三维蛇形机器人巡视者Ⅱ的开发

蛇形机器人具有比传统移动机器人更强的运动能力,为实现机器人的三维运动而开发的蛇形机器人巡视者II是一个具有强驱动力和高机动性的三维蛇形机器人。它由具有3自由度的模块化单元组成,该单元具有俯仰、偏航和回转3自由度,单元的俯仰和偏航运动是通过由3个伞齿轮组成的差速机构耦合驱动。该单元的圆柱形外壳周围安装有一系列的被动轮来增加机器人运动灵活性。对蛇形机器人模块单元的自由度作了详细分析,并基于机器人的运动机动性设计三维蛇形机器人的单元结构。给出蛇形机器人的控制系统结构,并对耦合变量进行解耦。将蛇形机器人的蜿蜒运动和扭转运动两种基本步伐应用到巡视者II上,试验结果证明了该三维蛇形机器人具有很强的机动性和运动能力。

新型托辊切管机控制系统设计

文章介绍了一种新型托辊切管机控制系统的设计,对该系统的硬件组态及控制功能作了主要描述。该机床是托辊自动化加工装配线上的一台机电一体化自动加工设备,其主要功能是对托辊装配所需原料管进行定尺切断,并在整个加工过程中自动上下料。整个机床控制系统主要由SIEMENS Simotion D运动控制系统、触摸屏TP177B、远程输入输出模块ET200M等组成。

Sedimentology and Geochemistry of core sediments from the Ashtamudi estuary and the adjoining coastal plain,central Kerala,India

The evolution of coast through geological time scale is dependent on the transgression-regression event subsequent to the rise or fall of sea level. This event is accounted by investigation of the vertical sediment deposition patterns and their interrelationship for paleo-enviornmental reconstruction. Different methods like sedimentological (grain size and micro-morphological) and geochemical (elemental relationship) analyses as well as radiocarbon dating are generally used to decipher the sea level changes and paleoclimatic conditions of the Quaternary sediment sequence. For the Indian coast with a coastline length of about 7500 km, studies on geological and geomorphological signatures of sea level changes during the Quaternary were reported in general by researchers during the last two decades. However, for the southwest coast of India particularily Kerala which is famous for its coastal landforms comprising of estuaries, lagoons, backwaters, coastal plains, cliffs and barrier beaches, studies pertaining to the marine transgression-regression events in the southern region are limited. The Neendakara-Kayamkulam coastal stretch in central Kerala where the coast is manifested with shore parallel Kayamkulam Lagoon on one side and shore perpendicular Ashtamudi Estuary on the other side indicating existence of an uplifted prograded coastal margin followed by barrier beaches, backwater channels, ridge and runnel topography is an ideal site for studying such events. Hence the present study has been taken up in this context to address the gap area. The location for collection of core samples representing coastal plain, estuarylagoon and offshore regions have been identified based on published literature and available sedimentary records. The objectives of the research work are:  To study the lithological variations and depositional environments of sediment cores along the coastal plain, estuary-lagoon and offshore regions between Kollam and Kayamkulam in the central Kerala coast  To study the transportation and diagenetic history of sediments in the area  To investigate the geochemical characterization of sediments and to elucidate the source-sink relationship  To understand the marine transgression-regression events and to propose a conceptual model for the region The thesis comprises of 8 chapters. The first chapter embodies the preamble for the selection and significance of this research work. The study area is introduced with details on its physiographical, geological, geomorphological, rainfall and climate information. A review of literature, compiling the research on different aspects such as physico-chemical, geomorphological, tectonics, transgression-regression events are presented in the second chapter and they are broadly classified into three viz:- International, National and Kerala. The field data collection and laboratory analyses adopted in the research work are discussed in the third chapter. For collection of sediment core samples from the coastal plains, rotary drilling method was employed whereas for the estuary-lagoon and offshore locations the gravity/piston corer method was adopted. The collected subsurficial samples were analysed for texture, surface micro-texture, elemental analysis, XRD and radiocarbon dating techniques for age determination. The fourth chapter deals with the textural analysis of the core samples collected from various predefined locations of the study area. The result reveals that the Ashtamudi Estuary is composed of silty clay to clayey type of sediments whereas offshore cores are carpeted with silty clay to relict sand. Investigation of the source of sediments deposited in the coastal plain located on either side of the estuary indicates the dominance of terrigenous to marine origin in the southern region whereas it is predominantly of marine origin towards the north. Further the hydrodynamic conditions as well as the depositional enviornment of the sediment cores are elucidated based on statistical parameters that decipher the deposition pattern at various locations viz., coastal plain (open to closed basin), Ashtamudi Estuary (partially open to restricted estuary to closed basin) and offshore (open channel). The intensity of clay minerals is also discussed. From the results of radiocarbon dating the sediment depositional environments were deciphered.The results of the microtextural study of sediment samples (quartz grains) using Scanning Electron Microscope (SEM) are presented in the fifth chapter. These results throw light on the processes of transport and diagenetic history of the detrital sediments. Based on the lithological variations, selected quartz grains of different environments were also analysed. The study indicates that the southern coastal plain sediments were transported and deposited mechanically under fluvial environment followed by diagenesis under prolonged marine incursion. But in the case of the northern coastal plain, the sediments were transported and deposited under littoral environment indicating the dominance of marine incursion through mechanical as well as chemical processes. The quartz grains of the Ashtamudi Estuary indicate fluvial origin. The surface texture features of the offshore sediments suggest that the quartz grains are of littoral origin and represent the relict beach deposits. The geochemical characterisation of sediment cores based on geochemical classification, sediment maturity, palaeo-weathering and provenance in different environments are discussed in the sixth chapter. In the seventh chapter the integration of multiproxies data along with radiocarbon dates are presented and finally evolution and depositional history based on transgression–regression events is deciphered. The eighth chapter summarizes the major findings and conclusions of the study with recommendation for future work.

