Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Corn cultivar intercropping with arboreal legumes for weed control

Gliricidia (Gliricidia sepium) seedlings are usually beneficial to corn crops when planted between corn rows. The objective of this work was to assess the effects of corn intercropped with gliricidia and "sabiá" (Mimosa caesalpiniifolia), a species native to the Brazilian northeastern region, on weed control and corn green ear and grain yields. The experiment was carried out at Estação Experimental da Universidade Federal Rural do Semi-Árido - UFERSA (Mossoró, State of Rio Grande do Norte, Brazil). The experimental design consisted of randomized complete blocks (multifactorial design) with five replications, arranged in split-plots. The plots consisted of corn cultivars AG1051 and BM 2022; subplot treatments (six) were no-hoeing, twice-hoeing (at 20 and 40 days after sowing) and intercropping with gliricidia and "sabiá", either directly sown or transplanted, simultaneously with corn sowing. The intercropped leguminous plants were spaced 0.40 m from each other, and directly seeded or transplanted (30-day-old seedlings) in between two 1 m-spaced corn rows. Twenty three weed species were identified during the experiment. Gliricidia seedlings were superior to "sabiá" seedlings with regard to plant height and survival rate. The highest corn green ear and grain yields were found for twice-hoed subplots, while the lowest yield was found for no-hoed or intercropped subplots. However, grain yield values in intercropped treatments did not differ from grain yield values in hoed plots. In addition, marketable husked green ear mean weights did not differ between twice-hoed subplots and subplots directly seeded with gliricidia and "sabiá". Such results indicated that corn benefited from the intercropping system, but intercropping with gliricidia and "sabiá" transplanted resulted in lower benefits than with the direct sowing of those species.

Weed control in corn and weed sample size for growth evaluations

The objectives of this study were to evaluate baby corn yield, green corn yield, and grain yield in corn cultivar BM 3061, with weed control achieved via a combination of hoeing and intercropping with gliricidia, and determine how sample size influences weed growth evaluation accuracy. A randomized block design with ten replicates was used. The cultivar was submitted to the following treatments: A = hoeings at 20 and 40 days after corn sowing (DACS), B = hoeing at 20 DACS + gliricidia sowing after hoeing, C = gliricidia sowing together with corn sowing + hoeing at 40 DACS, D = gliricidia sowing together with corn sowing, and E = no hoeing. Gliricidia was sown at a density of 30 viable seeds m-2. After harvesting the mature ears, the area of each plot was divided into eight sampling units measuring 1.2 m² each to evaluate weed growth (above-ground dry biomass). Treatment A provided the highest baby corn, green corn, and grain yields. Treatment B did not differ from treatment A with respect to the yield values for the three products, and was equivalent to treatment C for green corn yield, but was superior to C with regard to baby corn weight and grain yield. Treatments D and E provided similar yields and were inferior to the other treatments. Therefore, treatment B is a promising one. The relation between coefficient of experimental variation (CV) and sample size (S) to evaluate growth of the above-ground part of the weeds was given by the equation CV = 37.57 S-0.15, i.e., CV decreased as S increased. The optimal sample size indicated by this equation was 4.3 m².

