Novel control, haptic and calibration methods for teleoperated electrohydraulic servo systems

The aim of this thesis is to propose a novel control method for teleoperated electrohydraulic servo systems that implements a reliable haptic sense between the human and manipulator interaction, and an ideal position control between the manipulator and the task environment interaction. The proposed method has the characteristics of a universal technique independent of the actual control algorithm and it can be applied with other suitable control methods as a real-time control strategy. The motivation to develop this control method is the necessity for a reliable real-time controller for teleoperated electrohydraulic servo systems that provides highly accurate position control based on joystick inputs with haptic capabilities. The contribution of the research is that the proposed control method combines a directed random search method and a real-time simulation to develop an intelligent controller in which each generation of parameters is tested on-line by the real-time simulator before being applied to the real process. The controller was evaluated on a hydraulic position servo system. The simulator of the hydraulic system was built based on Markov chain Monte Carlo (MCMC) method. A Particle Swarm Optimization algorithm combined with the foraging behavior of E. coli bacteria was utilized as the directed random search engine. The control strategy allows the operator to be plugged into the work environment dynamically and kinetically. This helps to ensure the system has haptic sense with high stability, without abstracting away the dynamics of the hydraulic system. The new control algorithm provides asymptotically exact tracking of both, the position and the contact force. In addition, this research proposes a novel method for re-calibration of multi-axis force/torque sensors. The method makes several improvements to traditional methods. It can be used without dismantling the sensor from its application and it requires smaller number of standard loads for calibration. It is also more cost efficient and faster in comparison to traditional calibration methods. The proposed method was developed in response to re-calibration issues with the force sensors utilized in teleoperated systems. The new approach aimed to avoid dismantling of the sensors from their applications for applying calibration. A major complication with many manipulators is the difficulty accessing them when they operate inside a non-accessible environment; especially if those environments are harsh; such as in radioactive areas. The proposed technique is based on design of experiment methodology. It has been successfully applied to different force/torque sensors and this research presents experimental validation of use of the calibration method with one of the force sensors which method has been applied to.

Self-directed learning, stress and the adult learner /

The purpose of this correlational study was to investigate the relationship between the degree of self-directed learning readiness and stress for level one nursing students and level two nursing students. One hundred female nursing students participated in the study who were attending an Ontario Community College. Data were collected from the main nursing campus and the satellite nursing campus using the random sample method. Instruments used were said to be valid and reliable for testing self-directed learning readiness and stress respectively. Data were analyzed using frequency response to each item, means and standard deviation, and the Pearson product correlation between selfdirected learning readiness and stress. The results of the study show that there is a difference in the relationship between the degree of self-directed learning readiness and stress between the level one nursing students and the level two nursing students. Such results will be of particular interest to nursing instructors and administrators when planning for delivery of programs to such students.

Huile de palme rouge au Burkina Faso: Qualité et consommation par les femmes de la zone de production et impact sur leur statut en vitamine A

Dans le cadre de la recherche d’appui à la phase III du projet huile de palme rouge (HPR) au Burkina Faso, une étude de base a porté sur 150 femmes de la zone de production échantillonnées par la méthode aléatoire géographique. Leur statut en vitamine A (VA) a été évalué par HPLC et leurs apports alimentaires par un questionnaire de fréquence de consommation. Les connaissances, les perceptions, les habitudes d’utilisation et de consommation de l’HPR ont été explorées par un questionnaire pré-testé administré au domicile des participantes. Une étude comparative sur la qualité nutritionnelle, physico-chimique, microbiologique et sensorielle de 13 échantillons d’HPR de différentes provenances a été également réalisée. La prévalence de faibles rétinolémies était de 10,7% et les apports en VA provenaient à 90% des aliments d’origine végétale. Seules 5,9% des femmes productrices présentaient une faible rétinolémie, comparativement à 20,8% des femmes non-productrices d’HPR. Les échantillons d’HPR présentaient un profil satisfaisant mais quelques-uns étaient limites au plan microbiologique. En outre, aucun échantillon ne se distinguait nettement selon tous les paramètres de qualité étudiés. Cette étude démontre que les aliments d’origine végétale riches en caroténoïdes provitaminiques A, dont l’HPR qui en est la meilleure source, peuvent permettre d’avoir un statut adéquat en VA. Les risques de contamination de l’HPR au stade de la vente au détail impliquent une sensibilisation et une formation aux pratiques exemplaires de manipulation. Mots clés : Huile de palme rouge, vitamine A, diversification alimentaire, qualité, Burkina Faso.

