Avaliação do desempenho dos modelos de predição da erosão hídrica USLE, RUSLE e WEPP para diferentes condições edafoclimáticas do Brasil

Este trabalho teve o objetivo de avaliar o desempenho dos modelos de predição das perdas de solo USLE, RUSLE e WEPP para diferentes condições edafoclimáticas brasileiras. Para alcançar o objetivo proposto, perdas de solo estimadas pelos referidos modelos em nove localidades do Brasil foram comparadas às perdas medidas em parcelas experimentais, por meio do coeficiente de correlação, da raiz do erro quadrático médio (RMSE), do índice de concordância de Willmott, do índice de confiança, do coeficiente de Nash-Sutcliffe e da eficiência dos modelos. As parcelas experimentais adotadas nos estudos de perdas de solo utilizados no presente trabalho apresentavam dimensões (de 38 a 1.875 m²) e tempo de coleta de dados (de 1 a 7 anos) variados. Observou-se diferença significativa entre a média geral de perdas de solo estimada pelos modelos e a medida no campo. O WEPP apresentou estimativas mais precisas em 46% das condições simuladas, seguido pelo RUSLE com 42% e USLE com 12%, sendo que os indicadores estatísticos estudados mostraram que o modelo WEPP apresenta melhor desempenho quando comparado com os demais modelos. Apesar de a diferença entre os dados estimados e observados ocorrer para os três modelos, o WEPP, por apresentar melhor desempenho, coeficiente angular mais próximo da unidade na relação entre perdas de solo medidas no campo e estimadas pelo modelo e por ser embasado em processos físicos, demonstra ter maior potencial para fazer previsão da erosão para diferentes condições edafoclimáticas brasileiras.

Análise de imagens digitais para a avaliação do comportamento de pintainhos de corte

Na busca por respostas quanto às condições de bem-estar animal, visou-se a avaliar neste trabalho o comportamento de pintainhos nas duas primeiras semanas de vida, por meio de processamento de imagens digitais. O experimento foi realizado em dois galpões comerciais, utilizados para criação de 15.200 aves de corte por galpão, durante um ciclo produtivo, dotados com fornalha a lenha de aquecimento indireto do ar. Foram instaladas duas câmeras de vídeo por galpão para aquisição de imagens digitais. Uma das câmeras possuía inclinação angular de 45º, e a outra, inclinação angular de 90º em relação ao solo. As imagens foram analisadas para cada condição climática diária e binarizadas, sendo depois processadas por meio de descritor de agrupamento/dispersão e correlacionadas com os valores de temperatura do ar. Observou-se correlação entre o descritor e os valores de temperatura do ar, sendo que as imagens obtidas pela câmera posicionada a 45º e divididas em 25 blocos, obtiveram maior correlação. Pelos dados obtidos, pode-se observar que o comportamento de agrupamento e dispersão dos pintainhos pode ser usado como indicador dos estados de conforto térmico e que o descritor se mostrou eficiente para esta quantificação.

Auger-type granular fertylizer distributor: matemathical model and dynamic simulation

The objective of this study was to model mathematically and to simulate the dynamic behavior of an auger-type fertilizer applicator (AFA) in order to use the variable-rate application (VRA) and reduce the coefficient of variation (CV) of the application, proposing an angular speed controller θ' for the motor drive shaft. The input model was θ' and the response was the fertilizer mass flow, due to the construction, density of fertilizer, fill factor and the end position of the auger. The model was used to simulate a control system in open loop, with an electric drive for AFA using an armature voltage (V A) controller. By introducing a sinusoidal excitation signal in V A with amplitude and delay phase optimized and varying θ' during an operation cycle, it is obtained a reduction of 29.8% in the CV (constant V A) to 11.4%. The development of the mathematical model was a first step towards the introduction of electric drive systems and closed loop control for the implementation of AFA with low CV in VRA.

