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.

Analysis of ensemble models in the medium term hydropower scheduling

The medium term hydropower scheduling (MTHS) problem involves an attempt to determine, for each time stage of the planning period, the amount of generation at each hydro plant which will maximize the expected future benefits throughout the planning period, while respecting plant operational constraints. Besides, it is important to emphasize that this decision-making has been done based mainly on inflow earliness knowledge. To perform the forecast of a determinate basin, it is possible to use some intelligent computational approaches. In this paper one considers the Dynamic Programming (DP) with the inflows given by their average values, thus turning the problem into a deterministic one which the solution can be obtained by deterministic DP (DDP). The performance of the DDP technique in the MTHS problem was assessed by simulation using the ensemble prediction models. Features and sensitivities of these models are discussed. © 2012 IEEE.

The use of Gramian matrices for aeroelastic stability analysis

Most of the established procedures for analysis of aeroelastic flutter in the development of aircraft are based on frequency domain methods. Proposing new methodologies in this field is always a challenge, because the new methods need to be validated by many experimental procedures. With the interest for new flight control systems and nonlinear behavior of aeroelastic structures, other strategies may be necessary to complete the analysis of such systems. If the aeroelastic model can be written in time domain, using state-space formulation, for instance, then many of the tools used in stability analysis of dynamic systems may be used to help providing an insight into the aeroelastic phenomenon. In this respect, this paper presents a discussion on the use of Gramian matrices to determine conditions of aeroelastic flutter. The main goal of this work is to introduce how observability gramian matrix can be used to identify the system instability. To explain the approach, the theory is outlined and simulations are carried out on two benchmark problems. Results are compared with classical methods to validate the approach and a reduction of computational time is obtained for the second example. © 2013 Douglas Domingues Bueno et al.

Bathymetric trends of northeastern Brazilian snappers (Pisces, Lutjanidae): implications for the reef fishery dynamic

A distribuição batimétrica de cinco espécies de peixes do Nordeste Brasileiro foi examinada através da análise da composição da captura e e abundância relativa (CPUE) mostrou que, de uma maneira geral, o comprimento furcal aumentou com a profundidade e que algumas espécies dominaram a captura de acordo com a faixa de profundidade. A cioba, L. analis, a guaiúba, L. chrysurus, e o dentão, L. jocu foram principalmente pescados na zona intermediaria (20-80 m) enquanto ariocó, L. synagris e o pargo olho-de-vidro L. vivanus ocorreram respectivamente nas águas rasas e nas águas profundas. Cada tipo de embarcação do Nordeste do Brasil explota preferencialmente uma combinação particular de espécies e uma determinada amplitude de tamanho. A dinâmica da frota do nordeste do Brasil é tecnologicamente heterogênea e determina a composição da captura. A distribuição geográfica da pesca e a interação técnica entre as frotas e as artes de pesca devem ser consideradas pelo manejo destas espécies visando a manutenção dos estoques em bases sustentáveis e a garantia de continuidade do recurso.

Fractionation of aquatic humic substances and dynamic of chromium species in an aquatic body influenced by sugarcane cultivation

This study had as main objectiveto evaluate the influence of AHS obtained from an area under sugarcane cultivation on the dynamics of chromium species (Cr(III) and Cr(VI)). Was studied complexing capacity (CC) with the AHS of chromium species and these were characterized using UV/Vis spectrophotometry, molecular fluorescence, elemental analysis and infrared. AHS with and without fractionation showed a greater aromaticity degree and a predominance of humic acids, and the E4/E6 and E2/E4 ratios suggested aromatic rings and a greater contribution from plants, which indicates lignin structures. The highest CCs were observed for the AHS fractionated, being fraction with molecular-size < 10 kDa and 10-30 kDa showed the highest ability to complex Cr(III) and Cr(VI) ions, respectively. These results are corroborating with C/H/N and UV/Vis data, where we can conclude that the AHS without fractionation had the greatest aromaticity and a predominance of humic acids in their structure.

Scanned stripping chronopotentiometry at bismuth film rotating disc electrodes: a method for quantitative dynamic metal speciation

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

Wide dynamic range homodyne interferometry method and its application for piezoactuator displacement measurements

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

Cogeneration design problem Computational complexity analysis and solution through an expert system

