Análisis de estabilidad robusta para sistemas dinámicos con retardo

Tesis (Doctorado en Ingeniería Eléctrica) U.A.N.L.

Saturated Ceramides from the Sponge Dysidea robusta

Chemical investigation of the crude extract of a marine sponge Dysidea robusta led to the isolation of an inseparable mixture of saturated ceramides. These were identified from spectroscopic data as well as by hydrolysis followed by LC-MS analysis of the sphingosine moieties.

Pyrodysinoic Acid Derivatives from the Marine Sponge Dysidea robusta

Three new nitrogen-containing terpenes related to pyrodysinoic acid (1) have been isolated from the sponge Dysidea robusta collected in Brazil. Isopyrodysinoic acid (2), 13-hydroxyisopyrodysinoic acid (3), and pyrodysinoic acid B (4) were obtained from the crude extract of D. robusta and identified by analysis of spectroscopic data. Pyrodysinoic acid B (4) is the first furodysin or furodysinin sesquiterpene derivative with a trans junction between the two six-membered rings of the 1,2,3,4,4a,7,8,8a-octahydro-1,1,6-trimethylnaphthalene moiety.

Demanda por veículos novos no Brasil: uma análise robusta a quebras estruturais

O setor automotivo é bastante representativo na economia nacional, o que motivou a realização deste estudo sobre a demanda por veículos novos no Brasil. No presente trabalho, é abordado um modelo econométrico que permite calcular as elasticidades do preço, da renda e do crédito em relação à demanda por veículos, sob a luz da teoria da cointegração. Analisando-se o período de junho de 2000 a janeiro de 2014, verifica-se a ocorrência de três quebras estruturais. Estas quebras dividem o intervalo de tempo analisado em quatro subperíodos, cada um com uma dinâmica própria. A constatação deste fato, muitas vezes negligenciado na literatura científica prévia, é um dos principais resultados deste trabalho: afinal, conclusões bastante distintas seriam obtidas ao se considerar o período todo sem quebras. Vale também destacar que o crédito se mostrou relevante para a demanda em todos os subperíodos: acredita-se, portanto, ser efetiva a implementação de uma política de estímulo ao setor, por meio do incentivo ao crédito. Por último, comenta-se que, no passado recente, a cada 1% de redução no preço do automóvel, a demanda aumentou numa proporção 30% maior. Este resultado corrobora com a percepção de que a redução de impostos pode alavancar a venda de veículos.

Um sistema de visão para navegação robusta de uma plataforma robótica semi-autônoma

Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case)

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Efficacy of Duddingtonia flagrans and Arthrobotrys robusta in controlling sheep parasitic gastroenteritis

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

THE POPULATION STATUS OF THE ENDANGERED BRAZILIAN ENDEMIC LEAF-CUTTING ANT ATTA-ROBUSTA (HYMENOPTERA, FORMICIDAE)

The population status of the endemic leaf-cutting ant Atta robusta was assessed using extensive field surveys. In the coastal plain of the state of Rio de Janeiro, we found localized populations of A. robusta, bur no evidence of population recruitment. In disturbed habitats, A. robusta is apparently being displaced by Atta sexdens rubropilosa.

Genotoxicity of the medicinal plant Maytenus robusta in mammalian cells in vivo.

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

Estimación robusta de la fecundidad mediante el empleo de modelos de poblaciones estables

Incluye Bibliografía

Thermal behavior of coffee oil (Robusta and Arabica species)

Coffee seeds are a source for obtaining oil which is used in the candy, soluble coffee, and cosmetics industries. The main purpose of this study was the investigation of the lipid profile and thermal behavior of the roasted and in nature coffee oil of Arabica and Robusta species, using thermogravimetry, differential thermal analysis, derivative thermogravimetry, differential scanning calorimetry (DSC), and modulated DSC. Details concerning the thermal decomposition as well as data of the kinetic parameters have been described here. The kinetic studies were evaluated from several heating rates with a sample mass of 10 mg in open crucible under nitrogen atmospheres. The obtained data were evaluated with the isoconversional kinetic method, where the values of activation energy (Ea/kJ mol-1) were evaluated in function of the conversion degree (α). In addition, this oil was evaluated by modulated DSC from 25 to -60 °C, where the transition phase behavior was verified. © 2013 Akadémiai Kiadó, Budapest, Hungary.

Modelagem neutrosférica sobre a América do Sul baseada em PNT e assimilação de dados locais e robusta avaliação utilizando observações GNSS

Pós-graduação em Ciências Cartográficas - FCT

Detecção robusta de falhas através de filtros H ‘infinito': implementação prática em um helicóptero 3-DOF de bancada e em um servosistema

Pós-graduação em Engenharia Elétrica - FEIS

Eficácia dos fungos nematófagos Duddingtonia flagrans e Arthrootrys robusta na profilaxa das infecções naturais por nematódeos gastrointestinais em ovinos

Pós-graduação em Medicina Veterinária - FMVZ

AVALIAÇÃO ROBUSTA DA MODELAGEM NEUTROSFÉRICA SOBRE O TERRITÓRIO BRASILEIRO BASEADA EM MODELOS DE PREVISÃO NUMÉRICA DE TEMPO DA AMÉRICA DO SUL

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