Nonlinear ball and beam control system identification

The Ball and Beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closed-loop control techniques. The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. The modeling process normally uses the lagrangean formulation. However, many other nonlinear effects, such as non-viscous friction, beam flexibility, ball slip, actuator elasticity, collisions at the end of the beam, to name a few, are present. Besides that, the system is naturally unstable. In this work, we analyze a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction). Also, we consider collisions at the ends of the beam, the actuator consists of a (rubber made) belt attached at the free ends of the beam and connected to a DC motor. The model becomes, with those nonlinearities, a differential inclusion system. The elastic coefficients of the belt are experimentally identified, as well as the collision coefficients. The nonlinear behavior of the system is studied and a control strategy is proposed.

Aprimoramento da sistemática U-Pb através do método de traços de fissão e técnicas de caracterização: termocronologia da faixa Brasília e sua correlação com a bacia do Paraná

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Caracterização petrográfica estrutural e metamorfica das rochas da região de Indiara (GO)

The region Indiara (GO) is located in southwestern of São Francisco Craton in the Internal Zone of the Brasília Belt, western part of the Tocantins Province. In this locality outcrop rocks of the Goiás Magmatic Arc. These rocks are muscovite gneiss with biotite, muscovite-biotite gneiss, biotite gneiss with muscovite and garnet, biotite-muscovite gneiss, muscovite porfiroclastic gneiss, biotite porfiroclastic gneiss, muscovite-quartz schists, garnetquartz schists, and metamafic rock (hornblende schists) as metric or kilometric lenses. The gneisses have granodioritic composition, granoblastic texture, with some portions with lepidoblastic texture, constituting a discontinuous centimeter to millimeter banding; the structure is anisotropic, marked by the preferred orientation of all the minerals. These gneisses are leucocratic, generally are inequigranular and fine to medium grained. The hornblende schists have nematoblastic texture, are inequigranular and fine to medium grained and have anisotropic structure that is given by a foliation, marked by a strong preferential orientation of the crystals of amphibole and other minerals present in the rock. The gneisses of the area are composed of plagioclase (oligoclase/andesine), quartz, microcline, muscovite, biotite, epidote, apatite, zircon, garnet, kyanite, oxides and hydroxides of iron and opaque minerals. And the metamafic rocks of Indiara region are composed mainly of amphibole, plagioclase (oligoclase/andesine), quartz, titanite, biotite, allanite, garnet, oxides and hydroxides of iron, apatite, epidote, rutile, muscovite and opaque minerals. At least three phases of deformation were observed in the rocks of area of study (Dn-1, Dn and Dn +1). The Dn phase and represented by a well-marked foliation Sn having low dip angle (average dip of 20 °) and dip direction to SW (210/21) and to NE (18/20); the Dn-1 phase is represented by a compositional banding (Sn- 1), this banding is generally...

Rochas calciossilicáticas e feldspáticas na região de Castro Alves e Rafael Jambeiro (BA)

The towns of Castro Alves and Rafael Jambeiro, central-east of Bahia state, are located in the east of São Francisco Craton, in granulite terrains of Salvador-Curaçá Belt, formed in Paleoproterozoic. The region of study contains ortognaisses of Caraíba Complex, metamafic and metaultramafic rocks of São José do Jacuípe Suite, metasedimentary rocks of Tanque Novo-Ipirá Complex, granitoids, pegmatites and alkaline rocks. The study carried out regional and detailed geological mapping in addition to petrographical and geochemical characterization of six areas in the search for targets of feldspar and white diopside, minerals used in ceramic industry. The areas consist of granitic ortognaisses interspersed with lenses of mafic granulite rocks, calc-silicate rock, banded iron formations, paragnaisses, quartzites, and bodies of quartz-feldspar or feldspar pegmatites and alkaline rocks that fill discontinuities. The region of study contains four deformations phases, with a predominance of ductile structures. The foliation Sn has N30E to N70W direction, high angle of dip and is characterized by compositional banding of granoblastic and felsic bands interspersed with nematoblastic or lepidoblastic mafic bands. A mineral or stretching lineation Ln is associated with Sn and has trend of S55E to S72E. The rocks have been suffered a regional metamorphism with granulite facies peak and partial retrogression to greenschist facies. Geochemical studies indicate that the green coloring calc-silicate rocks have lower SiO2, MgO and higher Fe2O3 content compared with white calcssilicate rocks. The alkaline rocks of the studied area have higher Na2O, SiO2 and lower K2O, Fe2O3 content compared with others Paleoproterozoic alkaline rocks of Bahia state. The targets of diopside are associated with white calc-silicate rocks, while the targets of feldspar are associated with paragnaisses, pegmatites and alkaline rocks

