Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping

This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results in greater energy build up. The stabilization is achieved by mapping a stabilizing LQR control law to two fuzzy inference engines, which reduces the computational load compared with using a single fuzzy inference engine. The robustness of the balancing control is tested by attaching a bottle of water at the tip of the pendulum.

Typification of four North American club-chollas: the names of four Engelmannian species from Mexico and Southwestern United States

The names Opuntia bulbispina, O. clavata, O. emoryi and O. grahamii, originally proposed by George Engelmann between 1848 and 1856, are reviewed and typified after new findings of previously unknown voucher specimens. Original materials collected by some of the collaborators employed by Engelmann during the Mexican Boundary Survey were discovered in a loan from the Torrey Herbarium at the New York Botanical Garden (NY). Many of the materials include fragments of stems and fruits, and others include only sectioned flowers and some seeds. Particularly good descriptions of the species here concerned were published in Engelmann’s “Synopsis of the Cactaceae” in 1857, and exceptional illustrations were produced by Paulus Roetter and printed in “Cactaceae of the Boundary” in 1859. The problems surrounding some previous typifications of these names range from typification of joint lectotypes to illegitimate typifications of illustrations when original material was known to exist. The materials selected for typification were collected by the Mexican Boundary Survey and are lodged at the herbaria of the Missouri Botanical Garden (MO) and the New York Botanical Garden (NY); some are illustrations published by Engelmann.

The performance of football club managers: skill or luck?

This paper evaluates the extent to which the performance of English Premier League football club managers can be attributed to skill or luck when measured separately from the characteristics of the team. We first use a specification that models managerial skill as a fixed effect and we examine the relationship between the number of points earned in league matches and the club’s wage bill, transfer spending, and the extent to which they were hit by absent players through injuries, suspensions or unavailability. We next implement a bootstrapping approach to generate a simulated distribution of average points that could have taken place after the impact of the manager has been removed. The findings suggest that there are a considerable number of highly skilled managers but also several who perform below expectations. The paper proceeds to illustrate how the approach adopted could be used to determine the optimal time for a club to part company with its manager. We are able to identify in advance several managers who the analysis suggests could have been fired earlier and others whose sackings were hard to justify based on their performances.

Does managerial turnover affect football club share prices?

This paper analyses the 53 managerial sackings and resignations from 16 stock exchange listed English football clubs during the nine seasons between 2000/01 and 2008/09. The results demonstrate that, on average, a managerial sacking results in a post-announcement day market-adjusted share price rise of 0.3%, whilst a resignation leads to a drop in share price of 1% that continues for a trading month thereafter, cumulating in a negative abnormal return of over 8% from a trading day before the event. These findings are intuitive, and suggest that sacking a poorly performing manager may be welcomed by the markets as a possible route to better future match performance, while losing a capable manager through resignation, who typically progresses to a superior job, will result in a drop in a club’s share price. The paper also reveals that while the impact of managerial departures on stock price volatilities is less clear-cut, speculation in the newspapers is rife in the build-up to such an event.

Comparison of Two Rotary Systems in Root Canal Preparation Regarding Disinfection

Introduction: The aim of the present study was to determine the disinfection of preparations carried out by using the Protaper or MTwo system in canals infected with Enterococcus faecalis. Methods: Twenty-eight distobuccal canals of upper molars were used, in which the canals were sterilized after being enlarged to #20 file and then contaminated with an inoculation of a culture of E. faecalis. After the incubation period, bacterial samples were collected and were seeded on plates for analysis of colony-forming units (CFU)/mL. The teeth were divided into 2 groups according to the rotary system used for instrumentation; 2 noninstrumented teeth served as the control group. Then bacterial samples were collected and were seeded on plates for analysis of CFU/mL again. The data obtained were evaluated by the Wilcoxon and Mann-Whitney U tests. Results: Bacterial reduction was 81.94% and 84.29%, respectively, in Pro Taper and Mtwo systems, and there was no statistically significant difference (P > .05). Conclusions: Both systems, Pro Taper and Mtwo, reduced the amount of bacteria in the mechanical disinfection of the root canal system, demonstrating that they are suitable for this purpose. (J Endod 2010;36:1238-1240)

Analys av förvridning vid hålning av rör : Analysis of metal torsion in rotary piercing

Hålningsprocessen är det inledande bearbetningssteget vid varmvalsning av sömlösa rör. Det är en tvärvalsningsprocess i vilken ett cylindriskt ämne valsas mellan två dubbelkoniska val¬sar över en plugg. Valsarna är snedställda med en viss mat¬ningsvinkel, vilken ger upphov till en axiell drivkraft genom ver¬ket. Hela denna pro¬cess är roterande. Detta i kombination med bl.a. de koniska valsarna leder till en förvrid¬ning av röret, dvs. en tänkt rak linje på det ingå¬ende äm¬net övergår till en spiral efter genomförd valsning. Med föreliggande uppgift är målet att studera förvridningen genom teoretisk och experimen¬tell analys. Syftet med detta är dels att få fördjupad kunskap inom området och dels att ut¬veckla en modell för pre¬diktering av förvridningen.Det experimentella arbetet är utfört på ett stål av typ Ovako 280 (SS2142). Denna mjuka stål¬sort valdes i syfte att undvika värmebehandling innan provberedning. För att visuali¬sera för¬vridningen fräs¬tes ett rakt spår längs det ingående äm¬net och hål borrades mot symmetrilinjen. De praktiska undersökningarna utfördes direkt i den löpande produktionen. Genomförda beräkningar uppvisar en längsgående förvridningsvinkel som stämmer väl över¬ens med uppmätt värde. Detta är dock under antagandet att den tangentiella hastighetskoeffi¬cienten varierar linjärt utmed deformationszonen. För en mer utvecklad modell krävs en nog¬grannare analys av kontakten mellan vals/ämne eller en grundligt genomförd uppmätning av ämnets vinkelhastighet.

