Metodologia para modelagem, validação e programação de controladores lógicos industriais usando statecharts básicos

Due of industrial informatics several attempts have been done to develop notations and semantics, which are used for classifying and describing different kind of system behavior, particularly in the modeling phase. Such attempts provide the infrastructure to resolve some real problems of engineering and construct practical systems that aim at, mainly, to increase the productivity, quality, and security of the process. Despite the many studies that have attempted to develop friendly methods for industrial controller programming, they are still programmed by conventional trial-and-error methods and, in practice, there is little written documentation on these systems. The ideal solution would be to use a computational environment that allows industrial engineers to implement the system using high-level language and that follows international standards. Accordingly, this work proposes a methodology for plant and control modelling of the discrete event systems that include sequential, parallel and timed operations, using a formalism based on Statecharts, denominated Basic Statechart (BSC). The methodology also permits automatic procedures to validate and implement these systems. To validate our methodology, we presented two case studies with typical examples of the manufacturing sector. The first example shows a sequential control for a tagged machine, which is used to illustrated dependences between the devices of the plant. In the second example, we discuss more than one strategy for controlling a manufacturing cell. The model with no control has 72 states (distinct configurations) and, the model with sequential control generated 20 different states, but they only act in 8 distinct configurations. The model with parallel control generated 210 different states, but these 210 configurations act only in 26 distinct configurations, therefore, one strategy control less restrictive than previous. Lastly, we presented one example for highlight the modular characteristic of our methodology, which it is very important to maintenance of applications. In this example, the sensors for identifying pieces in the plant were removed. So, changes in the control model are needed to transmit the information of the input buffer sensor to the others positions of the cell

Variance component estimates applying random regression models for test-day milk yield in Caracu heifers (Bos taurus Artiodactyla, Bovidae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Genetic parameter estimates for live weight and daily live weight gain obtained for Nellore bulls in a test station using different models

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

Milk yield persistency in Brazilian Gyr cattle based on a random regression model

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Um estudo na teoria do movimento brownianno com viscosidade variável

In this work we investigate the stochastic behavior of a large class of systems with variable damping which are described by a time-dependent Lagrangian. Our stochastic approach is based on the Langevin treatment describing the motion of a classical Brownian particle of mass m. Two situations of physical interest are considered. In the first one, we discuss in detail an application of the standard Langevin treatment (white noise) for the variable damping system. In the second one, a more general viewpoint is adopted by assuming a given expression to the so-called collored noise. For both cases, the basic diffententiaql equations are analytically solved and al the quantities physically relevant are explicitly determined. The results depend on an arbitrary q parameter measuring how the behavior of the system departs from the standard brownian particle with constant viscosity. Several types of sthocastic behavior (superdiffusive and subdiffusive) are obteinded when the free pamameter varies continuosly. However, all the results of the conventional Langevin approach with constant damping are recovered in the limit q = 1

Pecolação em uma rede multifractal

In this work we present the principal fractals, their caracteristics, properties abd their classification, comparing them to Euclidean Geometry Elements. We show the importance of the Fractal Geometry in the analysis of several elements of our society. We emphasize the importance of an appropriate definition of dimension to these objects, because the definition we presently know doesn t see a satisfactory one. As an instrument to obtain these dimentions we present the Method to count boxes, of Hausdorff- Besicovich and the Scale Method. We also study the Percolation Process in the square lattice, comparing it to percolation in the multifractal subject Qmf, where we observe som differences between these two process. We analize the histogram grafic of the percolating lattices versus the site occupation probability p, and other numerical simulations. And finaly, we show that we can estimate the fractal dimension of the percolation cluster and that the percolatin in a multifractal suport is in the same universality class as standard percolation. We observe that the area of the blocks of Qmf is variable, pc is a function of p which is related to the anisotropy of Qmf

Imunoexpressão de fatores reguladores da osteoclastogênese na doença periodontal em humanos e sua relação com os parâmetros clínicos