Chemical control of morning glory as a function of water restriction levels

Among the herbicides recommended for the dry season and registered to sugarcane crop, amicarbazone, isoxaflutole and the association diuron + hexazinone + sulfomethuron-methyl can be highlighted. These are pre-emergence herbicides efficient against broad-leaved weeds. Morning glory causes large losses in infested sugarcane fields by bending the stalks and interfering in harvesting. In this study the effectiveness of pre-emergence herbicides for two species of morning glory (Ipomoea hederifolia and Ipomoea grandifolia) was evaluated. Treatments were arranged in completely randomized factorial design (4 x 7). There were four periods of water restriction (0, 30, 60 and 90 days), seven chemical treatments [diuron + hexazinone + sulfometuron-methyl (1387 + 391 + 33.35 g a.i. ha-1), diuron + hexazinone + sulfometuron-methyl (1507.5 + 425 + 36.25 g a.i. ha-1), diuron + hexazinone + sulfometuron-methyl (1658.25 + 467.5 + 39.87 g a.i. ha-1), diuron + hexazinone + sulfometuron­methyl (1809 + 510 + 43.5 g a.i. ha-1), amicarbazone (1190 g a.i. ha-1), amicarbazone + isoxaflutole (840 + 82.5 g a.i. ha-1)] and a control with no application. At 7, 14, 21 and 28 days after the restoration of moisture, control was visually evaluated. After the final evaluation, the dry mass of morning glories was measured. At 90 days of water restriction, diuron + hexazinone + sulfometuron-methyl was more effective to control I. hederifolia than the amicarbazone + isoxaflutole tank mixture. The four diuron + hexazinone + sulfometuron­methyl doses have reduced morning glory dry mass to zero; whereas treatments with amicarbazone have not. The most effective treatment for morning glory control was diuron + hexazinone + sulfometuron-methyl. This result may be due to a possible synergistic interaction.

Glyphosate tolerant volunteer corn control at two development stages

The loss of grains during the harvest of glyphosate tolerant corn may generate volunteer plants, which can interfere in the conventional or glyphosate crop in succession. The current work aim to evaluate the control of the volunteer corn glyphosate tolerant under two weed stages. Aimed to evaluate the control of volunteer glyphosate tolerant corn in two stages of development. There were conducted two experiments with hybrid 2B688 HR (lepidoptera and glyphosate tolerant), the application were at V5 and V8 stage. The experiment was randomized block design with four replicates, using the treatments: haloxyfop at 25, 50 and 62 g ha-1 alone and associated with 2,4-D at 670 g ha-1 or fluroxypyr at 200 g ha-1. The standard was clethodim at 84 g ha-1 with 2,4-D and fluroxypyr at same rates. The applications of haloxyfop and clethodim both isolated or in a mixture with 2,4-D and fluroxypyr at V5 stage showed total control (100%) at 32 and 39 days after the application, except for haloxyfop + 2,4-D (25 + 670 g ha-1) mixture, which did not provided adequate control. At V8 stage, haloxyfop + 2,4-D (50 + 670 g ha-1) and haloxyfop + 2,4-D (62 + 670 g ha-1) mixtures took up to 6 and 10 days or longer to reach adequate to excellent control, when compared to haloxyfop isolated applications in the same doses, respectively. Either isolated clethodim or mixed with 2, 4-D and fluroxypyr did not show adequate control. The treatments showed efficient control on volunteer corn plants at V5 stage, except for haloxyfop + 2, 4-D (25 + 670 g ha-1) mixture. At V8 stage applications, haloxyfop either isolated or mixture with fluroxypyr demonstrated excellent control on every evaluated dose. The mixture with 2, 4-D can reduce haloxyfop efficiency at low doses. Clethodim alone or mixed with 2,4-D or furoxypyr did not provide acceptable level of control.

Chemical control of Pileamicrophylla in cattleya seedlings (Cattleyatenebrosa x Cattleyaleopoldy)

Species of the orchidaceae family are grown for marketing flowers and among them the genus Cattleya stands out. However, due to its slow growth, the substrate is subjected to weed infestation. Therefore, this study aims to evaluate the selectivity and efficiency of herbicides in controlling Pilea microphylla in Cattleya orchid seedlings (Cattleya tenebrosa x Cattleya leopoldy). We used a completely randomized design with four replications. The evaluated herbicides were oxyfluorfen (0, 120, 240 and 480 g ha-1), flumioxazin (0, 12.5, 25 and 40 g ha-1), nicosulfuron (0, 20, 40 and 80 g ha-1) mesotrione (0, 96, 144 and 192 g ha-1), clethodim (0, 60, 84 and 108 g ha-1) and metsulfuron-methyl (0, 1.2, 1.8 and 2.4 g ha-1). At post-emergence applying time, the Cattleya plants had three bulb sand were 10 cm tall, while P. microphylla, where 5 cm tall. Nicosulfuron, mesotrione and clethodim herbicides did not control P. microphylla, while oxyfluorfen and flumioxazin showed over 90% efficiency level sin controlling P. microphyllafrom 14 days after application (DAA). As to metsulfuron-methyl, it showed efficiency superior to 90% from the control dose of 1.8 g ha-1 at 28 DAA. All herbicides were selective plants of Cattleya, however, only oxyfluorfen, flumioxazin and metsulfuron-methyl were effective in controlling P. microphylla.

