A dynamical neural network for hitting an approaching object

Besides making contact with an approaching ball at the proper place and time, hitting requires control of the effector velocity at contact. A dynamical neural network for the planning of hitting movements was derived in order to account for both these requirements. The model in question implements continuous required velocity control by extending the Vector Integration To Endpoint model while providing explicit control of effector velocity at interception. It was shown that the planned movement trajectories generated by the model agreed qualitatively with the kinematics of hitting movements as observed in two recent experiments. Outstanding features of this comparison concerned the timing and amplitude of the empirical backswing movements, which were largely consistent with the predictions from the model. Several theoretical implications as well as the informational basis and possible neural underpinnings of the model were discussed.

Driving saccade to pursuit using image motion

Within the context of active vision, scant attention has been paid to the execution of motion saccades—rapid re-adjustments of the direction of gaze to attend to moving objects. In this paper we first develop a methodology for, and give real-time demonstrations of, the use of motion detection and segmentation processes to initiate capture saccades towards a moving object. The saccade is driven by both position and velocity of the moving target under the assumption of constant target velocity, using prediction to overcome the delay introduced by visual processing. We next demonstrate the use of a first order approximation to the segmented motion field to compute bounds on the time-to-contact in the presence of looming motion. If the bound falls below a safe limit, a panic saccade is fired, moving the camera away from the approaching object. We then describe the use of image motion to realize smooth pursuit, tracking using velocity information alone, where the camera is moved so as to null a single constant image motion fitted within a central image region. Finally, we glue together capture saccades with smooth pursuit, thus effecting changes in both what is being attended to and how it is being attended to. To couple the different visual activities of waiting, saccading, pursuing and panicking, we use a finite state machine which provides inherent robustness outside of visual processing and provides a means of making repeated exploration. We demonstrate in repeated trials that the transition from saccadic motion to tracking is more likely to succeed using position and velocity control, than when using position alone.

Estudo da secagem do pedúnculo do caju em sistemas convencional e solar: modelagem e simulação do processo

This work aims to study the drying of cashew-nut pulp with different lay-out of dryers using conventional and solar energy. It concerns with the use of exceeding of the regional raw material and the suitable knowledge for the applicability of the drying systems as pathway for food conservation. Besides, it used renewable sources as solar energy to dry these agroindustrial products. Runs were carried out using a conventional tray-dryer with temperature, air velocity control and cashew slice thickness of 55°C, 65°C, 75°C; 3.0; 4.5, 6.0 m s-1; 1.0; 1.5 and 2.0 cm, respectively, in order to compare the studied systems. To evaluate the conventional tray-dryer, it was used a diffusional model of 2nd Fick´s law, where the drying curves were quite well fitted to an infinite flat plate design. For the drying runs where the room temperature had no control, it was developed a phenomenological-mathematical model for the solar dryer with indirect radiation under natural and forced convection based on material and energy balances of the system. Besides, it was carried out assays in the in natura as well as dehydrated, statistic analysis of the experimental drying data, sensorial analysis of the final dry product and a simplified economical analysis of the systems studied

Proposta de teste incremental baseado na percepção subjetiva de esforço para determinação de limiares metabólicos e parâmetros mecânicos do nado livre

A percepção subjetiva de esforço (PSE) é determinada de forma não invasiva e utilizada juntamente com a resposta lactacidêmica como indicadores de intensidade durante teste incremental. em campo, especialmente na natação, há dificuldades nas coletas sanguíneas; por isso, utilizam-se protocolos alternativos para estimar o limiar anaeróbio. Assim, os objetivos do estudo foram: prescrever um teste incremental baseado na PSE (Borg 6-20) visando estimar os limiares metabólicos determinados por métodos lactacidêmicos [ajuste bi-segmentado (V LL), concentração fixa-3,5mM (V3,5mM) e distância máxima (V Dmáx)]; relacionar a PSE atribuída em cada estágio com a freqüência cardíaca (FC) e com parâmetros mecânicos de nado [freqüência (FB) e amplitude de braçada (AB)], analisar a utilização da escala 6-20 na regularidade do incremento das velocidades no teste e correlacionar os limiares metabólicos com a velocidade crítica (VC). Para isso, 12 nadadores (16,4 ± 1,3 anos) realizaram dois esforços máximos (200 e 400m); os dados foram utilizados para determinar a VC, velocidade de 400m (V400m) e a freqüência crítica de braçada (FCb); e um teste incremental com intensidade inicial baseada na PSE, respectivamente, 9, 11, 13, 15 e 17; sendo monitorados em todos os estágios a FC, lactacidêmia e os tempos de quatro ciclos de braçadas e das distâncias de 20m (parte central da piscina) e 50m. Posteriormente, foram calculadas as velocidades dos estágios, FB, AB, V LL, V3,5mM e V Dmáx. Utilizaram-se ANOVA e correlação de Pearson para análise dos resultados. Não foram encontradas diferenças entre VC, V Dmáx e V LL, porém a V3,5mM foi inferior às demais velocidades (P < 0,05). Correlações significativas (P < 0,05) foram observadas entre VC versus V400m, V Dmáx e V3,5mM; V400m versus V3,5mM e V Dmáx; V Dmáx versus V LL; e no teste incremental entre PSE versus velocidade, [Lac], FC, FB e AB (P < 0,05). Concluímos que a PSE é uma ferramenta confiável no controle da velocidade dos estágios durante teste incremental na natação.