Periodontal disease is an infection initiated by oral periodontal pathogens that trigger an immune response culminating in tissue destruction. This destruction is mediated by the host by inducing the production and activation of lytic enzymes, cytokines and the stimulation of osteoclastogenesis. The aim of this study was to compare the immunohistochemical expression of factors involved in bone resorption, RANKL (Ligand Receptor Activator of Nuclear Factor kappa B), OPG (Osteoprotegerin) and TNF-α (tumor necrosis factor alpha) between the gingival healthy, gingivitis and chronic periodontitis and correlate them with clinical parameters. The sample consisted of 83 cases and 12 clinically healthy gums, 42 gingivitis and 29 periodontitis, from 74 adolescent and adult patients with a mean age of 35 years, without systemic changes and non-smokers, predominantly female and race brown. There was no statistically significant difference for the expression of anti-RANKL (p = 0.581) and RANKL / OPG ratio (p = 0.334) when comparing the three conditions, but the anti-OPG and anti-TNF-α showed statistically significant between the types of injury (p = 0.001 and p <0.001, respectively), showing greatest expression in periodontitis. In cases of periodontitis, the variable clinical attachment loss (PIC) was statistically significant and positive correlation, respectively, with immunostaining of anti-RANKL (p = 0.002, p = 0.001 and r = 0.642), anti-OPG (p = 0.018, p = 0.014 and r = 0.451), anti-TNF-α (p = 0.032, p = 0.014 and r = 0.453) and the percentage ratio of RANKL / OPG (p = 0.018, p = 0.002 and r = 0.544). The tooth mobility (MB) showed a statistically significant difference only with immunohistochemical anti-RANKL (p = 0.026), and probing depth (PD) was positively correlated with anti-RANKL (p = 0.028 and r = 0.409), both in cases of periodontitis. Only in cases of gingivitis TNF-α was positively correlated with RANKL (p = 0.012 and r = 0.384) and the RANKL / OPG ratio (p = 0.027 and r = 0.341). Given these results, we conclude that the greatest expression of TNF-α in periodontitis demonstrates a relationship with the progression and severity of periodontal disease and the correlation between all antibodies and clinical attachment loss demonstrates their involvement in periodontal bone resorption

Efficient heuristic algorithm used for optimal capacitor placement in distribution systems

An efficient heuristic algorithm is presented in this work in order to solve the optimal capacitor placement problem in radial distribution systems. The proposal uses the solution from the mathematical model after relaxing the integrality of the discrete variables as a strategy to identify the most attractive bus to add capacitors to each step of the heuristic algorithm. The relaxed mathematical model is a nonlinear programming problem and is solved using a specialized interior point method, The algorithm still incorporates an additional strategy of local search that enables the finding of a group of quality solutions after small alterations in the optimization strategy. Proposed solution methodology has been implemented and tested in known electric systems getting a satisfactory outcome compared with metaheuristic methods.The tests carried out in electric systems known in specialized literature reveal the satisfactory outcome of the proposed algorithm compared with metaheuristic methods. (C) 2009 Elsevier Ltd. All rights reserved.

Uso de câmara úmida em enxertia convencional de maracujazeiro-amarelo sobre três porta-enxertos

