On the numerical integration of rigid body nonlinear dynamics in presence of parameters singularities

One of the main complexities in the simulation of the nonlinear dynamics of rigid bodies consists in describing properly the finite rotations that they may undergo. It is well known that, to avoid singularities in the representation of the SO(3) rotation group, at least four parameters must be used. However, it is computationally expensive to use a four-parameters representation since, as only three of the parameters are independent, one needs to introduce constraint equations in the model, leading to differential-algebraic equations instead of ordinary differential ones. Three-parameter representations are numerically more efficient. Therefore, the objective of this paper is to evaluate numerically the influence of the parametrization and its singularities on the simulation of the dynamics of a rigid body. This is done through the analysis of a heavy top with a fixed point, using two three-parameter systems, Euler's angles and rotation vector. Theoretical results were used to guide the numerical simulation and to assure that all possible cases were analyzed. The two parametrizations were compared using several integrators. The results show that Euler's angles lead to faster integration compared to the rotation vector. An Euler's angles singular case, where representation approaches a theoretical singular point, was analyzed in detail. It is shown that on the contrary of what may be expected, 1) the numerical integration is very efficient, even more than for any other case, and 2) in spite of the uncertainty on the Euler's angles themselves, the body motion is well represented.

Identification of flexural stiffness parameters of beams

A three degree of freedom model of the dynamic mass at the middle of a test sample, resembling a Stockbridge neutraliser, is introduced. This model is used to identify the hereby called equivalent complex cross section flexural stiffness (ECFS) of the beam element which is part of the whole test sample. This ECFS, once identified, gives the effective cross section flexural stiffness of the beam as well as its effective damping, measured as the loss factor of an equivalent viscoelastic beam. The beam element of the test sample may be of any complexity, such as a segment of stranded cable of the ACSR type. These data are important parameters for the design of overhead power transmission lines and other cable structures. A cost function is defined and used in the identification of the ECFS. An experiment, designed to measure the dynamic masses of two test samples, is described. Experimental and identified results are presented and discussed.

Identification of Flexural Stiffness Parameters of Beams

A three degree of freedom model of the dynamic mass at the middle of a test sample, resembling a Stockbridge neutraliser, is introduced. This model is used to identify the hereby called equivalent complex cross section flexural stiffness (ECFS) of the beam element which is part of the whole test sample. This ECFS, once identified, gives the effective cross section flexural stiffness of the beam as well as its effective damping, measured as the loss factor of an equivalent viscoelastic beam. The beam element of the test sample may be of any complexity, such as a segment of stranded cable of the ACSR type. These data are important parameters for the design of overhead power transmission lines and other cable structures. A cost function is defined and used in the identification of the ECFS. An experiment, designed to measure the dynamic masses of two test samples, is described. Experimental and identified results are presented and discussed.

The Effects of Fibroblast Growth Factor 8b on Reproductive Organs and Prostate Tumorigenesis

Fibroblast growth factors (FGFs) are involved in the development and homeostasis of the prostate and other reproductive organs. FGF signaling is altered in prostate cancer. Fibroblast growth factor 8 (FGF8) is a mitogenic growth factor and its expression is elevated in prostate cancer and in premalignant prostatic intraepithelial neoplasia (PIN) lesions. FGF8b is the most transforming isoform of FGF8. Experimental models show that FGF8b promotes several phases of prostate tumorigenesis - including cancer initiation, tumor growth, angiogenesis, invasion and development of bone metastasis. The mechanisms activated by FGF8b in the prostate are unclear. In the present study, to examine the tumorigenic effects of FGF8b on the prostate and other FGF8b expressing organs, an FGF8b transgenic (TG) mouse model was generated. The effect of estrogen receptor beta (ERβ) deficiency on FGF8binduced prostate tumorigenesis was studied by breeding FGF8b-TG mice with ERβ knockout mice (BERKOFVB). Overexpression of FGF8b caused progressive histological and morphological changes in the prostate, epididymis and testis of FGF8b-TG-mice. In the prostate, hyperplastic, preneoplastic and neoplastic changes, including mouse PIN (mPIN) lesions, adenocarcinomas, sarcomas and carcinosarcomas were present in the epithelium and stroma. In the epididymis, a highly cancer-resistant tissue, the epithelium contained dysplasias and the stroma had neoplasias and hyperplasias with atypical cells. Besides similar histological changes in the prostate and epididymis, overexpression of FGF8b induced similar changes in the expression of genes such as osteopontin (Spp1), connective tissue growth factor (Ctgf) and FGF receptors (Fgfrs) in these two tissues. In the testes of the FGF8b-TG mice, the seminiferous epithelium was frequently degenerative and the number of spermatids was decreased. A portion of the FGF8b-TG male mice was infertile. Deficiency of ERβ did not accelerate prostate tumorigenesis in the FGF8b-TG mice, but increased significantly the frequency of mucinous metaplasia and slightly the frequency of inflammation in the prostate. This suggests putative differentiation promoting and anti-inflammatory roles for ERβ. In summary, these results underscore the importance of FGF signaling in male reproductive organs and provide novel evidence for a role of FGF8b in stromal activation and prostate tumorigenesis.

