On lag controllers: Design and implementation

Sometimes it is inconvenient or expensive to open the loop of a system to insert lag controllers-for instance, when this system is an open-loop system. A new controller structure where the loop is not opened, and that allows the design of lag controllers as in the case where one can open the loop, is presented. This result can be used by educators in undergraduate courses that deal with classic control system theory, because it allows a better comprehension of the concept of lag compensation and provides a new method for its design and implementation. An example illustrates the application of the proposed method.

Influence of root-surface conditioning with acid and chelating agents on clot stabilization

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Efficacy of EDTA-T gel for smear layer removal at root surfaces

Objective: The purpose of this in vitro study was to investigate the efficacy of EDTA gel preparation, associated with texapon detergent (EDTA-T), for removing the smear layer at human root surfaces. Method and materials: An experimental smear layer was produced by scaling using periodontal curettes, and the root surfaces were etched with the following concentrations of EDTA-T: 5%, 10%, 15%, 20%, 24%, and negative control (saline solution) for 1, 2, or 3 minutes using both passive and active methods. The surfaces were evaluated by scanning electron microscopy, and photomicrographs were evaluated in relation to smear removal. Results: All EDTA-T groups were more effective than the control group (P < .0001). EDTA-T at 15% was more effective when applied by the passive method, although this difference was not observed for the active method. The active method was statistically better than the passive method (P < .0001). Conclusion: The etching of the root surface with EDTA-T gel by active application, independently of the other factors evaluated, was effective for smear layer removal.

Estudo da estabilidade dinâmica e controle da aeronave AF-X da equipe AeroFEG

The present work aims to study the stability and control of the aircraft AF-X of AeroFEG team for AeroDesign to contribute with it in developing its theoretical project report for the competition and present the shortcomings of stability that it might measures for the practical test. In the first moment, it was presented forces and motion of the aircraft, so to define the equations of motion. After the equations of motion were calculated, the transfer functions were found and the aircraft response was analyzed under longitudinal stability and lateral-directional. We obtained responses from the aircraft and through the method of Root Locus the gains required to improve responses and reduce the overshoot, finally some changes and improvements for increased stability have been addressed. The study covered all the motions and control surfaces of the aircraft, showing the characteristics and behavior of the front disruptions, as well as opportunities for gains and improvementsThe present work aims to study the stability and control of the aircraft AF-X of AeroFEG team for AeroDesign to contribute with it in developing its theoretical project report for the competition and present the shortcomings of stability that it might measures for the practical test. In the first moment, it was presented forces and motion of the aircraft, so to define the equations of motion. After the equations of motion were calculated, the transfer functions were found and the aircraft response was analyzed under longitudinal stability and lateral-directional. We obtained responses from the aircraft and through the method of Root Locus the gains required to improve responses and reduce the overshoot, finally some changes and improvements for increased stability have been addressed. The study covered all the motions and control surfaces of the aircraft, showing the characteristics and behavior of the front disruptions, as well as opportunities for gains and improvements

Simulation of robot manipulator control strategies

The high capital cost of robots prohibit their economic application. One method of making their application more economic is to increase their operating speed. This can be done in a number of ways e.g. redesign of robot geometry, improving actuators and improving control system design. In this thesis the control system design is considered. It is identified in the literature review that two aspects in relation to robot control system design have not been addressed in any great detail by previous researchers. These are: how significant are the coupling terms in the dynamic equations of the robot and what is the effect of the coupling terms on the performance of a number of typical independent axis control schemes?. The work in this thesis addresses these two questions in detail. A program was designed to automatically calculate the path and trajectory and to calculate the significance of the coupling terms in an example application of a robot manipulator tracking a part on a moving conveyor. The inertial and velocity coupling terms have been shown to be of significance when the manipulator was considered to be directly driven. A simulation of the robot manipulator following the planned trajectory has been established in order to assess the performance of the independent axis control strategies. The inertial coupling was shown to reinforce the control torque at the corner points of the trajectory, where there was an abrupt demand in acceleration in each axis but of opposite sign. This reduced the tracking error however, this effect was not controllable. A second effect was due to the velocity coupling terms. At high trajectory speeds it was shown, by means of a root locus analysis, that the velocity coupling terms caused the system to become unstable.

