863 resultados para Photoelectric tracking
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In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.
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Background: The accumulation of repetitive DNA during sex chromosome differentiation is a common feature of many eukaryotes and becomes more evident after recombination has been restricted or abolished. The accumulated repetitive sequences include multigene families, microsatellites, satellite DNAs and mobile elements, all of which are important for the structural remodeling of heterochromatin. In grasshoppers, derived sex chromosome systems, such as neo-XY♂/XX♀ and neo-X1X2Y♂/X 1X1X2X2♀, are frequently observed in the Melanoplinae subfamily. However, no studies concerning the evolution of sex chromosomes in Melanoplinae have addressed the role of the repetitive DNA sequences. To further investigate the evolution of sex chromosomes in grasshoppers, we used classical cytogenetic and FISH analyses to examine the repetitive DNA sequences in six phylogenetically related Melanoplinae species with X0♂/XX♀, neo-XY♂/XX♀ and neo-X1X2Y♂/X1X1X 2X2♀ sex chromosome systems. Results: Our data indicate a non-spreading of heterochromatic blocks and pool of repetitive DNAs (C 0 t-1 DNA) in the sex chromosomes; however, the spreading of multigene families among the neo-sex chromosomes of Eurotettix and Dichromatos was remarkable, particularly for 5S rDNA. In autosomes, FISH mapping of multigene families revealed distinct patterns of chromosomal organization at the intra- and intergenomic levels. Conclusions: These results suggest a common origin and subsequent differential accumulation of repetitive DNAs in the sex chromosomes of Dichromatos and an independent origin of the sex chromosomes of the neo-XY and neo-X1X2Y systems. Our data indicate a possible role for repetitive DNAs in the diversification of sex chromosome systems in grasshoppers. © 2013Palacios-Gimenez et al.; licensee BioMed Central Ltd.
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
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Includes bibliography
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This month's issue of the FAL Bulletin takes a panoramic view of the present World Trade Organization (WTO) trade negotiations, soon to embark on the Sixth Ministerial Conference in Hong Kong (Special Administrative Region of the People's Republic of China ). Reduced expectations on the outcomes of this meeting due to the scant progress on critical issues - such as the liberalization of the agricultural sector - increase the challenge to conclude the Doha Round by the end of 2006. The governments of the region have a role to play in the direction this process may take. Additional details on the progress of these objectives can be obtained in chapter II of Latin America and the Caribbean in the World Economy, 2004 Trends 2005.
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This paper aims to contribute to the three-dimensional generalization of numerical prediction of crack propagation through the formulation of finite elements with embedded discontinuities. The analysis of crack propagation in two-dimensional problems yields lines of discontinuity that can be tracked in a relatively simple way through the sequential construction of straight line segments oriented according to the direction of failure within each finite element in the solid. In three-dimensional analysis, the construction of the discontinuity path is more complex because it requires the creation of plane surfaces within each element, which must be continuous between the elements. In the method proposed by Chaves (2003) the crack is determined by solving a problem analogous to the heat conduction problem, established from local failure orientations, based on the stress state of the mechanical problem. To minimize the computational effort, in this paper a new strategy is proposed whereby the analysis for tracking the discontinuity path is restricted to the domain formed by some elements near the crack surface that develops along the loading process. The proposed methodology is validated by performing three-dimensional analyses of basic problems of experimental fractures and comparing their results with those reported in the literature.
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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É notório que o livro didático desempenha um papel fundamental na prática pedagógica da maioria dos professores de Física constituindo importante fonte de referência para professores e estudantes. Ao mesmo tempo representa a memória impressa das demandas e paradigmas de ensino, e procura atender às exigências prescritas na legislação e diretrizes, de uma determinada localidade e período. Atualmente, a inserção de Física Moderna e Contemporânea no currículo do Ensino Médio brasileiro está entre as prioridades, preconizando, entre. outros, o ensino do efeito fotoelétrico, em função da relevância do fenômeno ao corroborar a interpretação corpuscular da natureza da luz, e o consequente laureio de Albert Einstein com o Prêmio Nobel. Estudos realizados apontam que muitos dos livros didáticos apresentam a história do efeito fotoelétrico de maneira superficial ou errônea, e expõem incorretamente a função trabalho e o conceito de fóton (Klassen, 2011). Tendo em vista o exposto, objetivamos analisar como ocorre a apresentação do efeito fotoelétrico especificamente em dez coleções didáticas brasileiras aprovadas pelo Programa Nacional do Livro Didático do Ensino Médio 2012 do governo federal, tendo como aporte teórico as considerações de Yves Chevallard (Brockington e Pietrocola, 2005). Procuramos resposta para a seguinte pergunta: Quais são as transposições ocorridas na apresentação do efeito fotoelétrico (saber sábio) para se tornar o saber a ensinar em materiais escolares? Nossa análise centrou-se no processo de descontextualização, entendido como o processo pelo qual o saber sábio passa para que seja ensinável, sendo necessário que seja arrancado de seu contexto original, ou seja, o seu processo histórico.