Optimization of parameters for fiber laser-MAG hybrid welding in shipbuilding applications

The Arctic region becoming very active area of the industrial developments since it may contain approximately 15-25% of the hydrocarbon and other valuable natural resources which are in great demand nowadays. Harsh operation conditions make the Arctic region difficult to access due to low temperatures which can drop below -50 °C in winter and various additional loads. As a result, newer and modified metallic materials are implemented which can cause certain problems in welding them properly. Steel is still the most widely used material in the Arctic regions due to high mechanical properties, cheapness and manufacturability. Moreover, with recent steel manufacturing development it is possible to make up to 1100 MPa yield strength microalloyed high strength steel which can be operated at temperatures -60 °C possessing reasonable weldability, ductility and suitable impact toughness which is the most crucial property for the Arctic usability. For many years, the arc welding was the most dominant joining method of the metallic materials. Recently, other joining methods are successfully implemented into welding manufacturing due to growing industrial demands and one of them is the laser-arc hybrid welding. The laser-arc hybrid welding successfully combines the advantages and eliminates the disadvantages of the both joining methods therefore produce less distortions, reduce the need of edge preparation, generates narrower heat-affected zone, and increase welding speed or productivity significantly. Moreover, due to easy implementation of the filler wire, accordingly the mechanical properties of the joints can be manipulated in order to produce suitable quality. Moreover, with laser-arc hybrid welding it is possible to achieve matching weld metal compared to the base material even with the low alloying welding wires without excessive softening of the HAZ in the high strength steels. As a result, the laser-arc welding methods can be the most desired and dominating welding technology nowadays, and which is already operating in automotive and shipbuilding industries with a great success. However, in the future it can be extended to offshore, pipe-laying, and heavy equipment industries for arctic environment. CO2 and Nd:YAG laser sources in combination with gas metal arc source have been used widely in the past two decades. Recently, the fiber laser sources offered high power outputs with excellent beam quality, very high electrical efficiency, low maintenance expenses, and higher mobility due to fiber optics. As a result, fiber laser-arc hybrid process offers even more extended advantages and applications. However, the information about fiber or disk laser-arc hybrid welding is very limited. The objectives of the Master’s thesis are concentrated on the study of fiber laser-MAG hybrid welding parameters in order to understand resulting mechanical properties and quality of the welds. In this work only ferrous materials are reviewed. The qualitative methodological approach has been used to achieve the objectives. This study demonstrates that laser-arc hybrid welding is suitable for welding of many types, thicknesses and strength of steels with acceptable mechanical properties along very high productivity. New developments of the fiber laser-arc hybrid process offers extended capabilities over CO2 laser combined with the arc. This work can be used as guideline in hybrid welding technology with comprehensive study the effect of welding parameter on joint quality.

