Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Dynamic analysis of a new piezoelectric flextensional actuator using the J1-J4 optical interferometric method

Piezoelectric actuators are widely used in positioning systems which demand high resolution such as scanning microscopy, fast mirror scanners, vibration cancellation, cell manipulation, etc. In this work a piezoelectric flextensional actuator (PFA), designed with the topology optimization method, is experimentally characterized by the measurement of its nanometric displacements using a Michelson interferometer. Because this detection process is non-linear, adequate techniques must be applied to obtain a linear relationship between an output electrical signal and the induced optical phase shift. Ideally, the bias phase shift in the interferometer should remain constant, but in practice it suffers from fading. The J1-J4 spectral analysis method provides a linear and direct measurement of dynamic phase shift in a no-feedback and no-phase bias optical homodyne interferometer. PFA application such as micromanipulation in biotechnology demands fast and precise movements. So, in order to operate with arbitrary control signals the PFA must have frequency bandwidth of several kHz. However as the natural frequencies of the PFA are low, unwanted dynamics of the structure are often a problem, especially for scanning motion, but also if trajectories have to be followed with high velocities, because of the tracking error phenomenon. So the PFA must be designed in such a manner that the first mechanical resonance occurs far beyond this band. Thus it is important to know all the PFA resonance frequencies. In this work the linearity and frequency response of the PFA are evaluated up to 50 kHz using optical interferometry and the J1-J4 method.

Review of Caribbean economic and social performance in the 1980's and 1990's

Includes bibliography

Galileo's surveying potential E5 pseudorange precision

New Galileo signals have great potential for pseudorange-based surveying and mapping in both optimal open-sky conditions and suboptimal under-canopy environments. This article reviews the main features of Galileo's E5 AItBO( and El (BOC signals, describes generation of realistic E5 and El pseudoranges with and without multipath sources, and presents anticipated horizontal positioning accuracy results, ranging from 4 centimeters (open-sky) to 14 centimeters (under-canopy) for E5/El.

Social dimensions of macroeconomic policy: report of the Executive Committee on Economic and Social Affairs of the United Nations

Introduction The social agenda is long-term in nature, in the sense that poverty alleviation along with a better distribution of income, wealth and opportunities are long-term goals. A sound macroeconomic policy, on the other hand, has to do largely with the consistent management of short-term policy instruments pursuing a sustainable and predictable pace for aggregate economic variables and major prices (wages, inflation, interest rates and exchange rates). In spite of the different arena and rationale in which they play, there are strong links between the two. First and most obvious, macroeconomic adjustment and structural reform are more likely to be sustainable when they are equitable. Second, social intervention —i.e., policies, programmes and reforms aimed at improving social performance in the long run—, needs stable funding which is not always available in view of macroeconomic constraints. Third, macroeconomic instability —especially episodes of recession or hyperinflation— increases poverty and inequality, while restoring macroeconomic equilibrium does not restore previous social balances. Finally, there is no unique macroeconomic policy mix to tackle a given situation, and the policy options may not be neutral from a social standpoint. Monetary, fiscal and exchange rate policies, together with structural reform, have major consequences for the social wellbeing of societies, not only in terms of protection against shocks and crises but also in terms of equity. Many, if not all, of the necessary social policies are of a domestic nature. This report thus concentrates on domestic strategies aimed at maximizing the linkages between consistent macroeconomic policies and social progress. Pursuing them, however, depends to a considerable extent on the international enabling environment in which the global financial system, the unsettled debt crisis and increasing ODA flows play a significant role. Countries operate in a world economy where market players everywhere immediately scrutinize domestic monetary, financial or fiscal policy decisions and the performance of exchange rate regimes of individual countries. Under these conditions, the room for manoeuvre of policymakers has become considerably constrained. Consequently, it is becoming increasingly complex to incorporate the social dimensions into such policy decisions, to the extent that external analysts consider that authorities are sacrificing sound macroeconomic policies. The main message of the report is that the expediency of short-term economic efficiency as embedded in much of the advice on macroeconomic stability needs to be tempered by long-term development objectives. The report starts with a short historical background which describes the ascendancy of macroeconomic policies over social development policies (chapter I). It continues with an evaluation of the relation between macroeconomic consistency and social effort (chapter II), and the importance of sustainable and stable growth for social progress (chapter III). The report then turns to the need for an equity-enhancing growth strategy (chapter IV) and an analysis of the priorities of social policies in an integrated approach to growth (chapter V). The final chapter adds some final institutional remarks.

