Compactação de um cambissolo háplico causada pela extração florestal com trator Skidder

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

Morfometria e compactação da cromatina espermática de touros Nelore de acordo com a idade e sua influência na produção de embriões in vitro

Pós-graduação em Medicina Veterinária - FCAV

Avaliação da resistência ao cisalhamento de um solo tropical não saturado

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

Diagnóstico do conflito de uso do solo em áreas de preservação permanente do Ribeirão das Posses (Igaraçu do Tietê-SP) visando a conservação dos recursos hídricos

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

Alteração da fertilidade do solo como indicador do processo de antropização e presença de atividades não agrícolas no assentamento rural Horto Aimorés, municípios de Bauru e Pederneiras/SP =: Change of soil fertility as an indicator of the anthropization process and presence of non agricultural activities at the rural settlement Horto Aimorés, cities of Bauru and Pederneiras/ SP

Pós-graduação em Geografia - FCT

Diversidade de algas verdes em crostas biológicas de solo do cerrado

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

Efeitos de práticas de descompactação do solo em área sob sistema plantio direto

Soil compaction is one of the limiting factors in areas subjected to direct seeding. The method used to break up the compacted layer should disturb the soil as little as possible, as well as maintain the ground cover. The aim of this study was to evaluate the influence of subsoiling, scarification and use of shaft-type furrowing mechanisms when sowing, on preserving the ground cover, water content and soil density, as well as the effects on maize yield in a dystroferic Red Nitosol, cultivated under a system of direct seeding for ten years. The experimental design was of randomised blocks, with eight soil management treatments: subsoiling to a depth of 0.40 m before sowing the winter crop, subsoiling to 0.40 m before sowing the maize, scarification to 0.30 m before the winter crop, scarification to 0.30 m before the maize, scarification to 0.20 m before the winter crop, scarification to 0.20 m before the maize, direct seeding of the maize with a shaft-type furrowing mechanism and direct seeding of the maize using a double disc furrower. There were four replications. Subsoiling and scarification influenced the preservation of the ground cover, soil density and water content immediately after sowing, but did not interfere in plant development or grain yield in the maize crop. The use of shaft-type furrowing mechanisms in the sowing operation had no effect on any of the parameters under study.

Capacidade de suporte de carga de Latossolo Vermelho cultivado com cana-de-açúcar e efeitos da mecanização no solo

The objective of this work was to determine the load support capacity (LSC) of an Oxisol and, through compressibility models, relate it to wheel-soil interactions under management systems with one and three sugarcane crop cycles, with mechanized harvest. LSC evaluations were carried out on undisturbed soil samples, collected at planting row and bed, in four layers: 0.00-0.10, 0.10-0.20, 0.20-0.30, and 0.300.40 m. The contact area between wheels and soil was determined in order to estimate the contact pressure by agricultural machinery on the soil. Pre-consolidation pressures were used to determine LSC. The system with three cycles showed higher LSC than the system with only one cycle. The load support capacity of the soil evaluated in the range of friability is greater than the contact pressures applied to the soil by the wheels of the studied agricultural machines.

Impactos do manejo de um sistema plantio direto no crescimento e produtividade do arroz de terras altas e feijão de inverno em sucessão e nos atributos do solo

Pós-graduação em Agronomia - FEIS

Influência dos espaçamentos de plantio da cultura de cana-de-açúcar (Saccharum spp) nos atributos físico-hídricos do solo

The evolution of sugar cane mechanized harvesting made the sector to question the current row spacing used due to its influence on soil compaction. The aim of this study was to evaluate the soil hydro-physical attributes in two row spacings after the farm machinery traffic. The treatments were conducted in a randomized block design with twelve repetitions, being subjected to the variance analyze in double factorial arrangement. The bulk density, the gravimetric water content, and the soil cone index along the position of crop lines (LC) and 0,1m from the row (LP) at the range of depth of 0 to 0.2m and 0.2 to 0.4m were assessed in both row spacings after the fourth harvest season. The results showed that the row spacings of 1.4 and 1.5m did not affect the values of bulk density and gravimetric water content of the soil in all ranges of depth and sample positions studied. However, in the depth range of 0.2 to 0.4 m, the values of soil cone index (IC) in the row spacing of 1.5 m were higher than the values in row spacing of 1.4 m, at both sampling positions. Regardless of row spacing and sample position, the values of soil cone index in the depth range of 0.2 to 0.4m were higher than the depth range of 0 to 0.2m.