Estimation of transpiration of the 'Valencia' orange young plant using thermal dissipation probe method

Most studies on measures of transpiration of plants, especially woody fruit, relies on methods of heat supply in the trunk. This study aimed to calibrate the Thermal Dissipation Probe Method (TDP) to estimate the transpiration, study the effects of natural thermal gradients and determine the relation between outside diameter and area of xylem in 'Valencia' orange young plants. TDP were installed in 40 orange plants of 15 months old, planted in boxes of 500 L, in a greenhouse. It was tested the correction of the natural thermal differences (DTN) for the estimation based on two unheated probes. The area of the conductive section was related to the outside diameter of the stem by means of polynomial regression. The equation for estimation of sap flow was calibrated having as standard lysimeter measures of a representative plant. The angular coefficient of the equation for estimating sap flow was adjusted by minimizing the absolute deviation between the sap flow and daily transpiration measured by lysimeter. Based on these results, it was concluded that the method of TDP, adjusting the original calibration and correction of the DTN, was effective in transpiration assessment.

Estimativa da evapotranspiração de referência (ETo padrão FAO), para Minas Gerais, na ausência de alguns dados climáticos

A equação para determinar a evapotranspiração de referência (ETo), método de Penman-Monteith, parametrizada pela FAO (PM-FAO56), requer dados que, muitas vezes, não estão disponíveis na maioria das estações climatológicas. Para superar o problema da disponibilidade de dados climáticos, o boletim 56 da FAO propõe vários procedimentos para estimar a ETo na ausência dos dados de radiação, umidade relativa e velocidade do vento, e posterior substituição. Baseado nisto, o objetivo do presente estudo foi comparar a ETo estimada na ausência de dados de velocidade do vento ou da umidade relativa ou radiação solar com a ETo estimada, com os dados completos para várias localidades de Minas Gerais. A comparação foi realizada utilizando o coeficiente angular da regressão, o coeficiente de determinação, o índice de concordância de Willmott e os erros associados a cada metodologia. Verificou-se que, na ausência de dados de umidade relativa e velocidade do vento, o método de Penman-Monteith apresenta pequenos erros de estimativa. Na ausência dos dados de radiação, os erros são maiores em relação às outras variáveis. Na disponibilidade apenas das temperaturas máximas e mínimas, o método de PM-FAO56 apresenta desempenho superior ao método de Hargreaves-Samani.

Tactile-Proprioceptive Robotic Grasping

Robotic grasping has been studied increasingly for a few decades. While progress has been made in this field, robotic hands are still nowhere near the capability of human hands. However, in the past few years, the increase in computational power and the availability of commercial tactile sensors have made it easier to develop techniques that exploit the feedback from the hand itself, the sense of touch. The focus of this thesis lies in the use of this sense. The work described in this thesis focuses on robotic grasping from two different viewpoints: robotic systems and data-driven grasping. The robotic systems viewpoint describes a complete architecture for the act of grasping and, to a lesser extent, more general manipulation. Two central claims that the architecture was designed for are hardware independence and the use of sensors during grasping. These properties enables the use of multiple different robotic platforms within the architecture. Secondly, new data-driven methods are proposed that can be incorporated into the grasping process. The first of these methods is a novel way of learning grasp stability from the tactile and haptic feedback of the hand instead of analytically solving the stability from a set of known contacts between the hand and the object. By learning from the data directly, there is no need to know the properties of the hand, such as kinematics, enabling the method to be utilized with complex hands. The second novel method, probabilistic grasping, combines the fields of tactile exploration and grasp planning. By employing well-known statistical methods and pre-existing knowledge of an object, object properties, such as pose, can be inferred with related uncertainty. This uncertainty is utilized by a grasp planning process which plans for stable grasps under the inferred uncertainty.

