Swarm control designs applied to a non-ideal load transportation system

In this paper, a load transport system in platforms is considered. It is a transport device and is modelled as an inverted pendulum built on a car driven by a DC motor. The motion equations were obtained by Lagrange's equations. The mathematical model considers the interaction between the DC motor and the dynamic system. The dynamic system was analysed and a Swarm Control Design was developed to stabilize the model of this load transport system. ©2010 IEEE.

Dependência estrutural da capacidade de rotação plástic em vigas de concreto armado

Summary In this work the structural dependence of plastic rotation capacity in RC beams is evaluated using the Finite Element Method. The objective is to achieve a better understanding of the non-linear behavior of reinforced concrete members and perform extensive parameter studies, using a rational model developed by Bigaj [1] to analyze the phenomenon of plastic rotation capacity in reinforced concrete members. It is assumed that only bending failure is relevant due to sufficient member resistance against shear and torsion. The paper begins with the physical and theoretical background of the phenomenon of plastic hinge development in RC structures. Special emphasis is laid on the issue of structural dependence of deformation capacity of plastic hinges in RC members. Member size dependence and influence of properties of construction materials were emphasized as well. The essential components of the Bigajs model for calculating the plastic rotation capacity are discussed. The behaviour of the plastic hinge is analysed taking into account the strain localisation in the damage zones of the hinge region. The Fictitious Crack Model (FCM) and the Compressive Damage Zone Model (CDZ) are adopted in a Fracture Mechanics approach to model the behaviour of concrete in tension and compression, respectively. The approach is implemented in FEMOOP, a FEM in-house solver under development, and applied to evaluate ductility in 2D beams. The models were generated with GiD, a pre-processor and post-processor developed by CIMNE, and analyzed with the capabilities implemented in FEMOOP. © Universitat Politècnica de Catalunya, Barcelona, España 2010.

Flexibility and torsional resistance of three nickel-titanium retreatment instrument systems

Aim To assess the dimensional characteristics, flexibility and torsional behaviour of nickel-titanium retreatment instruments. Methodology Using image analysis software and high-resolution digital images, the instrument length, tip angle, diameter at 3mm from the tip and the distance between the blades (pitch length) of the following eight instruments were measured (n=12 for each measurement parameter): the ProTaper Universal retreatment (PTU-R) D1, D2 and D3 instruments; the R-Endo R1, R2 and R3 retreatment instruments; and the Mtwo retreatment (Mtwo-R) sizes 25 and 15 retreatment instruments. Maximum torque and the angular deflection at fracture as well as the bending moment at 45° were measured (n=12) according to the International Standards Organisation (ISO) specification number 3630-1. Data were analysed using the analysis of variance (α=0.05). Results The length of the active part of the instruments was found to vary according to the depth of the canal into which they were designed to reach. The pitch length also increased along the active length. The PTU-R D1 and the Mtwo-R instruments had active tips. Measurements of the bending moment at 45° revealed that the Mtwo-R 15 instrument was the most flexible, whereas the PTU-R D1 was the least flexible. The maximum torque tended to increase as the instrument diameter at 3mm from the tip increased, whereas the angular deflection at fracture varied in the opposite direction. Conclusions The geometrical characteristics of the retreatment instruments and their flexibility and torsion behaviour were consistent with their intended clinical application. © 2011 International Endodontic Journal.

State Dependent Riccati Equation (SDRE) control method applied in cancellation of a parametric resonance in a magnetically levitated body

Here, a simplified dynamical model of a magnetically levitated body is considered. The origin of an inertial Cartesian reference frame is set at the pivot point of the pendulum on the levitated body in its static equilibrium state (ie, the gap between the magnet on the base and the magnet on the body, in this state). The governing equations of motion has been derived and the characteristic feature of the strategy is the exploitation of the nonlinear effect of the inertial force associated, with the motion of a pendulum-type vibration absorber driven, by an appropriate control torque [4]. In the present paper, we analyzed the nonlinear dynamics of problem, discussed the energy transfer between the main system and the pendulum in time, and developed State Dependent Riccati Equation (SDRE) control design to reducing the unstable oscillatory movement of the magnetically levitated body to a stable fixed point. The simulations results showed the effectiveness of the (SDRE) control design. Copyright © 2011 by ASME.

