Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

O Método de Kane aplicado a um modelo de corpo humano para obtenção da pressão intradiscal na coluna lombar

Nos últimos anos tem surgido vários métodos para se estudar sistemas multicorpos. A vantagem destes métodos é a obtenção das equações do movimento de forma mais fácil e precisa. Robôs, manipuladores, mecanismos, satélites, máquinas em geral e sistemas biomcânicos, pelas suas características, podem ser vantajosamente tratados por formalismo multicorpo, mas precisamente, o método de Kane a um modelo do corpo humano, com a finalidade de se determinar a pressão intradiscal entre as vértebras L4/L5 da coluna lombar, em algumas atividades normais de vida diária, como: sentar, abaixar, pegar e elevar cargas, realizar movimentos de flexão e extensão. Pretendeu-se, também obter os esforços internos nas diversas articulações deste modelo. A pressão intradiscal representa um parâmetro importante para caracterizar a sobrecarga na coluna, podendo ter relação com a degeneração do disco intervertebral, o que produz muita dor em indivíduos. Inicialmente, o modelo foi proposto e o método de Kane foi aplicado para se obter as equações do movimento. Para resolvê-las, foi necessário realiza a filmagem de um sujeito realizando as atividades citadas, a fim de se obter as equações das trajetórias dos diversos segmentos do corpo humano. Após a simulação, os parâmetros desejados foram obtidos e comparados com valores experimentais citados na literatura.

Pure Spinors in AdS and Lie Algebra Cohomology

We show that the BRST cohomology of the massless sector of the Type IIB superstring on AdS(5) x S (5) can be described as the relative cohomology of an infinite-dimensional Lie superalgebra. We explain how the vertex operators of ghost number 1, which correspond to conserved currents, are described in this language. We also give some algebraic description of the ghost number 2 vertices, which appears to be new. We use this algebraic description to clarify the structure of the zero mode sector of the ghost number two states in flat space, and initiate the study of the vertices of the higher ghost number.

The Epstein-Glaser causal approach to the light-front QED(4). I: Free theory

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

A new probabilistic canopy dynamics model (SLCD) that is suitable for evergreen and deciduous forest ecosystems

There are strong uncertainties regarding LAI dynamics in forest ecosystems in response to climate change. While empirical growth & yield models (G&YMs) provide good estimations of tree growth at the stand level on a yearly to decennial scale, process-based models (PBMs) use LAI dynamics as a key variable for enabling the accurate prediction of tree growth over short time scales. Bridging the gap between PBMs and G&YMs could improve the prediction of forest growth and, therefore, carbon, water and nutrient fluxes by combining modeling approaches at the stand level.Our study aimed to estimate monthly changes of leaf area in response to climate variations from sparse measurements of foliage area and biomass. A leaf population probabilistic model (SLCD) was designed to simulate foliage renewal. The leaf population was distributed in monthly cohorts, and the total population size was limited depending on forest age and productivity. Foliage dynamics were driven by a foliation function and the probabilities ruling leaf aging or fall. Their formulation depends on the forest environment.The model was applied to three tree species growing under contrasting climates and soil types. In tropical Brazilian evergreen broadleaf eucalypt plantations, the phenology was described using 8 parameters. A multi-objective evolutionary algorithm method (MOEA) was used to fit the model parameters on litterfall and LAI data over an entire stand rotation. Field measurements from a second eucalypt stand were used to validate the model. Seasonal LAI changes were accurately rendered for both sites (R-2 = 0.898 adjustment, R-2 = 0.698 validation). Litterfall production was correctly simulated (R-2 = 0.562, R-2 = 0.4018 validation) and may be improved by using additional validation data in future work. In two French temperate deciduous forests (beech and oak), we adapted phenological sub-modules of the CASTANEA model to simulate canopy dynamics, and SLCD was validated using LAI measurements. The phenological patterns were simulated with good accuracy in the two cases studied. However, IA/max was not accurately simulated in the beech forest, and further improvement is required.Our probabilistic approach is expected to contribute to improving predictions of LAI dynamics. The model formalism is general and suitable to broadleaf forests for a large range of ecological conditions. (C) 2014 Elsevier B.V. All rights reserved.

RNS derivation of N-point disk amplitudes from the revisited S-matrix approach

Recently, in [7] we proposed a revisited S-matrix approach to efficiently find the bosonic terms of the open superstring low energy effective lagrangian (OSLEEL). This approach allows to compute the alpha'(N) terms of the OSLEEL using open superstring n-point amplitudes in which n is considerably lower than (N + 2) (which is the order of the required amplitude to obtain those alpha'(N) terms by means of the conventional S-matrix approach). In this work we use our revisited S-matrix approach to examine the structure of the scattering amplitudes, arriving at a closed form for them. This is a RNS derivation of the formula first found by Mafra, Schlotterer and Stieberger [21], using the pure spinor formalism. We have succeeded doing this for the 5, 6 and 7-point amplitudes. In order to achieve these results we have done a careful analysis of the kinematical structure of the amplitudes, finding as a by-product a purely kinematical derivation of the BCJ relations (for N = 4, 5, 6 and 7). Also, following the spirit of the revisited S-matrix approach, we have found the alpha' expansions for these amplitudes up to alpha'(6) order in some cases, by only using the well known open superstring 4-point amplitude, cyclic symmetry and tree level unitarity: we have not needed to compute any numerical series or any integral involving polylogarithms, at any moment. (C) 2014 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/3.0/).