Population characteristics and taxonomy of lantern fishes of genus Diaphus (Family Myctophidae) off south west coast of India

Globally most of the conventional fish stocks have reached a state of optimum exploitation or even over-exploitation; efficient utilization of non-conventional resources is necessary to meet the supply-demand gap for protein supply. Mesopelagic fishes can be considered as one such promising resource for the future, if appropriate harvest and post-harvest technologies are developed. Increasing human population and increasing demand for cheaper food fishes has made myctophids a possible potential resource for future exploitation and utilization. Earlier studies indicated the abundance of Diaphus spp. in the eastern and northeastern Arabian Sea. The present study also indicates the dominance of Diaphus spp. in the deep sea trawling grounds of south west coast of India. Commercial viability of the myctophid fishing in the Indian waters has to be worked out. The present catch estimation is based on the Stratified Random Sampling Method from the landing data. As the coverage of sampling area was limited and the gear efficiency was not standardized, the data generated are not precise. A counter check for the estimates is also not possible due to the absence of comparable works in the study area. Fish biomass estimation by acoustics survey coupled with direct fishing would only confirm the accuracy of estimates. Exploratory surveys for new fishing areas to be continued, for gathering the distribution, abundance, biological and ecological data and map the potential fishing ground on a GIS platform and the data should be provided to the commercial entrepreneurs. Generally non-conventional and non-targeted resources are under low fishing pressure and exploitation rates. Low values of fishing mortality and exploitation rates indicate that removal from the stock by fishing was only nominal from the present fishing grounds. The results indicate that the stock is almost at virgin state and remains grossly underexploited. Since the extent of distribution and abundance of the stock in the ecosystem remains to be ascertained, sustainable yield could not be estimated. Also the impact of myctophids harvest, on other commercially important fishes, has to be studied.

Factors influencing the success of animal husbandry cooperatives: A case study in Southwest Iran

This survey study aimed at identifying the factors influencing the success of animal husbandry cooperatives in Southwest Iran. Using a questionnaire, the data were collected from 95 managing directors of the cooperatives who were chosen through a multi-stage stratified random sampling method. This study showed an essential need for a systemic framework to analyze the cooperatives’ success. The results showed that the “Honey Bee”, “Cattle (dairy)”, and “Lamb” cooperatives were the most successful among different kinds of the cooperatives. Also, among individual attributes, “interest”, “technical knowledge”, and “understanding the concept of cooperative”; among economic variables, “income” and “current investment”; and among external factors, “market access” have significant correlation with the success while structural variables have no significant relation. Furthermore, among all the factors, four variables (“interest”, “understanding the concept of cooperative”, “market access”, and “other incomes”) can explain the variations of the success.

Prognozowanie stężeń pyłku leszczyny, olszy i brzozy w powietrzu atmosferycznym na obszarze Polski

Wydział Nauk Geograficznych i Geologicznych: Instytut Geoekologii i Geoinformacji

The automatic layout model in the sequencing of construction activities of multi-objective diaphragm wall unit by using self-learning neural network

Foundation construction process has been an important key point in a successful construction engineering. The frequency of using diaphragm wall construction method among many deep excavation construction methods in Taiwan is the highest in the world. The traditional view of managing diaphragm wall unit in the sequencing of construction activities is to establish each phase of the sequencing of construction activities by heuristics. However, it conflicts final phase of engineering construction with unit construction and effects planning construction time. In order to avoid this kind of situation, we use management of science in the study of diaphragm wall unit construction to formulate multi-objective combinational optimization problem. Because the characteristic (belong to NP-Complete problem) of problem mathematic model is multi-objective and combining explosive, it is advised that using the 2-type Self-Learning Neural Network (SLNN) to solve the N=12, 24, 36 of diaphragm wall unit in the sequencing of construction activities program problem. In order to compare the liability of the results, this study will use random researching method in comparison with the SLNN. It is found that the testing result of SLNN is superior to random researching method in whether solution-quality or Solving-efficiency.