Delay time detection and accommodation for a networked DC motor control

This paper presents a control method that is effective to reduce the degenerative effects of delay time caused by a treacherous network. In present application a controlled DC motor is part of an inverted pendulum and provides the equilibrium of this system. The control of DC motor is accomplished at the distance through a treacherous network, which causes delay time in the control signal. A predictive technique is used so that it turns the system free of delay. A robust digital sliding mode controller is proposed to control the free-delay system. Due to the random conditions of the network operation, a delay time detection and accommodation strategy is also proposed. A computer simulation is shown to illustrate the design procedures and the effectiveness of the proposed method. © 2011 IEEE.

Influência das concepções europeias na formulação do pensamento urbanístico paulista

This article aims to present a list of the main influences experimented by architects and urbanists to formulate an urban thought of Sao Paulo City. This way, it will be discussed the main issues raised between the first decades of the XX Century until the 1950s, trying to foresee how the engineers and architects worked to incorporate the urbanistic proposals from Europe and the United States. On the first three sections of this article, it will be presented the concepts that effectively impacted the paulista urban thought of the first half of the XX Century: Sanitarism, the pendulum design: between the Mesologic Theory and the Microbian Theory; Camillo Sitte's historicist formulation; Howard Garden Town and the French experience. Our analysis was formulated by having as a reference a broad and systematic literature, documents stored at Arquivo Histórico Municipal de Araraquara (SP), visits to Faculdade de Arquitetura e Urbanismo da USP Library and to Faculdade de Ciências e Letras da Unesp, Araraquara. The analysis shows that two urbanistic planner streams that happened in São Paulo State were clearly influenced by the conceptions that led the urbanistic debates in the first half of the XX Century. So, these conceptions compose a painting of the urban interventions in São Paulo City.

Intussuscepção ileocólica associada a torção mesentérica em um cão: Relato de caso

Mesenteric torsion is a rare disease in dogs whereas it is more common to affect large animals. The main clinical signs observed are acute, such as prostration and abdominal distension which evolve to a state of shock and death. This paper reports the mesenteric torsion in a dog that was presented to veterinary care with generalized acute abdominal pain of sudden onset. At the physical examination, signs of acute abdomen, rectal temperature of 35 oC, moderate dehydration, congested mucous membrane, and prostration were detected. Emergency therapy was instituted and radiographic and ultrasound examinations were requested. The radiography showed increase in the bowel diameter and an image suggestive of intussusception. The patient was referred to emergency exploratory laparotomy and obtained a definite diagnosis of ileocolic intussusception associated to mesenteric torsion. Due to the extent of intestinal dysfunction, the patient was euthanized on the operating table.

Cellular decomposition of quaternionic spherical space forms

We obtain an explicit cellular decomposition of the quaternionic spherical space forms, manifolds of positive constant curvature that are factors of an odd sphere by a free orthogonal action of a generalized quaternionic group. The cellular structure gives and explicit description of the associated cellular chain complex of modules over the integral group ring of the fundamental group. As an application we compute the Whitehead torsion of these spaces for any representation of the fundamental group. © 2012 Springer Science+Business Media B.V.

Construção,modelagem e controle de um pêndulo invertido com CLP e software scada

Pós-graduação em Engenharia Elétrica - FEIS

Multicontroladores para melhoria da robustez e acomodação de falhas em sistemas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Detecção de falhas em sistemas incertos com atraso no sinal de controle

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

Detecção e acomodação de falhas em sistemas incertos com atraso no sinal de controle utilizando modo deslizante

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

Modos deslizantes discretos em sistemas incertos com atraso na computação do sinal de controle

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Controle com modos deslizantes aplicado em sistemas com atraso e acesso somente à saída

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

A subalternização da classe operária na autocracia burguesa: a política de alianças eleitorais do PCdoB (1962-1987)

Pós-graduação em Ciências Sociais - FFC