945 resultados para open robot control
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Parasitic diseases in humans, transmitted by insects, affect about 500 million people living mainly in countries of low economic power, the control of these diseases is difficult to carry out, mainly die to social and political problems, enhanced bg the capacity of these organisms to develop resistance to insecticides used to for their destruction.Some recent advances in the area of insect immunology have open the possibility for abetter epidemiological control of these diseases.The immune system of these insects, as well as that of other organisms, have the ability to recognize the infecting parasites and liberate a series of reactions which stop the infection. These reactions involve the circulating cells (hemocytes) against the parasite. These cells have the ability of phagocytize and liberate the production of various humoral factors, neutralizing the infection.Some promising results, obtained by the study of the immune system of malaria-transmitting insects, the sleeping disease, and dengue, are an example of this new sanitary strategy.
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A microactuator made from poly(vinylidene fluoride) (PVDF), a piezoelectric polymer, was fabricated to control the gas flow rate through a glass micronozzle. The actuator was formed by gluing together two PVDF sheets with opposite polarization directions. The sheets were covered with thin conducting films on one side, that were then used as electrodes to apply an electric field to move the valve. The actuator has a rectangular shape, 3 mm x 6 mm. The device was incorporated with a micronozzle fabricated by a powder blasting technique. Upon applying a DC voltage across the actuator electrodes, one sheet expands while the other contracts, generating an opening motion. A voltage of +300 V DC was used to open the device by moving the actuator 30 mu m, and a voltage of -200 V DC was used to close the device by moving the actuator 20 mu m lower than the relaxed position. Flow measurements were performed in a low-pressure vacuum system, maintaining the microvalve inlet pressure constant at 266 Pa. Tests carried out with the actuator in the open position and with a pressure ratio (inlet pressure divided by outlet pressure) of 0.5, indicated a flow rate of 0.36 sccm. In the closed position, and with a pressure ratio of 0.2, a flow rate of 0.32 sccm was measured.
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The leaf beetle Metriona elatior from Brazil-Argentina was screened in the Florida (USA) State quarantine facility as a potential biological control agent of tropical soda apple, Solanum viarum, a recently arrived weed species. Multiple-choice host-specificity tests were conducted in small cages (60 cm x 60 cm x 60 cm) using 95 plant species in 29 families. Adults fed heavily on the main target weed (S. viarum), and on turkeyberry, Solanum torvum (noxious weed of Asiatic origin); fed moderately on red soda apple, Solanum capsicoides (weed of South American origin), and eggplant, Solanum melongena (economic crop); and fed lightly on aquatic soda apple, Solanum tampicense (weed of Mexican-Caribbean-Central American origin), and on silverleaf nightshade, Solanum elaeagnifolium (native weed widely distributed). M. elatior adults laid 84 to 97% of their egg masses on S. viarum, and 3 to 16% on S. melongena. Non-choice host-specificity tests were also conducted in quarantine in which M. elatior adults and neonate larvae were exposed to 17 and 19 plant species, respectively. Tests with the neonates indicate that this insect was able to complete its development on S. viarum, S. torvum, S. melongena, and S. capsicoides. Although some adult feeding and oviposition occurred on S. melongena in quarantine on potted plants in small cages, no feeding or oviposition by M. elatior was observed in field experiments conducted in Brazil. Surveys in unsprayed S. melongena fields in Argentina and Brazil indicated that M. elatior is not a pest of S. melongena in South America. The evidence obtained from the South-American field surveys, Brazil open-field experiments, and Florida quarantine host specificity tests indicate that M. elatior causes significant feeding damage to S. viarum, and does not represent a threat to S. melongena crops in the USA. Therefore an application for permission to release M. elatior against S. viarum in the USA was submitted in October 1998.
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Background: Treatment of deep-vein thrombosis (DVT) with a once-daily regimen of enoxaparin, rather than a continuous infusion of unfractionated heparin (UFH) is more convenient and allows for home care in some patients. This study was designed to compare the efficacy and safety of these two regimens for the treatment of patients with proximal lower limb DVT. Methods: 201 patients with proximal lower limb DVT from 13 centers in Brazil were randomized in an open manner to receive either enoxaparin [1.5 mg/kg subcutaneous (s.c.) OD] or intravenous (i.v.) UFH (adjusted to aPTT 1.5-2.5 times control) for 5-10 days. All patients also received warfarin (INR 2-3) for at least 3 months. The primary efficacy endpoint Was recurrent DVT (confirmed by venography or ultrasonography), and safety endpoints included bleeding and serious adverse events. The rate of pulmonary embolism (PE) was also collected. Hospitalization was at the physician's discretion. Results: Baseline patient characteristics were comparable between groups. The duration of hospital stay was significantly shorter with enoxaparin than with UFH (3 versus 7 days). In addition, 36% of patients receiving enoxaparin did not need to be hospitalized, whereas all of the patients receiving UFH were! hospitalized. The treatment duration was slightly longer with enoxaparin (8 versus 7 days). There was a nonsignificant trend toward a reduction in the rate of recurrent DVT with enoxaparin versus UFH, and similar safety. Conclusions: A once-daily regimen of enoxaparin 1.5 mg/kg subcutaneous is at least as effective and safe as conventional treatment with a continuous intravenous infusion of UFH. However, the once daily enoxaparin regimen is easier to administer (subcutaneous versus intravenous), does not require aPTT monitoring, and leads to both a reduced number of hospital admissions and an average 4-day-shorter hospital stay. (C) 2004 Elsevier Ltd. All rights reserved.
