Construção e controle inteligente de um manipulador robótico com dois graus de liberdade

The present work shows the development and construction of a robot manipulator with two rotary joints and two degrees of freedom, driven by three-phase induction motors. The positions of the arm and base are made, for comparison, by a fuzzy controller and a PID controller implemented in LabVIEW® programming environment. The robot manipulator moves in an area equivalent to a quarter of a sphere. Experimental results have shown that the fuzzy controller has superior performance to PID controller when tracking single and multiple step trajectories, for the cases of load and no load

Estudos de algumas ferramentas de coleta e visualização de dados e desempenho de aplicações paralelas no ambiente MPI

The last years have presented an increase in the acceptance and adoption of the parallel processing, as much for scientific computation of high performance as for applications of general intention. This acceptance has been favored mainly for the development of environments with massive parallel processing (MPP - Massively Parallel Processing) and of the distributed computation. A common point between distributed systems and MPPs architectures is the notion of message exchange, that allows the communication between processes. An environment of message exchange consists basically of a communication library that, acting as an extension of the programming languages that allow to the elaboration of applications parallel, such as C, C++ and Fortran. In the development of applications parallel, a basic aspect is on to the analysis of performance of the same ones. Several can be the metric ones used in this analysis: time of execution, efficiency in the use of the processing elements, scalability of the application with respect to the increase in the number of processors or to the increase of the instance of the treat problem. The establishment of models or mechanisms that allow this analysis can be a task sufficiently complicated considering parameters and involved degrees of freedom in the implementation of the parallel application. An joined alternative has been the use of collection tools and visualization of performance data, that allow the user to identify to points of strangulation and sources of inefficiency in an application. For an efficient visualization one becomes necessary to identify and to collect given relative to the execution of the application, stage this called instrumentation. In this work it is presented, initially, a study of the main techniques used in the collection of the performance data, and after that a detailed analysis of the main available tools is made that can be used in architectures parallel of the type to cluster Beowulf with Linux on X86 platform being used libraries of communication based in applications MPI - Message Passing Interface, such as LAM and MPICH. This analysis is validated on applications parallel bars that deal with the problems of the training of neural nets of the type perceptrons using retro-propagation. The gotten conclusions show to the potentiality and easinesses of the analyzed tools.

A new spin-2 self-dual model in D=2+1

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Closed string thermal torus from thermo field dynamics

In this Letter a topological interpretation for the string thermal vacuum in the thermo field dynamics (TFD) approach is given. As a consequence, the relationship between the imaginary time and TFD formalisms is achieved when both are used to study closed strings at finite temperature. The TFD approach starts by duplicating the system's degrees of freedom, defining an auxiliary (tilde) string. In order to lead the system to finite temperature a Bogoliubov transformation is implemented. We show that the effect of this transformation is to glue together the string and the tilde string to obtain a torus. The thermal vacuum appears as the boundary state for this identification. Also, from the thermal state condition, a Kubo-Martin-Schwinger condition for the torus topology is derived. © 2005 Elsevier B.V. All rights reserved.

Chiral corrections to baryon properties with composite pions

A calculational scheme is developed to evaluate chiral corrections to properties of composite baryons with composite pions. The composite baryons and pions are bound states derived from a microscopic chiral quark model. The model is amenable to standard many-body techniques such as the BCS and random phase approximation formalisms. An effective chiral model involving only hadronic degrees of freedom is derived from the macroscopic quark model by projection onto hadron states. Chiral loops are calculated using the effective hadronic Hamiltonian. A simple microscopic confining interaction is used to illustrate the derivation of the pion-nucleon form factor and the calculation of picnic self-energy corrections to the nucleon and Delta (1232) masses.

Strong coupling QCD and effective hadronic interactions

The aim of this work is to implement the mechanism of link rearrangement predicted in the strong coupling limit of Hamiltonian lattice QCD - in a constituent quark model in which constituent quarks, links and junctions are the dominant degrees of freedom. The implications of link rearrangement for the meson-meson interaction are investigated.

The generator coordinate method for a reaction coordinate coupled to a harmonic oscillator bath

This paper investigates the usefulness of the generator coordinate method (GCM) for treating the dynamics of a reaction coordinate coupled to a bath of harmonic degrees of freedom. Models for the unimolecular dissociation and isomerization process (proton transfer) are analyzed. The GCM results, presented in analytical form, provide a very good description and are compared to other methods Like the basis set method and multiconfiguration time dependent self-consistent field. (C) 1998 American Institute of Physics. [S0021-9606(98)50934-8].

Exchange terms in the quark-meson coupling model

In this talk we report on recent progress in implementing exchange terms in the quark-meson coupling model. Exchange effects are related to the Pauli exclusion principle. We discuss exchange effects at the nucleon level and at the quark level. We also address the incorporation of chiral symmetry and Delta degrees of freedom in the model.

Torsion and the gravitational interaction

By using a nonholonomous-frame formulation of the general covariance principle, seen as an active version of the strong equivalence principle, an analysis of the gravitational coupling prescription in the presence of curvature and torsion is made. The Coupling prescription implied by this principle is found to be always equivalent to that of general relativity, a result that reinforces the completeness of this theory, as well as the teleparallel point of view according to which torsion does not represent additional degrees of freedom for gravity, but simply an alternative way of representing the gravitational field.

Testing the quark cluster model in nucleon-nucleon scattering

The description of the short-range part of the nucleon-nucleon forces in terms of quark degrees of freedom is tested against experimental observables. We consider, for this purpose, a model where the short-range part of the forces is given by the quark cluster model and the long- and medium-range forces by well established meson exchanges. The investigation is performed using different quark cluster models coming from different sets of quark-quark interactions. The predictions of this model are compared not only with the phase shifts but also directly with the experimental observables. Agreement with the existing pp and np world set of data is poor. This suggests that the current description of the nucleon-nucleon interaction, at short distances, in the framework of the nonrelativistic quark models, is at present only qualitative.

Torsion gravity: A reappraisal

The role played by torsion in gravitation is critically reviewed. After a description of the problems and controversies involving the physics of torsion, a comprehensive presentation of the teleparallel equivalent of general relativity is made. According to this theory, curvature and torsion are alternative ways of describing the gravitational field, and consequently related to the same degrees of freedom of gravity. However, more general gravity theories, like for example Einstein-Cartan and gauge theories for the Poincare and the affine groups, consider curvature and torsion as representing independent degrees of freedom. By using an active version of the strong equivalence principle, a possible solution to this conceptual question is reviewed. This solution ultimately favors the teleparallel point of view, and consequently the completeness of general relativity. A discussion of the consequences for gravitation is presented.

Supersymmetry flows, semi-symmetric space sine-Gordon models and the Pohlmeyer reduction

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Non-involutive constrained systems and Hamilton-Jacobi formalism

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

On homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator

In this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincare-Mel'nikov method. The studied problem was based on experimental results of a two-joint planar manipulator-first joint actuated and the second joint free-that resides in a horizontal plane. This is the simplest model of nonholonomic free-joint manipulators. The purpose of the present study is to verify analytically those results and to suggest a control strategy.

Nonlinear Interactions in a Piezoceramic Bar Transducer Powered by a Vacuum Tube Generated by a Nonideal Source

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)