Utilização da lógica difusa no controle inteligente de sistemas eletro-hidráulicos

Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time and compact size. However, precise control of electro-hydraulic systems, due to their inherent nonlinear characteristics, cannot be easily obtained with conventional linear controllers. Most flow control valves can also exhibit some hard nonlinearities such as deadzone due to valve spool overlap on the passage´s orifice of the fluid. This work describes the development of a nonlinear controller based on the feedback linearization method and including a fuzzy compensation scheme for an electro-hydraulic actuated system with unknown dead-band. Numerical results are presented in order to demonstrate the control system performance

Medição e modelagem da resposta de um sensor de pig perfilométrico sob diferentes solicitações dinâmicas

Ensure the integrity of the pipeline network is an extremely important factor in the oil and gas industry. The engineering of pipelines uses sophisticated robotic inspection tools in-line known as instrumented pigs. Several relevant factors difficult the inspection of pipelines, especially in offshore field which uses pipelines with multi-diameters, radii of curvature accentuated, wall thickness of the pipe above the conventional, multi-phase flow and so on. Within this context, appeared a new instrumented Pig, called Feeler PIG, for detection and sizing of thickness loss in pipelines with internal damage. This tool was developed to overcome several limitations that other conventional instrumented pigs have during the inspection. Several factors influence the measurement errors of the pig affecting the reliability of the results. This work shows different operating conditions and provides a test rig for feeler sensors of an inspection pig under different dynamic loads. The results of measurements of the damage type of shoulder and holes in a cyclic flat surface are evaluated, as well as a mathematical model for the sensor response and their errors from the actual behavior

Levantamento epidemiológico das parasitoses intestinais: viés analítico decorrente do tratamento profilático

As parasitoses intestinais constituem um grave problema de saúde pública, especialmente nos países subdesenvolvidos, sendo esse problema associado e agravado por condições sanitárias precárias e falta de informação. Neste trabalho foram avaliados alguns parâmetros epidemiológicos vinculados às principais enteroparasitoses em diferentes regiões da cidade de Assis, Estado de São Paulo, Brasil. Os dados foram confrontados com aqueles obtidos em um levantamento anterior referente ao ano de 1991 e apresentam uma redução de três pontos percentuais. Há indícios de que, antiparasitários estariam sendo distribuídos profilaticamente, antes dos resultados do exame parasitológico de fezes. Este fato pode levar a importantes implicações epidemiológicas e distorções analíticas. Esta conduta terapêutica pode estar ocultando condições sanitárias e/ou educacionais desfavoráveis, de forma que haveria uma baixa prevalência de parasitoses em razão de reiterados tratamentos e não pela melhoria das condições de saneamento básico e educação sanitária da população.

Intercomparison of integrated water vapor estimates from multisensors in the amazonian region

Water vapor is an atmospheric component of major interest in atmospheric science because it affects the energy budget and plays a key role in several atmospheric processes. The Amazonian region is one of the most humid on the planet, and land use change is able to affect the hydrologic cycle in several areas and consequently to generate severe modifications in the global climate. Within this context, accessing the error associated with atmospheric humidity measurement and the validation of the integrated water vapor (IWV) quantification from different techniques is very important in this region. Using data collected during the Radiation, Cloud, and Climate Interactions in Amazonia during the Dry-to-Wet Transition Season (RACCI/DRY-TO-WET), an experiment carried out in southwestern Amazonia in 2002, this paper presents quality analysis of IWV measurements from RS80 radiosondes, a suite of GPS receivers, an Aerosol Robotic Network (AERONET) solar radiometer, and humidity sounding from the Humidity Sounder for Brazil (HSB) aboard the Aqua satellite. When compared to RS80 IWV values, the root-mean-square (RMS) from the AERONET and GPS results are of the order of 2.7 and 3.8 kg m(-2), respectively. The difference generated between IWV from the GPS receiver and RS80 during the daytime was larger than that of the nighttime period because of the combination of the influence of high ionospheric activity during the RACCI experiment and a daytime drier bias from the RS80.

Gene Expression Profiles Stratified according to Type 1 Diabetes Mellitus Susceptibility Regions

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Adubação verde e sistemas de manejo do solo na produtividade do algodoeiro

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

Parametria da associação do midazolam ou diazepam em cães pré-tratados pela atropina e tratados pela dexmedetomidina e quetamina

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

On homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator

In this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincare-Mel'nikov method. The studied problem was based on experimental results of a two-joint planar manipulator-first joint actuated and the second joint free-that resides in a horizontal plane. This is the simplest model of nonholonomic free-joint manipulators. The purpose of the present study is to verify analytically those results and to suggest a control strategy.

