Coloured Petri nets and graphical simulation for the validation of a robotic cell in aircraft industry

This paper proposes a mixed validation approach based on coloured Petri nets and 3D graphic simulation for the design of supervisory systems in manufacturing cells with multiple robots. The coloured Petri net is used to model the cell behaviour at a high level of abstraction. It models the activities of each cell component and its coordination by a supervisory system. The graphical simulation is used to analyse and validate the cell behaviour in a 3D environment, allowing the detection of collisions and the calculation of process times. The motivation for this work comes from the aeronautic industry. The automation of a fuselage assembly process requires the integration of robots with other cell components such as metrological or vision systems. In this cell, the robot trajectories are defined by the supervisory system and results from the coordination of the cell components. The paper presents the application of the approach for an aircraft assembly cell under integration in Brazil. This case study shows the feasibility of the approach and supports the discussion of its main advantages and limits. (C) 2011 Elsevier Ltd. All rights reserved.

MODELING OF AN INFORMATION SYSTEM FOR WINE TRACEABILITY BASED ON A SERVICE ORIENTED ARCHITECTURE

The purpose is to present a scientific research that led to the modeling of an information system which aimed at the maintenance of traceability data in the Brazilian wine industry, according to the principles of a service-oriented architecture (SOA). Since 2005, traceability data maintenance is an obligation for all producers that intend to export to any European Union country. Also, final customers, including the Brazilian ones, have been asking for information about food products. A solution that collectively contemplated the industry was sought in order to permit that producer consortiums of associations could share the costs and benefits of such a solution. Following an extensive bibliographic review, a series of interviews conducted with Brazilian researchers and wine producers in Bento Goncalves - RS, Brazil, elucidated many aspects associated with the wine production process. Information technology issues related to the theme were also researched. The software was modeled with the Unified Modeling Language (UML) and uses web services for data exchange. A model for the wine production process was also proposed. A functional prototype showed that the adopted model is able to fulfill the demands of wine producers. The good results obtained lead us to consider the use of this model in other domains.

Role of price and enforcement in water allocation: Insights from Game Theory

As many countries are moving toward water sector reforms, practical issues of how water management institutions can better effect allocation, regulation, and enforcement of water rights have emerged. The problem of nonavailability of water to tailenders on an irrigation system in developing countries, due to unlicensed upstream diversions is well documented. The reliability of access or equivalently the uncertainty associated with water availability at their diversion point becomes a parameter that is likely to influence the application by users for water licenses, as well as their willingness to pay for licensed use. The ability of a water agency to reduce this uncertainty through effective water rights enforcement is related to the fiscal ability of the agency to monitor and enforce licensed use. In this paper, this interplay across the users and the agency is explored, considering the hydraulic structure or sequence of water use and parameters that define the users and the agency`s economics. The potential for free rider behavior by the users, as well as their proposals for licensed use are derived conditional on this setting. The analyses presented are developed in the framework of the theory of ""Law and Economics,`` with user interactions modeled as a game theoretic enterprise. The state of Ceara, Brazil, is used loosely as an example setting, with parameter values for the experiments indexed to be approximately those relevant for current decisions. The potential for using the ideas in participatory decision making is discussed. This paper is an initial attempt to develop a conceptual framework for analyzing such situations but with a focus on the reservoir-canal system water rights enforcement.

Safety of a railway wheelset - derailment simulation with increasing lateral force

The motivation for this research is to make a comparison between dynamic results of a free railway wheelset derailment and safety limits. For this purpose, a numerical simulation of a wheelset derailment submitted to increasing lateral force is used to compare with the safety limit, using different criteria. A simplified wheelset model is used to simulate derailments with different adhesion conditions. The contact force components, including the longitudinal and spin effects, are identified in a steady-state condition on the verge of a derailment. The contact force ratios are used in a three-dimensional (3D) analytical formula to calculate the safety limits. Simulation results obtained with two contact methods were compared with the published results and the safety limit was identified with the two criteria. Results confirm Nadal`s conservative aspect and show that safety 3D analytical formula presents slightly higher safety limits for lower friction coefficients and smaller limits for high friction, in comparison with the simulation results with Fastsim.