Herbicide efficacy on Borreria densiflora control in pre- and post-emergence conditions

The weed Borreria densiflora is a management issue in soybean and sugarcane crops from North and Northeastern Brazil. Knowledge upon chemical control of B. densiflora contributes to the integrated management of this weed species, especially when active ingredient options become reduced due to the selection of herbicide resistant or tolerant weed species. Experiments in pre- and post-emergence of B. densiflora were conducted in greenhouse, in a randomized block design and four replications. In pre-emergence, the dose-response curve methodology was used and 7 herbicides were tested. In post-emergence, 9 herbicides at the recommended rate and 4 herbicide mixtures were tested. For pre and post-emergence conditions, evaluations were conducted at 60 and 21 days after treatment (DAT), respectively, and the variables analyzed were weed control and dry weight (%). The results showed options of pre-emergent herbicides that can be used for controlling B. densiflora, especially in sugarcane, where chemical weed control is mainly based on pre-emergent applications. In the current glyphosate resistance scenario, one should consider the use of pre-emergent herbicides within an integrated management of B. densiflora. For satisfactory post-emergence control, B. densiflora plants should be sprayed at the phenological stage of up to three pairs of leaves. Herbicide mixtures have been and will continue to be an important tool in chemical weed management, broadening the spectrum of weed control, while diversifying herbicide mechanisms of action, which helps to prevent or delay the appearance of herbicide resistance.

Selectivity of chemical weed control systems in conventional cotton

Cotton is highly susceptible to the interference imposed by weed community, being therefore essential to adopt control measures ensuring the crop yield. Herbicides are the primary method of weed control in large-scale areas of production, and usually more than one herbicide application is necessary due to the extensive crop cycle. This study aimed to evaluate the selectivity of different chemical weed control systems for conventional cotton. The experiment took place in the field in a randomized block design, with twenty nine treatments and four replications in a split plot layout (adjacent double check). Results showed that triple mixtures in pre-emergence increased the chance of observing reductions in the cotton yield. To avoid reductions in crop yield, users should proceed to a maximum mixture of two herbicides in pre-emergence, followed by S-metolachlor over the top, followed by one post-emergence mixture application of pyrithiobac-sodium + trifloxysulfuron-sodium.

Glyphosate Effectiveness in the Control of Macrophytes Under a Greenhouse Condition

The aim of this study was to assess the effectiveness of glyphosate, as Rodeo(r) formulation, to control Eichhornia crassipes, Pistia stratiotes, Salvinia molesta, Salvinia herzogii and Urochloa subquadripara, under greenhouse conditions. The doses assessed were (480, 960, 1440, 1920, 2400, 2880, 3360 and 3840 g ha-1 of glyphosate) with 0.5% of the Aterbane(r) BR surfactant and a control, with no herbicide application. All experiments were conducted in a completely randomized experimental design with ten replications. Applications were carried out by precision backpack sprayer at a CO2 constant pressure of 25 psi and spray solution consumption of 200 L ha-1. Product effectiveness was determined by assessing the growth inhibitions and phytotoxicity signals during the periods of 3, 7, 15, 21, 30 and 45 days after application (DAA). At 45 DAA, the highest glyphosate dose (3840 g ha-1) displayed 100% effectiveness for all four macrophyte species. Under greenhouse conditions, the glyphosate in formulation Rodeo(r) with 0.5% of Aterbarne(r) BR surfactant showed excellent effectiveness, inhibiting the growth of the floating aquatic macrophytes. This procedure can be included on the tillage plans for these species.

