The analytic torsion of a disc

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

Dynamic modeling and simulation of a flexible robotic manipulator

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Recommended Guidelines for the Conduct and Evaluation of Prognostic Studies in Veterinary Oncology

There is an increasing need for more accurate prognostic and predictive markers in veterinary oncology because of an increasing number of treatment options, the increased financial costs associated with treatment, and the emotional stress experienced by owners in association with the disease and its treatment. Numerous studies have evaluated potential prognostic and predictive markers for veterinary neoplastic diseases, but there are no established guidelines or standards for the conduct and reporting of prognostic studies in veterinary medicine. This lack of standardization has made the evaluation and comparison of studies difficult. Most important, translating these results to clinical applications is problematic. To address this issue, the American College of Veterinary Pathologists' Oncology Committee organized an initiative to establish guidelines for the conduct and reporting of prognostic studies in veterinary oncology. The goal of this initiative is to increase the quality and standardization of veterinary prognostic studies to facilitate independent evaluation, validation, comparison, and implementation of study results. This article represents a consensus statement on the conduct and reporting of prognostic studies in veterinary oncology from veterinary pathologists and oncologists from around the world. These guidelines should be considered a recommendation based on the current state of knowledge in the field, and they will need to be continually reevaluated and revised as the field of veterinary oncology continues to progress. As mentioned, these guidelines were developed through an initiative of the American College of Veterinary Pathologists' Oncology Committee, and they have been reviewed and endorsed by the World Small Animal Veterinary Association.

On the Milnor fibre and L numbers of semi-weighted homogeneous arrangements

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

Optimal design of smart structures using bonded piezoelectrics for vibration control

Smart material technology has become an area of increasing interest for the development of lighter and stronger structures which are able to incorporate actuator and sensor capabilities for collocated control. In the design of actively controlled structures, the determination of the actuator locations and the controller gains, is a very important issue. For that purpose, smart material modelling, modal analysis methods, control and optimization techniques are the most important ingredients to be taken into account. The optimization problem to be solved in this context presents two interdependent aspects. The first one is related to the discrete optimal actuator location selection problem, which is solved in this paper using genetic algorithms. The second is represented by a continuous variable optimization problem, through which the control gains are determined using classical techniques. A cantilever Euler-Bernoulli beam is used to illustrate the presented methodology.

Modal Analysis of a Beam with a Tip Rotor by Using a Fundamental Response

The shape modes of a damped-free beam model with a tip rotor are determined by using a dynamical basis that is generated by a fundamental spatial free response. This is a non-classical distributed model for the displacements in the transverse directions of the beam which turns out to be coupled through boundary conditions due to rotation. Numerical calculations are performed by using the Ritz-Rayleigh method with several approximating basis.

The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Absolute continuity and existence of solutions to dynamic inclusions in time scales

We provide some properties for absolutely continuous functions in time scales. Then we consider a class of dynamical inclusions in time scales and extend to this class a convergence result of a sequence of almost inclusion trajectories to a limit which is actually a trajectory of the inclusion in question. We also introduce the so called Euler solution to dynamical systems in time scales and prove its existence. A combination of the existence of Euler solutions with the compactness type result described above ensures the existence of an actual trajectory for the dynamical inclusion when the setvalued vector field is nonempty, compact, convex and has closed graph. © 2012 Springer-Verlag.

