynamic light scattering (DLS) and rheometry to monitor the covalent gelification of chitosan solutions by glutaraldehyde. Intensity correlation function (ICF) data was obtained from DLS and the exponential stretched Kohrausch-William-Watts function (KWW) was fitted to them. The parameters of the KWW equation, β, Γ and C were evaluated. These methods were effective in clarifying the process of sol-gel transition, with the emergence of non-ergodicity, and determining the range of gelation observed in about 10-20 minutes. The dependence between apparent viscosity on reaction time was used to support the discussion proposed.

Caracterização de soluções de quitosana por espalhamento dinâmico de luz

Dynamic light scattering was used to monitor relaxation processes in chitosan solutions at concentrations within the semi-dilute and concentrated regimes, Kowhlrausch-Williams-Watts (KWW) equation being successfully fitted to intensity correlation function data. The dependence of KWW equation parameters on chitosan concentration indicated that an increase in concentration from semi-dilute to concentrated regimes resulted in narrowing the distribution of relaxation rates; temperature dependence indicated the relaxation process as described as an energy activated process, whose parameters were function of the interaction between chitosan chains (enthalpy of activation) and rigidity of chitosan conformations (pre-exponential factor)

Extensões ao Projeto LVWNet: mobilidade, interação com equipamentos reais, comunicação direta, e registro dinâmico de nós

Due to the constantly increasing use of wireless networks in domestic, business and industrial environments, new challenges have emerged. The prototyping of new protocols in these environments is typically restricted to simulation environments, where there is the need of double implementation, one in the simulation environment where an initial proof of concept is performed and the other one in a real environment. Also, if real environments are used, it is not trivial to create a testbed for high density wireless networks given the need to use various real equipment as well as attenuators and power reducers to try to reduce the physical space required to create these laboratories. In this context, LVWNet (Linux Virtual Wireless Network) project was originally designed to create completely virtual testbeds for IEEE 802.11 networks on the Linux operating system. This paper aims to extend the current project LVWNet, adding to it the features like the ability to interact with real wireless hardware, provides a initial mobility ability using the positioning of the nodes in a space coordinates environment based on meters, with loss calculations due to attenuation in free space, enables some scalability increase by creating an own protocol that allows the communication between nodes without an intermediate host and dynamic registration of nodes, allowing new nodes to be inserted into in already in operation network

Evolução da paisagem do baixo curso do rio de Piranhas-Assu (1988-2024): uso de autômatos celulares em modelo dinâmico espacial para simulação de cenários futuros

The lower course of Piranhas-Assu river, located in the north coast of Rio Grande do Norte, Brazil, arouses a keen interest as a study field, once it concentrates, besides petroleum and gas exploration, activities related to shrimp culture, salt and horticulture, factors that also deserve special attention. Thus, the awareness of the study field environmental stage demands studies from researchers and discernment from society, as a way of understanding the inter-relation between environment and men. Therefore, this work attempts at understanding and studying the dynamics of land use in the lower course of Piranhas-Assu river, through a multitemporal analysis of present and past, accomplishing future projections through simulation models. The work is divided in stages that include the research, analysis, interpretation of results, and the generation of simulation models, to analyze the landscape tendencies, making possible to identify indicators which cause such changes in the lower course of the river. From Geographical Database, the necessary exploratory analyses were accomplished to the following items: land use evolution, natural and environmental vulnerability, multiple geodiversity indexes, and preparation of the data to be used in the simulation model. Later, the construction of the landscape simulation model was conducted. Sequentially, simulations of future sceneries were accomplished through the execution of the model in a specific software environment. Last, the analyses of landscape tendencies in the study field were carried out. The lower course of Piranhas-Assu River didn't show any intense dynamics in landscape changing, once in the period taken into account (from 1988 to 2004) class stability proved to be superior to its transformations. Activities related to agriculture and livestock are the ones that influence, mostly, the landscape dynamics. The production of sea shrimp and petroleum also infers in the landscape, although in smaller proportion. INCRA s public policies excessively determined the dynamics of the landscape in the lower course of Piranhas-Assu River, RN. In respect to its natural vulnerability, the lower course of Piranhas-Assu River, RN, features more vulnerable than stable areas. The landscape simulation, in the first taken period (2004-2009), indicated considerable increases and decreases of antropic activities, if compared to its sequent periods (2009-2014, 2014-2019 and 2019-2024). The simulation, in a wider analysis, showed that the determining factors for the space mobility of antropic activities, in the focused area, are related to the pre-existence of communities with agricultural capability and to the existence of access routes and drainage. Considering the area that features fixed and mobile dunes, located in Porto do Mangue district, we recommend its conversion into a conservation area

Avaliação da inclinação dentoalveolar e dimensões do arco superior em mordidas cruzadas posteriores tratadas com aparelho expansor removível e fixo

OBJETIVO: avaliar as diferenças produzidas nas dimensões e forma de arco pelos tratamentos com aparelho expansor fixo tipo Hyrax e aparelho expansor removível tipo Placa de Hawley com parafuso expansor palatino centralizado. MATERIAL E MÉTODOS: foram selecionados modelos de estudo iniciais e finais de 31 crianças portadoras de mordida cruzada posterior, de ambos os gêneros, de origem étnica diversa e na fase da dentadura mista, tratadas nos cursos de Graduação e Pós-Graduação em Ortodontia do Departamento de Clínica Infantil da Faculdade de Odontologia de Araraquara - UNESP. Destas crianças, 15 foram tratadas com uso do aparelho expansor fixo tipo Hyrax e as demais 16 crianças foram tratados com expansão rápida da maxila efetuada com o aparelho expansor fixo. Foram realizadas medidas das distâncias intercaninos e intermolares, da inclinação do processo alveolar e inclinação dentária nas imagens escaneadas do arco superior e do contorno do palato, obtido com auxílio de um template ajustável e do programa de análises Radiocef Studio. RESULTADOS E CONCLUSÕES: os resultados indicam uma mudança significante nas distâncias intercaninos e intermolares em ambos os grupos e uma inclinação dentária e do processo alveolar para vestibular significante no grupo tratado com o aparelho expansor fixo. A expansão conseguida pelo aparelho expansor fixo foi aproximadamente o dobro da promovida pelo aparelho expansor removível.