Simulação numérica da interação entre uma nuvem incidente de vórtices e uma aerofólio através do método dos vórtices

The study of aerodynamic loading variations has many engineering applications, including helicopter rotor blades, wind turbines and turbo machinery. This work uses a Vortex Method to make a lagrangian description of the a twodimensional airfoil/ incident wake vortex interaction. The flow is incompressible, newtonian, homogeneus and the Reynolds Number is 5x105 .The airfoil is a NACA 0018 placed a angle of attack of the 0° and 5°simulates with the Painel Method with a constant density vorticity panels and a generation poit is near the painel. The protector layer is created does not permit vortex inside the body. The vortex Lamb convection is realized with the Euler Method (first order) and Adans-Bashforth (second order). The Random Walk Method is used to simulate the diffusion. The circular wake has 366 vortex all over positive or negative vorticity located at different heights with respect to the airfoil chord. The Lift was calculated based in the algorithm created by Ricci (2002). This simulation uses a ready algorithm vatidated with single body does not have a incident wake. The results are compared with a experimental work The comparasion concludes that the experimental results has a good agrement with this papper

A quantitative and qualitative evaluation of reports of clinical trials published in six Brazilian dental journals indexed in the Scientific Electronic Library Online (SciELO)

Introduction: Open access publishing is becoming increasingly popular within the biomedical sciences. SciELO, the Scientific Electronic Library Online, is a digital library covering a selected collection of Brazilian scientific journals many of which provide open access to full-text articles. This library includes a number of dental journals some of which may include reports of clinical trials in English, Portuguese and/or Spanish. Thus, SciELO could play an important role as a source of evidence for dental healthcare interventions especially if it yields a sizeable number of high quality reports. Objective: The aim of this study was to identify reports of clinical trials by handsearching of dental journals that are accessible through SciELO, and to assess the overall quality of these reports. Material and methods: Electronic versions of six Brazilian dental Journals indexed in SciELO were handsearched at www.scielo.br in September 2008. Reports of clinical trials were identified and classified as controlled clinical trials (CCTs - prospective, experimental studies comparing 2 or more healthcare interventions in human beings) or randomized controlled trials (RCTs - a random allocation method is clearly reported), according to Cochrane eligibility criteria. Criteria to assess methodological quality included: method of randomization, concealment of treatment allocation, blinded outcome assessment, handling of withdrawals and losses and whether an intention-to-treat analysis had been carried out. Results: The search retrieved 33 CCTs and 43 RCTs. A majority of the reports provided no description of either the method of randomization (75.3%) or concealment of the allocation sequence (84.2%). Participants and outcome assessors were reported as blinded in only 31.2% of the reports. Withdrawals and losses were only clearly described in 6.5% of the reports and none mentioned an intention-to-treat analysis or any similar procedure. Conclusions: The results of this study indicate that a substantial number of reports of trials and systematic reviews are available in the dental journals listed in SciELO, and that these could provide valuable evidence for clinical decision making. However, it is clear that the quality of a number of these reports is of some concern and that improvement in the conduct and reporting of these trials could be achieved if authors adhered to internationally accepted guidelines, e. g. the CONSORT statement.

