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.

Characterization of grazing bifurcation in airfoils with control surface freeplay nonlinearity

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

Genome-wide association study of reproductive traits in Nellore heifers using Bayesian inference

An important goal of Zebu breeding programs is to improve reproductive performance. A major problem faced with the genetic improvement of reproductive traits is that recording the time for an animal to reach sexual maturity is costly. Another issue is that accurate estimates of breeding values are obtained only a long time after the young bulls have gone through selection. An alternative to overcome these problems is to use traits that are indicators of the reproductive efficiency of the herd and are easier to measure, such as age at first calving. Another problem is that heifers that have conceived once may fail to conceive in the next breeding season, which increases production costs. Thus, increasing heifer's rebreeding rates should improve the economic efficiency of the herd. Response to selection for these traits tends to be slow, since they have a low heritability and phenotypic information is provided only later in the life of the animal. Genome-wide association studies (GWAS) are useful to investigate the genetic mechanisms that underlie these traits by identifying the genes and metabolic pathways involved. Data from 1853 females belonging to the Agricultural Jacarezinho LTDA were used. Genotyping was performed using the BovineHD BeadChip (777 962 single nucleotide polymorphisms (SNPs)) according to the protocol of Illumina - Infinium Assay II ® Multi-Sample HiScan with the unit SQ ™ System. After quality control, 305 348 SNPs were used for GWAS. Forty-two and 19 SNPs had a Bayes factor greater than 150 for heifer rebreeding and age at first calving, respectively. All significant SNPs for age at first calving were significant for heifer rebreeding. These 42 SNPs were next or within 35 genes that were distributed over 18 chromosomes and comprised 27 protein-encoding genes, six pseudogenes and two miscellaneous noncoding RNAs. The use of Bayes factor to determine the significance of SNPs allowed us to identify two sets of 42 and 19 significant SNPs for heifer rebreeding and age at first calving, respectively, which explain 11.35 % and 6.42 % of their phenotypic variance, respectively. These SNPs provide relevant information to help elucidate which genes affect these traits.

Isolamento e identificação das micobactérias em águas tratadas provenientes do sistema de abastecimento de Araraquara-SP

Water quality is very important for the health and the population welfare, and the public supply system must provide water quality and suffi cient quantity for the entire population. Water treatment stations, are the main way to obtain water quality. When this doesn’t occur, several problems can affect the population, in this case, using water with poor quality is a constant risk of emergence causing various diseases. The elimination of microorganisms in treated water reduces competition, encouraging the multiplication of chlorine resistant bacteria as Mycobacterium genus frequently isolated from treated and chlorinated water. Considering the lack of indication from examinations of mycobacteria routine laboratory for quality control of drinking water and other human uses, the objective was to verify the presence isolate and identify the environmental mycobacteria in the system water source surface of Araraquara - SP. We analyzed 40 water samples, distributed as follows: ten water gross collected at Station Water Treatment Plant (WTP), harvested after ten fi ltration; ten collected in the reservoir after chlorination and ten in the network distribution. Were recovered 43 isolates of mycobacteria. All isolates were subjected to PCR-PRA. The mycobacteria were identifi ed as M. lentifl avum, M. parafortuitum, M. genavense, M. gordonae, M. fortuitum, M. confl uent, M. duvalii, M. avium subspecies paratuberculosis and M. szulgai. With these results, was concluded that water is an important source of environmental mycobacteria probably related to several human diseases, suggesting the carrying out continuous monitoring of the microorganisms in the system drinking water.

Colombian results of the interlaboratory quality control exercise 2009 2010

Colombian Reference National Laboratory, GENES LTDA, have organized and coordinated for the past two years (2009 and 2010) the Quality Control Exercise for laboratories undertaking paternity, maternity and forensic tests with DNA markers. Twenty-two laboratories have participated in 2009, increasing the number to 27 in 2010. Laboratories in Colombia, Brazil, Ecuador, Peru, Dominican Republic and Panama have participated in these exercises. There have been some similarities in the two controls: A practical exercise, three blood samples on FTA cards were sent to each participating laboratory to be genotyped for DNA markers using the routine methodologies in their laboratories; theoretical exercises including optional and obligatory cases. For the theoretical exercises, the participating laboratories should calculate the partial and final PI or BRI (Biological Relationship Index or Paternity Index). Forty-nine and 52 markers were under consensus for 2009 and 2010, respectively, distributed in autosomal, Y and X chromosomes STR. With respect to 2008, 12 and 15 additional markers were under consensus for 2009 and 2010, respectively. The rate of reporting error was 2.9% in 2009 while in 2010, 4.7% error was reported. The Proficiency Test conducted through the Colombian National Reference Laboratory has become a useful tool for quality assurance of all Colombian laboratories and some of Latin America that do DNA testing to establish biological relationships and an excellent opportunity for ongoing training of experts from the region.