A propagação do maracujazeiro através da enxertia poderá ser a solução para o controle de doenças do sistema radicular. Assim, com o objetivo de avaliar o desenvolvimento e a sobrevivência de plantas enxertadas de maracujazeiro-amarelo (Passiflora edulis Sims) em três porta-enxertos, utilizando-se de câmara úmida, instalou-se este experimento em um viveiro de mudas no município de Adamantina-SP, no período de dezembro de 2005 a abril de 2006. O delineamento experimental utilizado foi em blocos ao acaso, em esquema fatorial 3 x 2, com quatro repetições e 10 plantas/parcela. Os fatores avaliados foram três porta-enxertos (Passiflora edulis, P. alata e P. gibertii)em dois ambientes (com e sem câmara úmida). Foi utilizada a enxertia convencional pelo método de garfagem tipo fenda cheia. Avaliaram-se a sobrevivência e a altura dos enxertos, o diâmetro do caule do porta-enxerto e do enxerto, o número de folhas e a fitomassa seca da parte aérea e das raízes. Verificaram-se melhores resultados com os porta-enxertos P. edulis e P. gibertii, superiores ao P. alata em todas as variáveis estudadas. Os maiores índices de sobrevivência foram observados em P. edulis e P. gibertii, com 100% e 98,8%, respectivamente. Apesar de o P. alata ter-se mostrado inferior, é viável o uso deste material como porta-enxerto para o maracujazeiro-amarelo. O uso da câmara úmida favoreceu o pegamento dos enxertos em P. alata.

Efeitos da ligadura do ducto pancreático e da secção ductal com livre drenagem de secreções para o peritônio sobre as funções endócrina e exócrina do pâncreas: estudo clínico e laboratorial em coelhos

As ressecções pancreáticas seguidas de anastomoses acompanham-se de altas taxas de morbidade, que incluem: surtos de pancreatite e, principalmente, fístulas digestivas. Nos transplantes pancreáticos a drenagem da parte exócrina do enxerto para o intestino ou para a bexiga, além das peculiaridades técnicas, também não é isenta de diversas complicações. Visando evitar ou atenuar tais conseqüências e simplificar a técnica cirúrgica, têm sido usadas outras abordagens para o tratamento ductal do coto/enxerto pancreático, tais como: drenagem livre de secreções para o peritônio, com o ducto pancreático aberto, ligadura ductal e oclusão do ducto com polímeros sintéticos. OBJETIVO: O presente estudo visa avaliar clínica e laboratorialmente as funções endócrina e exócrina do pâncreas de coelhos com o ducto aberto e ligado. MÉTODOS: Foram realizadas 150 operações, divididas em 3 grupos: N - manipulação/controle (n=50), A - grupo aberto (n=50), e L - ligado (n=50). Os momentos de observação foram pré-operatório, dia 0 (dia da operação) e pós-operatório (observação e sacrifício): 7 dias, 14 dias, 28 dias, 90 dias e 180 dias. Os parâmetros analisados foram: estado geral, atividade, controles do peso corporal, ingestão hídrica, ingestão alimentar e dosagens da amilase sangüínea, glicemia, glicose urinária e insulina plasmática. RESULTADOS: Todos os grupos tiveram evolução clínica similar, com bom estado geral, ganho ponderal progressivo e valores normais da ingestão hídrica e ingestão alimentar. Exceto uma significativa elevação da amilase sangüínea nas primeiras 24-48h para os 2 grupos com interferência ductal, não houve qualquer alteração dos níveis basais da glicemia, glicosúria e insulinemia entre os 3 grupos experimentais, em todos os momentos de observação. CONCLUSÃO: À exceção da amilase sangüínea, cujos níveis basais foram significativamente elevados no 1º e 2º dias de pós-operatório, as duas modalidades técnicas de abordagem da secreção exócrina do pâncreas, utilizadas em coelhos, não determinaram quaisquer alterações clínicas, bem como dos níveis basais de glicose sangüínea, glicose urinária e insulina plasmática, durante 6 meses de seguimento.

Evolução tectono-estrutural do Campo de Xaréu (Sub-bacia de Mundaú, Bacia do Ceará - NE do Brasil: abordagem multiescala e pluriferramental