Vehicle Dynamic Safety in Measured Rough Pavement

Dynamic vehicle behavior is used to identify safe traffic speed limits. The proposed methodology is based on the vehicle vertical wheel contact force response excited by measured pavement irregularities on the frequency domain. A quarter-car model is used to identify vehicle dynamic behavior. The vertical elevation of an unpaved road surface has been measured. The roughness spectral density is quantified as ISO Level C. Calculations for the vehicle inertance function were derived by using the vertical contact force transfer function weighed by the pavement spectral density roughness function in the frequency domain. The statistical contact load variation is obtained from the vehicle inertance density function integration. The vehicle safety behavior concept is based on its handling ability properties. The ability to generate tangential forces on the wheel/road contact interface is the key to vehicle handling. This ability is related to tire/pavement contact forces. A contribution to establish a traffic safety speed limit is obtained from the likelihood of the loss of driveability. The results show that at speeds faster than 25 km/h the likelihood of tire contact loss is possible when traveling on the measured road type. DOI: 10.1061/(ASCE)TE.19435436.0000216. (C) 2011 American Society of Civil Engineers.

Development of Control Systems for Safety Instrumented Systems

Safety Instrumented Systems (SIS) are designed to prevent and / or mitigate accidents, avoiding undesirable high potential risk scenarios, assuring protection of people`s health, protecting the environment and saving costs of industrial equipment. The design of these systems require formal methods for ensuring the safety requirements, but according material published in this area, has not identified a consolidated procedure to match the task. This sense, this article introduces a formal method for diagnosis and treatment of critical faults based on Bayesian network (BN) and Petri net (PN). This approach considers diagnosis and treatment for each safety instrumented function (SIF) including hazard and operability (HAZOP) study in the equipment or system under control. It also uses BN and Behavioral Petri net (BPN) for diagnoses and decision-making and the PN for the synthesis, modeling and control to be implemented by Safety Programmable Logic Controller (PLC). An application example considering the diagnosis and treatment of critical faults is presented and illustrates the methodology proposed.

Human Error Contribution in Collision and Grounding of Oil Tankers

The purpose of this article is to present a quantitative analysis of the human failure contribution in the collision and/or grounding of oil tankers, considering the recommendation of the ""Guidelines for Formal Safety Assessment"" of the International Maritime Organization. Initially, the employed methodology is presented, emphasizing the use of the technique for human error prediction to reach the desired objective. Later, this methodology is applied to a ship operating on the Brazilian coast and, thereafter, the procedure to isolate the human actions with the greatest potential to reduce the risk of an accident is described. Finally, the management and organizational factors presented in the ""International Safety Management Code"" are associated with these selected actions. Therefore, an operator will be able to decide where to work in order to obtain an effective reduction in the probability of accidents. Even though this study does not present a new methodology, it can be considered as a reference in the human reliability analysis for the maritime industry, which, in spite of having some guides for risk analysis, has few studies related to human reliability effectively applied to the sector.

Resource use pattern analysis for predicting resource availability in opportunistic grids

This work presents a method for predicting resource availability in opportunistic grids by means of use pattern analysis (UPA), a technique based on non-supervised learning methods. This prediction method is based on the assumption of the existence of several classes of computational resource use patterns, which can be used to predict the resource availability. Trace-driven simulations validate this basic assumptions, which also provide the parameter settings for the accurate learning of resource use patterns. Experiments made with an implementation of the UPA method show the feasibility of its use in the scheduling of grid tasks with very little overhead. The experiments also demonstrate the method`s superiority over other predictive and non-predictive methods. An adaptative prediction method is suggested to deal with the lack of training data at initialization. Further adaptative behaviour is motivated by experiments which show that, in some special environments, reliable resource use patterns may not always be detected. Copyright (C) 2009 John Wiley & Sons, Ltd.

Over the Air Download for Digital Television Receivers Upgrade

Over the air download is an important feature for terrestrial digital television systems. It provides a cheaper option for DTV receiver manufacturers to provide bug fixes and quality improvements to their products, allowing a shorter time to the market. This paper presents a mechanism proposal of an over the air download software update for the Brazilian system. This mechanism was specified considering the Brazilian DTV over the air download specifications, but it was extended considering efficiency, reliability and user transparency as requirements for software update. A proof of concept was implemented on a Linux based set-top box. The mechanism is divided into five main functional parts: download schedule, packets download, packets authentication, installation and error robustness. Some analyses were conducted upon the implementation considering the following criteria: download robustness and maximum downloading rate. (1)

