有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

Optimisation of viscoelastic treatments using genetic algorithms

Viscoelastic treatments are one of the most efficient treatments, as far as passive damping is concerned, particularly in the case of thin and light structures. In this type of treatment, part of the strain energy generated in the viscoelastic material is dissipated to the surroundings, in the form of heat. A layer of viscoelastic material is applied to a structure in an unconstrained or constrained configuration, the latter proving to be the most efficient arrangement. This is due to the fact that the relative movement of both the host and constraining layers cause the viscoelastic material to be subjected to a relatively high strain energy. There are studies, however, that claim that the partial application of the viscoelastic material is just as efficient, in terms of economic costs or any other form of treatment application costs. The application of patches of material in specific and selected areas of the structure, thus minimising the extension of damping material, results in an equally efficient treatment. Since the damping mechanism of a viscoelastic material is based on the dissipation of part of the strain energy, the efficiency of the partial treatment can be correlated to the modal strain energy of the structure. Even though the results obtained with this approach in various studies are considered very satisfactory, an optimisation procedure is deemed necessary. In order to obtain optimum solutions, however, time consuming numerical simulations are required. The optimisation process to use the minimum amount of viscoelastic material is based on an evolutionary geometry re-design and calculation of the modal damping, making this procedure computationally costly. To avert this disadvantage, this study uses adaptive layerwise finite elements and applies Genetic Algorithms in the optimisation process.

Estudo numérico e experimental sobre o comportamento dinâmico de um edifício

Dissertação para obtenção do grau de Mestre em Engenharia Civil na Área de Especialização em Estruturas

Controlo clássico vs. preditivo na regulação de frequência em sistemas de potência

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo Automação e Electrónica Industrial

Watercress supplementation in diet reduces lymphocyte DNA damage and alters blood antioxidant status in healthy adults

Background: Cruciferous vegetable (CV) consumption is associated with a reduced risk of several cancers in epidemiologic studies. Objective: The aim of this study was to determine the effects of watercress (a CV) supplementation on biomarkers related to cancer risk in healthy adults. Design: A single-blind, randomized, crossover study was conducted in 30 men and 30 women (30 smokers and 30 nonsmokers) with a mean age of 33 y (range: 19-55 y). The subjects were fed 85 g raw watercress daily for 8 wk in addition to their habitual diet. The effect of supplementation was measured on a range of endpoints, including DNA damage in lymphocytes (with the comet assay), activity of detoxifying enzymes (glutathione peroxidase and superoxide dismutase) in erythrocytes, plasma antioxidants (retinol, ascorbic acid, a-tocopherol, lutein, and beta-carotene), plasma total antioxidant status with the use of the ferric reducing ability of plasma assay, and plasma lipid profile. Results: Watercress supplementation (active compared with control phase) was associated with reductions in basal DNA damage (by 17%; P = 0.03), in basal plus oxidative purine DNA damage (by 23.9%; P = 0.002), and in basal DNA damage in response to ex vivo hydrogen peroxide challenge (by 9.4%; P = 0.07). Beneficial changes seen after watercress intervention were greater and more significant in smokers than in nonsmokers. Plasma lutein and P-carotene increased significantly by 100% and 33% (P < 0.001), respectively, after watercress supplementation. Conclusion: The results support the theory that consumption of watercress can be linked to a reduced risk of cancer via decreased damage to DNA and possible modulation of antioxidant status by increasing carotenoid concentrations.

Chaos in high performance digital robot controllers

Active robot force control requires some form of dynamic inner loop control for stability. The author considers the implementation of position-based inner loop control on an industrial robot fitted with encoders only. It is shown that high gain velocity feedback for such a robot, which is effectively stationary when in contact with a stiff environment, involves problems beyond the usual caveats on the effects of unknown environment stiffness. It is shown that it is possible for the controlled joint to become chaotic at very low velocities if encoder edge timing data are used for velocity measurement. The results obtained indicate that there is a lower limit on controlled velocity when encoders are the only means of joint measurement. This lower limit to speed is determined by the desired amount of loop gain, which is itself determined by the severity of the nonlinearities present in the drive system.

