927 resultados para Controladores PID
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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
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O presente trabalho teve como objetivo descrever eventuais alterações histopatológicas no sistema reprodutor (testículo e epidídimo) de cães machos experimentalmente infectados com Toxoplasma gondii. Para tal, 10 animais sorologicamente negativos para T. gondii foram selecionados e distribuídos em três grupos experimentais: GI - três cães inoculados com 2,0 x 10(5) oocistos da cepa P, GII - três cães infectados com 1,0 x 10(6) taquizoítos da cepa RH e GIII - quatro cães mantidos como controle. Pesquisa de anticorpos (IFI) contra T. gondii foi realizada. A infecção por T. gondii confirmou-se pela soroconversão de todos os machos infectados a partir do 7° e do 14° dia pós-inoculação (DPI) para cães que receberam taquizoítos e oocistos respectivamente. Decorridos 70DPI, realizou-se, em todos os cães, orquiectomia, e amostras (testículo e epidídimo) foram coletadas e processadas histologicamente para leitura em microscópio óptico. As seguintes alterações foram diagnosticadas: infiltrado inflamatório mononuclear leve e moderado em epidídimo, edema celular moderado, degeneração hidrópica e fibrose intersticial moderada em túbulos seminíferos. Os resultados histopatológicos do presente trabalho, aliados ao isolamento do T. gondii em fragmentos de testículo e epidídimo pela imunoistoquímica, juntamente com os resultados encontrados na literatura por outros autores em diferentes tecidos, permitem inferir que as alterações encontradas nos cães infectados com o respectivo protozoário são sugestivas de infecção toxoplásmica.
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Fifteen cases of viral meningoencephalitis in Colombian cattle were tested by nested PCR analysis for the detection of bovine herpesvirus 5 (BoHV-5). All fatal cases had shown severe neurological signs and had occurred following natural outbreaks of the disease. The neurological infection was histologically characterized by mild to moderate inflammatory changes in the brain and cerebellum, including meningitis, mononuclear perivascular cuffing, gliosis, haemorrhage, and the presence of Gitter cells (macrophages) accompanying large areas of malacia. No intranuclear inclusion bodies were seen in any of the cases. Results from BoHV-5 molecular extraction analyses showed there were five positive cases thus confirming the presence of the virus in Colombia.
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This study is an analysis of opportunities and challenges of health assistance migration from hospitals to home care from the approach of the Domiciliary Internment Program (PID) in Natal / RN. The research aims to identify the ways that the multidisciplinary team act and know the stories of these professionals about the situation experienced in the transition between the instituting and instituted on home care modalities. PID has as a prior focus the elderly person in stable medical conditions, not to replace the hospital care, but to offer a therapeutic support turned to the exercise of their autonomy and coexistence with the situation of diseases. The home in their internal coexistence rules preserves own customs. As the hospital care migrates to the home care, it happens in the confrontation and rationality negotiation and becomes something new, that is going to be directed by an instituting dimension. In the view of New History, that suggests an interdisciplinary approach and interprets the problems on its time and from the technique of thematic oral history, it can be seen that working in interdisciplinary team is able to incorporate new values in the way of healthcare assistance, it longs for maintaining the maximum functional capacity of patients, it presents results as the prevention of diseases, costs reduction in connection with the Hospital Service, empowers and expands the possibilities for the patient recovery by aligning with the daily life and the opportunity of the patient being assisted by a multiprofessional team, interacting on the concrete reality. Therefore, PID is in line with the contemporary demands and as an instrument to be considered in the review of a wider concept of the health-disease process
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A espirradeira (Nerium oleander L.) é uma importante espécie arbórea ornamental, muito utilizada no meio urbano. É propagada por estacas, porém a porcentagem de enraizamento é baixa e não há estudos sobre fatores que influenciam nesse processo. Este trabalho teve, portanto, o objetivo de estudar o efeito da época de coleta e do ácido indolbutírico (AIB) no enraizamento de estacas de duas variedades de espirradeira (Nerium oleander L.), determinadas pela coloração das flores (rosa e branca). O experimento foi instalado na UNESP, Campus de Jaboticabal/SP, no verão e no inverno. O delineamento experimental foi em blocos casualizados em esquema fatorial 2 x 2 x 4 (duas variedades combinadas com duas estações do ano e quatro concentrações de AIB - 0, 1.000, 2.000 e 4.000 mg kg-1). As avaliações foram realizadas 60 dias após a estaquia, sendo estas as variáveis: porcentagem de enraizamento, número médio, comprimento e massa de matéria seca de raízes. Concluiu-se que o enraizamento de ambas as variedades de espirradeira (rosa e branca) foi superior no verão. A variedade de flores rosas apresentou maior número e comprimento médio de raízes no verão, porém as maiores porcentagens de enraizamento e massa de matéria seca de raízes foram encontradas no inverno. O ácido indolbutírico foi efetivo para aumentar a porcentagem de enraizamento nas concentrações testadas de 1.000 e 2.000 mg kg-1; maior número, comprimento e massa de matéria seca de raízes foram obtidos na concentração de 2.000 mg kg-1.