PCJ River Basins` Water Availability Caused by Water Diversion Scenarios to Supply Metropolitan Areas of So Paulo

A dynamic systems simulation model of water resources was developed as a tool to help analyze alternatives to water resources management for the Piracicaba, Capivari and Jundiai River Water Basins (RB-PCJ), and used to run six 50-year simulations from 2004 to 2054. The model estimates water supply and demand, as well as contamination load by several consumers. Six runs were performed using a constant mean precipitation value, changing water supply and demand and different volumes diverted from RB-PCJ to RB-Alto Tiet. For the Business as Usual scenario, the Sustainability Index went from 0.44 in 2004 to 0.20 by 2054. The Water Sustainability Index changed from 74% in 2004 to 131% by 2054. The Falkenmark Index changed from 1,403 m(3) person (-aEuro parts per thousand 1) year (-aEuro parts per thousand 1) in 2004 to 734 m(3) person (-aEuro parts per thousand 1) year (-aEuro parts per thousand 1) by 2054. We concluded that sanitation is one of the major problems for the PCJ River Basins.

Simulation of irrigated Thanzania grass growth based on photothermal units, nitrogen fertilization and water availability

Simulation of irrigated Thanzania grass growth based on photothermal units, nitrogen fertilization and water availability. The mathematical model to predict the forage yield using photothennal units was utilized with success in Elephant grass, Thanzania and Brachiaria niziziensis in the absence of water stress and nitrogen stress. The aim of this study was to propose models to estimate the forage yield of Thanzania grass under different irrigation (25, 50,75, 100 e 125% of ETc) and nitrogen level in various regions of Brazil. As such, models were developed to estimate the dry matter production of Panicum maximum Jacq. frass cv Thanzania in different irrigation and nitrogen levels, using photothermal units. The models were adjusted to doses of 0, 30, 60, 110 and 270 kg of N ha(-1), doses were divided in applications after each evaluation, with a rest cycle of 35 days. The adjusted model presented good performance in predicting dry matter production of Thanzania grass, with r(2) = 0.9999. The results made it possible to verify that the proposed model can be used to predict forage production in different regions of Brazil. It can be estimated, with good precision. The production of Thanzania grass dry matter can be accurately estimated in specific places (in function of latitude and time of year), with the maximum and minimum temperature values.

Surface Liming and Zinc Availability in a Long-Term Experiment under No-Till System

No-till (NT) system with crop rotation is one of the most effective strategies to improve agricultural sustainability in tropical and subtropical regions. To control soil acidity in NT, lime is broadcast on the surface without incorporation. The increase in soil pH due to surface liming may decrease zinc (Zn) availability and its uptake by crops. A field experiment was performed in Parana State, Brazil, on a loamy, kaolinitic, thermic Typic Hapludox to evaluate Zn bioavailability in a NT system after surface liming and re-liming. Dolomitic lime was surface applied on the main plots in July 1993 at the rates of 0, 2, 4, and 6 Mg ha-1. In June 2000, the main plots were divided in two subplots to study of the effect of surface re-liming at the rates of 0 and 3 Mg ha-1. The cropping sequence was soybean [Glycine max (L.) Merrill] (2001-2 and 2002-3), wheat (Triticum aestivum L.) (2003), soybean (2003-4), corn (Zea mays L.) (2004-5), and soybean (2005-6). Soil samples were collected at the following depths: 0-0.05, 0.05-0.10, and 0.10-0.20m, 10 years after surface liming and 3 years after surface re-liming. Soil Zn levels were extracted by four extractants: (i) 0.005molL-1 diethylenetriaminepentaacetic acid (DTPA) + 0.1molL-1 triethanolamine (TEA) + 0.01molL-1 calcium chloride (CaCl2) solution at pH7.3 (DTPA-TEA), (ii) 0.1molL-1 hydrochloric acid (HCl) solution, (iii) Mehlich 1 solution, and (iv) Mehlich 3 solution. Zinc concentrations in leaves and grains of soybean, wheat, and corn were also determined. Soil pH (0.01molL-1 CaCl2 suspension) varied from 4.4 to 6.1, at the 0- to 0.05-m depth, from 4.2 to 5.3 at the 0.05- to 0.10-m depth, and from 4.2 to 4.8 at the 0.10- to 0.20-m depth, after liming and re-liming. Zinc concentrations evaluated by DTPA-TEA, 0.1molL-1 HCl, Mehlich 1, and Mehlich 3 solutions were not changed as a result of lime rate application. Re-liming increased Zn concentrations extracted by 0.1molL-1 HCl at 0-0.05m deep and by DTPA-TEA at 0.05-0.10m deep. Surface-applied lime promoted a decrease in Zn concentrations of the crops, mainly in grains, because of increased soil pH at the surface layers. Regardless of the liming treatments, levels of Zn were sufficient to soybean, wheat, and corn nutrition under NT.

