A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

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.

Satelites estabilizados por rotação e torque magnético residual

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Efeito da dieta com deficiência de magnésio sobre a manutenção da osseointegração de implantes de titânio: análise radiográfica, densitométrica e de torque reverso

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Influência do Diabetes mellitus e da insulinoterapia na osseointegração. Análise por torque reverso em tíbia de coelhos

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

Centroamérica: ¿Una nueva relación centro-periferia basada en el control de los activos productivos?

Incluye bibliografía.

Foreign direct investment and welfare

Includes bibliography.

Age-related differences in postural control: effects of the complexity of visual manipulation and sensorimotor contribution to postural performance

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

Effects of different formulations of neem oil-based products on control Zabrotes subfasciatus (Boheman, 1833) (Coleoptera: Bruchidae) on beans

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Application of passive control to energy harvester efficiency using a nonideal portal frame structural support system

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

Carbon Film Coating of Abutment Surfaces: Effect on the Abutment Screw Removal Torque

Purpose: To evaluate the effect of diamond-like carbon (DLC) coating of prefabricated implant abutment on screw removal torque (RT) before and after mechanical cycling (MC).Materials and Methods: Fifty-four abutments for external-hex implants were divided among 6 groups (n = 9): S, straight abutment (control); SC, straight coated abutment; SCy, straight abutment and MC; SCCy, straight coated abutment and MC; ACy, angled abutment and MC; and ACCy, angled coated abutment and MC. The abutments were attached to the implants by a titanium screw. RT values were measured and registered. Data (in Newton centimeter) were analyzed with analysis of variance and Dunnet test (alpha = 0.05).Results: RT values were significantly affected by MC (P = 0.001) and the interaction between DLC coating and MC (P = 0.038). SCy and ACy showed the lowest RT values, statistically different from the control. The abutment coated groups had no statistical difference compared with the control. Scanning electron microscopy analysis showed DLC film with a thickness of 3 mm uniformly coating the hexagonal abutment.Conclusion: DLC film deposited on the abutment can be used as an alternative procedure to reduce abutment screw loosening.

Satélites estabilizados por rotação e torque de radiação solar direta

The aims of this work are to analyze the direct solar radiation pressure torque (TPRS) in the rotational motion of spin-stabilized artificial satellites, to numerically implement these solutions and to compare the results with real data of the Brazilian Satellite Data Collection – SCD1 and SCD2, supplied by INPE. The mathematical model for this torque is determined for a cylindrical satellite, and the components of this torque are determined in a fixed system in the satellite. An analytical solution for the spin motion equations is proposed, in which TPRSD does not affect the spin velocity of the satellite. Two approaches are adopted in the numerical implementation of the developed theory: the first one considers the proposed theory and the second introduces a variation in the spin velocity based on its real variation. The results obtained indicate that the solar radiation pressure torque has little influence in the right ascension and declination axis of rotation due to the small dimension of the satellite and altitude in which it is found. To better validate the application of the presented theory, the angular deviation of the spin axis and solar aspect angle were also analyzed. The comparison of the results of the approaches conducted with real data show good precision in the theory, which can be applied in the prediction of the rotational motion of the spin-stabilized artificial satellites, when others external torques are considered besides the direct solar radiation pressure torque

Influência do alongamento prévio no pico de torque e na taxa de força em exercício de contração isométrica

The objective of this study was to investigate the influence of previous active static stretch on the isometric peak torque (PT) and rate of force development (RFD) measured from different time intervals from the beginning of muscle contraction. Participated of this study 15 male individuals, apparently healthy, with ages between 18 and 25 years, without regular physical activity practice. The individuals were submitted in different days to the following tests: 1) Familiarization session to the isokinetic dynamometer; 2) Two maximal isometric concentric contractions for knee extensors in isokinetic dynamometer to determine PT and RFD (Control), and; 3) Two active static stretching exercises for the dominant leg extensors (10 x 30 s for each exercise, with 20 s of rest). After the stretching, the isokinetic test was repeated (Post-Stretching). The conditions 2 and 3 were performed in random order. The RFD was considered as the mean slope of the moment-time curve at time intervals of 0-30, 0-50 and 0-100ms relative to the beginning of muscle contraction. It was verified significant reduction for both maximal RFD and PT after the stretching (p < 0.05). At intervals of 0- 30ms, 0-50ms and 0-100ms, the RFD at the conditions with stretching was similar to the RFD without stretching (p > 0.05). At intervals of 0-150ms and 0-200ms, the RFD obtained at the contraction without stretching was significantly higher that that obtained at the contraction with stretching (p < 0.05). It can be concluded that the static stretching, performed with duration of 600 s diminish isometric PT, maximal RFD and RFD measured at late phase (> 100 ms) of muscle contraction.