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
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At present, the Brazilian market prefers cabbage (Brassica oleracea var. capitata) of smaller size, which can be achieved by increasing population density; yet this management can alter the optimum rate of nitrogen (N), its second most required nutrient. This study was conducted in the Universidade Estadual Paulista, Jaboticabal, São Paulo, Brazil, from February to June 2004. The objective was to evaluate the effect of population density: 31 250 (DI) and 46 875 plants ha(-1) (D2) with 0, 100, 200 and 300 kg N ha-1 on the growth and production of cabbage Astrus. The experimental design consisted of randomized blocks with a 2 x 4 factorial arrangement and three replicates. Statistical analysis were a variance analysis (F test), the Tukey test for population density averages and polynomial regression for the N rates. In D1, an increase was recorded in the number of inner and outer leaves, dry matter of inner and outer leaves, the stem diameter at the insertion of the head, and the stem dry and fresh matter. The maximum size of the plant in D2 was 1.57 kg and was obtained with 300 kg N ha(-1), while in D1 it was 2.1 kg and was obtained with 244 kg N ha(-1). The optimal economic rate in 131 was 227.1 kg N ha(-1). The highest yield (72.7 t ha(-1)) was obtained with the highest N rate in D2. Smaller cabbage heads, commercially preferred, were obtained without the application of N, regardless of plant population.
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A adubação com micronutrientes, como o manganês em gramíneas forrageiras tropicais, contribui para o atendimento das exigências nutricionais tanto das plantas quanto dos animais. Objetivou-se, neste trabalho, estudar os efeitos da aplicação de manganês no crescimento, na nutrição e na produção de matéria seca de plantas de Brachiaria brizantha, em condições de casa de vegetação. Para isto, realizou-se um experimento em casa de vegetação da FCAV/UNESP, Campus de Jaboticabal, com Brachiaria brizantha (cv. MG4), em vasos com 3,5 dm³ preenchidos com amostras de um Latossolo Vermelho distrófico (Mn = 0,6 mg dm-3). O delineamento experimental foi inteiramente casualizado, com cinco tratamentos, que corresponderam às doses de manganês (0, 15, 30, 60 e 120 mg dm-3), e quatro repetições. Avaliaram-se, nos dois cortes da forrageira (primeiro corte, 35 dias após o transplantio e, segundo, 30 dias após o primeiro), as variáveis de crescimento, produção de massa de forragem, teor e acúmulo de Mn na parte aérea. As doses de manganês aplicadas aumentaram a concentração deste micronutriente no solo e nas plantas e a produção de massa de forragem no primeiro corte. A Brachiaria brizantha cv. MG4 apresenta alta tolerância ao manganês, atingindo elevados teores de Mn na parte aérea, mesmo sem provocar sintomas visuais de toxicidade.
