Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Low-altitude, near-polar and near-circular orbits around Europa

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

Dinâmica sazional de fungos micorrízicos arbusculares (Glomeromycota) em cerradão e brejo de altitude na Chapada do Araripe, CE

Arbuscular mycorrhizal fungi (AMF) are obligatory symbiotic organisms that associate with roots of a large number of plant taxa, and are found in all terrestrial ecosystems. These fungi promote greater tolerance to environmental stresses to associated plant, favoring the establishment of plant communities, especially where soil fertility is a limiting factor, as in the Caatinga, an exclusively Brazilian domain that has been focus of research due to its great biodiversity that can help clarify the history of vegetation in South America. Because of the ecological importance of AMF, the limited number of jobs and the potential diversity of the Caatinga, this work aims to inventory the diversity and determine AMF communities in areas with different faces occurrent in FLONA Araripe, Ceará (CE). The sample collection occurred in four periods at the beginning and end of the dry season (August and December 2011, respectively) and rainy (February and June 2012, respectively) in an area of marsh and woodland altitude of the Araripe, Crato, CE. The glomerosporos were extracted by wet sieving and centrifugation in water and sucrose (50%) mounted between slide and coverslip using PVLG and PVLG + Reagent Melzer. In total, we found 46 species of AMF distributed in eight families and 16 genera: Acaulospora (6), Ambispora (1), Cetraspora (2), Dentiscutata (5), Fuscutata (2), Gigaspora (6), Glomus (13) Intraornatospora (1), Kuklospora (1), Orbispora (1), Paradentiscutata (1), Quatunica (1), Racocetra (1), Scutellospora (2), Septoglomus (2) and a new genus. analysis showed that ecological each area of study has its own seasonal dynamics, with an area of woodland with a greater diversity of species throughout the year, while the marsh elevation showed greater variation in species found among the collection periods, showing that vegetation and rainfall has strong influence on the seasonal dynamics of AMF, as well as the availability of nutrients and soil pH so

Altitude e coordenadas geográficas na estimativa da temperatura mínima média decendial do ar no estado do Rio Grande do Sul

O objetivo deste trabalho foi verificar, com dados de temperatura mínima média decendial do ar (Tm) de 41 municípios do Estado do Rio Grande do Sul, de 1945 a 1974, se a Tm pode ser estimada em função da altitude, latitude e longitude. Para cada um dos 36 decêndios do ano, realizaram-se análise de correlação, análise de trilha das variáveis causais - altitude, latitude e longitude - sobre o efeito Tm, e estimaram-se os parâmetros do modelo das equações de regressão linear múltipla, pelo método passo a passo, com teste para saída de variáveis, considerando Tm como variável dependente e altitude, latitude e longitude como variáveis independentes. Na validação dos modelos de estimativa da Tm, usou-se o coeficiente de correlação linear de Pearson, entre a Tm estimada e a Tm observada em dez municípios do Estado, com dados da série de observações meteorológicas de 1975 a 2004. A temperatura mínima média decendial do ar pode ser estimada pelas coordenadas geográficas em qualquer local e decêndio, no Estado do Rio Grande do Sul. A altitude e latitude explicam melhor a variação da Tm.

Seleção de clones de batata para microclimas de altitude no Planalto Central

Iniciou-se em 1986, em Anápolis, um programa de desenvolvimento de cultivares de batata adaptadas ao clima de altitude do Brasil Central, partindo-se de 15.000 genótipos, resultantes de 200 famílias obtidas pela Empresa Brasileira de Pesquisa Agropecuária (EMBRAPA) Hortaliças em 1985 e 1986. No primeiro ciclo, em 1986, foram selecionados 5.000 genótipos, considerando-se aspectos fenológicos, incidência de doenças, qualidade dos tubérculos e potencial de produção. Esses mesmos critérios foram adotados nas gerações posteriores, selecionando-se, anualmente, 15-20% de genótipos superiores. em 1990 avaliaram-se 52 destes clones, tendo como testemunhas as cultivares Achat e Bintje; Destes foram selecionados 28 clones promissores que foram submetidos à cultura de ápices caulinares e à indexação para os vírus PLRV, PVY e PVX na Empresa Brasileira de Pesquisa Agropecuária (EMBRAPA) Hortaliças. No período de 1995 a 1997 foram avaliados em Goiás, nos municípios de Anápolis, Morrinhos, Pirenópolis e Urutaí, e em Jaboticabal. Os dados foram submetidos à análise de variância, e aqueles referentes a 14 genótipos em 7 ambientes, à regressão pelo método de Eberhart & Russell. Os clones BAT 2, BAT 3, BAT 4, BAT 19, BAT 27 e BAT 28 destacaram-se entre os mais produtivos, considerando-se, também, as características de tubérculos para o consumo. Os genótipos responderam proporcionalmente à melhoria do ambiente. O clone BAT 19 foi o mais estável.