Growth Control of Microbial in Miscible Cutting Fluids Using Ultraviolet Radiation

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Editorial dynamics and control of aerospace and vertical transportation systems

This Special Issue presents a selection of papers initially presented at the 11th International Conference on Vibration Problems (ICOVP-2013), held from 9 to 12 September 2013 in Lisbon, Portugal. The main topics of this Special Issue are linear and, mainly, nonlinear dynamics, chaos and control of systems and structures and their applications in different field of science and engineering. According to the goal of the Special Issue, the selected contributions are divided into three major parts: “Vibration Problems in Vertical Transportation Systems”, “Nonlinear Dynamics, Chaos and Control of Elastic Structures” and “New Strategies and Challenges for Aerospace and Ocean Structures Dynamics and Control”.

Ethnobotany approach taperas of maroon communities of Alcântara, Maranhão, Brasil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

BEHAVIORAL RESPONSE OF CATTLE EGRETS TO POPULATION CONTROL MEASURES IN HAWAII

We monitored behavior of cattle egrets (Bubulcus ibis) during a population control program to reduce egret-aircraft strike hazards from a small heronry near the Hilo, Hawaii, airport. Results verified that attempts to move egrets from undesirable roost sites should be undertaken before nesting begins. Although possibly compounded by previous treatments, our observations also indicate that 1) egrets may abandon a new roost in response to a few dead egrets placed in clear view around the roost, and 2) shooting at egrets as they attempt to land at a traditional feeding site causes long-term avoidance of the area. Rapid repopulation after control indicates that techniques to move roosts and prevent congregations are more likely than population control to resolve problems.

THE ORGANISATION OF RABBIT CONTROL (Oryctolagus cuniculus) IN WESTERN AUSTRALIA

ABSTRACT: Under Western Australian legislation, landholders have an obligation to control rabbits on their properties; local authorities the responsibility to supervise their work whilst the Agriculture Protection Board has a Statewide supervisory and co-ordination role. Prior to 1950 (when the Agriculture Protection Board was formed) the central role was in the hands of a Government department which, through lack of staff and money was unable to provide adequate supervision, and rabbits were in plague proportions. Since 1950, the Board has actively engaged in a vigorous policy aimed at tighter control and supervision. To enable this, the Board has entered into a voluntary scheme with local authorities whereby the role of local supervision of landholders is passed to staff employed by the Board, but jointly financed by the local authority and the Board. A contract poisoning service is also pro¬vided by the Agriculture Protection Board to any landholder who is unable or unwilling, to meet his obligations in this area. Both services are subsidised. Two of the major reasons for the poor level of control existing before 1950, have thereby been minimised. Soon after its formation, the Board set up a research section which has devoted nearly all of its activities to applied research on control of the State's many vertebrate pest problems. In the rabbit control area, poisoning has received most attention. The "One-Shot" method of poisoning was developed after years of research. Fumigation is at present being closely studied as is the economics of complete eradication from some areas of the State. Greatest needs in the applied rabbit research field at present are: (1) a selective poison, or poisoning regime, which will not harm stock, and (2) a more complete understanding of the economics of control and eradication. The serious rabbit problem which existed in 1950 has been reduced to very small proportions, by organisational development using local research findings. These organisational developments have been implemented by circumvention rather than confrontation.