Characterization of nicosulfuron availability in aged soils

Sorption-desorption interactions of pesticides with soil determine their availability for transport, plant uptake, and microbial degradation. These interactions are affected by the physical-chemical properties of the pesticide and soil, and for some pesticides, their residence time in the soil. This research evaluated changes in sorption/availability of nicosulfuron (2-[[[[(4,6-dimethoxy-2-pyrimidinyl]aminolcarbonyl]amino]sulfonyl]-N,N-dimethyl-3-pyridinecarboxamide) herbicide with aging in different soils, using a radiolabeled (C-14) tracer. Aging significantly increased sorption. For instance, after the 41-day incubation, calculated K-d,K-app increased by a factor of 2 to 3 in Mollisols from the Midwestern United States and by a factor of 5 to 9 in Oxisols from Brazil and Hawaii, as compared to freshly treated soils. In view of this outcome, potential transport of nicosulfuron would be overpredicted if freshly treated soil Kd values were used to predict transport. The fact that the nicosulfuron solution concentration decreased faster than the soil concentration with time suggested that the increase in sorption was because the rate of degradation in solution and on labile sites was faster than the rate of desorption of the neutral species from the soil particles. It may have also been due to nicosulfuron anion diffusion to less accessible sites with time, leaving the more strongly bound neutral molecules for the sorption characterization. Regardless of the mechanism, these results are further evidence that increases in sorption during pesticide aging should be taken into account during the characterization of the sorption process for mathematical models of pesticide degradation and transport.

Plant availability of phosphorus in four superphosphate fertilizers varying in water-insoluble phosphate compounds

There is concern that the use of lower quality phosphate rock can result in elevated amounts of Fe-Al-P water-insoluble compounds in fertilizers and, consequently, low agronomic effectiveness. Therefore, studies were conducted to evaluate the effect of some of these compounds on plant growth. Four commercial superphosphates varying in chemical composition (two single and two triple superphosphates) were selected for the study. Fertilizer impurities were collected as water-insoluble residues by washing each P source with deionized water. A modal analysis, based primarily on elemental chemical analysis and x-ray diffractometry, was used to estimate the chemical composition of each P source. Water-soluble monocalcium phosphate (MCP) and the water-leached fertilizer residues were prepared to give a range of fertilizers in terms of water-soluble phosphorus (WSP) (0-100% of the available P as MCP). The water-leached fractions, MCP, and the mixtures of MCP with water-leached fractions were applied to supply 40 mg available P kg(1) to a thermic Rhodic Kanhapludult with pH values of 5.2 +/- 0.05 (unlimed) and 6.4 +/- 0.08 (limed). Wheat (Triticum aestivum L.) grown in a greenhouse for 101 d served as the test crop. The requirement for WSP was source and pH dependent. At a soil pH of 5.2, the fertilizers required 73 to 95% WSP to reach the maximum dry-matter yield, while they required 60 to 86% WSP at pH 6.4. To reach 90% of the maximum yield, all superphosphate fertilizers required <50% WSP. These results show that it is not always necessary to have high water solubility as required by legislation in many countries.

Biomass sustainability, availability and productivity

Research conducted on biomass for Ulcos (""Ultra-Low CO(2) Steelmaking"" European Integrated Project) has progressively focused on charcoal supply from tropical eucalyptus plantations. The sustainability of such plantations is being investigated from the viewpoint of their carbon, water and nutrient budgets: they must all be neutral or positive. Field research is producing results at the tree or stand level in several sites of Congo and Brazil, while a spatial model is developed to identify the conditions of biomass neutrality at the scale of the forest ecosystem. The productivity of biomass has been analyzed through the description of practices along the various supply-schemes that competitively feed the steel industry in Brazil and identification of bottlenecks for further expansion.