Application of a bounded upwinding scheme to complex fluid dynamics problems

This paper is concerned with an overview of upwinding schemes, and further nonlinear applications of a recently introduced high resolution upwind differencing scheme, namely the ADBQUICKEST [V.G. Ferreira, F.A. Kurokawa, R.A.B. Queiroz, M.K. Kaibara, C.M. Oishi, J.A.Cuminato, A.F. Castelo, M.F. Tomé, S. McKee, assessment of a high-order finite difference upwind scheme for the simulation of convection-diffusion problems, International Journal for Numerical Methods in Fluids 60 (2009) 1-26]. The ADBQUICKEST scheme is a new TVD version of the QUICKEST [B.P. Leonard, A stable and accurate convective modeling procedure based on quadratic upstream interpolation, Computer Methods in Applied Mechanics and Engineering 19 (1979) 59-98] for solving nonlinear balance laws. The scheme is based on the concept of NV and TVD formalisms and satisfies a convective boundedness criterion. The accuracy of the scheme is compared with other popularly used convective upwinding schemes (see, for example, Roe (1985) [19], Van Leer (1974) [18] and Arora & Roe (1997) [17]) for solving nonlinear conservation laws (for example, Buckley-Leverett, shallow water and Euler equations). The ADBQUICKEST scheme is then used to solve six types of fluid flow problems of increasing complexity: namely, 2D aerosol filtration by fibrous filters; axisymmetric flow in a tubular membrane; 2D two-phase flow in a fluidized bed; 2D compressible Orszag-Tang MHD vortex; axisymmetric jet onto a flat surface at low Reynolds number and full 3D incompressible flows involving moving free surfaces. The numerical simulations indicate that this convective upwinding scheme is a good generic alternative for solving complex fluid dynamics problems. © 2012.

Stable singularities of co-rank one quasi homogeneous map germs from (ℂn+1, 0) to (ℂn, 0), n = 2, 3

In this article, we investigate the geometry of quasi homogeneous corank one finitely determined map germs from (ℂn+1, 0) to (ℂn, 0) with n = 2, 3. We give a complete description, in terms of the weights and degrees, of the invariants that are associated to all stable singularities which appear in the discriminant of such map germs. The first class of invariants which we study are the isolated singularities, called 0-stable singularities because they are the 0-dimensional singularities. First, we give a formula to compute the number of An points which appear in any stable deformation of a quasi homogeneous co-rank one map germ from (ℂn+1, 0) to (ℂn, 0) with n = 2, 3. To get such a formula, we apply the Hilbert's syzygy theorem to determine the graded free resolution given by the syzygy modules of the associated iterated Jacobian ideal. Then we show how to obtain the other 0-stable singularities, these isolated singularities are formed by multiple points and here we use the relation among them and the Fitting ideals of the discriminant. For n = 2, there exists only the germ of double points set and for n = 3 there are the triple points, named points A1,1,1 and the normal crossing between a germ of a cuspidal edge and a germ of a plane, named A2,1. For n = 3, there appear also the one-dimensional singularities, which are of two types: germs of cuspidal edges or germs of double points curves. For these singularities, we show how to compute the polar multiplicities and also the local Euler obstruction at the origin in terms of the weights and degrees. © 2013 Pushpa Publishing House.

Strain rate of the South American lithospheric plate by SIRGAS-CON geodetic observations

A multiyear solution of the SIRGAS-CON network was used to estimate the strain rates of the earth surface from the changing directions of the velocity vectors of 140 geodetic points located in the South American plate. The strain rate was determined by the finite element method using Delaunay triangulation points that formed sub-networks; each sub-network was considered a solid and homogeneous body. The results showed that strain rates vary along the South American plate and are more significant on the western portion of the plate, as expected, since this region is close to the subduction zone of the Nazca plate beneath the South American plate. After using Euler vectors to infer Nazca plate movement and to orient the velocity vectors of the South American plate, it was possible to estimate the convergence and accommodation rates of the Nazca and South American plates, respectively. Strain rate estimates permitted determination of predominant contraction and/or extension regions and to establish that contraction regions coincide with locations with most of the high magnitude seismic events. Some areas with extension and contraction strains were found to the east within the stable South American plate, which may result from different stresses associated with different geological characteristics. These results suggest that major movements detected on the surface near the Nazca plate occur in regions with more heterogeneous geological structures and multiple rupture events. Most seismic events in the South American plate are concentrated in areas with predominant contraction strain rates oriented northeast-southwest; significant amounts of elastic strain can be accumulated on geological structures away from the plate boundary faults; and, behavior of contractions and extensions is similar to what has been found in seismological studies. © 2013 Elsevier Ltd.

Descrição e comparação de dois tipos de chute no futebol feminino através de variáveis angulares

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

O chute com o membro dominante e não dominante realizado com a bola parada e em deslocamento no futsal

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Identificação dos ângulos do tornozelo do membro de suporte, distância entre o pé de apoio e a bola e velocidade de saída da bola em cobranças de pênalti no futebol

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Aplicação da transformada integral generalizada no escoamento potencial em contrações

Pós-graduação em Engenharia Mecânica - FEIS