Lansering av The Richard Juhlin Champagne Club Introducing The Richard Juhlin Champagne Club

Richard Juhlin är världens främste champagneexpert. Han har tillsammans med ett antal andra aktörer startat The Richard Juhlin Champagne Club. Det är en klubb för den totala champagne älskaren. De vill utveckla sin webbplats och därmed knyta an fler medlemmar till klubben. Detta arbete innebär att skapa en ny design, se över struktur och gränssnitt för sidan samt att bilder ska uppdateras och texter ska redigeras. En redesign av webbplatsen www.champagneclub.com har resulterat i ett luftigt och sofistikerat utseende med god läsbarhet. Webbplatsen är lättnavigerad och ger ett inbjudande intryck för besökaren. Webbplatsen ska hela tiden uppdateras och hållas aktuell med nyheter kring de tillhörande barerna, andra aktiviteter som medlemmar blir inbjudna till samt nya tastingnots som är The Rickard Juhlin Champagne Clubs specialitet. Dessa notes är gjorda av Richard Juhlin och fylls ständigt på allt eftersom att nya champagner provas och bedöms.

A formação do jogador de futebol no Sport Club Internacional : (1997-2002)

O trabalho investiga o processo de formação do jogador de futebol no SC Internacional (1997-2002) sob o modelo globalista, desnaturalizando a profissão como resultado apenas de “vocação” e “dom”. Verifica o nível sócio-econômico-educacional dos jogadores. Identifica os critérios técnicos e sociais na seleção de jogadores que ingressam no clube, bem como as fontes sociais das motivações e expectativas profissionais dos atletas. Analisa a concepção dos jogadores sobre o fim do “Passe”. As motivações profissionais são: possibilidade de ganhar altos salários, jogar na seleção brasileira, incentivo da família e dom. As expectativas são jogar no (a/s): profissionais do Internacional, seleção brasileira, futebol do eixo Rio-São Paulo e exterior. Habilidade, força física, estatura elevada, capacidade técnica e disposição de treinamentos são critérios para se tornar jogador de futebol. A pesquisa revela que a formação do jogador consiste num processo de ensino-aprendizagem teórico-prático, disciplinado por meio de treino físicos, técnicos e táticos e aprimoramento do talento. Não se trata apenas do despertar e lapidar aptidões e atributos naturais (dom, vocação). Constitui um processo civilizatório de incorporação de um habitus futebolístico típico deste clube. As duas concepções dominantes entre os atletas sobre o fim do “Passe” são antagônicas: (1) liberdade de trabalho e (2) desemprego.

A organização do lazer e seus prazeres: um estudo de caso sobre o Club Med no Brasil

A pesquisa “A organização do lazer e seus prazeres: o caso do Club Med” se inscreve no âmbito de um campo recente de investigação que toma o turismo como prática social e procura compreender a sua inserção nas dinâmicas culturais em nível local e global. A partir do caso Club Med, analiso comparativamente o fenômeno dos hotéis de lazer no Brasil e em outros países. O objetivo é entender como ocorre o processo de elaboração desses hotéis como espaços lúdicos altamente cobiçados mundo afora. Paralelamente, o estudo contempla também a perspectiva do cliente e, conseqüentemente, a questão do consumo do produto resort na sociedade contemporânea.

O Fluminense Foo-tball Club: a construção de uma identidade clubística no futebol carioca (1902-1933)

Este trabalho tem por objetivo levantar explicações sobre a formação da identidade do Fluminense F. C. como clube que tem como marca principal a elitização calcada na distinção e no refinamento. Pretendemos analisar a história do clube durante os anos iniciais do desenvolvimento do futebol na cidade do Rio de Janeiro e sua relação com as outras agremiações futebolísticas, levantando aspectos peculiares de sua história que foram fundamentais na construção dessa imagem. Tendo como pressupostos teóricos os trabalhos de Bourdieu sobre a distinção e de Hobsbawm e Ranger sobre a invenção das tradições, procuramos demonstrar como escritores como Mario Filho e Paulo Coelho Netto foram responsáveis pela consolidação de uma série de valores simbólicos e tradições que associaram o Fluminense a um espaço de distinção e refinamento que se perpetuou historicamente.

Why join a carbon club?: a study of the banks participating in the Brazilian “Business for Climate Platform”

Why do firms that present low levels of (direct) carbon emissions participate in “carbon clubs”, which have the goal of managing and reducing greenhouse gas (GHG) emissions? In order to answer this question, we collected data from both primary and secondary sources from firms operating in the Brazilian banking sector, which are members of the Businesses for Climate Platform (Plataforma Empresas pelo Clima e EPC). We first looked for answers in the institutional theory and resource based view of the firm (RBV). By confronting the arguments presented by these streams of scientific enquiry with empirical data, we worked on theory testing. In particular, we analyzed the institutional pressures and resources and capabilities of the focus companies, in order to understand the rationales for proactive sustainability management. We found evidences of the arguments presented by both the institutional theory and the RBV. By studying an industry that is not a frequent subject to research on socio-environmental issues e for not being considered of high impact e in an emerging market economy, the research contributes to both the further development of the institutional theory and the advancement of sustainability management in corporations.