Partial state estimation: a new design approach

© 2014 IEEE. There are three different approaches for functional observer design for Linear Time-Invariant (LTI) systems within the literature. One of the most common methods has been proposed by Aldeen [1] and further developed by others. We found several examples in which the necessary and sufficient conditions for the existence of a functional observer are actually not sufficient for this methodology. This finding motivated us to develop a new methodology for designing functional observers. Our new method provides enough degrees of freedom for the observer design parameter and it improves the weakness within the Aldeen's method in solving the observer coupled matrix equations. In this paper, we present the reason and an example to show the insufficiency of the former method. Furthermore, we present our new developed methodology. An illustrative algorithm also describes the design procedure step by step. A numerical example and simulation results support our findings and performance of the proposed method.

Influência da substituição de areia natural por pó de pedra no comportamento mecânico, microestrutural e eletroquímico de concretos

The construction industry is one of the largest consumers of natural raw materials, and concrete is considered today the most used material wide. This accentuated consumption of natural resources has generated concern with the preservation of the environment, and has motivated various studies related to the use of resid ues, which can partially or entirely substitute, with satisfactory performance, some materials such as the aggregate, and in so doing, decrease the impact on the environment caused by the produced residues. Research has been done to better understand and improve the microstructure of concrete, as well as to understand the mechanism of corrosion in reinforced steel. In this context, this work was developed aiming at discovering the influence of the substitution of natural sand by artificial sand, with rega rd to mechanical resistance, microstructure, and durability. To obtain the electrochemical parameters, an adaptation was made to the galvanostatic electrochemical method to study the corrosion in reinforced steel. Concretes of categories 20 MPa and 40 MPa were produced, containing natural sand, and concretes of the same categories were produced with artificial sand substituting the natural sand, and with the addition of sodium nitrate and sodium chloride. Due to the use of rock dust reject (artificial sand), an evaluation was made of its environmental risk. The results indicate that the concretes of category 20 MPa present a better performance than the concrete made with natural sand, thus making it a viable substitute. For the category 40 MPa, the better performance is from the concrete containing natural sand. The adaptation of the galvanostatic electrochemical technique to the study of the corrosion of reinforced steel within concrete proved to be valid for obtaining electrochemical parameters with a high degree of reliability, considering the number of degrees of freedom

Efeitos por comparações e por experimento em interações de experimentos fatoriais

Avaliar efeitos de interações é um dos principais objetivos dos experimentos fatoriais. em experimentos com dois fatores A e B, com m e n níveis de cada fator, respectivamente, há m x n possíveis interações e (m-1)(n-1) graus de liberdade associados. Freqüentemente somente parte dessas interações contribui efetivamente para a Soma de Quadrados da Interação e pode ser interessante examiná-las. O uso de nível de significância menos rigoroso para interpretação do efeito da interação por experimento, em relação às demais fontes de variação da análise de variância, pode captar efeitos importantes. Recomenda-se o uso de p = 0,25 para a interpretação do efeito da interação por experimento, mantendo-se o usual p = 0,05 para efeitos por comparações. Mesmo no caso de interações significativas, comparações selecionadas, em lugar de apenas cortes, podem auxiliar a interpretação de interações complexas.

Precisão da técnica de absorciometria de raios-x de dupla energia na determinação da composição corporal em gatos

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

Controle inteligente aplicado a uma mesa de coordenadas de dois graus de liberdade

This work presents the design and construction of an X-Y table of two degrees of freedom, as well as the development of a fuzzy system for its position and trajectory control. The table is composed of two bases that move perpendicularly to each other in the horizontal plane, and are driven by two DC motors. Base position is detected by position sensors attached to the motor axes. A data acquisition board performs the interface between a laptop and the plant. The fuzzy system algorithm was implemented in LabVIEW® programming environment that processes the sensors signals and determines the control variables values that drive the motors. Experimental results using position reference signals (step type signal) and straight and circular paths reference signals are presented to demonstrate the dynamic behavior of fuzzy system

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Construção e controle inteligente de um manipulador robótico com dois graus de liberdade

The present work shows the development and construction of a robot manipulator with two rotary joints and two degrees of freedom, driven by three-phase induction motors. The positions of the arm and base are made, for comparison, by a fuzzy controller and a PID controller implemented in LabVIEW® programming environment. The robot manipulator moves in an area equivalent to a quarter of a sphere. Experimental results have shown that the fuzzy controller has superior performance to PID controller when tracking single and multiple step trajectories, for the cases of load and no load

Estudos de algumas ferramentas de coleta e visualização de dados e desempenho de aplicações paralelas no ambiente MPI

