SDRE control strategy applied to a nonlinear robotic including drive motor

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.

The influence of handrim design on the contact forces on hands'surface: a preliminary study

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sugarcane fibre may prevents hairball formation in cats

Hair ingested by licking during cat grooming can eventually coalesce into solid masses in cat gastrointestinal tract. It is believed that dietary fibre might reduce formation of these trichobezoars (hairballs). The effects of two insoluble fibre sources added to kibble diets were evaluated with respect to trichobezoar faecal excretion. Thirty-two cats and four diets were used in a randomised block design: a control diet without additional fibre, 10 % added sugarcane fibre, 20 % added sugarcane fibre or 10 % added cellulose. Animals were fed for 42 d and during three separate periods (days 15-17, 25-27 and 40-42), the cats were housed individually in metabolic cages and their faeces were totally collected. The faeces were evaluated and the trichobezoars were isolated and classified into small (<1 cm), medium (1·1-2 cm) or large (>2·1 cm). Means were evaluated by repeated measures ANOVA and contrasts (P < 0·05). Cats fed sugarcane fibre shown a linear reduction of small and medium trichobezoar excretion (number per cat per day; P = 0·004) as well as a reduction in trichobezoar mass excretion (mg per cat per day; P < 0·01). The control group showed increased faecal excretion of large trichobezoars (P = 0·003), which were not present in the high sugarcane fibre group (P < 0·006). No effect of cellulose was observed for any evaluated trait. Therefore, long fibres (sugarcane fibre) may cause greater peristaltic stimulation, increasing the propulsion of hair through the gut, but further research is needed to validate this mechanism. In conclusion, sugarcane fibre reduced faecal hairball elimination in cats, which may have clinical applications for the prevention of health problems related to trichobezoars.

Deformações elásticas e áreas de contato de pneus agrícolas e florestais utilizando prensa hidráulica em superfície rígida

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Estudo de manobras evasivas com perturbações orbitais

Pós-graduação em Física - FEG

Sistema de gestão da qualidade numa organização pública de P&D: fatores que influenciam a certificação

Pós-graduação em Engenharia Mecânica - FEG

Caracterização biomecânica da conduta motora remada básica de passeio do esporte stand up paddle

Pós-graduação em Engenharia Mecânica - FEG

Desempenho de sondas Lambda no monitoramento de motores do ciclo Otto alimentados por etanol e GNV

Pós-graduação em Engenharia Mecânica - FEB

Estudo de materiais supercondutores em forma de SQUID com uma constrição usando métodos de paralelização computacional

Pós-graduação em Ciência e Tecnologia de Materiais - FC

Neural models for predicting hole diameters in drilling processes

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Corrosion behaviour of aluminium syntactic functionally graded composites

Syntactic Functionally Graded Metal Matrix Composites (SFGMMC) are a type of composites reinforced by microballoons exhibiting a graded reinforcement distribution. These materials constitute a promising new generation of lightweight structural materials for aerospace, marine and shielding/insulation applications. In this work, A356 alloy reinforced with silica-alumina microballoons (SiO2-Al2O3) was processed by casting techniques. The influence of the microballoon distribution gradient on the corrosion behaviour of the composite was investigated by potentiodynamic polarisation and Electrochemical Impedance Spectroscopy (EIS). Composite surfaces were analysed before and after testing by Optical Microscopy (OM) and Scanning Electron Microscopy (SEM) to determine the influence of microstructural changes.

Aeroelastic Analysis of a Typical Section Using of Shape memory wire actuator

Shape memory alloys (SMAs) provide a compact and effective actuation for a variety of mechanical systems. In this paper, a numerical simulation study of a three degree of-freedom airfoil, subjected to two-dimensional incompressible inviscid flow using a SMA is presented. SMA wire actuators are used to control the flap movement of a wing section. Through the thermo-mechanical constitutive equation of the SMA proposed by Brison, we simulate numerically the behavior of a double SMA wire actuator. Two SMA actuators are used: one to move the flap down and the other to move the flap up. Through the numerical results conducted in the present study, the behavior and characteristics of an SMA actuator with two SMA wires are shown the effectiveness of the SMA actuator. In conclusion, this paper shows the feasibility of using SMA wire actuators for flap movement, with success

Aeroelastic behavior of a wing with a magnetorheological hysteretic model to the damping

This paper shows the application of a hysteretic model for the Magnetorheological Damper (MRD) placed in the plunge degree-of-freedom of aeroelastic model of a wing. This hysteretic MRD model was developed by the researchers of the French Aerospace Lab. (ONERA) and describe, with a very good precision, the hysteretic behavior of the MRD. The aeroelastic model used in this paper do not have structural nonlinearities, the only nonlinearities showed in the model, are in the unsteady flow equations and are the same proposed by Theodorsen and Wagner in their unsteady aerodynamics theory; and the nonlinearity introduced by the hysteretic model used. The main objective of this paper is show the mathematical modeling of the problem and the equations that describes the aeroelastic response of our problem; and the gain obtained with the introduction of this hysteretic model in the equations with respect to other models that do not show the this behavior, through of pictures that represents the time response and Phase diagrams. These pictures are obtained using flow velocities before and after the flutter velocity. Finally, an open-loop control was made to show the effect of the MRD in the aeroelastic behavior.

Neural models for predicting hole diameters in drilling processes

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Nonlinear state estimation and control applied to a manipulator robotic including drive motor

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 1: For control positioning, it is only used motor voltage; Case 2: 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.