Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Development of a DC-DC converter for DC bus voltage control of series connected device

The purpose of this work is to study voltage control and energy balance of a split DC bus topology within a power electronics equipment connected to the AC mains, such as UPS systems, wind power generators, active filters and FACTS devices. A typical configuration in such equipment has two mains connected converters sharing a common DC bus, one series connected and the other parallel connected. The DC bus is usually composed by a battery or a capacitor bank. In the proposed topology, the DC bus is divided in two sides, interconnected with a buck-boost converter, which controls power flow and DC voltage on both sides. © 2009 IEEE.

Silica coating on alumina ceramic: comparison of three chairside air-abrasion devices working for different times and distances.

This study evaluated, by scanning electron microscope (SEM) and EDS, the effect of different strategies for silica coating (sandblasters, time and distance) of a glass-infiltrated ceramic (In-Ceram Alumina). Forty-one ceramic blocks were produced. For comparison of the three air-abrasion devices, 15 ceramic samples were divided in three groups (N.=5): Bioart, Microetcher and Ronvig (air-abrasion parameters: 20 s at a distance of 10 mm). For evaluation of the time and distance factors, ceramic samples (N.=5) were allocated in groups considering three applied times (5 s, 13 s and 20 s) and two distances (10 mm and 20 mm), using the Ronvig device. In a control sample, no surface treatment was performed. After that, the micro-morphologic analyzes of the ceramic surfaces were made using SEM. EDS analyzes were carried out to detect the % of silica on representative ceramic surface. ANOVA and Tukey tests were used to analyze the results. One-way ANOVA showed the silica deposition was different for different devices (P=0.0054). The Ronvig device promoted the highest silica coating compared to the other devices (Tukey test). Two-way ANOVA showed the distance and time factors did not affect significantly the silica deposition (application time and distance showed no statistical difference). The Ronvig device provided the most effective silica deposition on glass-infiltrated alumina ceramic surface and the studied time and distance for air-abrasion did not affect the silica coating.

Bridgeless interleaved boost PFC converter with variable duty cycle control

This paper proposes a bridgeless boost interleaved PFC (power factor correction) converter with variable duty cycle control. The application of bridgeless technique causes reduction of conduction losses, while the interleaving technique of converters cells allows division of efforts in semiconductor devices and reduction of weight and volume of the input EMI filter. The use of variable duty cycle control has the functions of regulating the output voltage and eliminating the low order harmonic components that appears in the input current of the common interleaved power factor converters working in Discontinuous Conduction Mode (DCM). The simulation results of the proposed converter presented high power factor and a good transient response in relation to the output voltage regulation in presence of high load variations and supply voltage variations. © 2011 IEEE.

Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Structure control of poly(p-phenylene vinylene) in layer-by-layer films by deposition on a charged poly(o-methoxyaniline) cushion

In this paper, we demonstrate that the intrinsic electric field created by a poly(o-methoxyaniline) (POMA) cushion layer hinders the changes in molecular conformation of poly(p-phenylenevinylene) (PPV) in layer-by-layer with dodecylbenzene sulfonic acid (DBS). This was modeled with density functional theory (DFT) calculations where an energy barrier hampered molecular movements of PPV segments when they were subjected to an electric field comparable to that caused by a charged POMA layer. With restricted changes in molecular conformation, the PPV film exhibited Franck-Condon transitions and the photoexcitation spectra resembled the absorption spectra, in contrast to PPV/DBS films deposited directly on glass, with no POMA cushion. Other effects from the POMA cushion were the reduced number of structural defects, confirmed with Raman spectroscopy, and an enhanced PPV emission at high temperatures (300 K) in comparison with the films on bare glass. The positive effects from the POMA cushion may be exploited for enhanced opto-electronic devices, especially as the intrinsic electric field may assist in separating photoexcited electron-hole pairs in photovoltaic devices. © 2013 American Institute of Physics.

Alternatives for controlling urban traffic congestion

Traffic congestion is nothing new in Latin American cities but has worsened in recent years. Eliminating it is a pipedream, but it should be brought under control. Many economists and transport planners think electronic road pricing would be the best way of tackling it, now that the appropriate technology for implementing it is available. On the other hand, experience shows that, for political reasons, it would be better to begin by adopting simpler methods. To start with, simple road pricing would seem to be the best option. But, over 20 years of experience in London and more than six in Santiago, Chile, made it clear that socio-political barriers have to be surmounted before even this option can be applied in practice. There is more political support for measures to control parking, due in part to the fact that the legal powers do not normally extend to restricting the number of parking spaces available to high-income and influential motorists who have the right to park near their offices and who cause a great deal of the congestion whilst getting there. In Latin America, the relative importance of taxis also diminishes the effectiveness of measures geared to parking, since taxis contribute to congestion although but they do not park. The problem of congestion cannot be solved by using tame measures. The time has come for something bolder, i.e., measures that, at the very least, exercise control over those parking spaces, which so far have been beyond the reach of governments and local authorities, ideally, simple road pricing systems would be even more effective.