The Xaréu Oil Field, located in the center-southern portion of the Mundaú Sub-Basin (eastern portion of the Ceará Basin), is characterized by a main Iramework of NW-trending and NE-dipping faults. The faults in the Xaréu Oil Field, among which the Xaréu Fautt stands out, are arranged according to an extensional-listriclan, rooted on a detachment surface corresponding to the Mundaú Fault, the border fautt of Mundaú Sub-Basin. During the tectonic-structural evolution of the Xaréu Oil Field and the Mundaú Sub-Basin, the Mundaú Fault played a crucial role on the control of the geometry of both compartments. The main carbonatic unit in the Xaréu Oil Field, named the Trairí Member(Paracuru Formation of Late Aptian to Early Albian age), contains the largest oil volume in the field, concentrated in structurally-controlled accumulations. The Trairí Member is composed by a variety of carbonatic rocks (massive, bedded or laminated calcilutites, ostracodites, calcarenites and carbonatic rudites, all of them presenting variable degrees of dolomitization). The carbonatic rocks are interbedded into thick packages of black shales and marls, besides local beds of siliciclastic conglomerates, sandstones, siltnes and argillites. From the spatial association and the genetic relationships between the carbonatic and siliciclastic units, it is possible to group them in three lithofacies associations (Marginal Plain, Ramp and Lacustrine Interior) that, together, were developed in a lacustrine system associated to a marginal sabkha. Structural studies based on drill coresthat sample the Trairí Member in the Xaréu Oil Field allowed to characterize two generations of meso- to microscale structures: the D1 group presents a typical hydroplastic character, being characterized by intra/interstratal to oblique-bedding shear zones. The hydroplastic character related to these structures allowed to infer their development at an early-lithilication stage of the Trairí Member, leading to infer an Early Cretaceous age to them. The second group of structures identified in the drill cores, nominated D2 and ascribed to a Neogene age, presents a strictly brttle character, being typilied by normal faults and slickenfibers of re-crystallized clayminerals, ali olthem displaying variable orientations. Although the present faults in the Xaréu Oil Field (and, consequently, in the Mundaú Sub-Basin) were classically relerred as struetures of essentially normal displacement, the kinematics analysis of the meso-to microscaie D1 struetures in the drill cores led to deline oblique displacements (normal with a clockwise strike-slip component) to these faults, indicating a main tectonic transport to ENE. These oblique movements would be responsible for the installation of a transtensive context in the Mundaú Sub-Basin, as part of the transcurrent to translormant opening of the Atlantic Equatorial Margin. The balancing of four struetural cross-sections ofthe Xaréu Oil Field indicates that the Mundaú Fault was responsible for more than 50% of the total stretching (ß factor) registered during the Early Aptian. At the initial stages of the "rifting", during Early Aptianuntil the Holocene, the Mundaú Sub-Basin (and consequently the Xaréu Oil Fleld) accumulated a total stretching between 1.21 and 1.23; in other words, the crust in this segment of the Atlantic Equatorial Margin was subjeeted to an elongation of about 20%. From estimates of oblique displacements related to the faults, it ws possible to construct diagrams that allow the determination of stretching factors related to these displacements. Using these diagrams and assuming the sense 01 dominant teetonictransport towards ENE, it was possible to calculate the real stretching lactors related to the oblique movement 0 of the faults in the Mundaú Sub-Basin. which reached actual values between 1.28 and 1.42. ln addnion to the tectonic-structural studies in the Xaréu Oil Field, the interpretation of remote sensing products, coupled wnh characterization of terrain analogues in seleeted areas along the northern Ceará State (continental margins of the Ceará and Potiguar basins), provided addnional data and constraints about the teetonic-structural evolution of the oil lield. The work at the analogue sites was particularly effective in the recognition and mapping, in semidetail scale, several generations of struetures originated under a brittle regime. Ali the obtained information (from the Xaréu Oil Field, the remote sensor data and the terrain analogues) were jointly interpreted, culminating with the proposnion of an evolutionary model lor this segment of the Atlantic Equatorial Margin; this model that can be applied to the whole Margin, as well. This segmentof the Atlantic Equatorial Margin was delormedin an early E-W (when considered lhe present-day position of the South American Plate) transcurrent to transform regime with dextral kinematics, started Irom, at least, the Early Aptian, which left its record in several outcrops along the continental margin of the Ceará State and specilically in the Xaréu off Field. The continuous operation of the regime, through the Albian and later periods, led to the definitive separation between the South American and African plates, with the formation of oceanic lithosphere between the two continental blocks, due to the emplacement off spreading centers. This process involved the subsequent transition of the transcurrent to a translorm dextral regime, creating lhe Equatorial Atlantic Oceano With the separation between the South American and African plates already completed and the increasing separation between lhe continental masses, other tecton ic mechanisms began to act during the Cenozoic (even though the Cretaceous tectonic regime lasted until the Neogene), like an E-W compressive stress líeld (related to the spreading olthe oceanic floor along lhe M id-Atlantic Ridge and to the compression of the Andean Chain) effective Irom the Late Cretaceous, and a state of general extension olthe horizontal surface (due to the thermal uplift ofthe central portion of Borborema Province), effective during the Neogene. The overlap of these mechanisms during the Cenozoic led to the imprint of a complex tectonic framework, which apparently influenced the migration and entrapment 01 hydrocarbon in the Ceará Basin