Spurious shifts in the pattern of diurnal variation of sea level pressure of reanalysis datasets

The main purpose of this work is to report the presence of spurious discontinuities in the pattern of diurnal variation of sea level pressure of the three reanalysis datasets from: the National Centers for Environmental Prediction (NCEP) and National Center for Atmospheric Science (R1), the NCEP and Department of Energy (R2), and the European Centre for Medium Range Weather Forecasting (ERA-40). Such discontinuities can be connected to the major changes in the global observing system that have occurred throughout reanalyses years. In the R1, the richest period in discontinuities is 1956-1958, coinciding with the start of modern radiosonde observation network. Rapid increase in the density of surface-based observations from 1967 also had an important impact on both R1 and ERA-40, with larger impact on R1. The reanalyses show discontinuities in the 1970s related to the assimilation of radiances measured by the Vertical Temperature Profile Radiometer and TIROS-N Operational Vertical Sounders onboard satellites. In the ERA-40, which additionally assimilated Special Sensor Microwave/Imager data, there are discontinuities in 1987-1989. The R1 also presents further discontinuities, in 1988-1993 likely connected to replacement/introduction of NOAA-series satellites with different biases, and to the volcanic eruption of Mount Pinatubo in June 1991, which is known to have severely affected measurements of infrared radiances for several years. The discontinuities in 1996-1998 might be partially connected to change in the type of radiosonde, from VIZ-B to VIZ-B2. The R2, which covers only satellite era (1979-on), shows discontinuities mainly in 1992, 1996-1997, and 2001. The discontinuities in 1992 and 2001 might have been caused by change in the satellite measurements and those in 1996-1997 by some changes in land-based observations network. © 2012 Springer-Verlag.

Volume de aplicação na qualidade da deposição da pulverização na cutura do algodoeiro

Pós-graduação em Agronomia (Agricultura) - FCA

Monitoramento de dados via internet baseado em telefonia celular

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sistema financeiro mundial: seu assombro em território brasileiro e a fantásmática liberdade de consumo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

The United States subprime mortgage crisis and its implications for the Caribbean

The bursting of the property bubble – subprime mortgage crisis – in 2007 in the United States has engendered panic, recession fears and turmoil in the global financial system. Although the United States economy grew by 0.6 per cent in the last quarter of 2007, down from 4.9 per cent in the previous quarter, day by day worsening scenarios emerge, from escalating oil prices, to a depreciating dollar and financial institutions’ bailout by the Federal Reserve. Many economists and policy makers share the view that a subprime-led recession – i.e. two consecutive quarters with negative growth – is inevitable and will be much deeper and longer than the 2001 dot-com downturn. Moreover, the critical situation of the financial system has driven some analysts to argue that should the monetary policy response fails to restore confidence among investors, the outcome would be the worst crisis seen since the Great Depression. This pessimism is not only among specialists. Indeed, in late March 2008 the Consumer Confidence Index in the United States recorded its lowest level since February 1992. A recession in the United States will undoubtedly have an important impact on the world economy, despite the continuous rapid growth experienced by emerging economies, particularly China and India. The purpose of this article is threefold: first, to characterize the current situation in the United States economy; second, to discuss the economic policy responses; and finally, to elaborate on how Caribbean economies may be affected.

Desenvolvimento de um sistema informatizado de menor custo para aquisição e armazenamento de dados de sensores analógicos e receptor GPS

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Desenvolvimento de um sistema de posicionamento automático para painéis fotovoltaicos

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

Estratégias de reprodução do capital e as novas espacialidades urbanas: o comércio de auto-serviço em Uberlândia (MG)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Controlador PID utilizando microcontrolador PIC

This monograph proposes the implementation of a low cost PID controller utilizing a PIC microcontroller, and its application in a positioning system previously controlled by a dedicated integrated circuit for a positioning system. Applying the closed-loop PID control, the system instability was reduced, and its response was smoother, eliminating vibrations and mechanical wear compared to its response with the dedicated integrated circuit, which has a very limited control action. The actuator of the system is a DC motor, whose speed is controlled by the Pulse Width Modulation (PWM) technique, using a Full-Bridge circuit, allowing the shift of direction of rotation. The utilized microcontroller was the PIC16F684, which has an enhanced PWM module, with its analog converters used as reference and position feedback. The positioning sensor is a multiturn potentiometer coupled to the motor axis by gears. The possibility of programming the PID coefficients in the microcontroller, as well as the adjustment of the sampling rate, allows the implemented system achieving high level of versatility