A multimedia environment for supporting the teaching of robotics systems

This paper aims at describing an educational system for teaching and learning robotic systems. Multimedia resources were used to construct a virtual laboratory where users are able to use functionalities of a virtual robotic arm, by moving and clicking the mouse without caring about the detailed internal robot operation. Moreover through the multimedia system the user can interact with a real robot arm. The engineering students are the target public of the developed system. With its contents and interactive capabilities, it has been used as a support to the traditional face-to-face classes on the subject of robotics.. In the paper it is first introduced the metaphor of Virtual Laboratory used in the system. Next, it is described the Graphical and Multimedia Environment approach: an interactive graphic user interface with a 3D environment for simulation. Design and implementation issues of the real-time interactive multimedia learning system, which supports the W3C SMIL standard for presenting the real-time multimedia teaching material, are described. Finally, some preliminary conclusions and possible future works from this research are presented.

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

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.

MAPPING CORRELATION-FUNCTIONS OF SCHWINGER AND AXIAL MODELS

We show that all Green's functions of the Schwinger and axial models can be obtained one from the other. In particular, we show that the two models have the same chiral anomaly. Finally it is demonstrated that the Schwinger model can keep gauge invariance for an arbitrary mass, dispensing with an additional gauge group integration.

Teaching robotics systems in a multimedia environment

This paper describes the development of a multimedia educational system to teach and learn robotic systems. Multimedia resources have been used to build a virtual laboratory where users are able to utilize functions of a robotic arm, by moving and clicking the mouse without worrying about the detailed robot internal operation. The multimedia system is integrated with a real robotic arm, which was also developed at the university. Through robotic topic presentations and interactive capabilities provided by this system and its tools, students can devote themselves on the learning process just as they do in the traditional face-to-face classes. and the target public of this system are the engineering students themselves.

Determination of low-aliphatic aldehydes indoors by micellar electrokinetic chromatography using sample dissolution manipulation for signal enhancement

This work describes a novel approach for the analysis of selected aldehydes (formaldehyde, acetaldehyde, propionaldehyde, and acrolein) and acetone in environmental samples using micellar electrokinetic chromatography (MEKC). The method is based on the reaction of carbonyl compounds with 3-methyl-2-benzothiazoline hydrazone (MBTH) that gives an azine intermediate with maximum absorbance at 216 nm. A systematic evaluation of sample dissolution medium was conducted as a means to enhancing sensitivity. In the best condition, samples were dissolved in 0.030 mol.L-1 tetraborate solution. This condition presented enhancement factors in the range of 35-54 for the aldehydes under investigation, computed as the improvement of the concentration limits of detection (LODs) with reference to the sample dissolved in pure water. The running buffer was 0.020 mol.L-1 tetraborate, pH 9.3, containing 0.050 mol-L-1 sodium dodecyly sulfate (SIDS). The overall methodology presented several advantages over established methods for aldehydes. Worthy mentioning that MBTH is available in high purity degree, dispensing laborious reagent purification procedures. A few method validation parameters were determined revealing good migration time repeatability (< 2.5% coefficient of variation, CV) and area repeatability (< 4% CV), excellent linearity (20-120 mug/L, r > 0.995) and adequate sensitivity for environmental applications. The LODs with respect to each single aldehyde were in the range of 0.54-4.0 mug.L-1 and 11 mug.L-1 for acetone. The methodology was applied to the determination of aldehydes indoors. Samples were collected in an impinger flask containing 0.05% MBTH solution, at a flow rate of 0.80 L.min(-1), during 2.5 h, at different times during the day. The most abundant carbonyls in the samples were acetone, followed by formaldehyde and acetaldehyde, with estimate peak concentrations of 452, 5.2 and 2.2 ppbv, respectively.

Industrial Robotics Applied to Education

This work describes a ludic proposal for programming learning of industrial robots to be developed by groups of engineering students. Two projects are presented: Tic-tac-toe Opponent Robot and Environmentalist Robot. The first project use competitive search techniques of the Artificial Intelligence, computational vision, electronic and pneumatic concepts for ability decision making for a robotic agent on the tic-tae-toe game. The second project consists of a game that contains a questions and answers database about environmental themes. An algorithm selects the group of questions to be answered by the player, analyses the answers and sends the result to a industrial robot through serial port. According with the player performance, the robot makes congratulation movements and giving a gift to the winner player. Otherwise, the robot makes movements, disapproving the player performance.

Consistency between light-front quantization and covariantization for zero modes

In the light-cone gauge choice for Abelian and non-Abelian gauge fields, the vector boson propagator carries in it an additional spurious or unphysical pole intrinsic to the choice requiring a careful mathematical treatment. Research in this field over the years has shown us that mathematical consistency only is not enough to guarantee physically meaningful results. Whatever the prescription invoked to handle such an object, it has to preserve causality in the process. On the other hand, the covariantization technique is a well-suited one to tackle gauge-dependent poles in the Feynman integrals, dispensing the use of ad hoc prescriptions. In this work we show that the covariantization technique in the light-cone gauge is a direct consequence of the canonical quantization of the theory. © World Scientific Publishing Company.