Optical spectrum of bottom-up graphene nanoribbons: towards efficient atom-thick excitonic solar cells

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

Comparison of Nonmesonic Hypernuclear Decay Rates Computed in Laboratory and Center-of-Mass Coordinates

In this work we compute the one-nucleon-induced nonmesonic hypernuclear decay rates of He-5(Lambda), C-12(Lambda) and C-13(Lambda) using a formalism based on the independent particle shell model in terms of laboratory coordinates. To ascertain the correctness and precision of the method, these results are compared with those obtained using a formalism in terms of center-of-mass coordinates, which has been previously reported in the literature. The formalism in terms of laboratory coordinates will be useful in the shell-model approach to two-nucleon-induced transitions.

Non-renormalization conditions for four-gluon scattering in supersymmetric string and field theory

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Thermal effective Lagrangian of generalized electrodynamics in static gravitational fields

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

A DFT Study of Structural and Electronic Properties of ZnS Polymorphs and its Pressure-Induced Phase Transitions

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Scaling properties and universality in a ratchet system

Critical exponents that describe a transition from unlimited to limited diffusion for a ratchet system are obtained analytically and numerically. The system is described by a two dimensional nonlinear mapping with three relevant control parameters. Two of them control the non-linearity while the third one controls the intensity of the dissipation. Chaotic attractors appear in the phase space due to the dissipation and considering large non-linearity are characterised by the use of Lyapunov exponents. The critical exponents are used to overlap different curves of average momentum (dynamical variable) onto a single plot confirming a scale invariance. The formalism used is general and the procedure can be extended to different systems.

Cálculo das funções de anisotropia e radial de dose para braquiterapia com semente de 192Ir em diferentes materiais de interesse em radiologia com o auxílio do programa baseado no método de Monte Carlo MCNPX

The brachytherapy braquiterapia is an x-ray modality radiotherapy in which stamped or halfstamped radioactive sources in format of seeds are used, wires or to one short distance, in contact or implanted to the fabric to be treated. All the treatment modalities require a previous planning. The formalism recommended for calculation of dose was considered by the AAPM for the first TG-43 Report. In it distributions of dose of isolated seeds measured and calculated by Monte Carlo method in water instead of with models half-empiricists. In this work we in accordance with present some preliminary results of the calculation of functions of radial anisotropy and of dose in the distance for seed of 192Ir, wide used in brachytherapy treatments of high tax of dose (HDR), with the aid of the program based on the Monte Carlo method MCNPX v2.50 (Mount Carlo N ParticleeXtended). The materials chosen in the simulation beyond water, had been MS20 and estriado muscle

Estudo teórico das funções de anisotropia e radial de dose para braquiterapia com semente de Ir192 em diferentes materiais de interesse em radiologia

The brachytherapy braquiterapia is an x-ray modality radiotherapy in which stamped or halfstamped radioactive sources in format of seeds are used, wires or to one short distance, in contact or implanted to the fabric to be treated. All the treatment modalities require a previous planning.The formalism recommended for calculation of dose was considered by the AAPM for the first TG-43 Report. In it distributions of dose of isolated seeds measured and calculated by Monte Carlo method in water instead of with models half-empiricists.In this work we in accordance with present some preliminary results of the calculation of functions of radial anisotropy and of dose in the distance for seed of 192Ir, wide used in brachytherapy treatments of high tax of dose (HDR), with the aid of the program based on the Monte Carlo method MCNPX v2.50 (Mount Carlo N ParticleeXtended).The materials chosen in the simulation beyond water, had been MS20 and estriado muscle

Modelagem matemática para a dispersão de fungos fitopatogênicos via autômatos celulares

Brazil is a major world producer and exporter of agricultural products like soybeans, sugar, coffee, orange and tobacoo. However, the action of phytopathogenic fungi has been one of the largest challenges encountered in the field as they are responsible for approximately 25 to 50 per cent of losses in crops of fruits and vegetables. The presence of these pathogens is always a problem, because the damage on the tissues and organs promote lesions which decreses growth vegetation and often leads the individual (host) to death. Therefore, it is crucial to understand the process of spreading of these pathogens in the field to develop strategies which prevent the epidemics caused by them. In this study, the dispersal of fungi phytopathogenic in the field was modeled using the automata cellular formalism. The growth rate of infected plants population was measured by the radius of gyration and the influence of host different susceptibility degrees into the disease spread was assessed. The spatial anisotropy related to the plant-to-plant space and the system’s response to distinct seasonal patterns were also evaluated. The results obtained by a mean field model (spatially implicit models) emphasized the importance of the spatial structure on the spreading process, and dispersal patterns obtained by simulation (using a cellular automata) were in agreement with thse observed in data. All computational implementation was held in language Cl