Vegetative and reproductive development of Costa Rican weedy rice compared with commercial rice (Oryza sativa)

The variability in the chronology of the vegetative and reproductive development of weedy rice complex has been little studied. However, a field trial was established to study the timing of growth stages of sixteen weedy rice morphotypes and five rice varieties of Costa Rica. Weedy rice presented a wide range of variation for all descriptors among and within morphotypes. Weedy rice was taller than the rice varieties during vegetative phase and showed a growth increase of 14-23 cm every two weeks. Six morphotypes emerged earlier than commercial rice varieties, but no differences where found between samples for the time required for starting tillering. Early emergence of weedy rice morphotypes was not associated with early flowering, thus no correlation was detected between the vegetative and reproductive phases. All weedy rice morphotypes reached anthesis and maturity earlier than the rice varieties. Nevertheless, varieties Setesa-9 and CR-5272 overlapped anthesis with eleven morphotypes and variety CR-4338 overlapped flowering with eight weedy rice morphotypes. In contrast, none of the morphotypes overlapped anthesis with varieties CR-1821 and CR-1113. The results obtained showed the competitive capacity of weedy rice and provided valuable information about flowering overlap between weedy rice morphotypes and rice varieties which will be useful in the design of gene flow studies among them.

Glyphosate influence on the physiological parameters of Conyza bonariensis biotypes

The objective of this study was to determine changes in gas exchange and inhibition of EPSPs, based on the accumulation of shikimic acid in horseweed biotypes resistant and sensitive to glyphosate. Two experiments were conducted in a factorial model. The first one evaluated horseweed biotypes (one resistant and one susceptible to glyphosate), and herbicide rates (0 and 1,080 g a.e. ha ¹) applied on the weed. In the second experiment, the horseweed biotypes (susceptible and resistant to glyphosate) were evaluated in five periods as following: 0, 3, 7, 10, and 14 days after herbicide application (DAH). The photosynthetic rate, transpiration, carboxylation efficiency, and water efficiency were determined using an infrared gas analyzer (IRGA), and shikimic acid concentration by HPLC. The application of glyphosate damaged the photosynthetic parameters of the susceptible biotype, causing complete inhibition of the photosynthetic rate, transpiration rate, carboxylation efficiency and water use efficiency, starting from the 7 DAH. On the other hand, total inhibition of the photosynthetic parameters was not observed for the resistant biotype. Shikimic acid accumulation occurred in both biotypes after glyphosate application but the susceptible biotype had the highest concentrations, indicating greater sensitivity of the enzyme EPSPs. The accumulation of shikimic acid in the resistant biotype indicates that the mechanism of resistance is not related to the total insensitivity of the enzyme EPSPs to glyphosate and/or that other resistance mechanisms may be involved.

Behavior of RR soybeans subjected to different formulations and rates of glyphosate in the reproductive period

Recent studies indicate that glyphosate applied in post-emergence in RR soybean can eventually cause phytotoxic effects. However, there are many questions that need to be clarified in the scientific and technical contexts, involving the issue of RR soybeans regarding the use of glyphosate. This study has assessed the impact of the application of different doses and formulations of glyphosate in the reproductive period of RR soybean (R1 stage). For that purpose, an experiment in the field was conducted in two harvests (2011/12 and 2012/13), in which a 2 x 5 factorial design was used (formulations versus doses) totaling 10 treatments. In these two experiments the variables related to agronomic performance were: phytotoxicity (7, 14, 21 and 28 days after application), plant height, number of pods per plant, yield and weight of 100 grains (end of soy cycle). The results obtained allowed characterizing phytotoxicity and damages to the height and yield in RR soybean, with increasing rates of glyphosate applied in the reproductive period.

Effects of ester fractions from leaf epicuticular waxes of Bauhinia rufa (Steud.) Bong. and Stryphnodendron adstringens (Mart.) Coville from cerrado on the aphid Rhopalosiphum maidis (Fitch.)

(Effects of ester fractions from leaf epicuticular waxes of Bauhinia rufa (Steud.) Bong. and Stryphnodendron adstringens (Mart.) Coville from the cerrado on the aphid Rhopalosiphum maidis (Fitch.)). Ester fractions were isolated from the leaf epicuticular waxes of Bauhinia rufa (Steud.) Bong. and Stryphnodendron adstringens (Mart.) Coville collected in the Cerrado de Emas (Pirassununga, SP, Brazil). The bioassays of toxicity and reproductive index were carried out with esters from these species and the aphid Rhopalosiphum maidis (Fitch.). It was observed that the ester fractions from Bauhinia rufa and Stryphnodendron adstringens had a negative effect on the survival of Rhopalosiphum maidis. The ester fraction from Stryphnodendron adstringens also had a negative effect on the reproductive index of the aphid. These parameters decreased with the increase of ester concentration of artificial diets.

