Produtividade do milho relacionada com a resistência mecânica à penetração do solo sob preparo convencional

A resistência mecânica do solo à penetração exerce grande influência sobre o desenvolvimento vegetal, uma vez que o crescimento das raízes e a produtividade das culturas variam de forma inversamente proporcional ao seu valor. O objetivo do trabalho foi estudar a variabilidade espacial e a correlação entre a produtividade do milho (PG) e a resistência mecânica do solo à penetração (RP) de um Latossolo Vermelho sob preparo convencional, em área pertencente à Fazenda Experimental de Ensino e Pesquisa da Faculdade de Engenharia - FE/UNESP - Câmpus de Ilha Solteira. Foram definidos 133 pontos de amostragem no campo, segundo malha com espaçamento regular de 10,0 m, nos quais foram medidas a RP, a umidade gravimétrica (UG), nas camadas de 0-0,10; 0,10-0,20; 0,20-0,30 e 0,30-0,40 m, e a PG. O modelo exponencial mostrou-se adequado para descrever todos os semivariogramas experimentais construídos. A RP e a UG apresentaram moderada dependência espacial, com alcance variando entre 20,2 e 63,0 m. A PG apresentou forte dependência espacial com alcance de 15,3 m. A RP não apresentou correlação espacial com a PG. Valores de RP variando entre 0,9 e 2,0 MPa não restringiram a PG.

Terrain forms and spatial variability of soil properties in an area cultivatedwith citrus

A técnica de agricultura de precisão e a relação solo-paisagem permitem delimitar áreas para o manejo localizado, o que permite a aplicação localizada de insumos agrícolas e, consequentemente, pode contribuir para a preservação de recursos naturais. Portanto, o objetivo deste trabalho foi caracterizar a variabilidade espacial das propriedades químicas e do teor de argila, no contexto da relação solo-paisagem, em um Latossolo sob cultivo de citros. Amostras de solo foram coletadas na profundidade de 0,0-0,2 m, em uma área de 83,5 ha cultivada com citros, na forma de malha, com intervalos regulares de 50 m, com 129 pontos na forma de relevo côncava e 206 pontos na forma plana, totalizando 335 pontos. Os valores obtidos para as variáveis que expressam as propriedades químicas e para o teor de argila do solo foram submetidos à análise estatística descritiva e geoestatística com a modelagem de semivariogramas para a confecção de mapas de krigagem. Os valores de alcance e mapas de krigagem indicaram maiores variabilidades na forma de relevo côncava (segmento topo), quando comparada com a forma plana (segmentos meia encosta e encosta inferior). A identificação de diferentes formas de relevo mostrou-se eficiente no entendimento da variabilidade espacial das propriedades químicas e do teor de argila do solo sob cultivo de citros.

Spatial variability of soil physical properties in two management systems in sugarcane crop

O objetivo deste trabalho foi caracterizar a variabilidade espacial da densidade do solo (Ds), teor de água no solo (θ) e porosidade total (Pt) em dois sistemas de manejo da colheita da cana-de-açúcar, com queima e sem queima, em um Latossolo Vermelho, na camada de 0-0,20 m. A área de estudo está localizada no município de Rio Brilhante-MS, na Usina Eldorado. A parcela de cada talhão apresentou malha com comprimento de 180 m e largura de 145,6 m, perfazendo 90 pontos distribuídos na forma de uma grade de nove colunas por dez linhas, com pontos distanciados 20 m de seu vizinho. Foram coletadas amostras de solo na camada de 0-0,20 m, nos anos agrícolas de 2007/2008 e 2008/2009. O sistema de colheita com queima apresentou maior densidade em relação ao mecanizado, nos dois períodos de análise. O teor de água no solo, assim como a porosidade, teve aumento proporcional com relação à diminuição da densidade do sistema de colheita com queima para com o mecanizado.