Contribució al posicionament dinàmic de robots mòbils per mitjà d'un sistema làser

Aquesta tesi tracta el problema del posicionament de robots mòbils quan, en el decurs del moviment, es realitzen mesures angulars relatives al robot de l'orientació de la recta entre un dels seus punts i punts de l'entorn de posició coneguda. Es considera que les mesures angulars són fetes per un sensor làser giratori que detecta diferents reflectors catadiòptrics fixos. La contribució principal és el desenvolupament d'un algorisme dinàmic, basat en un filtre de Kalman estès (EKF), que estima a cada instant de temps l'estat format pels angles associats als reflectors. La simulació hodomètrica dels angles entre mesures directes del sensor làser garanteix l'ús consistent i continuat dels mètodes de triangulació per a determinar la posició i l'orientació del robot. Inclou simulacions informàtiques i experiments per a validar la precisió del mètode de posicionament proposat. En l'experimentació s'utilitza un robot mòbil omnidireccional amb tres rodes de lliscament direccional de corrons esfèrics.

Hydralazine reduces leukocyte migration through different mechanisms in spontaneously hypertensive and normotensive rats

In addition to reducing blood pressure, hydralazine can reduce the production of inflammatory cytokines and reduce the expression of leukocyte adhesion molecules. Differences in leukocyte behavior and leukocyte adhesion molecule expression in spontaneously hypertensive rats (SHR) compared to normotensive rats have been reported. However, whether hydralazine can reduce leukocyte migration in vivo in hypertension and in normotension remains unknown. To address this question, male SHR and Wistar rats were treated for 15 days with hydralazine at a dose of similar to 3.5 mg/kg or similar to 14 mg/kg in their drinking water. The numbers of rollers and adherent and migrated cells were determined by direct vital microscopy, and blood pressure was assessed by tail plethysmography. In addition, following treatment with the higher dose, immunohistochemistry was used to measure the expression of intercellular adhesion molecule-1 (ICAM-1), P-selectin, and platelet-endothelial cell adhesion molecule-1 (PECAM-1) in endothelial cells, while flow cytometry was used to evaluate the expression of leukocyte CD18 and L-selectin. Hydralazine reduced leukocyte adherence and migration in SHR either at the higher, that reduced blood pressure levels, or lower dose, which did not reduce it. Reduced ICAM-1 expression might be involved in the reduced migration observed in SHR. In Wistar rats, only at the higher dose hydralazine reduced blood pressure levels and leukocyte migration. Reduced P-selectin expression might be involved. We therefore conclude that hydralazine reduces leukocyte migration by different mechanisms in SHR and Wistar rats, specifically by reducing ICAM-1 expression in the former and P-selectin expression in the latter. (c) 2008 Elsevier B.V. All rights reserved.