Controle Adaptativo Robusto para Filtros Ativos de Potência Paralelo

Conventional control strategies used in shunt active power filters (SAPF) employs real-time instantaneous harmonic detection schemes which is usually implements with digital filters. This increase the number of current sensors on the filter structure which results in high costs. Furthermore, these detection schemes introduce time delays which can deteriorate the harmonic compensation performance. Differently from the conventional control schemes, this paper proposes a non-standard control strategy which indirectly regulates the phase currents of the power mains. The reference currents of system are generated by the dc-link voltage controller and is based on the active power balance of SAPF system. The reference currents are aligned to the phase angle of the power mains voltage vector which is obtained by using a dq phase locked loop (PLL) system. The current control strategy is implemented by an adaptive pole placement control strategy integrated to a variable structure control scheme (VS-APPC). In the VS-APPC, the internal model principle (IMP) of reference currents is used for achieving the zero steady state tracking error of the power system currents. This forces the phase current of the system mains to be sinusoidal with low harmonics content. Moreover, the current controllers are implemented on the stationary reference frame to avoid transformations to the mains voltage vector reference coordinates. This proposed current control strategy enhance the performance of SAPF with fast transient response and robustness to parametric uncertainties. Experimental results are showing for determining the effectiveness of SAPF proposed control system

Atividade fungitóxica de Momordica charantia L. no controle de Sclerotium rolfsii Sacc.

O fungo Sclerotium rolfsii causa grandes perdas em algumas culturas econômicas. Por produzir estruturas de resistência (escleródios), este fungo é de difícil controle. Há escassez de novos ingredientes ativos eficientes para o controle deste patógeno. Assim, o objetivo do presente trabalho foi verificar se existe atividade fungitóxica na planta Momordica charantia (melão-de-sãocaetano), com potencial futuro para ser estudado no controle de S. rolfsii. Para isso, dois ensaios foram realizados, um in vitro (laboratório) e outro in vivo (câmara de crescimento). em in vitro, escleródios do patógeno ficaram em contato com extratos hidroetanólico e aquoso de folhas e ramos de M. charantia e sem extrato por 7, 14, 21 e 28 dias. A sobrevivência dos escleródios foi avaliada em meio de cultura específico, após cada tempo. em in vivo, testou-se a ação dos mesmos extratos de maneira preventiva e curativa (aplicação aos 6 e 3 dias antes do plantio; no dia do plantio; e aos 3 e 6 dias após o plantio) e no tratamento de semente, no patossistema feijoeiro cv. Carioquinha versus S. rolfsii. A eficiência da ação dos extratos foi avaliada por meio da severidade da doença. Os extratos hidroetanólico e aquoso, in vitro, de forma semelhante, controlaram 100% os escleródios, num período de 0 a 7 dias. No ensaio in vivo, o extrato hidroetanólico, aplicado tanto em 6 ou 3 dias, antes do plantio, de forma preventiva, diminuiu a severidade da doença em 74%. Há atividade fungitóxica na parte aérea da planta de melão-de-são-caetano, com potencial futuro de estudo para controlar S. rolfsii, preferencialmente, de maneira preventiva.