Métodos de determinação da densidade do solo em diferentes sistemas de manejo

Soil bulk density is an attribute often used to characterize soil physical structure, being an indicator of soil compaction. The objective of this study was to compare the values ​​of bulk density measured by the paraffin sealed clod and volumetric ring methods in conventional, no-tillage and minimum tillage systems on a Dystroferric Red Nitosol, clayey, in Botucatu, SP. The experiment design was a 3x2 factorial arrangement in randomized block with four replications. The density values ​​obtained by the paraffin sealed clod method were statistically higher than those obtained by the volumetric ring method. There was no difference between the managements when comparing the values ​​of soil density obtained by the paraffin sealed clod method. The soil under conventional management showed lower density when comparing the values ​​of soil density obtained by the volumetric ring. The volumetric ring method was more sensitive to show differences between the management systems than the paraffin sealed clod method.

Capacidade de suporte de carga e densidade do solo em áreas de plantio direto com e sem escarificação

No-till has been used in many different regions of Brazil. However, depending on the location and intensity of machinery traffic, this has caused the problem of soil compaction and many producers are scarification the land as a solution to break through the layer that is restricting plant growth. The objective of this study was to evaluate the influence of scarification (0.30 m) in the physical properties of a dystrophic Alfisol comparing the results with a non-scarified contiguous area; both were previously conducted using no-till. The density and pressure of pre-consolidation were sampled in two areas of non-tillage, one with chiseling (PDCE) and one without (PDSE) by using the UMAS -Mobile Soil Sampling Unit built by NEMPA – Agroforestry Machinery and Tire Testing Center/FCA / UNESP, Botucatu ,SP. The UMAS is equipped with GPS which allows the samples to be georeferenced. The samples were evaluated in the laboratory through the collection of standardized rings. Sampling was performed at a dimension of 15 x 50 m, with 160 rings being collected. The samples containing rings which were used in determining the density and also for testing the consolidometer, were collected from the layers of 0 to 0.10 m, 0.10 to 0.20 m, 0.20 to 0.30 0.30 to I 0.40 m. For the odometer test the undisturbed sample rings were used in obtaining the load bearing capacity of the soil. The soil management adopted provided a decrease in soil density using no-tillage with scarification depths from 0.0 to 0.10 0.10 to 0.20 m while the other depths did not show any decrease. The pre-consolidation pressure in combination with soil aggregate resistance identified that the management process PDCE within all layers was subjected to water content reliability regarding a greater load bearing capacity of the soil. For the PDSE that only was possible in the 0 to 0.10 m, showing greater consolidation of this layer.

Intervalo hídrico ótimo e grau de compactação de um latossolo vermelho após 30 anos sob plantio direto

A qualidade física do solo é um dos fatores determinantes da sustentabilidade agronômica, econômica e ambiental no sistema plantio direto (SPD). A compactação do solo tem sido apontada como um dos fatores de redução da qualidade física em solos sob SPD. Contudo, com a utilização do SPD, pode haver o incremento de matéria orgânica do solo e o desenvolvimento de um sistema poroso contínuo e estável, que atenuam os impactos negativos da compactação. O objetivo deste trabalho foi avaliar a qualidade física de um Latossolo Vermelho distroférrico sob SPD durante 30 anos, utilizando o intervalo hídrico ótimo (IHO) e o grau de compactação do solo (GC). Em uma área comercial com histórico de altas produtividades sob SPD, foram coletadas amostras de solo com estrutura preservada e deformada, para determinação da densidade do solo (Ds), do IHO e do GC. As amostras com estrutura preservada foram obtidas em três posições, relativas às linhas (L), entrelinhas (E) e posição intermediária entre as linhas e entrelinhas (PI) da cultura do milho. Foram determinadas as curvas de retenção de água e resistência do solo à penetração, bem como a Ds. A amostra de solo com estrutura deformada foi usada para obter a curva de compactação, utilizando o teste de Proctor. A Dmax foi obtida a partir da curva de compactação, e o GC foi determinado pela razão entre a Ds e a Dmax. Independentemente dos limites críticos de resistência à penetração (RP), verifica-se redução do IHO com o aumento da Ds. Os maiores valores do IHO foram verificados na posição de amostragem L, e a utilização de RP crítica maior que 2,0 MPa resultou em IHO condizente com a qualidade física desse solo sob SPD de longo tempo. A Dmax foi de 1,52 kg dm-3, e o GC variou de 64 a 87 %, sendo os maiores valores obtidos nas posições E e PI. Os valores de IHO e GC obtidos neste estudo indicam que a qualidade física desse solo não é limitante à produção das culturas após 30 anos de utilização do SPD.