Estudo do perfil térmico de fornos do tipo "caipira" utilizados pelo setor de cerâmica vermelha em parelhas na região Seridó-RN

The present study aimed to characterize the thermal profile of wood fired oven used by the red ceramic industry in Parelhas, in the Seridó region/RN, aiming to propose structural interventions that can contribute to increasing productivity and product quality, optimize wood consumption and mitigate existing losses during the burning process. The study was conducted at Cerâmica Esperança in the city of Parelhas -RN, Brazil, during the period from August 2012 to September 2013. Four treatments were performed with three replicates, ie, with, a total of 12 experimental units (burnings). In the first stage 4 treatments were performed with three replicates, totaling 12 experimental units (firings). In the second stage 2 treatments were performed with three replications, totaling 6 experimental units (firings). The physical characteristics of the wood were analyzed using standard NBR 11941 and NBR 7190 for basic density and moisture, respectively. The clay was used as a reference parameter for distinguishing treatments. For both the analysis and characterization was carried out using techniques of fluorescence X (XRF) rays, X-ray diffraction (XRD) analysis, particle size analysis (FA). In the first and second stages were monitored: the time during the firing process, the amount of wood used at each firing, the number of parts enfornadas for subsequent determination of the percentages of losses, but also product quality. To characterize the thermal profile of the oven, we measured the temperature at 15 points scored in the surface charge put into the oven. Measurements were taken every 30 minutes from preheat until the end of burning, using a pyrometer laser sight sighting from preheating until the end of burning. In the second step 12 metal cylinders distributed on the oven walls, and the cylinder end walls 8 of the furnace 2 and rollers on each side walls are installed equidistant to 17 cm from the soil and the surface 30 of the wall are installed. The cylinders distributed on the front were placed 50 cm above the furnace, and the base of the oven 20 cm distant from the ground. 10 also thermocouples were installed, and five thermocouples distributed 1.77 cm above the combustion chambers, and one thermocouple on each side, and three thermocouples in front of the oven. We carried out the measurements of the temperatures every 1 hour during the burning two hours in cooling the cylinders with a pyrometer and thermocouples for dattaloger. These were fixed with depth of 30 cm from the wall. After statistical analysis it was found that: the thermal profile of the furnace surface and at different heights was heterogeneous; and the ranges of density and moisture content of wood are within recommended for use as an energy source standards. We conclude that even at low temperatures reached during firing there was a significant production of good quality products, this is due to high concentrations of iron oxide and potassium oxide found in clay, which lowers the melting point of the piece. The average burn time for each step varied 650-2100 minutes wood consumption was on average 20 m3, product quality was on average 16% of first quality, 70% second, third and 5% to 10% loss . The distance between the wire and the surface of the oven was a significant parameter for all treatments, but with different variations, meaning that the wire should not be so generic and unique form, used as a criterion for completion of the burn process. The central part of the furnace was the area that reached higher temperature, and in a unified manner, with the highest concentration of top quality products. The ideal temperature curve, which provided the highest quality of ceramic products was achieved in the central part of the furnace

Seleção de sementes de milho durante a simulação da semeadura com disco perfurado horizontal

Teve-se o objetivo de verificar a possível seleção de sementes de milho - arredondadas e achatadas - no processo de semeadura com disco perfurado horizontal, bem como as conseqüências na distribuição longitudinal. Os registros dos dados deram-se pela avaliação visual de duas pessoas, com contador manual, no final da esteira carpetada em movimento de 1,54 m s-1, com 4,60 m de perspectiva para avaliação. Assim, um sensor registrava o número de orifícios do disco horizontal que devia passar pelo tubo condutor, e os espaçamentos falhos e múltiplos eram computados por pessoas diferentes. Os espaçamentos aceitáveis foram obtidos pela subtração dos espaçamentos falhos e múltiplos do total contabilizado. A medição do comprimento e espessura das sementes foi realizada com auxílio de paquímetro. Não houve alterações significativas nas variáveis estudadas, até a passagem de 55 mil orifícios do disco horizontal pelo tubo condutor; portanto, não houve seleção de sementes de milho durante a simulação do processo de semeadura.