Traffic congestion: the problem and how to tackle it

As the culmination of a project financed by the Technical Cooperation Agency of the Federal Republic of Germany (GTZ), ECLAC has just published Congestión de tránsito - El problema y cómo enfrentarlo, Cuadernos de la Cepal series, No. 87. The text of 194 pages analyses the negative impacts of congestion and the multidisciplinary efforts that are needed to keep it under control, through the design of appropriate policies and measures. Congestion control is part of the development of a strategic vision of how a city should develop which can make it possible to harmonize the needs of mobility, growth and competitiveness, which are so necessary today and in the future, with the sustainability of cities and the improvement of their quality of life.The task is complex and it is not easy to find appropriate solutions. The present publication presents tools for tackling this crucial problem. Everything indicates that it calls for high professional and leadership qualities on the part of the authorities, and that it must have the active support of the citizens.This edition of the Bulletin presents a summary of the main conclusions of the publication and it is stressed that ECLAC can conduct local workshops to analyze the problem and how to tackle it.

Traffic congestion: the problem and how to deal with it

The text of 194 pages analyses the negative impacts of congestion and the multidisciplinary efforts that are needed to keep it under control, through the design of appropriate policies and measures. Congestion control is part of the development of a strategic vision of how a city should develop which can make it possible to harmonize the needs of mobility, growth and competitiveness, which are so necessary today and in the future, with the sustainability of cities and the improvement of their quality of life.The task is complex and it is not easy to find appropriate solutions. The present publication presents tools for tackling this crucial problem. Everything indicates that it calls for high professional and leadership qualities on the part of the authorities, and that it must have the active support of the citizens.This edition of the Bulletin presents a summary of the main conclusions of the publication and it is stressed that ECLAC can conduct local workshops to analyze the problem and how to tackle it.

Predição de qualidade de experiência em redes wimax em aplicações de video baseada em aspectos de qualidade de serviço

A crescente utilização dos serviços de telecomunicações principalmente sem fio tem exigido a adoção de novos padrões de redes que ofereçam altas taxas de transmissão e que alcance um número maior de usuários. Neste sentido o padrão IEEE 802.16, no qual é baseado o WiMAX, surge como uma tecnologia em potencial para o fornecimento de banda larga na próxima geração de redes sem fio, principalmente porque oferece Qualidade de Serviço (QoS) nativamente para fluxos de voz, dados e vídeo. A respeito das aplicações baseadas vídeo, tem ocorrido um grande crescimento nos últimos anos. Em 2011 a previsão é que esse tipo de conteúdo ultrapasse 50% de todo tráfego proveniente de dispositivos móveis. Aplicações do tipo vídeo têm um forte apelo ao usuário final que é quem de fato deve ser o avaliador do nível de qualidade recebida. Diante disso, são necessárias novas formas de avaliação de desempenho que levem em consideração a percepção do usuário, complementando assim as técnicas tradicionais que se baseiam apenas em aspectos de rede (QoS). Nesse sentido, surgiu a avaliação de desempenho baseada Qualidade de Experiência (QoE) onde a avaliação do usuário final em detrimento a aplicação é o principal parâmetro mensurado. Os resultados das investigações em QoE podem ser usados como uma extensão em detrimento aos tradicionais métodos de QoS, e ao mesmo tempo fornecer informações a respeito da entrega de serviços multimídias do ponto de vista do usuário. Exemplos de mecanismos de controle que poderão ser incluídos em redes com suporte a QoE são novas abordagens de roteamento, processo de seleção de estação base e tráfego condicionado. Ambas as metodologias de avaliação são complementares, e se usadas de forma combinada podem gerar uma avaliação mais robusta. Porém, a grande quantidade de informações dificulta essa combinação. Nesse contexto, esta dissertação tem como objetivo principal criar uma metodologia de predição de qualidade de vídeo em redes WiMAX com uso combinado de simulações e técnicas de Inteligência Computacional (IC). A partir de parâmetros de QoS e QoE obtidos através das simulações será realizado a predição do comportamento futuro do vídeo com uso de Redes Neurais Artificiais (RNA). Se por um lado o uso de simulações permite uma gama de opções como extrapolação de cenários de modo a imitar as mesmas situações do mundo real, as técnicas de IC permitem agilizar a análise dos resultados de modo que sejam feitos previsões de um comportamento futuro, correlações e outros. No caso deste trabalho, optou-se pelo uso de RNAs uma vez que é a técnica mais utilizada para previsão do comportamento, como está sendo proposto nesta dissertação.

Justiça terapêutica: o tribunal das drogas na sociedade de controle

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Control of Buffalo Follicular Dynamics for Artificial Insemination, Superovulation and In Vitro Embryo Production

Currently, timed ovulation induction and timed artificial insemination (TAI) can be performed in buffalo using GnRH or estradiol plus progesterone/progestin (P4)-releasing devices and prostaglandin F-2 alpha (PGF(2 alpha)). The control of the emergence of follicular waves and of ovulation at predetermined times, without the need for estrus detection, has facilitated the management and improved the efficiency of AI programs in buffalo during the breeding and nonbreeding season. Multiple ovulations, embryo transfer, ovum collection and in vitro embryo production have been shown to be feasible in buffalo, although low efficiency and limited commercial application of these techniques have been documented as well. These results could be associated with low ovarian follicular pools, high levels of follicular atresia and failures of the oocyte to enter the oviduct after superstimulation of follicular growth. This review discusses a number of key points related to the manipulation of ovarian follicular growth to improve pregnancy rates following TAI and embryo transfer of in vivo- and in vitro-derived embryos in buffalo.

Application of passive control to energy harvester efficiency using a nonideal portal frame structural support system

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

L3-arpsec - módulo seguro para controle e proteção do protocolo de resolução de endereços em redes definidas por software

Pós-graduação em Engenharia Elétrica - FEIS

Re-used progesterone devices efficiently synchronise oestrus and ovulation after autoclaving process in Toggenburg goats during the breeding season

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)