BLACKBIRD AND STARLING ROOSTING DYNAMICS: MPLICATIONS FOR ANIMAL DAMAGE CONTROL

Each winter an estimated 350 million starlings, red-winged blackbirds (Agelaius phoeniceus), common grackles (Quiscalus quiscula), and brown-headed cowbirds (Molothrus ater) congregate in roosts in the southeastern United States (Meanley 1971, Meanley and Royall 1976). These birds have been of increasing concern because of agricultural damage claims (Stickley et al. 1976, Dolbeer et al. 1978), reputed health hazards (Monroe and Cronholm 1977), and other nuisance problems associated with them. Historical population trends (Dolbeer and Stehn 1979) and the source of winter-roosting blackbirds (Meanley 1971, Meanley and Dolbeer 1978, and Dolbeer 1978) have been summarized, but little information on the number of consecutive nights a bird returns to the same roost (roost fidelity) or the dynamics of a winter roost is available. The purpose of this paper is to present information on roost fidelity and population dynamics needed to better understand and manage winter blackbird and starling roosts.

TESTS OF BIRD DAMAGE CONTROL MEASURES IN SUDAN, 1975

The Red-billed Quelea (Quelga quelaa), because of its widespread destruction of grain crops throughout its range in Africa, is one of the most studied and written about granivorous bird species. Less publicized are more local bird pests in Africa which may be equally Important. The Village Weaver, (Ploceus cucullatus), for example, is a pest in many countries, while some other Ploecids with limited destructive habits create local problems. Significant crop losses also occur where there are large populations of Golden Sparrows (Passer luteus), House Sparrows (Passer domesticus), Red Bishops (Euplectes oryx), Doves (Streptopelia spp.), Glossy Starlings (Lamprotornis chalybaeus), Parakeets (Psittacula spp.), and some waterfowl (Mackworth-Praed and Grant, 1952; Pans Manual No. 3, 1974; Park, 1974). Crop losses from local bird pests were reported in early February 1975 to the Sudan Plant Protection Bird Control Unit of the Ministry of Agriculture. A mechanized farm scheme in Khartoum North had large concentrations of Red Bishops roosting in maize and feeding on an early-maturing wheat variety (Mexicana). Small flocks of Golden Sparrows and House Sparrows also were present. Bird damage was clearly visible, especially at the corners and along the edges of the ripening wheatfields. Ground spraying with Queletox (60% a.1. Fenthion) on roosts of the Golden and House Sparrows was conducted along hedge rows of acacia (Acacia mellifera) located at the north end of the farm. Although the spray killed large numbers of roosting birds, damage con- tinued as the wheat matured. Pilot field trials were thus organized to test the effectiveness of other crop protection techniques. Because birds fed throughout many blocks of wheat which matured at different periods, it was felt that several different experiments could be conducted without Interfering with each other. The control techniques Included an acoustical repellent, a chemical repellent, a chemical frightening agent, and a trap. The experiments, conducted from February 7 through February 23, 1975, were not designed as an integrated control operation.

AN OVERVIEW OF DEPREDATING BIRD DAMAGE CONTROL IN CALIFORNIA

To many people, California is synonomous with Disneyland, freeways, Los Angeles smog, Yosemite, the California missions, or for you bird aficionados, the California Condor. But do you think about California when you eat strawberry shortcake? You should -- California leads the nation in strawberry production. How about artichokes? California produces over 98% of the artichokes raised in the United States. Dates? California produces over 99% of the dates in the United States. Yes, California is all of these, and it is much more. California may well be the most diverse state in the United States. Within its 100.2 million acres, California has the lowest place in the U.S. in Death Valley and one of the highest mountains with Mt. Whitney. Because California is such a diverse state and has a wide variety of micro- climates, it supports a uniquely diverse agriculture. Agriculture uses only about 36 million acres of its total 100.2 million acres, and most of the cash return from crops is produced on 8,6 million acres that are irrigated. California produces about 250 crops and livestock commodities (excluding nursery crops) and provides the U.S. with about 25% of its table foods. California leads the nation in the production of 46 commercial crops and livestock commodities; its farmers and ranchers marketed $8.6 billion of crop and livestock products in 1975, and the state’s harvested farm production in 1975 set a new record at 51.1 million tons. HISTORY OF BIRD PROBLEMS Records such as this are not achieved without some risk. Crops growing in Cali- fornia have always had competition from many types of vertebrate pests. The wide variety of crops grown in California and the varied climates and situations in which they are grown has resulted in many different species of birds damaging crops. Birds have compet- ed with man for his crops since the dawn of agriculture. McAtee (1932) cited examples of bird damage that occurred in a wide variety of crops in California during the early 1900s. During the 1920s, many requests for Information and relief from damage caused by a wide variety of birds, culminated in the assignment, in May 1929, of two biologists, S. E. Piper and Johnson Neff, of the former U.S. Bio- logical Survey, to initiate field studies in California. In cooperation with the Cali- fornia Department of Food and Agriculture and County Agricultural Commissioners, the study was to determine the problems and devise control procedures relative to bird depredations. Piper and Neff found such damage as Horned Larks pulling sprouting crops, House Finches disbudding deciduous fruit trees and devouring mature fruit. Blackbirds were a problem in the rice crop. Early controls were varied and, for the most part, lacked effectiveness. Flagging of fields was common to deter Horned Larks. Windmill devices were tried to frighten birds. Shooting to kill birds was common; scarecrows were.used. The six-year study brought forth the basis of most of the depredating bird control techniques still in use in California. At the end of the study, these two biologists compiled a book called “Procedure and Methods in Controlling Birds Injurious to Crops in California.” This was and still is the “Bible” for bird damage control techniques used in California. The thorough investigations conducted by these biologists resulted in techniques that have remained valid in California for over 40 years.