Evaluation of strip rolling directly from the semi-solid state

defect metal alloy strip when thixorolling directly from the semi-solid state. To facilitate the study lead/tin alloys were chosen for their relatively low operating temperature. The objective is to extrapolate these findings to the higher temperature aluminium, alloys. Three alloys (70%Pb30%Sn, 60%Pb-40%Sn, 50%Pb-50%wtSn) were used particularly to study the influence of the solidification interval. The equipment consists of a two roll mill arranged as an upper and lower roller, where both rollers are driven at a controlled speed. The lower roller is fed with semi solid alloy through a ceramic nozzle attached to the lower end of a cooling slope. Several types of nozzle and their position at the roller were tested. This produced different solidifications and consequently different finished strip. The alloys were first cast and then poured onto the cooling slope through a tundish in order to create a continuous laminar flow of slurry and uniformity of metal strip quality. The pouring was tested at different positions along the slope. The cooling slope was coated with colloidal graphite to promote a smooth slurry flow and avoid the problem of adherence and premature solidification. The metallic slurry not only cools along the slope but is also initially super-cooled to a mush by the lower roller whilst at room temperatures, thus enabling thixorolling. It was also found that the nozzle position could be adjusted to enable the upper roller to also contribute to the solidification of the metallic slurry. However the rollers and the cooling slope naturally heat up. Temperature distribution in these zones was analysed by means of three thermocouples positioned along the cooling slope and a fourth in the base of the semi solid pool within the nozzle. The objective being to design an optimum pouring and cooling system. The formed strip was cooled down to room temperature with a shower of water. Microstructures of the thixorolling process were analysed. The differences in solidification conditions resulted in differing qualities of finished strip and corresponding defect types, all of which are a serious quality issue for the rolled product.

Osteologia craniana de Coraciiformes (Aves)

Dez famílias são tradicionalmente agrupadas na Ordem Coraciiformes, Alcedinidae (martins-pescadores), Momotidae (udus e juruvas), Todidae ( todies ), Meropidae (abelharucos), Coraciidae (rolieiros), Brachypteraciidae ( ground-rollers ), Leptosomidae ( cuckoo-rollers ), Phoeniculidae ( woodhoopoes ), Upupidae (poupas-comuns) e Bucerotidae (calaus), mas não há caracteres na morfologia externa que sejam comuns a todos os membros da ordem. Assim, este trabalho apresenta uma comparação da osteologia craniana das espécies de Coraciiformes com a finalidade de encontrar caracteres osteológicos que possam diagnosticar a ordem ou grupos de táxons de Coraciiformes, servindo ainda como uma fonte de dados para futuras análises filogenéticas. Como constatado por dados da morfologia externa, os caracteres da osteologia craniana ratificaram a diversidade morfológica existente entre os táxons da Ordem Coraciiformes, sendo difícil diagnosticá-la ou encontrar caracteres comuns a todos os seus membros. Apenas dois caracteres são comuns à ordem, tais como a presença da fossa lateroesfenóide e a ausência do processo suprameático, embora tais caracteres também sejam encontrados em outros grupos de aves. Homologias primárias foram encontradas, indicando similaridades entre diversas famílias, tais como: a zona flexória craniofacial é oclusa nos indiviíduos adultos de Coraciidae, Leptosomidae, Phoeniculidae, Upupidae e Bucerotidae; a fossa temporal tem desenvolvimento e profundidade intermediários em Momotidae, Meropidae, Coraciidae, Brachypteraciidae e Bucerotidae; o lacrimal está ausente em Momotidae, fundido com o ectetmóide nos adultos de Upupidae, Phoeniculidae e Bucerotidae, e presente e distinto em Alcedinidae, Todidae, Meropidae, Coraciidae, Brachypteraciidae e Leptosomidae; e o processo retroarticular da mandíbula é desenvolvido em Upupidae, Phoeniculidae e Bucerotidae.

Solução do problema de corte bidimensional de peças retângulares tipo não-guilhotinado usando simulated annealing

Pós-graduação em Engenharia Elétrica - FEIS

Ergonomia aplicada em posto de trabalho do operador de tratores: sistema para aquisição de coordenadas tridimensionais

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

Assessment of ALA-induced PpIX production in porcine skin pretreated with microneedles

Photodynamic therapy (PDT) is used for skin treatments of premalignant and cancer lesions and recognized as a non-invasive technique that combines tissue photosensitization and subsequent exposure to light to induce cell death. However, it is limited to the treatment of superficial lesions, mainly due to the low cream penetration. Therefore, the improvement of transdermal distribution of aminolevulinic acid (ALA) is needed. In this study, the kinetics and homogeneity of production of ALA-induced PpIX after the skin pre-treatment with microneedles rollers of 0.5, 1.0 and 1.5 mm length were investigated. An improvement in homogeneity and production of PpIX was shown in a porcine model. Widefield fluorescence imaging three hours after the topical application of ALA-cream in the combined treatment with microeedles rollers.