Desinfestação e estabelecimento in vitro de explantes de bananeira 'Grande Naine' em diferentes concentrações de hipoclorito de sódio

A maioria dos plantios de bananeira ainda é realizada utilizando mudas tradicionais, mas outros métodos de propagação, como a micropropagação in vitro, vêm sendo desenvolvidos e aperfeiçoados, para elevar a taxa de multiplicação em curto espaço de tempo e melhorar a qualidade da produção de mudas. Contudo, a contaminação é um dos maiores problemas desta técnica. Este trabalho teve por objetivo avaliar a eficiência da descontaminação de explantes de bananeira com o uso de diferentes concentrações de cloro ativo durante a assepsia do explante. O delineamento experimental utilizado foi inteiramente casualizado e constituído de cinco tratamentos e cinco repetições, sendo cada repetição representada por 5 explantes em diferentes concentrações de cloro ativo, sendo: T1 (testemunha, sem cloro ativo); T2 (0,5%); T3 (1,0%); T4 (1,5%), e T5 (2%). Os dados obtidos foram submetidos à análise de variância, e as médias, comparadas pelo teste de Tukey, a 5% de probabilidade. Os resultados permitiram concluir que a maior eficiência dentre os tratamentos testados foi a imersão dos explantes em hipoclorito de sódio com 2% de cloro ativo, sendo as doses testadas não tóxicas aos explantes, permitindo o desenvolvimento normal dos mesmos, concluindo assim que essa concentração possa ser utilizada para o controle de contaminações para micropropagação de bananeira cv. Grande Naine.

Effect of Psidium cattleianum leaf extract on enamel demineralisation and dental biofilm composition in situ

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Suppression of vibrations in strongly nonhomogeneous 2DOF systems

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

Implementação de um controle digital para o compensador regenerativo de potência ativa

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Suppression of vibrations in a nonlinear half-car model using a magneto-rheological damper

The present work investigates the nonlinear response of a half-car model. The disturbances of the road are assumed to be sinusoidal. After constructing the bifurcation diagram, we use the 0-1 test to identify chaotic motions. The main objective of this study is to eliminate chaotic behavior of the chassis and reduce its vibrations. To accomplish this, a semi-active vehicle suspension control system, using magneto-rheological dampers, is proposed. The proposed semi-active control strategy consists of two nonlinear control laws: a feedforward control, and a feedback control. They are obtained by considering the SDRE (State Dependent Riccati Equation) control, where the control parameter is the voltage applied to the coils of the magneto-rheological dampers. Numerical results show that the proposed control method is effective in significantly reducing of the chassis vibration, increasing, therefore, passenger comfort.

Virulência de micro-organismos à Plutella xylostella (L.) (Lepidoptera: Plutellidae) e compatibilidade com inseticidas

Pós-graduação em Agronomia (Entomologia Agrícola) - FCAV

Analytical investigation of squeeze film dampers

Squeeze film damping effects naturally occur if structures are subjected to loading situations such that a very thin film of fluid is trapped within structural joints, interfaces, etc. An accurate estimate of squeeze film effects is important to predict the performance of dynamic structures. Starting from linear Reynolds equation which governs the fluid behavior coupled with structure domain which is modeled by Kirchhoff plate equation, the effects of nondimensional parameters on the damped natural frequencies are presented using boundary characteristic orthogonal functions. For this purpose, the nondimensional coupled partial differential equations are obtained using Rayleigh-Ritz method and the weak formulation, are solved using polynomial and sinusoidal boundary characteristic orthogonal functions for structure and fluid domain respectively. In order to implement present approach to the complex geometries, a two dimensional isoparametric coupled finite element is developed based on Reissner-Mindlin plate theory and linearized Reynolds equation. The coupling between fluid and structure is handled by considering the pressure forces and structural surface velocities on the boundaries. The effects of the driving parameters on the frequency response functions are investigated. As the next logical step, an analytical method for solution of squeeze film damping based upon Green’s function to the nonlinear Reynolds equation considering elastic plate is studied. This allows calculating modal damping and stiffness force rapidly for various boundary conditions. The nonlinear Reynolds equation is divided into multiple linear non-homogeneous Helmholtz equations, which then can be solvable using the presented approach. Approximate mode shapes of a rectangular elastic plate are used, enabling calculation of damping ratio and frequency shift as well as complex resistant pressure. Moreover, the theoretical results are correlated and compared with experimental results both in the literature and in-house experimental procedures including comparison against viscoelastic dampers.