Soil sampling intensity and spatial distribution pattern of soils attributes and corn yield in no-tillage system

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

Variabilidade espacial de atributos do solo e de fatores de erosão em diferentes pedoformas

As formas do relevo podem ser indicadores da variação dos atributos do solo, pois essa variabilidade é causada por pequenas alterações do declive que afetam os processos pedogenéticos bem como o transporte e o armazenamento de água no perfil do solo. O trabalho foi desenvolvido em Catanduva (SP), com o objetivo de caracterizar a variabilidade espacial de atributos do solo e fatores de erosão em diferentes pedoformas sob cultivo de cana-de-açúcar. de acordo com o modelo de Troeh classificou-se as formas do relevo em duas pedoformas, côncava e convexa. Com a utilização de um DGPS levantaram-se as cotas altimétricas, estabelecendo-se uma malha, com intervalos regulares de 50 m, com 270 pontos na pedoforma côncava e 353 pontos na pedoforma convexa, perfazendo um total de 623 pontos, coletados na profundidade de 0,0 - 0,2 m em uma área de 200 ha. em cada ponto da malha foram determinados os atributos químicos do solo, granulometria, espessura do solo e fatores de erosão locais, tais como erosividade (R), erodibilidade (K), fator topográfico (LS), uso e manejo (C), práticas conservacionistas (P), potencial natural de erosão (PNE), perda de solo (A) e risco de erosão (RE). Os dados foram avaliados primeiramente por uma análise estatística exploratória, calculando-se a média, mediana, variância, coeficiente de variação, coeficiente de assimetria, coeficiente de curtose e teste de normalidade. Posteriormente, a dependência espacial foi verificada por meio da técnica de geoestatística utilizando-se semivariogramas. As maiores perdas de solo, risco de erosão e potencial natural de erosão e menor espessura do solo ocorreram na pedoforma convexa, indicando forte dependência espacial com a forma do relevo. A pedoforma côncava proporcionou maior variabilidade espacial, demonstrando que a forma do relevo condiciona padrões diferenciados de variabilidade. A magnitude da variabilidade dos atributos do solo é mais influenciada pela forma do relevo que pela erosão. A espessura do horizonte A+E integrado com a forma do relevo é um indicador de processos erosivos para classe de Argissolos.

Análise espacial de atributos físicos e carbono orgânico em argissolo vermelho-amarelo cultivado com cana-de-açúcar

A agricultura convencional utiliza o solo intensivamente, modificando os seus atributos. Neste estudo, objetivou-se avaliar a variabilidade espacial de alguns atributos físicos e carbono orgânico do solo em um Argissolo Vermelho-Amarelo cultivado com cana-de-açúcar, usando geoestatística. O trabalho foi realizado em Maracanaú - CE, em uma área de produção de cana-de-açúcar, manejado mediante preparo conservacionista sobre uma cobertura de palhada de cana-de-açúcar. As amostras de solo foram retiradas de uma profundidade de 0,00 - 0,20 m, em uma malha, com intervalo regular de 10 m, totalizando 100 pontos. em cada amostra, foi analisado densidade de partículas, densidade do solo, carbono orgânico, porosidade total, macroposidade e microposidade. O coeficiente de variação indicou variabilidade baixa para densidade de partículas, densidade do solo e porosidade total e média para as variáveis macroporosidade, microporosidade e carbono orgânico. As variáveis analisadas mostraram dependência espacial, a qual foi observada nos mapas de krigagem. A distribuição de poros por tamanho e a porosidade total indicam condições físicas razoavelmente boas, embora com valores de densidade do solo ligeiramente acima do nível considerado adequado para a classe textural do solo.

Estudo de estratégias de otimização para poços de petróleo com elevação por bombeio de cavidades progressivas