Estudo anatômico das artérias coronárias em caprinos

A utilização de artérias coronárias de caprinos em pesquisas experimentais com objetivos de futuras aplicações em coronárias humanas motivou o interesse em verificar semelhanças ou diferenças morfológicas das artérias coronárias de caprinos com os citados na literatura para humanos. Foram utilizados 31 corações de caprinos SRD pesando de 76,5-107,7g fixados em formalina a 10%. As artérias coronárias e seus ramos eram dissecados até as ramificações visíveis sob o pericárdio. A artéria coronária esquerda presente em todos os corações era única. Seu comprimento situou-se entre 8 mm e 17mm, terminava formando os ramos: interventricular paraconal e circunflexo (90,3%) ou interventricular paraconal, circunflexo e angular (9,7%). O ramo interventricular paraconal, presente em todos os corações era único. Seu comprimento variou de 80 a 140mm, emitia média de 12 ramos. O ventrículo direito recebia 49,5% dos ramos e o ventrículo esquerdo, 50,5%, dos ramos. Essa artéria podia terminar antes de atingir o ápice do coração (22,5%), no próprio ápice (22,5%) ou então passava pelo ápice e terminava no sulco interventricular subsinuoso (55%). O ramo circunflexo era único, comprimento variou de 61 a 106mm, emitia média de 8,2 ramos. O ventrículo esquerdo recebia 53,4% dos ramos e o átrio esquerdo, 46,6%. Em todos os casos essa artéria chegava e ultrapassava a Crux cordis. A artéria coronária direita, presente em todos os corações, era única. Seu comprimento variou de 35 a 86mm, emitia a média de 8,6 ramos. O ventrículo direito recebia 56,1%, dos ramos e o átrio direito 43,9%. Em geral era a própria artéria que se comportava como ramo marginal direito. A artéria coronária direita não atingia a Crux cordis em 93,5%. O ramo interventricular subsinuoso da artéria circunflexa podia ser: a) ramo longo ocupando a maior parte do sulco; b) ramo curto ocupando apenas a parte superior do sulco; c) dois ramos ocupando o sulco. O comprimento variou de 5 a 51mm, emitia a média de 4,5 ramos sendo 63,2% para o ventrículo direito e 36,8% para o ventrículo esquerdo. Essa artéria podia terminar antes de atingir o ápice (67,7%) ou no próprio ápice (32,3%). Um de seus ramos ultrapassava a Crux cordis em 72% das peças.

Kinematic gait analyses in healthy Golden Retrievers

Kinematic analysis relates to the relative movement between rigid bodies and finds application in gait analysis and other body movements, interpretation of their data when there is change, determines the choice of treatment to be instituted. The objective of this study was to standardize the march of Dog Golden Retriever Healthy to assist in the diagnosis and treatment of musculoskeletal disorders. We used a kinematic analysis system to analyse the gait of seven dogs Golden Retriever, female, aged between 2 and 4 years, weighing 21.5 to 28 kg, clinically normal. Flexion and extension were described for shoulder, elbow, carpal, hip, femorotibialis and tarsal joints. The gait was characterized lateral and had accepted hypothesis of normality for all variables, except for the stance of hip and elbow, considering a confidence level of 95%, significance level α = 0.05. Variations have been attributed to displacement of the stripes during movement and the duplicated number of reviews. The kinematic analysis proved to be a consistent method of evaluation of the movement during canine gait and the data can be used in the diagnosis and evaluation of canine gait in comparison to other studies and treatment of dogs with musculoskeletal disorders.

Kinematic analysis and modelling of biped locomotion systems

This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.

A Design Methodology for the Compensation of Positioning Deviation in Gantry Manipulators

This work presents recent results concerning a design methodology used to estimate the positioning deviation for a gantry (Cartesian) manipulator, related mainly to structural elastic deformation of components during operational conditions. The case-study manipulator is classified as gantry type and its basic dimensions are 1,53m x 0,97m x 1,38m. The dimensions used for the calculation of effective workspace due to end-effector path displacement are: 1m x 0,5m x 0,5m. The manipulator is composed by four basic modules defined as module X, module Y, module Z and terminal arm, where is connected the end-effector. Each module controlled axis performs a linear-parabolic positioning movement. The planning path algorithm has the maximum velocity and the total distance as input parameters for a given task. The acceleration and deceleration times are the same. Denavit-Hartemberg parameterization method is used in the manipulator kinematics model. The gantry manipulator can be modeled as four rigid bodies with three degrees-of-freedom in translational movements, connected as an open kinematics chain. Dynamic analysis were performed considering inertial parameters specification such as component mass, inertia and center of gravity position of each module. These parameters are essential for a correct manipulator dynamic modelling, due to multiple possibilities of motion and manipulation of objects with different masses. The dynamic analysis consists of a mathematical modelling of the static and dynamic interactions among the modules. The computation of the structural deformations uses the finite element method (FEM).