Reproductive biology of the protandrous Ferdinandusa speciosa Pohl (Rubiaceae) in Southeastern Brazil

A study of the floral biology and the breeding system of Ferdinandusa speciosa Pohl (Rubiaceae) was carried out from March to September 1996 in Uberlândia, MG, central Brazil. This species is a shrub or small tree that occurs in swampy edges of gallery forests. The two studied populations flowered somewhat asynchronously from March to July. The tubular flowers are red, approximately 4.7 cm long and last for two days. They are protandrous and the pollen is available one day before the stigma becomes receptive. The beginning of anthesis and the opening of the stigmatic lips occur at dusk. The nectar is secreted during both the male and the female phases, with concentration of sugars greater in the male phase. The flowers are pollinated by two hummingbird species, Chlorostilbon aureoventris and Phaethornis pretrei. Ferdinandusa speciosa is a self-compatible, non-apomictic species, with low fruit production under natural conditions in the populations studied. No differences were found between fruit set of self- and cross-pollinated flowers, nor in the pollen tube growth rate in the pistils of these flowers. The seeds formed by cross-pollination are larger, heavier and show a higher percentage of germination than those formed by self-pollination, which indicates inbreeding depression. This result suggests that, although the species is self-compatible, cross-pollination may be advantageous.

Reproductive biology of Pseudolaelia corcovadensis Porto & Brade (Orchidaceae): melittophyly and self-compatibility in a basal Laeliinae

The floral biology, mating systems and phenology of Pseudolaelia corcovadensis (Orchidaceae), in the "Estação de Pesquisa e Desenvolvimento Ambiental de Peti", São Gonçalo do Rio Abaixo, Minas Gerais state was studied. This species flowers from April to September, with a higher availability of flowers in June and July. The flowers are dark-pink, strongly zygomorphic, and have osmophores and nectar-guides absorbing ultraviolet light. However, the flowers of P. corcovadensis do not present nectar and are pollinated by Bombus (Fervidobombus) atratus Franklin, 1913 (Hymenoptera: Apidae) by deceit. Apparently, the flowers do not form a model-mimic pair with other species in the community, but mimic a generalized melittophilous food-flower. As a consequence, visits are very rare and fruit set is low (18%). Pseudolaelia corcovadensis is self-compatible and presents inbreeding depression in the early stages of development. The phylogenetic position of the genus Pseudolaelia and studies on floral biology in related genera suggest that melittophyly and self-compatibility are basal characters in the subtribe Laeliinae, with subsequent adaptive radiation to pollination by hummingbirds, Lepidoptera, Diptera and other Hymenoptera.

Chlorophyll fluorescence parameters in populations of two legume trees: Stryphnodendron adstringens (Mart.) Coville (Mimosoideae) and Cassia ferruginea (Schrad.) Schrad. ex DC. (Caesalpinoideae)

The aim of this study was to investigate the photosynthetic performance in populations of two legume tree species, Stryphnodendron adstringens (Mimosoideae), typical from Cerrado, and Cassia ferruginea (Caesalpinoideae) from the Atlantic Rain Forest. The photosynthetic traits were assessed by measures of chlorophyll fluorescence in progenies of naturally pollinated plants from three populations of S. adstringens and a population of C. ferruginea. Plants of S. adstringens growing under similar conditions of C. ferruginea plants demanded higher light values for photosynthesis saturation, 600 µmol.m-2.s-1 and 350 µmol.m-2.s-1 respectively, and showed higher intrinsic photosynthetic efficiency of photosystem II, Fv/Fm of 0.814 versus 0.783 in C. ferruginea. The highest values of Fv/Fm observed in S. adstringens can explain the highest electron transport rates (ETR) obtained for this species. No significant differences were found among progenies from different C. ferruginea trees nor among populations of S. adstringens, and only in few cases, variation among progenies within populations were found for S. adstringens plants. The fact that fluorescence parameters distinguished species but not populations or most of progenies may be related to low intraspecific genetic variation of these chlorophyll fluorescence traits or due to lack of expression on genetic differences in plants under no stressful conditions.

