The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Genetic associations among average annual productivity, growth traits, and stayability: A parallel between Nelore and composite beef cattle

This study was conducted to examine the relationship among average annual productivity of the cow (PRODAM), yearling weight (YW), postweaning BW gain (PWG), scrotal circumference (SC), and stayability in the herd for at least 6 yr (STAY) of Nelore and composite beef cattle. Measurements were taken on animals born between 1980 and 2010 on 70 farms located in 7 Brazilian states. Estimates of heritability and genetic and environmental correlations were obtained by Bayesian approach with 5-trait animal models. Genetic trends were estimated by regressing means of estimated breeding values by year of birth. The heritability estimates were between 0.14 and 0.47. Estimates of genetic correlation among female traits (PRODAM and STAY) and growth traits ranged from-0.02 to 0.30. Estimates of genetic correlations ranged from 0.23 to 0.94 among growth traits indicating that selection for these traits could be successful in tropical breeding programs. Genetic correlations among all traits were favorable and simultaneous selection for growth, productivity, and stayability is therefore possible. Genetic correlation between PRODAM and STAY was 0.99 and 0.85 for Nelore and composite cattle, respectively. Therefore, PRODAM and STAY might be influenced by many of the same genes. The inclusion of PRODAM instead of STAY as a selection criterion seems to be more advantageous for tropical breeding programs because the generation interval required to obtain accurate estimates of genetic merit for PRODAM is shorter. Average annual genetic changes were greater in Nelore than in composite cattle. This was not unexpected because the breeding program of composite cattle included a large number of farms, different production environments, and genetic level of the herds and breeds. Thus, the selection process has become more difficult in this population. © 2013 American Society of Animal Science. All rights reserved.

Integral transform solution for the forced convection of herschel-bulkley fluids in circular tubes and parallel-plates ducts

ABSTRACT: The thermal entry region in laminar forced convection of Herschel-Bulkley fluids is solved analytically through the integral transform technique, for both circular and parallel-plates ducts, which are maintained at a prescribed wall temperature or at a prescribed wall heat flux. The local Nusselt numbers are obtained with high accuracy in both developing and fully-developed thermal regions, and critical comparisons with previously reported numerical results are performed.

Stress analysis in oral obturator prostheses over parallel and tilted implants: photoelastic imaging

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Reformulation and a Lagrangian heuristic for lot sizing problem on parallel machines

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

Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

This paper describes an experimental study into the vibration control of a servo system comprising a servo motor and a flexible manipulator. Two modes of the system are controlled by using the servo motor and an accelerometer attached to the tip of the flexible manipulator. The control system is thus non-collocated. It consists of two electrical dynamic absorbers, each of which consists of a modal filter and, in case of an out-of-phase mode, a phase inverter. The experimental results show that each absorber acts as a mechanical dynamic vibration absorber attached to each mode and significantly reduces the settling time for the system response to a step input.

Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Metabolic profiling by ultra-performance liquid chromatography-mass spectrometry and parallel factor analysis for the determination of disease biomarkers in Eucalyptus

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

An Efficient Parallel Algorithm for Multiple Sequence Similarities Calculation Using a Low Complexity Method

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

Improvements in the score matrix calculation method using parallel score estimating algorithm

The increasing amount of sequences stored in genomic databases has become unfeasible to the sequential analysis. Then, the parallel computing brought its power to the Bioinformatics through parallel algorithms to align and analyze the sequences, providing improvements mainly in the running time of these algorithms. In many situations, the parallel strategy contributes to reducing the computational complexity of the big problems. This work shows some results obtained by an implementation of a parallel score estimating technique for the score matrix calculation stage, which is the first stage of a progressive multiple sequence alignment. The performance and quality of the parallel score estimating are compared with the results of a dynamic programming approach also implemented in parallel. This comparison shows a significant reduction of running time. Moreover, the quality of the final alignment, using the new strategy, is analyzed and compared with the quality of the approach with dynamic programming.

Bit-parallel coprocessor for standard ECC-GF(2m) on FPGA

This paper presents the design of a high-speed coprocessor for Elliptic Curve Cryptography over binary Galois Field (ECC- GF(2m)). The purpose of our coprocessor is to accelerate the scalar multiplication performed over elliptic curve points represented by affine coordinates in polynomial basis. Our method consists of using elliptic curve parameters over GF(2163) in accordance with international security requirements to implement a bit-parallel coprocessor on field-programmable gate-array (FPGA). Our coprocessor performs modular inversion by using a process based on the Stein's algorithm. Results are presented and compared to results of other related works. We conclude that our coprocessor is suitable for comparing with any other ECC-hardware proposal, since its speed is comparable to projective coordinate designs.

Using Threads to Overcome Synchronization Delays in Parallel Multiple Progressive Alignment Algorithms

Sao Paulo State Research Foundation-FAPESP

Seasonal variation of biotic and abiotic parameters in parallel neotropical fishponds

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Recovery Tests of an Hybrid Current Limiter Composed of a SFCL in Parallel to an Air-Core Power Reactor

The resistive-type superconducting fault current limiters (RSFCL) prototypes using YBCO-coated conductors have shown current limitation for medium voltage class applications for acting time up to 80 ms. By connecting an air-core reactor in parallel with the RSFCL, thus making an hybrid current limiter, one can extend the acting time for up to 1 s. In this work, we report the performance of a hybrid current limiter subjected to an AC peak fault current of 2 kA during 1 s for which within the first 80 ms the SFCL limits the current concurrently with the air-core reactor, and for the remaining 920 ms, only the air-core reactor limits the current. In order to evaluate the actual conditions for subsequent reconnection of RSFCL to the power grid, the hybrid fault current limiter was tested varying the time interval for recovery from 900 ms and 1.2 s, followed again by the concurrent operation of the hybrid limiter during 1 s (SFCL during 80 ms). From this evaluation test, the recovery time can be measured and compared using the voltage peak generated in superconducting module from the first and second fault test. The recovery time was also determined through the pulsed current method (PCM) on short-length sample test. The results showed that the fault current was limited from 1.9 kA down to 514 A after 1 cycle of 60 Hz frequency, with recovery time lower than 1.2 s for two subsequent fault current tests.

Lumped Element Modeling of a Flexible Manipulator System

This paper is concerned with a modeling method that can be used for an experimental identification of a dynamic system. More specifically, an equivalent lumped element system is presented to represent in a unique and exact manner a complete proportional-derivative (PD) controlled servo positioning system having a flexible manipulator. The impedance and mobility approach is used to transform the P and D control gains to an electrical spring and an electrical damper, respectively. The impedance model method is used to transform the flexible manipulator to a coupled system between a single contact mass at the driving position and a series of noncontact masses each of which is connected to the contact mass via a resilient member. This method is applicable whenever the driving point response of such a manipulator is available. Experimental work is presented to support the theory developed.