The progressing cavity pump artificial lift system, PCP, is a main lift system used in oil production industry. As this artificial lift application grows the knowledge of it s dynamics behavior, the application of automatic control and the developing of equipment selection design specialist systems are more useful. This work presents tools for dynamic analysis, control technics and a specialist system for selecting lift equipments for this artificial lift technology. The PCP artificial lift system consists of a progressing cavity pump installed downhole in the production tubing edge. The pump consists of two parts, a stator and a rotor, and is set in motion by the rotation of the rotor transmitted through a rod string installed in the tubing. The surface equipment generates and transmits the rotation to the rod string. First, is presented the developing of a complete mathematical dynamic model of PCP system. This model is simplified for use in several conditions, including steady state for sizing PCP equipments, like pump, rod string and drive head. This model is used to implement a computer simulator able to help in system analysis and to operates as a well with a controller and allows testing and developing of control algorithms. The next developing applies control technics to PCP system to optimize pumping velocity to achieve productivity and durability of downhole components. The mathematical model is linearized to apply conventional control technics including observability and controllability of the system and develop design rules for PI controller. Stability conditions are stated for operation point of the system. A fuzzy rule-based control system are developed from a PI controller using a inference machine based on Mandami operators. The fuzzy logic is applied to develop a specialist system that selects PCP equipments too. The developed technics to simulate and the linearized model was used in an actual well where a control system is installed. This control system consists of a pump intake pressure sensor, an industrial controller and a variable speed drive. The PI control was applied and fuzzy controller was applied to optimize simulated and actual well operation and the results was compared. The simulated and actual open loop response was compared to validate simulation. A case study was accomplished to validate equipment selection specialist system

Conversor CC/CA de alta freqüência baseado em inversores ressonantes com comutação seqüencial para excitação de uma tocha indutiva a plasma térmico

This work describes the study, the analysis, the project methodology and the constructive details of a high frequency DC/AC resonant series converter using sequential commutation techniques for the excitation of an inductive coupled thermal plasma torch. The aim of this thesis is to show the new modulation technique potentialities and to present a technological option for the high-frequency electronic power converters development. The resonant converter operates at 50 kW output power under a 400 kHz frequency and it is constituted by inverter cells using ultra-fast IGBT devices. In order to minimize the turn-off losses, the inverter cells operates in a ZVS mode referred by a modified PLL loop that maintains this condition stable, despite the load variations. The sequential pulse gating command strategy used it allows to operate the IGBT devices on its maximum power limits using the derating and destressing current scheme, as well as it propitiates a frequency multiplication of the inverters set. The output converter is connected to a series resonant circuit constituted by the applicator ICTP torch, a compensation capacitor and an impedance matching RF transformer. At the final, are presented the experimental results and the many tests achieved in laboratory as form to validate the proposed new technique

Uma Aplicação de Redes Neurais Auto-Organizaveis à Reconstrução Tridimensional de Superfícies

We propose a multi-resolution approach for surface reconstruction from clouds of unorganized points representing an object surface in 3D space. The proposed method uses a set of mesh operators and simple rules for selective mesh refinement, with a strategy based on Kohonen s self-organizing map. Basically, a self-adaptive scheme is used for iteratively moving vertices of an initial simple mesh in the direction of the set of points, ideally the object boundary. Successive refinement and motion of vertices are applied leading to a more detailed surface, in a multi-resolution, iterative scheme. Reconstruction was experimented with several point sets, induding different shapes and sizes. Results show generated meshes very dose to object final shapes. We include measures of performance and discuss robustness.

Contribuições à análise de robustez de sistemas de controle usando redes neurais

This work develops a robustness analysis with respect to the modeling errors, being applied to the strategies of indirect control using Artificial Neural Networks - ANN s, belong to the multilayer feedforward perceptron class with on-line training based on gradient method (backpropagation). The presented schemes are called Indirect Hybrid Control and Indirect Neural Control. They are presented two Robustness Theorems, being one for each proposed indirect control scheme, which allow the computation of the maximum steady-state control error that will occur due to the modeling error what is caused by the neural identifier, either for the closed loop configuration having a conventional controller - Indirect Hybrid Control, or for the closed loop configuration having a neural controller - Indirect Neural Control. Considering that the robustness analysis is restrict only to the steady-state plant behavior, this work also includes a stability analysis transcription that is suitable for multilayer perceptron class of ANN s trained with backpropagation algorithm, to assure the convergence and stability of the used neural systems. By other side, the boundness of the initial transient behavior is assured by the assumption that the plant is BIBO (Bounded Input, Bounded Output) stable. The Robustness Theorems were tested on the proposed indirect control strategies, while applied to regulation control of simulated examples using nonlinear plants, and its results are presented