Deer Guards and Bump Gates for Excluding White-Tailed Deer From Fenced Resources

White-tailed deer (Odocoileus virginianus) causing damage is a reoccurring theme in the realm of wildlife damage management, especially regarding human safety, disease transmission, and agricultural losses. Fences often are the only reliable long-term nonlethal means of controlling deer damage. The efficacy of fences, however, relies on their weakest link: human-operated gates. Although not overly time-consuming, the act of closing a gate appears to be a burden to individuals, resulting in open-access to an otherwise protected resource. We examined the efficacy of 2 alternatives to traditional gates to evaluate their potential to be used for excluding or containing deer. We evaluated a commercially available kit for mechanically opening and closing gates and a modified deer guard that resembles a common cattle guard but incorporates bearing-mounted rollers as cross members. The gate kit proved effective in restricting deer access to bait throughout the study, but, in supplemental evaluations, we observed excessive rates of functional failure. Deer guards reduced deer entry into exclosures, but efficacy declined with time as deer walked and jumped across guards. With some refining, both guards and gates have potential to be useful components of an integrated biosecurity strategy.

Algorithms for autonomous tandem operation of a dual M113 system

In mid-July 2003, the U.S. Army Tank-Automotive & Armaments Command (TACOM) performed a series of experiments at Keweenaw Research Center (KRC), with a remote operated mine roller system. This system, named Panther Lite, consists of two M113 Armored Personnel Carriers (APC’s) connected by a Tandem Vehicle Linkage Assembly (TVLA). The system has three sets of mine rollers, two of which are connected to the front of the lead vehicle with one set trailing from the trail vehicle. Currently, the system requires two joystick controllers. One regulates the braking of the tracks, throttle, and transmission of the lead vehicle and the other controls the braking and throttle of the rear vehicle. One operator controls both joysticks, attempting to maneuver the lead vehicle along a desired path. At the same time, this operator makes compensation maneuvers to reduce lateral loads in the TVLA and to guide the rear mine rollers along the desired path. The purpose of this project is to create algorithms that would allow the slave (trail) vehicle to operate using inputs that maneuver the control (lead) vehicle. The project will be completed by first reconstructing the experimental data. Kinematic models will be generated and simulations created. The models will then be correlated with the reconstructions of the experimental data. The successful completion of this project will be a first step to eliminating the need for the second joystick.

Aufbau hochfunktionaler Intralogistik-Knoten mittels kleinskaliger Module als Cognitive Conveyor

Kleinskalige, multifunktionale Module haben ein hohes Potential bei der wirtschaftlichen und flexiblen Gestaltung intralogistischer Systeme mit hoher Funktionalität. Durch dezentrale Steuerung und eigener Intelligenz der Module ist das System frei skalierbar und der Installationsaufwand wird minimiert. Mittels eines neuartigen Konzeptes der Datenkommunikation für Stetigförderer erfolgt der Informationsaustausch drahtlos mit Hilfe optoelektrischer Elemente. Die Kleinskaligkeit der Transportmodule gegenüber der Transporteinheit im Zusammenhang mit dem Steuerungskonzept erlaubt eine selektive Beschaltung der Module nach Bedarf und damit eine optimierte Energieausnutzung im Betrieb. Prototypen auf Basis von Schwenkrollen mit integrierter Antriebstechnik und Steuerung lassen das Potential des Prinzips erkennen. Das neu entwickelte Konzept der Schrägscheibe hilft bei der anspruchsvollen Integration der Antriebstechnik in das Modul durch das Prinzip der koaxialen Aktoren. Durch omnidirektionalen Funktionsumfang der Module entsteht im Zusammenschluss zu einer Modulmatrix ein hochflexibel einsetzbares Intralogistik-Modul. Die Vernetzung dieser hochfunktionalen Knoten durch einfache Fördertechnik bietet die Möglichkeit einfacher Planung flexibler Logistiksysteme.