Juvenile dynamics of the endemic and rare Enterolobium glaziovii Benth. (Mimosaceae) around reproductive trees in the Atlantic forest, Brazil

Studies on the regeneration and seedling mortality of rare tree species are important, but scarce. The aim of this study was to investigate the annual variation in recruitment, growth and mortality of juveniles of Enterolobium glaziovii Benth., a rare tree species from the Brazilian Atlantic Rain Forest. All seedlings and juveniles around four reproductive trees were labeled and their fate was followed from 1996 to 1999. There were no annual differences in juveniles' recruitment below and beyond the parental crown, but juveniles' survival and growth were lower below than beyond of the parental tree crowns. Small individuals (< 15 cm tall) showed the greatest mortality and the lowest growth, followed by medium (from 15 to 50 cm tall) and large ones (> 50 cm tall). Large juveniles were more widely dispersed from the conspecific parental tree than were medium and small ones. This suggests that distance dependent mortality of juveniles mediated by the parental tree is an important cause of spacing shifts associated with the growth of small individuals of E. glaziovii into large ones. Widely dispersed juveniles may escape the high mortality associated with pathogens, herbivores or seed predators concentrated around adult conspecifics. The negative influence of the parental tree on its juveniles may explain the sparse distribution of its adults in the forest.

Reproductive phenology, pollination and seed dispersal syndromes on sandstone outcrop vegetation in the "Chapada Diamantina", northeastern Brazil: population and community analyses

Vegetation on rock outcrops in the "Chapada Diamantina" (soil islands) is often aggregated and surrounded by nude rock surfaces, thus creating natural units with well defined limits. The flowering and fruiting cycles of plants on 58 soil islands at altitudes between 1,100 and 1,140 meters above sea leavel were analyzed at Mãe Inácia Peak (12°27' S and 41°28' W) in the "Chapada Diamantina", Bahia, Brazil. The presence/absence of flowering and fruiting species on each soil island, and their respective cover areas were analyzed at both the population and community levels, and the phenophases of flowering and fruiting were observed during 24 successive months. The analyses of pollination and seed dispersal syndromes indicated that animals are more important in pollination than in seed dispersal (which is predominantly by anemochory and autochory). The flowering and fruiting of plants with animal pollination syndromes were correlated with rainfall and temperature. The flowering season varied during the year according to the pollination syndrome involved: entomophily was predominant from summer through autumn, ornithophily was predominant during winter, and anemophily in the spring. The staggered timing of flowering and fruiting among different species provides a nearly continuous supply of resources for the local fauna.

Reproductive phenology of Melocactus (Cactaceae) species from Chapada Diamantina, Bahia, Brazil

This paper discusses the phenological strategies of Melocactus glaucescens Buining & Brederoo, M. paucispinus G. Heimen & R. Paul, M. ernestii Vaupel and M. ×albicephalus Buining & Brederoo, species from Chapada Diamantina, northeastern Brazil. Melocactus glaucescens, M. ernestii and M. ×albicephalus occur sympatrically in an area of "caatinga"/"cerrado" vegetation, and M. paucispinus in an area of "cerrado"/"campo rupestre". The superposition of flowering in these sympatric taxa was compared and analyzed. The phenology of M. paucispinus was correlated with both abiotic and biotic factors. Flowering of M. glaucescens and M. ×albicephalus were observed to be continuous (though with moderate peaks of activity), while fruiting was sub-annual. Melocactus ernestii exhibited an annual pattern of both flowering and fruiting; while in M. paucispinus the same patterns were sub-annual. These sympatric taxa showed 40% overlap of flowering periods, reaching to more than 50% in paired combinations of taxa, considering both the number of specimens flowering, as well as the quantity of resources being offered. Available information indicates that these taxa share pollinators, but phenological data rejects the hypothesis of shared pollinators and supports the hypothesis of hybridization in the study area. Rainfall was negatively correlated with flowering in M. paucispinus, but positively correlated with fruiting. Flowering of M. paucispinus in dry periods of the year avoids that erect flowers positioned in terminal cephalium, exposed in open areas of the vegetation, be damaged for the rains, while fruiting in rainy periods can be favorable to the dispersion and germination of this species.