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Zinc application methods can affect the nutrition and the initial development of the wheat. Thus, the aim of this work was to analyze the different ways of Zn application in the soil, on nutrition and on dry matter production. A completely randomized experimental design with four replications was used. The experiment was composed by the following Zn application treatments: control (no zinc application); soil incorporation, furrow located, seeds treatment and leaf pulverization. The experimental unit was composed of a pot filled with 7 L of soil. Morphological traits for each plant were determined on 52 days after emergence by the evaluations of plant height, internodes number, tillers number and aerial part dry matter. Still, the soil and plant chemical analysis was accomplished. The furrow located method provided larger concentrations of the micronutrient available. The zinc application methods did not influence the initial growth of the wheat plants. The zinc concentration in leaves was influenced by the different application methods, being the leaf pulverization the one that was caused the largest zinc accumulation on aerial part dry matter.
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O presente estudo avaliou a digestibilidade aparente da proteína e da energia de ingredientes (farelo de soja, farinha de peixe, farelo de trigo e milho) por juvenis de apaiari (Astronotus ocellatus) usando dois diferentes intervalos de coleta (30 min. e 12h). Os 160 juvenis de apaiari utilizados (22,37 ± 3,06 g de peso corporal) foram divididos em quatro tanques rede plásticos e cilíndricos, cada um colocado em um tanque de alimentação de 1.000 L. O experimento foi inteiramente casualizado em esquema fatorial 2 x 4 (2 intervalos de coleta de fezes e 4 ingredientes foram) com quatro repetições. Os testes estatísticos não detectaram efeito da interação entre o intervalo de coleta e tipo de ingrediente nos coeficientes de digestibilidade. O intervalo de coleta não afetou a digestibilidade da proteína e da energia. As características físicas das fezes dos juvenis de apaiari aparentemente as tornam menos sensíveis à perda de nutrientes por lixiviação, permitindo intervalos de coleta maiores. A digestibilidade da proteína dos ingredientes avaliados foi semelhante, mostrando que a digestibilidade aparente de ingredientes animais e vegetais por juvenis de apaiari é eficiente. Os coeficientes de digestibilidade da energia foram maiores para a farinha de peixe e o farelo de soja comparado a farelo de trigo e milho. Ingredientes ricos em carboidratos (farelo de trigo e milho) apresentaram os piores coeficientes de digestibilidade da energia e, portanto, não são usados eficientemente pelos juvenis de apaiari.
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Current challenges of humanity require a new paradigm for animal production, and invest time and attention to the development of new production techniques that take into account the principles of sustainability and animal welfare science. To do this, we must be committed to promoting animal welfare and health, ensure environmental sustainability, consumer satisfaction and profitability for producers. To change our relationship with animals there is no need for changes in market conditions or large investments, it is enough to know better the needs of the animals we raise, the management system adapted to its characteristics. Even in the most favorable management conditions, on farms that have technological resources and trained personnel, there is much to change, especially in the daily management of the animals. Some of the risks more evident in the traditional systems of beef production are: problems during parturition, morbidity and mortality of calves, lack of shade in the pastures, improper handling of animals, risk of injury, inadequate infrastructure, poor management practices during routine processing (marking, castration, vaccination, dehorning), poor welfare during loading, transport, unloading and slaughter. To remedy this, you can adopt good management practices, which have been shown to reduce risk and improve the welfare of cattle in different stages of the production chain. The objective of this review is to show some of the risks that reduce the welfare of cattle and examples of how the adoption of best management practices impact on improving the productivity of these production systems. Finally, some indicators for assessing welfare in production systems are shown.