Purpose - The purpose of this paper is twofold: to analyze the computational complexity of the cogeneration design problem; to present an expert system to solve the proposed problem, comparing such an approach with the traditional searching methods available.Design/methodology/approach - The complexity of the cogeneration problem is analyzed through the transformation of the well-known knapsack problem. Both problems are formulated as decision problems and it is proven that the cogeneration problem is np-complete. Thus, several searching approaches, such as population heuristics and dynamic programming, could be used to solve the problem. Alternatively, a knowledge-based approach is proposed by presenting an expert system and its knowledge representation scheme.Findings - The expert system is executed considering two case-studies. First, a cogeneration plant should meet power, steam, chilled water and hot water demands. The expert system presented two different solutions based on high complexity thermodynamic cycles. In the second case-study the plant should meet just power and steam demands. The system presents three different solutions, and one of them was never considered before by our consultant expert.Originality/value - The expert system approach is not a "blind" method, i.e. it generates solutions based on actual engineering knowledge instead of the searching strategies from traditional methods. It means that the system is able to explain its choices, making available the design rationale for each solution. This is the main advantage of the expert system approach over the traditional search methods. On the other hand, the expert system quite likely does not provide an actual optimal solution. All it can provide is one or more acceptable solutions.

Complex modal analysis of a slender vertical rotor by finite elements method

In this paper, natural frequencies were analyzed (axial, torsional and flexural) and frequency response of a vertical rotor with a hard disk at the edge through the classical modal and complex analysis. The equation that rules the movement was obtained through the Lagrangian formulation. The model considered the effects of bending, torsion and axial deformation of the shaft, besides the gravitational and gyroscopic effects. The finite element method was used to discretize the structure into hollow cylindrical elements with 12 degrees of freedom. Mass, stiffness and gyroscopic matrices were explained consistently. The classical modal analysis, usually applied to stationary structures, does not consider an important characteristic of rotating machinery which are the methods of forward and backward whirl. Initially, through the traditional modal analysis, axial and torsional natural frequencies were obtained in a static shaft, since they do not suffer the influence of gyroscopic effects. Later research was performed by complex modal analysis. This type of tool, based on the use of complex coordinates to describe the dynamic behavior of rotating shaft, allows the decomposition of the system in two submodes, backward and forward. Thus, it is possible to clearly visualize that the orbit and direction of the precessional motion around the line of the rotating shaft is not deformed. A finite element program was developed using MATLAB (TM) and numerical simulations were performed to validate this model. Natural frequencies and directional frequency forced response (dFRF) were obtained using the complex modal analysis for a simple vertical rotor and also for a typical drill string used in the construction of oil wells.

Dynamic behavior, stochasticity and enviromental heterogeneity in Tribolium castaneum

In this study we analyzed the influence of demographic parameters on the population dynamics of Tribolium castaneum, combining empiricism and population theory to analyze the different effects of environmental heterogeneity, by employing Ricker models, designed to study a two-patch system taking into account deterministic and stochastic analysis. Results were expressed by bifurcation diagrams and stochastic simulations. Dynamic equilibrium was widely investigated with results suggesting specific parametric spaces in response to environmental heterogeneity and migration. Population equilibrium patterns, synchrony and persistence in T. castaneum were discussed

Influence of heat treatment and mechanical cycling on hardness and fracture analysis of Ti35Nb5Zr casting alloy

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

A comparative analysis reveals weak relationships between ecological factors and beta diversity of stream insect metacommunities at two spatial levels

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Structural damage detection in an aeronautical panel using analysis of variance

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

Flashover phenomenon: an analysis with influence of the thickness of the layer pollution of the high voltage polluted insulators

Results of the analysis of dynamic behavior of flashover phenomenon on the high voltage-polluted insulators are presented. These results were taken from a mathematical and an experimental model that introduce the variable thickness influence of the layer pollution deposited on the high-voltage insulator surface. Analysis of the flashover was done by way of introducing a variation in the thickness of the channel of Obenaus' model, simulating a layer pollution of variable thickness. The objective was to obtain a better reproduction of the real layer pollution deposited on the insulator that works in the polluted regions. Two types of thickness variations were used: a sudden variation, using a step; and a soft variation, using a ramp; that were put along the way of the discharge. Comparison between the mathematical and experimental models showed that introduction of a ramp makes Obenaus' model more efficient in analyzing behavior of flashover phenomenon.

Analysis of linearity and frequency response of a novel piezoelectric flextensional actuator using a homodyne interferometer and the J(1)-J(4) method

Piezoelectric transducers are widely used in high-resolution positioning systems. This paper reports the experimental analysis of a novel piezoelectric flextensional actuator (PFA), which is designed by using the topology-optimization method through a low-cost homodyne Michelson interferometer. By applying the J(1) - J(4) method for signal demodulation, which provides a linear and direct measurement of dynamic optical phase shift independent of fading, the nanometric displacements of the PFA were determined. Linearity and frequency response of the PFA were evaluated up to 50 kHz. PFA calibration factor and amplification rate were determined for the PFA operating in the quasi-static regime. To confirm the observed frequencies of resonance, an impedance analyzer is also utilized to measure the magnitude and phase of the PFA admittance.