INTERCROPPING CORN WITH A COMBINATION OF TREE SPECIES TO CONTROL WEEDS

ABSTRACT The combination of crop residues or crop extracts is often more advantageous in controlling weeds, than the application of each residue or extract singly. This suggests that in intercropping with maize, the combination of tree species can be more advantageous than species isolated in weed control. The objective of this study was to evaluate the effects of intercropping with a combination of leguminous on the weed growth and corn yield. A randomized-block design with split plots (cultivars in plots) and five replicates was established. The cultivars BR 205 and AG 1041 were subject to the following treatments: two weedings (A), intercropping with sabiá (B), gliricidia (C), gliricidia + sabiá (D) and no weeding (E). In the B and C, 30 viable seeds m-2 of the leguminous were sown. In the D, 15 seeds of each species were sown m-2. The legumes were sown by random casting during corn planting. The sequence of the best treatments in reducing the growth of weeds is A > B = C = D = E. The sequence of the best treatments when are considered the yields of baby corn, green corn and grain is A > B > C > D > E. The cultivars do not differ in regards to the reduction in weed growth. In terms of corn yield cultivar BR 205 is the best.

Effectiveness of Diquat, Copper Hydroxide, Copper Oxychloride and their Association in Control of Submerged Macrophytes Ceratophyllum demersum

The aims of this study were to evaluate the effectiveness of diquat, copper hydroxide, copper oxychloride and their associations diquat + 0.1% copper oxychloride and diquat + 0.1% copper hydroxide to control Cerathophyllum demersum. Therefore, the concentrations used were 0.1, 0.3, 0.5, 0.7, 1.0 and 1.5 mg L-1 oxychloride and copper hydroxide and 0.2, 0.4, 0.8 and 1.2 mg L-1 diquat and their associations with 0.1% copper oxychloride and 0.1% copper and a control hydroxide. The experimental design was completely randomized with ten replications for 45 days. For evaluation we used a scale of 0-100% control of notes and rated the weight (g) and length (cm) of pointers at the end of the trial period. Diquat showed 100% efficacy at 30 DAA, associations in 21 DAA and copper sources promoted regrowth of C. demersum. Diquat and its associations were more effective in controlling C. demersum. The use of herbicide in combination with a copper source is more efficient for the control of submerged weeds because it potentiates the effect of the herbicide in weed control

Resistence of Radish Biotypes to Iodosulfuron and Alternative Control

The repetitive use of iodosulfuron for the control of weeds in winter cereals in the south of Brazil has favored the emergence of resistant Raphanus sativus biotypes. The objective of this study was to evaluate: the response of Raphanus sativus biotypes susceptible and resistant to different dosages of iodosulfuron; the control of biotypes with alternative registered herbicides for the control of the species in crops of wheat, corn and soybean; and the existence of cross-resistance of the biotypes. Thus, four experiments were done in a greenhouse, with a completely randomized design and four replicates. The experimental units were composed of vases with a volumetric capacity of 0.75 L filled with substrate, containing a plant each. For the dose-response curve, three biotypes (factor A) and nine doses of the iodosulfuron herbicide (factor B) were used. For the alternative control, the recommendation was herbicides in pre or postemergence of the crops, and the crossed-resistance was evaluated by using herbicides that inhibit the ALS enzyme of different chemical groups. The analyzed variables were control and shoot dry matter. GR50 of the susceptible biotype (B1) was 0.11 g a.i. ha-1, whereas GR50 of resistant biotypes (B4 and B13) was 102.9 and 86.8 g a.i. ha-1 of the iodosulfuron herbicide, respectively. The resistant biotypes presented crossed resistance to herbicides that inhibit the ALS enzyme, where the control can be efficient with the use of herbicides with different action mechanisms.