Correlação espacial entre a altitude e as precipitaç ões pluviométricas no estado de São Paulo

The rain occurrence is one of the most important phenomena to determinate the climate and, as most of the other climatic phenomena, shows a continuous spatial variability that can be detected through special geostatistical methods. Besides the great influence of the topographic relief on the specific climate of each region, it is normal to expect spatial correlations of this variable with the precipitations; the determinism of this correlation may help to elaborate more precise conclusions involving these phenomena. In this paper, the spatial variability of altitude and of the pluviometric precipitations was rigorously analyzed, besides the existing correlation between these variables. It was concluded that these variables show strong spatial dependence and they are directly correlated. The mapping of the occurrence of both the phenomena was done by geostatistical methods pased on the infomiation concerning the spatial variability of each one.

Climatic variables and altitude as predictors of anuran species richness and number of reproductive modes in Brazil

Because anuran species are highly dependent on environmental variables, we hypothesized that anuran species richness and the number of reproductive modes from different Brazilian localities vary according to climatic and altitudinal variables. Published data were compiled from 36 Brazilian localities and climatic and altitudinal data were extracted from an available database. A partial redundancy analysis (pRDA) showed that 23.5% of the data set's variation was explained by climatic and altitudinal data, while the remaining 76.5% remained unexplained. This analysis suggests that other factors not analysed herein may also be important for predicting anuran species richness and the number of reproductive modes in Brazil. Altitude and total annual rainfall were positively correlated with anuran species richness and the number of reproductive modes, and total annual rainfall was strongly associated with these two biotic variables in the triplot of pRDA. The positive association of total annual rainfall and the negative association of the concentration of annual rainfall were already expected based on physiological and reproductive requirements of anurans. On the other hand, temperature was not associated with richness or the number of reproductive modes. Copyright © 2010 Cambridge University Press.

Informe del Seminario Regional sobre Políticas Agrarias y Sobrevivencia Campesina en Ecosistemas de Altura = Report of the Regional Seminar on Agrarian Policies and Peasant Survival in High-Altitude Ecosystems

Conclusiones y recomendaciones del Seminario cuyo objetivo fue analizar los problemas del campesinado andino en ecosistemas de altura relacionados con la penetración del estilo de desarrollo predominante en Latinoamérica, resaltando los complejos influjos recíprocos entre la oferta ambiental de recursos, las particularidades de los distintos pisos ecológicos, las formas y sistemas de organización social, los cambios y tendencias de la situación ambiental, para recomendar políticas de desarrollo que sean opciones viables para resolver los problemas del campesino de esas áreas. Incluye lista de participantes y documentos presentados.

Fontes e doses de nitrogênio na adubação do capim-mombaça em cerrado de baixa altitude

Pós-graduação em Agronomia - FEIS

WHEAT NITROGEN FERTILIZATION UNDER NO TILL ON THE LOW ALTITUDE BRAZILIAN CERRADO

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Carbohydrate and glutamine supplementation modulates the Th1/Th2 balance after exercise performed at a simulated altitude of 4500 m