Desenvolvimento e implementação de um sistema de controle de posição e velocidade de uma esteira transportadora usando inversor de frequência e microcontrolador

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Respostas neuromusculares agudas ao exercício com pesos realizado a diferentes intensidades em idosas treinadas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Haptic teleoperation of mobile robots for augmentation of operator perception in environments with low-wireless signal

Wireless teleoperation of field robots for maintenance, inspection and rescue missions is often performed in environments with low wireless connectivity, caused by signal losses from the environment and distance from the wireless transmitters. Various studies from the literature have addressed these problems with time-delay robust control systems and multi-hop wireless relay networks. However, such approaches do not solve the issue of how to present wireless data to the operator to avoid losing control of the robot. Despite the fact that teleoperation for maintenance often already involves haptic devices, no studies look at the possibility of using this existing feedback to aid operators in navigating within areas of variable wireless connectivity. We propose a method to incorporate haptic information into the velocity control of an omnidirectional robot to augment the operators perception of wireless signal strength in the remote environment. In this paper we introduce a mapping between wireless signal strength from multiple receivers to the force feedback of a 6 Degree of Freedom haptic master and evaluate the proposed approach using experimental data and randomly generated wireless maps

(Table 2) Physical properties at DSDP Holes 44-391 and 76-534

Laboratory measurements on sediment samples and density well logs run at DSDP Site 534 in the Blake-Bahama Basin were used to establish an in situ velocity and density structure. Synthetic seismograms were generated for comparison to reprocessed seismic reflection data in the vicinity of the Site. Uncertainties in the relative positions of the hole and seismic reflection data, velocity corrections, and the composition of the unrecovered section were evaluated. In light of the errors and compressed section, no unique correlation of the seismic reflection data to the drill hole is completely defensible either in this chapter or elsewhere. The preferred correlation resulting from this exercise is as follows, with the Site 534 report correlation shown in parentheses where different. Horizon beta', 887 m; Horizon beta, 950 m (975 m); Horizon C , 1202 m (1250 m); Horizon C, 1268 m (1340 m); Horizon D', 1342 m (1432 m); Horizon D, 1550 m (1552 m). The major differences in these correlations arise from the use of slightly different velocities and hole location relative to the seismic profiles. The Site 534 report results rely on hole placement on a basement flank, whereas in this chapter we locate it within a basement depression still within the uncertainty of the navigation. The Site 534 report also uses drilling rates, CDP velocity analyses, sonobuoy data, and previous similar drilling correlation methods used at Site 391, along with other geologic considerations in arriving at differing results. Although the correlation method used in this investigation is more objective and the hole location uncertainties better defined, in order to have confidence in any results we will require drilling in areas where reflections are either more widely spaced or where we have better vertical velocity control in the hole.

An evaluation of driver behavior at signalized intersections. Final report.

Arizona Department of Transportation, Phoenix

Evaluation of experimental rumble strips. Final report.

Louisiana Department of Transportation and Development, Baton Rouge

An evaluation of warning and regulatory signs for curves on rural roads. Final report.

Federal Highway Administration, Office of Research and Development, Washington, D.C.

Effective warning devices for parked/disabled vehicles. Executive summary. Final report.

Federal Highway Administration, Office of Research and Development, Washington, D.C.

Effective warning devices for parked/disabled vehicles. Final report.

Federal Highway Administration, Office of Research and Development, Washington, D.C.

An evaluation of signs for sight-restricted rural intersections. Final report.

Federal Highway Administration, Office of Research, Washington, D.C.

Gore area delineation. Final report.

Federal Highway Administration, Washington, D.C.