Application Volumes and Sizes of Droplets for the Application of Diquat Herbicide in the Control of Eichhornia crassipes

The objective of this study was to evaluate the efficiency of application and the efficacy of control of water hyacinth (Eichhornia crassipes) with the use of the diquat herbicide done with two application volumes associated to three droplets classes. Three experiments were conducted; in the first, the application efficiency was evaluated; in the second, the control efficiency and; in the third, the droplet spectrum. They were conducted in a completely randomized design with five, four and six replicates, respectively. The treatments were arranged in a 2 x 3 factorial design, with two application volumes (100 and 200 L ha-1) and three droplets classes (fine, extremely coarse and ultra-coarse) to the first and second experiment and the third comprised two diquat concentrations in spray solution (2 and 4 g i.a. L-1) and three droplets classes (fine, extremely coarse and ultra-coarse). The application efficiency was determined by the coverage by droplets, spray deposition and active ingredient of the herbicide (diquat). The efficacy was measured by the control and the percentage of plants with regrowth at 50 days after application. The spectrum of droplets produced per each nozzle model used to obtain the droplets classes were analyzed. According to the parameters analyzed, using the droplets classes extremely thick and ultra thick can provide greater certainty in the application of diquat in the aquatic environment associated with the deposition of the active and sufficient coverage to control Eichhornia crassipes with both application volumes

Adaptive control of Hydraulic Drive

Adaptive control systems are one of the most significant research directions of modern control theory. It is well known that every mechanical appliance’s behavior noticeably depends on environmental changes, functioning-mode parameter changes and changes in technical characteristics of internal functional devices. An adaptive controller involved in control process allows reducing an influence of such changes. In spite of this such type of control methods is applied seldom due to specifics of a controller designing. The work presented in this paper shows the design process of the adaptive controller built by Lyapunov’s function method for the Hydraulic Drive. The calculation needed and the modeling were conducting with MATLAB® software including Simulink® and Symbolic Math Toolbox™ etc. In the work there was applied the Jacobi matrix linearization of the object’s mathematical model and derivation of the suitable reference models based on Newton’s characteristic polynomial. The intelligent adaptive to nonlinearities algorithm for solving Lyapunov’s equation was developed. Developed algorithm works properly but considered plant is not met requirement of functioning with. The results showed confirmation that adaptive systems application significantly increases possibilities in use devices and might be used for correction a system’s behavior dynamics.

Genetic control of characters associated with bean golden mosaic geminivirus resistance in Phaseolus vulgaris L.

Bean golden mosaic is the most important viral disease of the bean crop (Phaseolus vulgaris L.) in Latin America. The genetics of resistance to a Brazilian strain of bean golden mosaic virus (BGMV), was studied in a 4 x 4 diallel cross without reciprocals, among the parental genotypes DOR 303, EMGOPA 201 Ouro, Carnaval, and Redlands Greenleaf C. Seedlings of the four parents, six F1 hybrids, 12 backcrosses, and F2 generations for each combination were inoculated on the eighth day after sowing by exposure to a viruliferous whitefly (Bemisia tabaci Genn.) population for 24 h, in a glasshouse, prior to transplantation to field conditions. The full set of two parents, F1, F2 and respective backcrosses for each combination was considered to be a family. Data were recorded and analyzed for foliar yellowing, plant dwarfing, and pod malformation, using a randomized block design, with two replications. Weighted generation mean analysis was performed for each of the six families. An additive gene action model was significant for the three characteristics evaluated. On the other hand, non-additive gene action had greater absolute value in most cases. Resistance to foliar yellowing conferred by genes from DRO 303 was highly heritable and was expressed equally well in the different genetic backgrounds evaluated. Such resistance may be oligogenic. Broad- and narrow-sense heritabilities were relatively high for all response traits. The three traits studied were all positively correlated, indicating that they can be simultaneously selected for enhancement. The highest correlation coefficient was obtained for dwarfing x pod malformation.