Determination of coefficient of consolidation from early stage of log t plot

The standard curve-fitting methods, Casagrande's log t method and Taylor's root t method, for the determination of the coefficient of consolidation use the later part of the consolidation curve and are influenced by secondary compression effects. Literature shows that secondary compression is concurrent with primary consolidation and that its effect is to decrease the value of the coefficient of consolidation. If the early part of the time-compression data is used, the values obtained will be less influenced by secondary compression effects. A method that uses the early part of the log t plot is proposed in this technical note. As the influence of secondary compression is reduced, the value obtained by this method is greater than that yielded by both the standard methods. The permeability values computed from C-v (obtained from the proposed method) rue more in agreement with the measured values than the standard methods showing that the effects of secondary compression are minimized. Time-compression data for a shorter duration is sufficient for the determination of C-v if the coefficient of secondary compression is not required.

Multiplication of hybrid aspen (Populus tremula L. x P. tremuloides Michx.) from cuttings

The primary aim of the present study was to find an efficient and simple method of vegetative propagation for producing large numbers of hybrid aspen (Populus tremuloides L. x P. tremula Michx.) plants for forest plantations. The key objectives were to investigate the main physiological factors that affect the ability of cuttings to regenerate and to determine whether these factors could be manipulated by different growth conditions. In addition, clonal variation in traits related to propagation success was examined. According to our results, with the stem cutting method, depending on the clone, it is possible to obtain only 1−8 plants from one stock plant per year. With the root cutting method the corresponding values for two-year-old stock plants are 81−207 plants. The difference in number of cuttings between one- and two-year-old stock plants is so pronounced that it is economically feasible to grow stock plants for two years. There is no reason to use much older stock plants as a source of cuttings, as it has been observed that rooting ability diminishes as root diameter increases. Clonal variation is the most important individual factor in propagation of hybrid aspen. The fact that the efficiently sprouted clones also rooted best facilitates the selection of clones for large-scale propagation. In practice, root cuttings taken from all parts of the root system of hybrid aspen were capable of producing new shoots and roots. However, for efficient rooting it is important to use roots smaller than one centimeter in diameter. Both rooting and sprouting, as well as sprouting rate, were increased by high soil temperature; in our studies the highest temperature tested (30ºC) was the best. Light accelerated the sprouting of root cuttings, but they rooted best in dark conditions. Rooting is essential because without roots the sprouted cutting cannot survive long. For aspen the criteria for clone selection are primarily fiber qualities and growth rate, but ability to regenerate efficiently is also essential. For large-scale propagation it is very important to find clones from which many cuttings per stock plant can be obtained. In light of production costs, however, it is even more important that the regeneration ability of the produced cuttings be high.

An Efficient Robust Algorithm for the Surface-Potential Calculation of Independent DG MOSFET

Although the recently proposed single-implicit-equation-based input voltage equations (IVEs) for the independent double-gate (IDG) MOSFET promise faster computation time than the earlier proposed coupled-equations-based IVEs, it is not clear how those equations could be solved inside a circuit simulator as the conventional Newton-Raphson (NR)-based root finding method will not always converge due to the presence of discontinuity at the G-zero point (GZP) and nonremovable singularities in the trigonometric IVE. In this paper, we propose a unique algorithm to solve those IVEs, which combines the Ridders algorithm with the NR-based technique in order to provide assured convergence for any bias conditions. Studying the IDG MOSFET operation carefully, we apply an optimized initial guess to the NR component and a minimized solution space to the Ridders component in order to achieve rapid convergence, which is very important for circuit simulation. To reduce the computation budget further, we propose a new closed-form solution of the IVEs in the near vicinity of the GZP. The proposed algorithm is tested with different device parameters in the extended range of bias conditions and successfully implemented in a commercial circuit simulator through its Verilog-A interface.