Objective: The aim of this study was to evaluate the effect of carbohydrate or glutamine supplementation, or a combination of the two, on the immune system and inflammatory parameters after exercise in simulated hypoxic conditions at 4500 m.Methods: Nine men underwent three sessions of exercise at 70% VO2(peak) until exhaustion as follows: 1) hypoxia with a placebo; 2) hypoxia with 8% maltodextrin (200 mL/20 min) during exercise and for 2 h after; and 3) hypoxia after 6 d of glutamine supplementation (20 g/d) and supplementation with 8% maltodextrin (200 mL/20 min) during exercise and for 2 h after. All procedures were randomized and double blind. Blood was collected at rest, immediately before exercise, after the completion of exercise, and 2 h after recovery. Glutamine, cortisol, cytokines, glucose, heat shock protein-70, and erythropoietin were measured in serum, and the cytokine production from lymphocytes was measured.Results: Erythropoietin and interleukin (IL)-6 increased after exercise in the hypoxia group compared with baseline. IL-6 was higher in the hypoxia group than pre-exercise after exercise and after 2 h recovery. Cortisol did not change, whereas glucose was elevated post-exercise in the three groups compared with baseline and pre-exercise. Glutamine increased in the hypoxia + carbohydrate + glutamine group after exercise compared with baseline. Heat shock protein-70 increased post-exercise compared with baseline and pre-exercise and after recovery compared with pre-exercise, in the hypoxia carbohydrate group. No difference was observed in IL-2 and IL-6 production from lymphocytes. IL-4 was reduced in the supplemented groups.Conclusion: Carbohydrate or glutamine supplementation shifts the T helper (Th)1/Th2 balance toward Th1 responses after exercise at a simulated altitude of 4500 m. The nutritional strategies increased in IL-6, suggesting an important anti-inflammatory effect. (C) 2014 Elsevier Inc. All rights reserved.

Otimização de altitude de vôo para aeronaves executivas para economia de combustível e tempo

This work approaches, in a simplified manner, the analysis of an aircraft’s trajectory through the 3 main flight phases, climb, cruise and descent, related to fuel consumption and elapsed time. From this analysis is developed a tool that aims optimize the flight planning operational procedure, providing an altitude that comply with fuel saving during the trip, or minimizes the trip time. The use of any altitude is an operator’s decision, that aims comply with their operational needs of each trip, getting the results provided by the tool as a primary approach to the flight profile that also bring up economics aspects of each possibility of decision to be taken. Since the aeronautical Market has singular problems, as the flight altitude optimization, there is the need to solutions very customized that many times can not attend every restriction for each operator and its related kind of operation. When we talk about executive aircrafts, is possible to note that its operators does not have enough engineering and logistic support, when compared to huge airlines companies, to analyze all exceptions of each singular operation, creating many times wastes that can be avoiding with a tool described herein in this work

Divergência genética entre diferentes populações de Ischnocnema holti (Anura, Brachycephalidae) nas áreas de altitude da Mata Atlântica

Entre os diferentes ambientes da Mata Atlântica as áreas de maior altitude são o hábitat de algumas espécies de anfíbios anuros. Tais espécies devem ser investigadas, pois ambientes montanhosos e acidentados podem propiciar barreiras à dispersão de diversos anuros, podendo fazer com que cada população passe por processos independentes de evolução, podendo levar à especiação. Ischnocnema holti é um exemplo de espécie que encontra-se em áreas de altitude da Mata Atlântica. Trabalhos anteriores revelam que há divergência genética entre amostras de diferentes localidades em que tal espécie habita, onde muitas vezes existe uma confusão de identificação com I. lactea. Este estudo utilizou marcadores moleculares para estimar a divergência genética entre as populações atribuídas à espécie em estudo nas diferentes áreas de altitude em que esta se encontra, buscando-se contribuir à compreensão de como barreiras geográficas por altitude poderiam interferir nos padrões de diversidade desta região, além de esclarecer o conflito de identificação. Dentro do complexo de espécies I. lactea/holti observou-se sete clados genéticos que podem ser novas espécies. Os resultados obtidos no presente trabalho sugerem que os espécimes incluídos no clado II correspondem à espécie Ischnocnema holti e sua distribuição restringe-se à parte alta da Serra do Itatiaia, no município de Itamonte, estado de Minas Gerais. Já os exemplares dos clados I, III, IV, V, VI e VII provavelmente não correspondem à espécie I. holti, fazendo-se necessária uma maior amostragem para estabelecer em definitivo as relações e os limites específicos neste complexo de espécies. Para melhor entendimento deste complexo é necessária uma revisão taxonômica, sendo indispensáveis estudos com base em aspectos morfológicos, bioacústicos, ecológicos e genéticos... (Resumo completo, clicar acesso eletrônico abaixo)

Desempenho técnico e econômico de forrageiras tropicais em sistema integrado de produção no cerrado de baixa altitude

Pós-graduação em Agronomia - FEIS

Produção e qualidade de silagens de sorgo em sistema de integração lavoura-pecuária no cerrado de baixa altitude

Pós-graduação em Agronomia - FEIS