REDUCING NUISANCE CANADA GOOSE PROBLEMS THROUGH HABITAT MANIPULATION

Urban populations of Canada geese (Branta canadensis) cause considerable problems when large numbers congregate in parks, playing fields, and backyards. In most cases, geese are drawn to these sites to feed on the lawns. I tested whether geese have feeding preferences for different grass species. Captive Canada geese preferred Kentucky bluegrass (Poa pratensis) and disliked tall fescue (Festuca arundinaceae) over colonial bentgrass (Agrostis tenuis cv. Highland), perennial ryegrass (Lolium perenne), and red fescue (Festuca rubra). They refused to eat some other ground covers such as pachysandra (Pachysandra terminalis) and English ivy (Hedera helix). These results suggest that goose numbers at problem sites could be reduced by changing the ground cover. I also compared the characteristics of foraging sites used by geese to other foraging sites that geese avoided. Occupied sites were more open so that geese had clearer visibility and greater ease in taking off and landing. This suggests that goose numbers at problem sites also could be reduced by planting tall trees to make it harder for the geese to fly away, and planting bushes and hedges to obstruct a goose's visibility.

FOREST ANIMAL DAMAGE CONTROL

As a nation we have gained world recognition for our ability to utilize our resources. In forestry our greatest accomplishments have been in the mechanization of harvest methods and in improvements in forest products. The renewal of this resource has been our greatest neglect. Though the end of the 19th Century marked the beginning of the conservation movement, it was not until a half century later that the force of economics through the demands of a growing population made forest re-establishment more than just a desire. Conservation in itself is a Utopian concept which requires other motivating forces to make it a reality. In the post-war years, and as late as the early 195O's, stocked land in the Pacific Northwest could be purchased for less than the cost of planting; the economic incentive was lacking. Only with sustained yield management and increased land values was there a balance in favor of true values. With greater effort placed on forest regeneration there was an increased need for methods of reducing losses to wildlife. The history of forest wildlife damage research, therefore, parallels that of forest land management; after rather austere beginnings, development became predominantly a response to economics. It was not until 1950 that the full time of one scientist was assigned to this important activity. The development of control methods for forest animal damage is a relatively new area of research. All animal life is dependent upon plants for its existence; forest wildlife is no exception. The removal of seed and foliage of undesirable plants often benefits the land managers; only when the losses or injuries are in conflict with man's interest is there damage involved. Unfortunately, the feeding activities of wildlife and the interests of the land managers are often in conflict. Few realize the breadth, scope, and subtilities associated with forest wildlife damage problems. There are not only numerous species of animals involved, but also a myriad of conditions, each combination possessing unique facets. It is a foregone conclusion that an understanding of the conditions is essential to facilitate a solution to any given problem. Though there are numerous methods of reducing animal damage, all of which have application under some situations, in this discussion emphasis will be placed on the role of chemicals and on western problems. Because of the broadness and complexity of the problem, generalizing is necessary and only brief coverage will be possible. However, an attempt will be made to discuss the use and limitations of various control methods.