Control of motorcycle steering instabilities

Modern high performance motorcycles often employ a steering damper producing a moment that opposes the angular velocity of the steering assembly relative to the main frame. When modeling the motorcycle in a conventional manner, the steering damper is included as an integral part of the machine. The reduction in the wobble-mode frequency is caused by the effective increase in the steering system's moment of inertia. The compensators show the potential to significantly improve the damping of both wobble and weave modes simultaneously. The dynamic characteristics of high-performance motorcycles can be improved by replacing the conventional steering damper with a passive mechanical steering compensator. The design methodology adopted uses Nyquist frequency response ideas, root-locus analysis and loop-shaping design to obtain a preliminary choice of parameters.

不同N素形态对落叶松苗木根/土界面pH值及养分有效性的影响

The effect of different nitrogen and phosphorus sources on pH and the availability of mineral nutrients in the root/soil interface of Larix gmelinii seedlings were studied by means of root-mat method. The results showed that the addition of NH~+_4-N decreased the pH in the root/soil interface, while the addition of NO~-_3-N increased the pH in contrast with the control treatment. The sort of the P sources and the distance from the root plane remarkably influenced the changes of pH in the root/soil interface induced by the addition of the nitrogen sources. Compared with the addition of only NH~+_4-N, the extent to which the pH in the root/soil interface decreased was obviously smaller when treated by NH~+_4-N and rock P. When treated with different P sources, the contents of available P in the root/soil interface were affected by the sort of the N sources. When treated with soluble P, the contents of the available P in the root/soil interface obviously increased for the addition of both NH~+_4-N and NO~-_3-N. When treated with rock P, the contents of the available P increased only in the area 0～3 mm from the root plane for NH~+_4-N, whereas the contents of available P in the root/soil interface changed little for NO~-_3-N. The results above showed that the protons excreted by the roots were the main driving force for the solution of the rock P in the root/soil interface. The availability of Fe in the root/soil interface increased as a result of acidity induced by the NH~+_4-N, whereas the availability of Fe in the root/soil interface decreased because of the pH increase induced by the NO_3~-_N. The effect of different N sources on the availability of Fe in the root/soil interface was also affected by the sort of P sources. The concentrations of P、Fe in the leaves remarkably differed when treated by different N、P sources and concentrations of the P、Fe in the root/soil interface were correlated to those in the leaves of the seedlings.

BSP -Style Computation: A Semantic Investigation

A BSP (Bulk Synchronous Parallelism) computation is characterized by the generation of asynchronous messages in packages during independent execution of a number of processes and their subsequent delivery at synchronization points. Bundling messages together represents a significant departure from the traditional ‘one communication at a time’ approach. In this paper the semantic consequences of communication packaging are explored. In particular, the BSP communication structure is identified with a general form of substitution—predicate substitution. Predicate substitution provides a means of reasoning about the synchronized delivery of asynchronous communications when the immediate programming context does not explicitly refer to the variables that are to be updated (unlike traditional operations, such as the assignment $x := e$, where the names of the updated variables can be extracted from the context). Proofs of implementations of Newton's root finding method and prefix sum are used to illustrate the practical application of the proposed approach.

Logique et tests d'hypotheses: reflexions sur les problemes mal poses en econometrie

Dans ce texte, nous analysons les développements récents de l’économétrie à la lumière de la théorie des tests statistiques. Nous revoyons d’abord quelques principes fondamentaux de philosophie des sciences et de théorie statistique, en mettant l’accent sur la parcimonie et la falsifiabilité comme critères d’évaluation des modèles, sur le rôle de la théorie des tests comme formalisation du principe de falsification de modèles probabilistes, ainsi que sur la justification logique des notions de base de la théorie des tests (tel le niveau d’un test). Nous montrons ensuite que certaines des méthodes statistiques et économétriques les plus utilisées sont fondamentalement inappropriées pour les problèmes et modèles considérés, tandis que de nombreuses hypothèses, pour lesquelles des procédures de test sont communément proposées, ne sont en fait pas du tout testables. De telles situations conduisent à des problèmes statistiques mal posés. Nous analysons quelques cas particuliers de tels problèmes : (1) la construction d’intervalles de confiance dans le cadre de modèles structurels qui posent des problèmes d’identification; (2) la construction de tests pour des hypothèses non paramétriques, incluant la construction de procédures robustes à l’hétéroscédasticité, à la non-normalité ou à la spécification dynamique. Nous indiquons que ces difficultés proviennent souvent de l’ambition d’affaiblir les conditions de régularité nécessaires à toute analyse statistique ainsi que d’une utilisation inappropriée de résultats de théorie distributionnelle asymptotique. Enfin, nous soulignons l’importance de formuler des hypothèses et modèles testables, et de proposer des techniques économétriques dont les propriétés sont démontrables dans les échantillons finis.