A influência do alongamento prévio no pico de torque e na taxa de desenvolvimento de força

The objective of this study was to investigate the influence of previous active static stretch on the peak torque (PT) and rate of force development (TDF) during isokinetic concentric contractions at 60 and 180.s-1 in active individuals. Twelve active subjects with ages between 18 and 30 years participated of this study. The individuals were submitted in different days to the following tests: 1) Familiarization session to the isokinetic dynamometer; 2) Five maximal isokinetic concentric contractions for knee extensors at each angular velocity (60 and 180.s-1) to determine PT and TDF (Control), and; 3) Two active static stretching exercises for the dominant leg extensors (10 x 30 s for each exercise, with 20 s of rest). After the stretching, the isokinetic test was repeated (Post-Stretching). The conditions 2 and 3 were performed in random order. There was no significant modification after the stretch exercises on the PT, angle and time at which the PT was attained, at 60 and 180º.s-1. In the same way, there was no significant modification on the TDF and angle at which the maximal TDF was attained in both angular speeds. In other way, the time to attain maximal TDF (TTDF) at 180º.s-1 was significantly lower after the stretching (Pre - 98.3 ± 27.5 ms and Post - 86.6 ± 30.2 ms). There was significant modification on the torque (60 and 180º.s-1) and time (60º.s-1) at different delta of angle variations, obtained at 60º.s-1 at Control and Post-Stretching conditions. However, there was significant reduction of time after the stretching exercises on delta of angle variations of 90-88º (Pre - 46.6 ± 6.5 ms and Post - 44.1 ± 5.1 ms), 88-85º (Pre - 65.8 ± 7.9 ms and Post - 63.3 ± 4.9 ms) and 85-80º (Pre - 93.3 ± 7.7 ms and Post - 90.0 ± 4.2 ms) at 180º.s-1. With base on these data, it is possible to conclude that PT and TDF do not modify after static stretching, irrespectively on the speed...(Complete abstract click electronic access below)

Efeito do recobrimento de filmes de carbono tipo diamante depositados a plasma na manutenção do torque de parafusos protéticos

Pós-graduação em Odontologia Restauradora - ICT

Cytotoxicity of dimethyl sulfoxide (DMSO) in direct contact with odontoblast-like cells

To evaluate the cytotoxicity of dimethyl sulfoxide (DMSO) on the repair-related activity of cultured odontoblast-like MDPC-23 cells. Methods Solutions with different concentrations of DMSO (0.05, 0.1, 0.3, 0.5 and 1.0 mM), diluted in culture medium (DMEM), were placed in contact with MDPC-23 cells (5 × 104 cells/cm2) for 24 h. Eight replicates (n = 8) were prepared for each solutions for the following methods of analysis: violet crystal dye for cell adhesion (CA), quantification of total protein (TP), alizarin red for mineralization nodules formation (MN) and cell death by necrosis (flow cytometry); while twelve replicates (n = 12) were prepared for viable cell number (Trypan Blue) and cell viability (MTT assay). Data were analyzed by ANOVA and Tukey or Kruskal–Wallis and Mann–Whitney's tests (p < 0.05). Results Cell viability, adhesion and percentage of cell death by necrosis were not affected by DMSO at any concentration, with no statistical significant difference among the groups. A significant reduction in total protein production was observed for 0.5 and 1.0 mM of DMSO compared to the control while increased mineralized nodules formation was seen only for 1.0 mM DMSO. Significance: DMSO caused no or minor cytotoxic effects on the pulp tissue repair-related activity of odontoblast-like cells.