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The progressing cavity pump artificial lift system, PCP, is a main lift system used in oil production industry. As this artificial lift application grows the knowledge of it s dynamics behavior, the application of automatic control and the developing of equipment selection design specialist systems are more useful. This work presents tools for dynamic analysis, control technics and a specialist system for selecting lift equipments for this artificial lift technology. The PCP artificial lift system consists of a progressing cavity pump installed downhole in the production tubing edge. The pump consists of two parts, a stator and a rotor, and is set in motion by the rotation of the rotor transmitted through a rod string installed in the tubing. The surface equipment generates and transmits the rotation to the rod string. First, is presented the developing of a complete mathematical dynamic model of PCP system. This model is simplified for use in several conditions, including steady state for sizing PCP equipments, like pump, rod string and drive head. This model is used to implement a computer simulator able to help in system analysis and to operates as a well with a controller and allows testing and developing of control algorithms. The next developing applies control technics to PCP system to optimize pumping velocity to achieve productivity and durability of downhole components. The mathematical model is linearized to apply conventional control technics including observability and controllability of the system and develop design rules for PI controller. Stability conditions are stated for operation point of the system. A fuzzy rule-based control system are developed from a PI controller using a inference machine based on Mandami operators. The fuzzy logic is applied to develop a specialist system that selects PCP equipments too. The developed technics to simulate and the linearized model was used in an actual well where a control system is installed. This control system consists of a pump intake pressure sensor, an industrial controller and a variable speed drive. The PI control was applied and fuzzy controller was applied to optimize simulated and actual well operation and the results was compared. The simulated and actual open loop response was compared to validate simulation. A case study was accomplished to validate equipment selection specialist system
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The Predictive Controller has been receiving plenty attention in the last decades, because the need to understand, to analyze, to predict and to control real systems has been quickly growing with the technological and industrial progress. The objective of this thesis is to present a contribution for the development and implementation of Nonlinear Predictive Controllers based on Hammerstein model, as well as to its make properties evaluation. In this case, in the Nonlinear Predictive Controller development the time-step linearization method is used and a compensation term is introduced in order to improve the controller performance. The main motivation of this thesis is the study and stability guarantee for the Nonlinear Predictive Controller based on Hammerstein model. In this case, was used the concepts of sections and Popov Theorem. Simulation results with literature models shows that the proposed approaches are able to control with good performance and to guarantee the systems stability
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This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text
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This work intends to analyze the behavior of the gas flow of plunger lift wells producing to well testing separators in offshore production platforms to aim a technical procedure to estimate the gas flow during the slug production period. The motivation for this work appeared from the expectation of some wells equipped with plunger lift method by PETROBRAS in Ubarana sea field located at Rio Grande do Norte State coast where the produced fluids measurement is made in well testing separators at the platform. The oil artificial lift method called plunger lift is used when the available energy of the reservoir is not high enough to overcome all the necessary load losses to lift the oil from the bottom of the well to the surface continuously. This method consists, basically, in one free piston acting as a mechanical interface between the formation gas and the produced liquids, greatly increasing the well s lifting efficiency. A pneumatic control valve is mounted at the flow line to control the cycles. When this valve opens, the plunger starts to move from the bottom to the surface of the well lifting all the oil and gas that are above it until to reach the well test separator where the fluids are measured. The well test separator is used to measure all the volumes produced by the well during a certain period of time called production test. In most cases, the separators are designed to measure stabilized flow, in other words, reasonably constant flow by the use of level and pressure electronic controllers (PLC) and by assumption of a steady pressure inside the separator. With plunger lift wells the liquid and gas flow at the surface are cyclical and unstable what causes the appearance of slugs inside the separator, mainly in the gas phase, because introduce significant errors in the measurement system (e.g.: overrange error). The flow gas analysis proposed in this work is based on two mathematical models used together: i) a plunger lift well model proposed by Baruzzi [1] with later modifications made by Bolonhini [2] to built a plunger lift simulator; ii) a two-phase separator model (gas + liquid) based from a three-phase separator model (gas + oil + water) proposed by Nunes [3]. Based on the models above and with field data collected from the well test separator of PUB-02 platform (Ubarana sea field) it was possible to demonstrate that the output gas flow of the separator can be estimate, with a reasonable precision, from the control signal of the Pressure Control Valve (PCV). Several models of the System Identification Toolbox from MATLAB® were analyzed to evaluate which one better fit to the data collected from the field. For validation of the models, it was used the AIC criterion, as well as a variant of the cross validation criterion. The ARX model performance was the best one to fit to the data and, this way, we decided to evaluate a recursive algorithm (RARX) also with real time data. The results were quite promising that indicating the viability to estimate the output gas flow rate from a plunger lift well producing to a well test separator, with the built-in information of the control signal to the PCV