Análise de desempenho de sistemas de comunicação sem-fio para monitoramento de unidade de produção de poços petrolíferos terrestres

The greater part of monitoring onshore Oil and Gas environment currently are based on wireless solutions. However, these solutions have a technological configuration that are out-of-date, mainly because analog radios and inefficient communication topologies are used. On the other hand, solutions based in digital radios can provide more efficient solutions related to energy consumption, security and fault tolerance. Thus, this paper evaluated if the Wireless Sensor Network, communication technology based on digital radios, are adequate to monitoring Oil and Gas onshore wells. Percent of packets transmitted with successful, energy consumption, communication delay and routing techniques applied to a mesh topology will be used as metrics to validate the proposal in the different routing techniques through network simulation tool NS-2

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Revisitando o problema de visibilidade para visualização tridimensional

We revisit the problem of visibility, which is to determine a set of primitives potentially visible in a set of geometry data represented by a data structure, such as a mesh of polygons or triangles, we propose a solution for speeding up the three-dimensional visualization processing in applications. We introduce a lean structure , in the sense of data abstraction and reduction, which can be used for online and interactive applications. The visibility problem is especially important in 3D visualization of scenes represented by large volumes of data, when it is not worthwhile keeping all polygons of the scene in memory. This implies a greater time spent in the rendering, or is even impossible to keep them all in huge volumes of data. In these cases, given a position and a direction of view, the main objective is to determine and load a minimum ammount of primitives (polygons) in the scene, to accelerate the rendering step. For this purpose, our algorithm performs cutting primitives (culling) using a hybrid paradigm based on three known techniques. The scene is divided into a cell grid, for each cell we associate the primitives that belong to them, and finally determined the set of primitives potentially visible. The novelty is the use of triangulation Ja 1 to create the subdivision grid. We chose this structure because of its relevant characteristics of adaptivity and algebrism (ease of calculations). The results show a substantial improvement over traditional methods when applied separately. The method introduced in this work can be used in devices with low or no dedicated processing power CPU, and also can be used to view data via the Internet, such as virtual museums applications

Uma proposta de regulador nebuloso para geradores eólicos de indução

This work presents a proposal for a voltage and frequency control system for a wind power induction generator. It has been developed na experimental structure composes basically by a three phase induction machine, a three phase capacitor and a reactive static Power compensator controlled by histeresys. lt has been developed control algorithms using conventional methods (Pl control) and linguistic methods (using concepts of logic and fuzzy control), to compare their performances in the variable speed generator system. The control loop was projected using the ADJDA PCL 818 model board into a Pentium 200 MHz compu ter. The induction generator mathematical model was studied throught Park transformation. It has been realized simulations in the Pspice@ software, to verify the system characteristics in transient and steady-state situations. The real time control program was developed in C language, possibilish verify the algorithm performance in the 2,2kW didatic experimental system

Técnica de controle adaptativo robusto aplicada a filtros ativos de potência e paralelo

The Methods for compensation of harmonic currents and voltages have been widely used since these methods allow to reduce to acceptable levels the harmonic distortion in the voltages or currents in a power system, and also compensate reactive. The reduction of harmonics and reactive contributes to the reduction of losses in transmission lines and electrical machinery, increasing the power factor, reduce the occurrence of overvoltage and overcurrent. The active power filter is the most efficient method for compensation of harmonic currents and voltages. The active power filter is necessary to use current and voltage controllers loop. Conventionally, the current and voltage control loop of active filter has been done by proportional controllers integrative. This work, investigated the use of a robust adaptive control technique on the shunt active power filter current and voltage control loop to increase robustness and improve the performance of active filter to compensate for harmonics. The proposed control scheme is based on a combination of techniques for adaptive control pole placement and variable structure. The advantages of the proposed method over conventional ones are: lower total harmonic distortion, more flexibility, adaptability and robustness to the system. Moreover, the proposed control scheme improves the performance and improves the transient of active filter. The validation of the proposed technique was verified initially by a simulation program implemented in C++ language and then experimental results were obtained using a prototype three-phase active filter of 1 kVA