BaTboT: a biologically inspired flapping and morphing bat robot actuated by SMA-based artificial muscles

Bats are animals that posses high maneuvering capabilities. Their wings contain dozens of articulations that allow the animal to perform aggressive maneuvers by means of controlling the wing shape during flight (morphing-wings). There is no other flying creature in nature with this level of wing dexterity and there is biological evidence that the inertial forces produced by the wings have a key role in the attitude movements of the animal. This can inspire the design of highly articulated morphing-wing micro air vehicles (not necessarily bat-like) with a significant wing-to-body mass ratio. This thesis presents the development of a novel bat-like micro air vehicle (BaTboT) inspired by the morphing-wing mechanism of bats. BaTboT’s morphology is alike in proportion compared to its biological counterpart Cynopterus brachyotis, which provides the biological foundations for developing accurate mathematical models and methods that allow for mimicking bat flight. In nature bats can achieve an amazing level of maneuverability by combining flapping and morphing wingstrokes. Attempting to reproduce the biological wing actuation system that provides that kind of motion using an artificial counterpart requires the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators. Thus, NiTinol Shape Memory Alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. This antagonistic configuration of SMA-muscles response to an electrical heating power signal to operate. This heating power is regulated by a proper controller that allows for accurate and fast SMA actuation. Morphing-wings will enable to change wings geometry with the unique purpose of enhancing aerodynamics performance. During the downstroke phase of the wingbeat motion both wings are fully extended aimed at increasing the area surface to properly generate lift forces. Contrary during the upstroke phase of the wingbeat motion both wings are retracted to minimize the area and thus reducing drag forces. Morphing-wings do not only improve on aerodynamics but also on the inertial forces that are key to maneuver. Thus, a modeling framework is introduced for analyzing how BaTboT should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, an attitude controller is proposed. The attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands. This novel flight control approach is aimed at incrementing net body forces (Fnet) that generate propulsion. Mimicking the way how bats take advantage of inertial and aerodynamical forces produced by the wings in order to both increase lift and maneuver is a promising way to design more efficient flapping/morphing wings MAVs. The novel wing modulation strategy and attitude control methodology proposed in this thesis provide a totally new way of controlling flying robots, that eliminates the need of appendices such as flaps and rudders, and would allow performing more efficient maneuvers, especially useful in confined spaces. As a whole, the BaTboT project consists of five major stages of development: - Study and analysis of biological bat flight data reported in specialized literature aimed at defining design and control criteria. - Formulation of mathematical models for: i) wing kinematics, ii) dynamics, iii) aerodynamics, and iv) SMA muscle-like actuation. It is aimed at modeling the effects of modulating wing inertia into the production of net body forces for maneuvering. - Bio-inspired design and fabrication of: i) skeletal structure of wings and body, ii) SMA muscle-like mechanisms, iii) the wing-membrane, and iv) electronics onboard. It is aimed at developing the bat-like platform (BaTboT) that allows for testing the methods proposed. - The flight controller: i) control of SMA-muscles (morphing-wing modulation) and ii) flight control (attitude regulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BaTboT’s wings. - Experiments: it is aimed at quantifying the effects of properly wing modulation into aerodynamics and inertial production for maneuvering. It is also aimed at demonstrating and validating the hypothesis of improving flight efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Windtunnel experiments will be oriented to discuss and demonstrate how the wings can considerably affect the dynamics/aerodynamics of flight and how to take advantage of wing inertia modulation that the morphing-wings enable to properly change wings’ geometry during flapping. Resumen: Los murciélagos son mamíferos con una alta capacidad de maniobra. Sus alas están conformadas por docenas de articulaciones que permiten al animal maniobrar gracias al cambio geométrico de las alas durante el vuelo. Esta característica es conocida como (alas mórficas). En la naturaleza, no existe ningún especimen volador con semejante grado de dexteridad de vuelo, y se ha demostrado, que las fuerzas inerciales producidas por el batir de las alas juega un papel fundamental en los movimientos que orientan al animal en vuelo. Estas características pueden inspirar el diseño de un micro vehículo aéreo compuesto por alas mórficas con