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In recent years, many researchers in the field of biomedical sciences have made successful use of mathematical models to study, in a quantitative way, a multitude of phenomena such as those found in disease dynamics, control of physiological systems, optimization of drug therapy, economics of the preventive medicine and many other applications. The availability of good dynamic models have been providing means for simulation and design of novel control strategies in the context of biological events. This work concerns a particular model related to HIV infection dynamics which is used to allow a comparative evaluation of schemes for treatment of AIDS patients. The mathematical model adopted in this work was proposed by Nowak & Bangham, 1996 and describes the dynamics of viral concentration in terms of interaction with CD4 cells and the cytotoxic T lymphocytes, which are responsible for the defense of the organism. Two conceptually distinct techniques for drug therapy are analyzed: Open Loop Treatment, where a priori fixed dosage is prescribed and Closed Loop Treatment, where the doses are adjusted according to results obtained by laboratory analysis. Simulation results show that the Closed Loop Scheme can achieve improved quality of the treatment in terms of reduction in the viral load and quantity of administered drugs, but with the inconvenience related to the necessity of frequent and periodic laboratory analysis.
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This experiment was developed in order to evaluation the efficiency of pheromone to control the pink bollworm and the total time of its release in cotton field. The experiment was installed in field conditions, in Chapadao do Sul/SP/Brazil, from January to April, 1998. The treatments consisted of 2 areas, being one of 30ha, where it was applied the pheromone and another of 10ha that was chosen as control area and did not receive pheromone. In the treated area, the laboratory synthesized sex pheromone (PB-Rope) was used thought of dispensers that allowed the slow and gradual release of the active substance. A total of 250 dispenser per hectare were evenly hand distributed in the area. The dispensers were wrapped around the plants. Both areas (treated area and untreated area) were monitored by delta trap. For evaluation of the boll damage, the treatment area was divided into 4 sub-areas. Twenty five green bolls were collected at random from each sub-area at 48 and 65 days after pheromone treatment. Bolls were cracked open by hand, and number of the bolls with symptoms of pink bollworm attacks was recorded. For evaluation of the productivity four areas were demarcated in each treatment, where all fibers and seeds harvested were weighted. Release rate of pheromone from dispenser was evaluated through of the weigh of the dispensers. Were marked and weighed in analytic scale, 20 dispensers contend the pheromone, being placed 10 dispensers under the cotton plants in treated area and other 10 dispensers in an open area. To every 15 days the dispensers were retired and weighed in analytic scale and soon after put back in the field in the same places. The results showed that only one application of mating disrupt pheromone, used in a dosage of 250 dispenser/ha, reached 80% of control for pink bollworm. the release period of pheromone from dispenser, after the application, was 120 days.
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With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.
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Using robots for teaching is one approach that has gathered good results on Middle-School, High-School and Universities. Robotics gives chance to experiment concepts of a broad range of disciplines, principally those from Engineering courses and Computer Science. However, there are not many kits that enables the use of robotics in classroom. This article describes the methodologies to implement tools which serves as test beds for the use of robotics to teach Computer Science and Engineering. Therefore, it proposes the development of a flexible, low cost hardware to integrate sensors and control actuators commonly found on mobile robots, the development of a mobile robot device whose sensors and actuators allows the experimentation of different concepts, and an environment for the implementation of control algorithms through a computer network. This paper describes each one of these tools and discusses the implementation issues and future works. © 2010 IEEE.
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A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.
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This work presents the development and integration of an user interface (UI) framework based on various current input devices that take advantage of our ergonomics. The purpose is to teleoperate a holonomic robot using upper member gestures and postures for studying the suitable of such interfaces when programming and interacting with a mobile robot. As performance vary from UI to UI the framework is focused to be used as a complementary industrial or didactic tool thus, changing how inexperience users tackle their first impressions when working with mobile robots while performing simple gesture-based teleoperation tasks. © 2012 ICROS.
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Teaching the first instances of arbitrary matching-to-sample to nonhumans can prove difficult and time consuming. Stimulus control relations may develop that differ from those intended by the experimentereven when stimulus control shaping procedures are used. We present, in this study, efforts to identify sources of shaping program failure with a capuchin monkey. Procedures began with a baseline of identity matching. During subsequent shaping trials, compound comparison stimuli had two componentsone identical to and another different from the sample. The identical component was eliminated gradually by removing portions across trials (i.e., subtracting stimulus elements). The monkey performed accurately throughout shaping. At a late stage in the program, probe tests were conducted: (1) arbitrary matching trials that had all elements of the identical comparison removed and (2) other trials that included residual elements. During the test, the monkey performed at low levels on the former trials and higher levels on the latter. These results suggested that higher accuracy was due merely to continued control by the residual elements: the target arbitrary matching relations had not been learned. Thus, it appears that procedures that gradually transform identity matching baselines into arbitrary matching can fail by inadvertently shaping restricted control by residual elements. Subsequent probes at the end of the shaping series showed a successful transfer of stimulus control from identity to arbitrary matching after further programming steps apparently overcame the restricted stimulus control.
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
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This paper presents a multi-agent system for real-time operation of simulated microgrid using the Smart-Grid Test Bed at Washington State University. The multi-agent system (MAS) was developed in JADE (Java Agent DEvelopment Framework) which is a Foundation for Intelligent Physical Agents (FIPA) compliant open source multi-agent platform. The proposed operational strategy is mainly focused on using an appropriate energy management and control strategies to improve the operation of an islanded microgrid, formed by photovoltaic (PV) solar energy, batteries and resistive and rotating machines loads. The focus is on resource management and to avoid impact on loads from abrupt variations or interruption that changes the operating conditions. The management and control of the PV system is performed in JADE, while the microgrid model is simulated in RSCAD/RTDS (Real-Time Digital Simulator). Finally, the outcome of simulation studies demonstrated the feasibility of the proposed multi-agent approach for real-time operation of a microgrid.
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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
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A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.