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The bovine species have witnessed and played a major role in the drastic socio-economical changes that shaped our culture over the last 10,000 years. During this journey, cattle hitchhiked on human development and colonized the world, facing strong selective pressures such as dramatic environmental changes and disease challenge. Consequently, hundreds of specialized cattle breeds emerged and spread around the globe, making up a rich spectrum of genomic resources. Their DNA still carry the scars left from adapting to this wide range of conditions, and we are now empowered with data and analytical tools to track the milestones of past selection in their genomes. In this review paper, we provide a summary of the reconstructed demographic events that shaped cattle diversity, offer a critical synthesis of popular methodologies applied to the search for signatures of selection (SS) in genomic data, and give examples of recent SS studies in cattle. Then, we outline the potential and challenges of the application of SS analysis in cattle, and discuss the future directions in this field.
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Collectively, the observations indicate that the overall warming of the Arctic system continued in 2007. There are some elements that are stabilizing or returning to climatological norms. These mixed tendencies illustrate the sensitivity and complexity of the Arctic System. Atmosphere: Hot spot shifts toward Europe Ocean: North Pole Temperatures at depth returning to 1990s values Sea Ice: Summer extent at record minimum Greenland: Recent warm temperatures associated with net ice loss Biology: increasing tundra shrub cover and variable treeline advance; up to 80% declines in some caribou herds while goose populations double Land: Increase in permafrost temperatures The Arctic Report Card 2007 is introduced as a means of presenting clear, reliable and concise information on recent observations of environmental conditions in the Arctic, relative to historical time series records. It provides a method of updating and expanding the content of the State of the Arctic Report, published in fall 2006, to reflect current conditions. Material presented in the Report Card is prepared by an international team of scientists and is peer-reviewed by topical experts nominated by the US Polar Research Board. The audience for the Arctic Report Card is wide, including scientists, students, teachers, decision makers and the general public interested in Arctic environment and science. The web-based format will facilitate future timely updates of the content.
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The U.S. Geological Survey (USGS) is committed to providing the Nation with credible scientific information that helps to enhance and protect the overall quality of life and that facilitates effective management of water, biological, energy, and mineral resources (http://www.usgs.gov/). Information on the Nation’s water resources is critical to ensuring long-term availability of water that is safe for drinking and recreation and is suitable for industry, irrigation, and fish and wildlife. Population growth and increasing demands for water make the availability of that water, now measured in terms of quantity and quality, even more essential to the long-term sustainability of our communities and ecosystems. The USGS implemented the National Water-Quality Assessment (NAWQA) Program in 1991 to support national, regional, State, and local information needs and decisions related to water-quality management and policy (http://water.usgs.gov/nawqa). The NAWQA Program is designed to answer: What is the condition of our Nation’s streams and ground water? How are conditions changing over time? How do natural features and human activities affect the quality of streams and ground water, and where are those effects most pronounced? By combining information on water chemistry, physical characteristics, stream habitat, and aquatic life, the NAWQA Program aims to provide science-based insights for current and emerging water issues and priorities. From 1991-2001, the NAWQA Program completed interdisciplinary assessments and established a baseline understanding of water-quality conditions in 51 of the Nation’s river basins and aquifers, referred to as Study Units (http://water.usgs.gov/nawqa/studyu.html).
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The integration of CMOS cameras with embedded processors and wireless communication devices has enabled the development of distributed wireless vision systems. Wireless Vision Sensor Networks (WVSNs), which consist of wirelessly connected embedded systems with vision and sensing capabilities, provide wide variety of application areas that have not been possible to realize with the wall-powered vision systems with wired links or scalar-data based wireless sensor networks. In this paper, the design of a middleware for a wireless vision sensor node is presented for the realization of WVSNs. The implemented wireless vision sensor node is tested through a simple vision application to study and analyze its capabilities, and determine the challenges in distributed vision applications through a wireless network of low-power embedded devices. The results of this paper highlight the practical concerns for the development of efficient image processing and communication solutions for WVSNs and emphasize the need for cross-layer solutions that unify these two so-far-independent research areas.
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A low-cost circuit was developed for stable and efficient maximum power point (MPP) tracking in autonomous photo voltaic-motor systems with variable-frequency drives (VFDs). The circuit is made of two resistors, two capacitors, and two Zener diodes. Its input is the photovoltaic (PV) array voltage and its output feeds the proportional-integral-derivative (PID) controller usually integrated into, the drive. The steady-state frequency-voltage oscillations induced by the circuit were treated in a simplified mathematical model, which was validated by widely characterizing a PV-powered centrifugal pump. General procedures for circuit and controller tuning were recommended based on model equations. The tracking circuit presented here is widely applicable to PV-motor system with VFDs, offering an. efficient open-access technology of unique simplicity. Copyright (C) 2010 John Wiley & Sons, Ltd.
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This paper presents an optimum user-steered boundary tracking approach for image segmentation, which simulates the behavior of water flowing through a riverbed. The riverbed approach was devised using the image foresting transform with a never-exploited connectivity function. We analyze its properties in the derived image graphs and discuss its theoretical relation with other popular methods such as live wire and graph cuts. Several experiments show that riverbed can significantly reduce the number of user interactions (anchor points), as compared to live wire for objects with complex shapes. This paper also includes a discussion about how to combine different methods in order to take advantage of their complementary strengths.