906 resultados para Aerial Vehicle
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Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations
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A calagem e a gessagem influenciam a disponibilidade e a absorção de nutrientes, podendo alterar a quantidade de ácidos orgânicos na parte aérea das culturas. Essas alterações, quantificadas por meio da análise de nutrientes solúveis em água, podem potencializar o efeito da correção do solo, garantindo a sustentabilidade do sistema de semeadura direta. Nesse sentido, objetivou-se avaliar o efeito da aplicação superficial de calcário e gesso no teor de nutientes solúveis em água nos resíduos vegetais das culturas de amendoim e aveia-branca. O experimento foi realizado em Latossolo Vermelho distroférrico em Botucatu (SP), nos anos agrícolas de 2004/2005 e 2005/2006. O delineamento experimental foi em blocos casualizados em esquema de parcelas subdivididas, com quatro repetições, em que as parcelas foram constituídas por doses de calcário, e as subparcelas, pela presença ou ausência da aplicação de gesso. Foi cultivado amendoim no verão e aveia-branca no inverno, em toda a área experimental. Na cultura do amendoim a aplicação de gesso elevou os teores de Ca solúvel em água apenas na primeira safra, em razão do curto período entre a aplicação do produto e a determinação dos teores de nutientes solúveis no extrato vegetal da cultura. A calagem realizada nas culturas de amendoim e aveia-branca elevou os teores solúveis de Ca, Mg, K e não alterou o teor de Cu e reduziu os teores de Zn, Mn e Fe nos dois anos de cultivo. Já a gessagem reduziu os valores da condutividade elétrica do amendoim (2004/2005 e 2005/2006) e da aveia-branca (2004/2005).
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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In a recent study of the microbiological quality of commercial ice, 50 Escherichia coli isolates belonging to different serotypes were found. The potential hazard from these isolates was examined by testing their adherence patterns ill HeLa cells and searching for the presence of DNA sequences related to E. coli virulence properties. Twelve potentially diarrheagenic isolates were found and classified as enteroaggregative E. coli (EAEC) based oil their ability to produce aggregative adherence to HeLa cells. The remaining isolates were devoid of the virulence properties searched for. The EAEC isolates belonged to 10 different serotypes, among which O128ab:H35 is often found in diarrheic feces. None of these isolates reacted with a specific EAEC DNA probe or carried any of the known EAEC virulence genes. These data indicate that ice may be all important vehicle for transmission of enteropathogens, especially of the EAEC group. (C) 2003 Elsevier B.V. All rights reserved.
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Having the objective of minimizing costs and improving their image in the consumer and export market, car battery industries began to seek environmental alternatives geared towards sustainable development. Reverse logistics flow represents an unprecedented tool for the economic and operational development of company activities, as well as a differential in the search for competitive advantages through environmentally correct practices. The aim of this paper is to describe the reverse logistics chain adopted by automotive battery industries in the midwest of the state of São Paulo, proposing a reverse logistics framework for small manufacturers that creates actions aimed at not harming the environment. (C) 2010 Elsevier Ltd. All rights reserved.
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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A mandioca, apesar de ser nativa do Brasil, ainda é sub-utilizada principalmente quando a questão é o aproveitamento da sua parte aérea. Com o objetivo de estudar o potencial da mandioca para alimentação animal, o presente trabalho avaliou as características da parte aérea da planta quando submetida os processos de ensilagem e fenação. Os tratamentos consistiram de: parte aérea ensilada sem emurchecimento (PAS); parte aérea ensilada após 24 horas de emurchecimento (PAE) e parte aérea fenada (PAF). As análises químicas foram realizadas a fim de avaliar os parâmetros que determinam o valor nutritivo da silagem e do feno. O emurchecimento elevou o teor de matéria seca de 25% no material in natura para 27.7%, sem alterar o teor de carboidratos solúveis (33.3 e 35.5% de MS na PAS e PAE respectivamente), bem como o poder tampão (204 mmol kg-1 MS na PAS e 195 mmol kg-1 MS na PAE). Nem o pH (3.57 na silagem in natura e 3.60 na PAE) nem os teores de NIDA (11.32% do nitrogênio total na MS na PAS e 9.99% do nitrogênio total na MS na PAE) diferiram entre as silagens, mas o NIDA foi maior na forragem fenada (15.39%). Contudo, o emurchecimento provocou aumento no nitrogênio amoniacal (de 6.5% do nitrogênio total na MS da PAS para 13.0 do nitrogênio total na MS da PAE). Os teores de ácidos graxos voláteis não sofreram alterações com o emurchecimento. O processo de ensilagem reduziu os teores de ácido cianídrico livre (HCN), sem, contudo, alterar a cianidrina.
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The purpose of this study was to investigate the influence of the type of vehicle (distilled water or propyleneglycol) on the response of apical tissues of dogs' teeth after root canal filling with mineral trioxide aggregate (MTA) at two different limits. Forty roots of incisors and premolars of two adult dogs were used. After pulpectomy, the root canals were prepared biomechanically, and the roots had the apical cemental barrier penetrated with a #15 K-file and widened to a #25 K-file. The root canals were assigned to four groups according to the vehicle used for MTA (ProRoot-MTA; Tulsa Dental, Tulsa, OK) preparation and the limit of root canal filling: group 1, filling with MTA/distilled water to the limit of the cemental canal; group 2, overfilling with MTA/distilled water, group 3, filling with MTA/propyleneglycol to the limit of the cemental canal; and group 4, overfilling with MTAlpropyleneglycol. The animals were killed by anesthetic overdose 90 days after endodontic treatment and the anatomic pieces were prepared for histomorphological analysis. The sections were stained with hematoxylin and eosin and Brown and Brenn techniques. The results showed that MTA pastes prepared with either distilled water or propyleneglycol as vehicles had similar biological behavior (p > 0.05); root fillings placed at the cemental canal limit showed better results than the overfillings (p = 0.01), and MTA/propyleneglycol paste was more easily placed into the root canals than MTA/distilled water paste.
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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The aim of this paper is to analyse the influence of the load centre of gravity on heavy vehicle acceleration. This analysis is done through a method in which a vehicle centre of gravity map is used. A model for the driving force is presented for bus, truck and tractor-semi trailer combinations. The proposed model takes into consideration the resistance forces (drag, rolling resistance, translation and rotation acceleration, climbing resistance) and the 4 X 2 traction system. The positions of the vehicle centre of gravity as a function of the position of the load centre of gravity are determined. The vehicle acceleration is calculated based on the position of the load centre of gravity. This study analyses the acceleration of one of the Mercedes-Benz do Brasil tractor-semitrailer vehicle. A comparison of the acceleration for different maximum adhesion coefficients and ramps are presented, showing new results. An example showing the variations of the load centre of gravity position with the acceleration time and distance is provided. The load centre of gravity position is important for vehicle safety and the efficiency and economy in the transportation of the load.
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Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.
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A computer program, PhotoLin, written for an IBM-PC-compatible microcomputer is described which detects linear features in aerial photographs, satellite images and topographic maps. The program accepts images saved to PCX files as input and applies noise correction and smoothing filters and thinning routines. The output consists of a skeleton containing the median lines of linear features which can be represented on a map. The branches of the skeleton can be broken into sections of constant length for which the mean orientations are obtained for the preparation of rose diagrams. (C) 2001 Elsevier B.V. Ltd. All rights reserved.