redundantes grados de libertad, y cuya proporción entre la masa de sus alas y el cuerpo del robot sea significativa. Esta tesis doctoral presenta el desarrollo de un novedoso robot aéreo inspirado en el mecanismo de ala mórfica de los murciélagos. El robot, llamado BaTboT, ha sido diseñado con parámetros morfológicos muy similares a los descritos por su símil biológico Cynopterus brachyotis. El estudio biológico de este especimen ha permitido la definición de criterios de diseño y modelos matemáticos que representan el comportamiento del robot, con el objetivo de imitar lo mejor posible la biomecánica de vuelo de los murciélagos. La biomecánica de vuelo está definida por dos tipos de movimiento de las alas: aleteo y cambio de forma. Intentar imitar como los murciélagos cambian la forma de sus alas con un prototipo artificial, requiere el análisis de métodos alternativos de actuación que se asemejen a la biomecánica de los músculos que actúan las alas, y evitar el uso de sistemas convencionales de actuación como servomotores ó motores DC. En este sentido, las aleaciones con memoria de forma, ó por sus siglas en inglés (SMA), las cuales son fibras de NiTinol que se contraen y expanden ante estímulos térmicos, han sido usados en este proyecto como músculos artificiales que actúan como bíceps y tríceps de las alas, proporcionando la funcionalidad de ala mórfica previamente descrita. De esta manera, los músculos de SMA son mecánicamente posicionados en una configuración antagonista que permite la rotación de las articulaciones del robot. Los actuadores son accionados mediante una señal de potencia la cual es regulada por un sistema de control encargado que los músculos de SMA respondan con la precisión y velocidad deseada. Este sistema de control mórfico de las alas permitirá al robot cambiar la forma de las mismas con el único propósito de mejorar el desempeño aerodinámico. Durante la fase de bajada del aleteo, las alas deben estar extendidas para incrementar la producción de fuerzas de sustentación. Al contrario, durante el ciclo de subida del aleteo, las alas deben contraerse para minimizar el área y reducir las fuerzas de fricción aerodinámica. El control de alas mórficas no solo mejora el desempeño aerodinámico, también impacta la generación de fuerzas inerciales las cuales son esenciales para maniobrar durante el vuelo. Con el objetivo de analizar como el cambio de geometría de las alas influye en la definición de maniobras y su efecto en la producción de fuerzas netas, simulaciones y experimentos han sido llevados a cabo para medir cómo distintos patrones de modulación de las alas influyen en la producción de aceleraciones lineales y angulares. Gracias a estas mediciones, se propone un control de vuelo, ó control de actitud, el cual incorpora información inercial de las alas para la definición de referencias de aceleración angular. El objetivo de esta novedosa estrategia de control radica en el incremento de fuerzas netas para la adecuada generación de movimiento (Fnet). Imitar como los murciélagos ajustan sus alas con el propósito de incrementar las fuerzas de sustentación y mejorar la maniobra en vuelo es definitivamente un tópico de mucho interés para el diseño de robots aéros mas eficientes. La propuesta de control de vuelo definida en este trabajo de investigación podría dar paso a una nueva forma de control de vuelo de robots aéreos que no necesitan del uso de partes mecánicas tales como alerones, etc. Este control también permitiría el desarrollo de vehículos con mayor capacidad de maniobra. El desarrollo de esta investigación se centra en cinco etapas: - Estudiar y analizar el vuelo de los murciélagos con el propósito de definir criterios de diseño y control. - Formular modelos matemáticos que describan la: i) cinemática de las alas, ii) dinámica, iii) aerodinámica, y iv) actuación usando SMA. Estos modelos permiten estimar la influencia de modular las alas en la producción de fuerzas netas. - Diseño y fabricación de BaTboT: i) estructura de las alas y el cuerpo, ii) mecanismo de actuación mórfico basado en SMA, iii) membrana de las alas, y iv) electrónica abordo. - Contro de vuelo compuesto por: i) control de la SMA (modulación de las alas) y ii) regulación de maniobra (actitud). - Experimentos: están enfocados en poder cuantificar cuales son los efectos que ejercen distintos perfiles de modulación del ala en el comportamiento aerodinámico e inercial. El objetivo es demostrar y validar la hipótesis planteada al inicio de esta investigación: mejorar eficiencia de vuelo gracias al novedoso control de orientación (actitud) propuesto en este trabajo. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos son realizados utilizando un túnel de viento con la instrumentación necesaria para llevar a cabo las mediciones de desempeño respectivas. En los resultados se discutirá y demostrará que la inercia producida por las alas juega un papel considerable en el comportamiento dinámico y aerodinámico del sistema y como poder tomar ventaja de dicha característica para regular patrones de modulación de las alas que conduzcan a mejorar la eficiencia del robot en futuros vuelos.