The last years have presented an increase in the acceptance and adoption of the parallel processing, as much for scientific computation of high performance as for applications of general intention. This acceptance has been favored mainly for the development of environments with massive parallel processing (MPP - Massively Parallel Processing) and of the distributed computation. A common point between distributed systems and MPPs architectures is the notion of message exchange, that allows the communication between processes. An environment of message exchange consists basically of a communication library that, acting as an extension of the programming languages that allow to the elaboration of applications parallel, such as C, C++ and Fortran. In the development of applications parallel, a basic aspect is on to the analysis of performance of the same ones. Several can be the metric ones used in this analysis: time of execution, efficiency in the use of the processing elements, scalability of the application with respect to the increase in the number of processors or to the increase of the instance of the treat problem. The establishment of models or mechanisms that allow this analysis can be a task sufficiently complicated considering parameters and involved degrees of freedom in the implementation of the parallel application. An joined alternative has been the use of collection tools and visualization of performance data, that allow the user to identify to points of strangulation and sources of inefficiency in an application. For an efficient visualization one becomes necessary to identify and to collect given relative to the execution of the application, stage this called instrumentation. In this work it is presented, initially, a study of the main techniques used in the collection of the performance data, and after that a detailed analysis of the main available tools is made that can be used in architectures parallel of the type to cluster Beowulf with Linux on X86 platform being used libraries of communication based in applications MPI - Message Passing Interface, such as LAM and MPICH. This analysis is validated on applications parallel bars that deal with the problems of the training of neural nets of the type perceptrons using retro-propagation. The gotten conclusions show to the potentiality and easinesses of the analyzed tools.

A new spin-2 self-dual model in D=2+1

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Closed string thermal torus from thermo field dynamics

In this Letter a topological interpretation for the string thermal vacuum in the thermo field dynamics (TFD) approach is given. As a consequence, the relationship between the imaginary time and TFD formalisms is achieved when both are used to study closed strings at finite temperature. The TFD approach starts by duplicating the system's degrees of freedom, defining an auxiliary (tilde) string. In order to lead the system to finite temperature a Bogoliubov transformation is implemented. We show that the effect of this transformation is to glue together the string and the tilde string to obtain a torus. The thermal vacuum appears as the boundary state for this identification. Also, from the thermal state condition, a Kubo-Martin-Schwinger condition for the torus topology is derived. © 2005 Elsevier B.V. All rights reserved.

Chiral corrections to baryon properties with composite pions

A calculational scheme is developed to evaluate chiral corrections to properties of composite baryons with composite pions. The composite baryons and pions are bound states derived from a microscopic chiral quark model. The model is amenable to standard many-body techniques such as the BCS and random phase approximation formalisms. An effective chiral model involving only hadronic degrees of freedom is derived from the macroscopic quark model by projection onto hadron states. Chiral loops are calculated using the effective hadronic Hamiltonian. A simple microscopic confining interaction is used to illustrate the derivation of the pion-nucleon form factor and the calculation of picnic self-energy corrections to the nucleon and Delta (1232) masses.

Strong coupling QCD and effective hadronic interactions

The aim of this work is to implement the mechanism of link rearrangement predicted in the strong coupling limit of Hamiltonian lattice QCD - in a constituent quark model in which constituent quarks, links and junctions are the dominant degrees of freedom. The implications of link rearrangement for the meson-meson interaction are investigated.

The generator coordinate method for a reaction coordinate coupled to a harmonic oscillator bath

This paper investigates the usefulness of the generator coordinate method (GCM) for treating the dynamics of a reaction coordinate coupled to a bath of harmonic degrees of freedom. Models for the unimolecular dissociation and isomerization process (proton transfer) are analyzed. The GCM results, presented in analytical form, provide a very good description and are compared to other methods Like the basis set method and multiconfiguration time dependent self-consistent field. (C) 1998 American Institute of Physics. [S0021-9606(98)50934-8].

Exchange terms in the quark-meson coupling model

In this talk we report on recent progress in implementing exchange terms in the quark-meson coupling model. Exchange effects are related to the Pauli exclusion principle. We discuss exchange effects at the nucleon level and at the quark level. We also address the incorporation of chiral symmetry and Delta degrees of freedom in the model.

Torsion and the gravitational interaction

By using a nonholonomous-frame formulation of the general covariance principle, seen as an active version of the strong equivalence principle, an analysis of the gravitational coupling prescription in the presence of curvature and torsion is made. The Coupling prescription implied by this principle is found to be always equivalent to that of general relativity, a result that reinforces the completeness of this theory, as well as the teleparallel point of view according to which torsion does not represent additional degrees of freedom for gravity, but simply an alternative way of representing the gravitational field.