O efeito da autocorrelação no desempenho do gráfico T2 de hotelling: caso bivariado

The chart of control of Hotelling T2 has been the main statistical device used in monitoring multivariate processes. Currently the technological development of control systems and automation enabled a high rate of collection of information of the production systems in very short time intervals, causing a dependency between the results of observations. This phenomenon known as auto correlation causes in the statistical control of the multivariate processes a high rate of false alarms, prejudicing in the chart performance. This entails the violation of the assumption of independence and normality of the distribution. In this thesis we considered not only the correlation between two variables, but also the dependence between observations of the same variable, that is, auto correlation. It was studied by simulation, the bi variate case and the effect of auto correlation on the performance of the T2 chart of Hotelling.

Tafonomia de tempestitos conchíferos amalgamados da formação Teresina em Rio Preto (Estado do Paraná, permiano médio, bacia do Paraná) e suas implicações paleoambientais

The deposits of the Permian Teresina Formation are mainly characterized by fi ne-grained siliciclastic rocks and centimetric intercalations of tempestites (bioclastic sandstones and coquinas). Despite the relevance of the bivalve-rich carbonate beds of the Teresina Formation to paleoenvironmental studies, their taphonomy is still poorly studied. The fossil concentration studied in this work was found in a quarry in the city of Irati, Rio Preto district, Parana State. The fossil concentration is located in the middle/upper portion of the unit, far from the top. The studied bed is a bioclastic, intraclastic, peloidal, grainstone/ packstone, with abundant bivalve shell fragments, pelitic and micritic intraclasts, peloids, rare ooids and oncoids, as well as permineralized of Lycophyta microphylles and fish scales. The grains of this carbonate concentration show: high degree of time-averaging, variable degree of packing (dense to disperse), no sorting and chaotic orientation. Notably, the concentration includes a mixture of elements which are indicative of: a) restrictive, low energy, carbonate environment (peloids, ooids and oncoids); b) subaerial environment surrounding the main body of water (Lycophyta microphylles) and c) quiet-water environment punctuated by storm events, where the suspension-feeding bivalves thrived. At least four depositional events caused by storm fl ows were recorded. The amalgamated nature of the bed is a result of storm events in an intracratonic basin with very low seafl oor slope and low rates of sedimentation and subsidence.

Hymenoptera marking technique

In true social hymenopterans, such as many species of bees, wasps and all species of ants, the main characteristics are the overlapping of generations, the care with the offspring and the division of labor among the members of the colony. The first biological feature means that in a same moment there are groups of individuals, with variable ages, that execute different activities in the colony. In order to study the division of labor among the members of the colony, or to estimate the life span of these insects, or even to analyze any kind of behavior in non-social insects, it is necessary to know the exact age of each individual. For this reason, the insects must be identified soon after emergence. The identification of insects with numbers is an important technological improvement in behavioral studies, mainly in honeybee colonies. The aim of this scientific note is to describe an easy and cheaper technique for marking hymenopterans.