Morphological assessment of dentine and cementum following apicectomy with Zekrya burs and Er:YAG laser associated with direct and indirect Nd:YAG laser irradiation

Objectives. This study aimed to assess the apical surface morphology of maxillary central incisors resected 3.0 mm from the tooth apex using Zekrya burs or Er:YAG laser, with or without subsequent direct Nd:YAG laser irradiation (apical and buccal surfaces) and indirect irradiation (palatal surface).Study design. Forty maxillary central incisors were instrumented and obturated. The roots were divided into 4 groups according to the root resection method (Zekrya bur or Er: YAG laser -1.8 W, 450 mJ, 4 Hz, 113 J/cm(2)) and further surface treatment (none or Nd: YAG laser -2.0 W, 100 mJ, 20 Hz, 124 J/cm(2)). The teeth were prepared for SEM analysis. Scores ranging from 1 to 4 were attributed to cut quality and morphological changes. The data were analyzed by the Kruskal-Wallis test and by Dunn's test.Results. SEM images showed irregular surfaces on the apical portions resected with Zekrya burs, with smear layer and grooves in the resected dentine and slight gutta-percha displacement and plasticization. on the other hand, apicectomies carried out with Er: YAG laser showed morphological changes compatible with ablated dentine, with rough surfaces and craters. In spite of the presence of plasticized gutta-percha, with the presence of bubbles, an irregular adaptation of the filling material to the root walls was also observed. Direct Nd: YAG laser irradiation of the apical and buccal surfaces of the resected roots resulted in areas of resolidification and fusion in the dentine and cementum, with a vitrified aspect; indirect Nd: YAG laser irradiation of the palatal surfaces yielded a lower number of changes in the cementum, with irregular resolidification areas.Conclusions. There were no differences in terms of cut quality between the use of burs and Er: YAG laser or between the 2 surfaces (apical and buccal) treated with Nd: YAG laser with direct irradiation. However, morphological changes were significantly less frequent on surfaces submitted to indirect irradiation (palatal) when compared with those directly irradiated. (Oral Surg Oral Med Oral Pathol Oral Radiol Endod 2010; 109: e77-e82)

Geração automática de modelos digitais de superfícies utilizando múltiplas imagens

Pós-graduação em Ciências Cartográficas - FCT

Avaliação de uma técnica para geração de modelos digitais de superfície utilizando múltiplas imagens

The efficient generation of digital surface model (DSM) from optical images has been explored for many years and the results are dependent on the project characteristics (image resolution, size of overlap between images, among others), of the image matching techniques and the computer capabilities for the image processing. The points generated from image matching have a direct impact on the quality of the DSM and, consequently, influence the need for the costly step of edition. This work aims at assessing experimentally a technique for DSM generation by matching of multiple images (two or more) simultaneously using the vertical line locus method (VLL). The experiments were performed with six images of the urban area of Presidente Prudente/SP, with a ground sample distance (GSD) of approximately 7cm. DSMs of a small area with homogeneous texture, repetitive pattern, moving objects including shadows and trees were generated to assess the quality of the developed procedure. This obtained DSM was compared to cloud points acquired by LASER (Light Amplification by Simulated Emission of Radiation) scanning as wells as with a DSM generated by Leica Photogrammetric Suite (LPS) software. The accomplished results showed that the MDS generated by the implemented technique has a geometric quality compatible with the reference models.