Controle ativo de vibrações e localização ótima de sensores e atuadores piezelétricos

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

Composição de amostra representativa de solo fertilizado com lodo de esgoto

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Expectativas de jovens que vivem em assentamento: um estudo sobre a tríade trabalho-educação-família

O presente estudo procurou compreender as expectativas de jovens que vivem no assentamento Luiz Lopes Sobrinho, localizado no Município de São Francisco do Pará. É uma pesquisa caracterizada como quantitativa e qualitativa, uma vez que os dados tiveram tratamento estatístico e interpretativo com base na análise de conteúdo. O Método Probabilístico Aleatório Estratificado foi utilizado para a seleção da amostra. Os instrumentos de coleta de dados foram os seguintes: observação direta e entrevista por meio de formulário e de roteiro. O corpus da pesquisa se constituiu no discurso de trinta jovens do gênero masculino ou feminino, na faixa etária de 15 a 24 anos e inseridos em uma família de origem ou de reprodução. As aproximações conclusivas revelaram que a produção da juventude desse assentamento, em geral, nutre expectativas de exercer atividades distintas da agropecuária, com a finalidade de melhorar sua condição de ida; deseja transmitir valores e regras sociais, objetivando dar continuidade aos saberes adquiridos na família de origem; espera conseguir um trabalho/emprego/formação profissional, buscando um sentido a própria existência, bem como quer constituir família, ter uma (um) companheira (o) e filhos com a finalidade de reproduzir o modelo de família vigente. Essas esperanças, em seu conjunto, reportam para a esfera de políticas que possibilitem desenvolvimento rural.

Studying the influence of a secondary variable in Collocated Cokriging estimates

In this paper the influence of a secondary variable as a function of the correlation with the primary variable for collocated cokriging is examined. For this study five exhaustive data sets were generated in computer, from which samples with 60 and 104 data points were drawn using the stratified random sampling method. These exhaustive data sets were generated departing from a pair of primary and secondary variables showing a good correlation. Then successive sets were generated by adding an amount of white noise in such a way that the correlation gets poorer. Using these samples, it was possible to find out how primary and secondary information is used to estimate an unsampled location according to the correlation level.

Actividad física, sedentarismo frente a pantallas y su relación en adolescentes

Programa de Doctorado: Actividad Física, Salud y Rendimiento Deportivo

Assessing visual disturbance conditions on the Custer National Forest

Assessment of soil disturbance on the Custer National Forest was conducted during two summers to determine if the U.S. Forest Service Forest Soil Disturbance Monitoring Protocol (FSDMP) was able to distinguish post-harvest soil conditions in a chronological sequence of sites harvested using different ground-based logging systems. Results from the first year of sampling suggested that the FSDMP point sampling method may not be sensitive enough to measure post-harvest disturbance in stands with low levels of disturbance. Therefore, a revised random transect method was used during the second sampling season to determine the actual extent of soil disturbance in these cutting units. Using combined data collected from both summers I detected statistically significant differences (p < 0.05) in fine fraction bulk density measurements between FSDMP disturbance classes across all sites. Disturbance class 3 (most severe) had the highest reported bulk density, which suggest that the FSDMP visual class estimates are defined adequately allowing for correlations to be made between visual disturbance and actual soil physical characteristics. Forest site productivity can be defined by its ability to retain carbon and convert it to above- and belowground biomass. However, forest management activities that alter basic site characteristics have the potential to alter productivity. Soil compaction is one critical management impact that is important to understand; compaction has been shown to impede the root growth potential of plants, reduce water infiltration rates increasing erosion potential, and alter plant available water and nutrients, depending on soil texture. A new method to assess ground cover, erosion, and other soil disturbances was recently published by the U.S. Forest Service, as the Forest Soil Disturbance Protocol (FSDMP). The FSDMP allows soil scientists to visually assign a disturbance class estimate (0 – none, 1, 2, 3 – severe) from field measures of consistently defined soil disturbance indicators (erosion, fire, rutting, compaction, and platy/massive/puddled structure) in small circular (15 cm) plots to compare soil quality properties pre- and post- harvest condition. Using this protocol we were able to determine that ground-based timber harvesting activities occurring on the Custer National Forest are not reaching the 15% maximum threshold for detrimental soil disturbance outlined by the Region 1 Soil Quality Standards.