Inteligencia artificial para la predicción y control del acabado superficial en procesos de fresado a alta velocidad

El objetivo principal de esta tesis doctoral es profundizar en el análisis y diseño de un sistema inteligente para la predicción y control del acabado superficial en un proceso de fresado a alta velocidad, basado fundamentalmente en clasificadores Bayesianos, con el prop´osito de desarrollar una metodolog´ıa que facilite el diseño de este tipo de sistemas. El sistema, cuyo propósito es posibilitar la predicción y control de la rugosidad superficial, se compone de un modelo aprendido a partir de datos experimentales con redes Bayesianas, que ayudar´a a comprender los procesos dinámicos involucrados en el mecanizado y las interacciones entre las variables relevantes. Dado que las redes neuronales artificiales son modelos ampliamente utilizados en procesos de corte de materiales, también se incluye un modelo para fresado usándolas, donde se introdujo la geometría y la dureza del material como variables novedosas hasta ahora no estudiadas en este contexto. Por lo tanto, una importante contribución en esta tesis son estos dos modelos para la predicción de la rugosidad superficial, que se comparan con respecto a diferentes aspectos: la influencia de las nuevas variables, los indicadores de evaluación del desempeño, interpretabilidad. Uno de los principales problemas en la modelización con clasificadores Bayesianos es la comprensión de las enormes tablas de probabilidad a posteriori producidas. Introducimos un m´etodo de explicación que genera un conjunto de reglas obtenidas de árboles de decisión. Estos árboles son inducidos a partir de un conjunto de datos simulados generados de las probabilidades a posteriori de la variable clase, calculadas con la red Bayesiana aprendida a partir de un conjunto de datos de entrenamiento. Por último, contribuimos en el campo multiobjetivo en el caso de que algunos de los objetivos no se puedan cuantificar en números reales, sino como funciones en intervalo de valores. Esto ocurre a menudo en aplicaciones de aprendizaje automático, especialmente las basadas en clasificación supervisada. En concreto, se extienden las ideas de dominancia y frontera de Pareto a esta situación. Su aplicación a los estudios de predicción de la rugosidad superficial en el caso de maximizar al mismo tiempo la sensibilidad y la especificidad del clasificador inducido de la red Bayesiana, y no solo maximizar la tasa de clasificación correcta. Los intervalos de estos dos objetivos provienen de un m´etodo de estimación honesta de ambos objetivos, como e.g. validación cruzada en k rodajas o bootstrap.---ABSTRACT---The main objective of this PhD Thesis is to go more deeply into the analysis and design of an intelligent system for surface roughness prediction and control in the end-milling machining process, based fundamentally on Bayesian network classifiers, with the aim of developing a methodology that makes easier the design of this type of systems. The system, whose purpose is to make possible the surface roughness prediction and control, consists of a model learnt from experimental data with the aid of Bayesian networks, that will help to understand the dynamic processes involved in the machining and the interactions among the relevant variables. Since artificial neural networks are models widely used in material cutting proceses, we include also an end-milling model using them, where the geometry and hardness of the piecework are introduced as novel variables not studied so far within this context. Thus, an important contribution in this thesis is these two models for surface roughness prediction, that are then compared with respecto to different aspects: influence of the new variables, performance evaluation metrics, interpretability. One of the main problems with Bayesian classifier-based modelling is the understanding of the enormous posterior probabilitiy tables produced. We introduce an explanation method that generates a set of rules obtained from decision trees. Such trees are induced from a simulated data set generated from the posterior probabilities of the class variable, calculated with the Bayesian network learned from a training data set. Finally, we contribute in the multi-objective field in the case that some of the objectives cannot be quantified as real numbers but as interval-valued functions. This often occurs in machine learning applications, especially those based on supervised classification. Specifically, the dominance and Pareto front ideas are extended to this setting. Its application to the surface roughness prediction studies the case of maximizing simultaneously the sensitivity and specificity of the induced Bayesian network classifier, rather than only maximizing the correct classification rate. Intervals in these two objectives come from a honest estimation method of both objectives, like e.g. k-fold cross-validation or bootstrap.