Proposal of methodology for the modeling and control of manipulators

Industrial applications demand that robots operate in agreement with the position and orientation of their end effector. It is necessary to solve the kinematics inverse problem. This allows the displacement of the joints of the manipulator to be determined, to accomplish a given objective. Complete studies of dynamical control of joint robotics are also necessary. Initially, this article focuses on the implementation of numerical algorithms for the solution of the kinematics inverse problem and the modeling and simulation of dynamic systems. This is done using real time implementation. The modeling and simulation of dynamic systems are performed emphasizing off-line programming. In sequence, a complete study of the control strategies is carried out through the study of several elements of a robotic joint, such as: DC motor, inertia, and gearbox. Finally a trajectory generator, used as input for a generic group of joints, is developed and a proposal of the controller's implementation of joints, using EPLD development system, is presented.

Optimal design of 3R manipulators by using classical techniques and simulated annealin

In this paper, the optimum design of 3R manipulators is formulated and solved by using an algebraic formulation of workspace boundary. A manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. The numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. Numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms.

Rivan kärjen jännityskomponentit

Tässä kandidaatin työssä on tutkitti miten eri jännityskomponentit käyttäytyvät rivan kärjen läheisyydessä. Työssä tutkittiin kahta eri mallia, rivallista levyä ja rivallista levyä hitsauksesta johtuvalla kulmavetäymällä. Tutkimus suoritettiin FEA-analyysin avulla. Komponenttien käyttäytymistä tutkittiin sekä veto- että taivutuskuormituksella. Tuloksissa on verrattu miten kulmavetäymä vaikuttaa komponenttien syntyyn ja miten eri kuormituksilla saadut tulokset poikkeavat toisistaan.

Ring Dark Solitons in Toroidal Bose-Einstein Condensates

In this Thesis, we study various aspects of ring dark solitons (RDSs) in quasi-two-dimensional toroidally trapped Bose-Einstein condensates, focussing on atomic realisations thereof. Unlike the well-known planar dark solitons, exact analytic expressions for RDSs are not known. We address this problem by presenting exact localized soliton-like solutions to the radial Gross-Pitaevskii equation. To date, RDSs have not been experimentally observed in cold atomic gases, either. To this end, we propose two protocols for their creation in experiments. It is also currently well known that in dimensions higher than one, (ring) dark solitons are susceptible, in general, to an irreversible decay into vortex-antivortex pairs through the snake instability. We show that the snake instability is caused by an unbalanced quantum pressure across the soliton's notch, linking the instability to the Bogoliubov-de Gennes spectrum. In particular, if the angular symmetry is maintained (or the toroidal trapping is restrictive enough), we show that the RDS is stable (long-lived with a lifetime of order seconds) in two dimensions. Furthermore, when the decay does take place, we show that the snake instability can in fact be reversible, and predict a previously unknown revival phenomenon for the original (many-)RDS system: the soliton structure is recovered and all the point-phase singularities (i.e. vortices) disappear. Eventually, however, the decay leads to an example of quantum turbulence; a quantum example of the laminar-to-turbulent type of transition.

Sorption and desorption of Suflafenacil in two soils in the state of São Paulo with different physical and chemical attributes

A study was conducted to evaluate the sorption and desorption of 14C herbicide saflufenacil (pyrimidinedione) in two soils in the State of São Paulo, classified as Red Yellow Latosol with clayey texture (LVA-1) and medium texture (LVA-2), using the batch method through isotherms. The soils were air dried and sieved a 2 mm mesh. The radioactivity was determined by liquid scintillation spectrometry in acclimatized room (25 ± 2 °C). Sorption isotherms were conducted for 5 concentrations of saflufenacil (5.0; 2.5; 1.0; 0.5 and 0.05 μg mL-1) and the results were adjusted to the Freundlich equation, thus obtaining the parameters of sorption followed by two extractions with 0.01 M CaCl2 to determine desorption parameters similarly to sorption. The results showed that saflufenacil sorption was low for both soils studied, being greater for the LVA with higher organic matter content. The desorption coefficients were greater than their sorption coefficients, suggesting the occurrence of hysteresis. The sorption and desorption isotherms (classified as type C isotherms), hysteresis and the t-test between the angular coefficient of the respective isotherms showed that both the sorption and desorption occur with equal intensity.