Bioatividade de derivados de Annonaceae sobre Helicoverpa armigera (Hübner, 1808) (Lepidoptera: Noctuidae)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estudo diagnóstico e taxonômico de cochonilhas (Hemiptera: Coccoidea) associadas às plantas cítricas no estado de Sâo Paulo, Brasil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

RB32-270 A Seven Year Study of a Milk Supply

The amount of butter produced by the grain-belt states is evidence that a great many cows are milked by the midwestern farmer. Most of this milk is separated on the farm, the cream is sold, and the skimmilk is fed to hogs and other livestock. As the market for fluid milk has developed, many farmers near the cities have turned to the sale of milk, because it affords a better return for the butterfat sold. Much of the milk produced for sale as fluid milk is produced under practically the same conditions as milk which is produced primarily for the same of cream. The Department of Dairy Husbandry of the University of Nebraska, in conducting its instructional and investigational work, comes in contact with the milk producer. An effort has been made, therefore, to study the relation of milk quality to farm conditions as found among the milk producers or patrons who have delivered milk to the department. The study was carried on in an effort to find possible ways of bettering the conditions without upsetting the economic balance existing between the production of cream and fluid milk.

Nebraska’s Virtual Corn Suitability Rating

Corn Suitability ratings have been used for many years in other parts of the Corn Belt as an agronomic measure of soil productivity, and in turn, some correlation with associated cropland values. For example, in Iowa the Corn Suitability Rating (CSR) is used extensively as a measure of soil productivity across regions and counties, and even down to parcel levels. Google on Iowa CSR, and you will find weighted average CSRs for each county, as well as private firms offering detailed analysis of CSR for any parcel of land in the state. The intent is to provide an index (between 5 and 100) of potential yields for row crop production.

An ice machine adapted into an autonomous photovoltaic system without batteries using a variable-speed drive

The adaptation of a commercially available ice machine for autonomous photovoltaic operation without batteries is presented. In this adaptation a 1040 W(p) photovoltaic array directly feeds a variable-speed drive and a 24 V(dc) source. The drive runs an induction motor coupled by belt-and-pulley to an open reciprocating compressor, while the dc source supplies a solenoid valve and the control electronics. Motor speed and refrigerant evaporation pressure are set aiming at continuously matching system power demand to photovoltaic power availability. The resulting system is a simple integration of robust, standard, readily available parts. It produces 27 kg of ice in a clear-sky day and has ice production costs around US$0.30/kg. Although a few machine features might be specific to Brazil, its technical and economical guidelines are applicable elsewhere. Copyright (C); 2010 John Wiley & Sons, Ltd.

Permian non-marine bivalves of the Falkland Islands and their palaeoenvironmental significance

We describe the occurrence of non-marine bivalves in exposures of the Middle Permian (Capitanian) Brenton Loch Formation on the southern shore of Choiseul Sound, East Falklands. The bivalves are associated with ichnofossils and were collected from a bed in the upper part of the formation, within a 25 cm thick interval of dark siltstones and mudstones with planar lamination, overlain by massive sandstones. The shells are articulated, with the valves either splayed open or closed. At the top of the succession, mudstone beds nearly 1.5 m above the bivalve-bearing layers yielded well-preserved Glossopteris sp. cf. G. communis leaf fossils. The closed articulated condition of some shells indicates preservation under high sedimentation rates with low residence time of bioclasts at the sediment/water interface. However, the presence of specimens with splayed shells is usually correlated to the slow decay of the shell ligament in oxygen-deficient bottom waters. The presence of complete carbonized leaves of Glossopteris associated with the bivalve-bearing levels also suggests a possibly dysoxic-anoxic bottom environment. Overall, our data suggest that the bivalves were preserved by abrupt burial, possibly by distal sediment flows into a Brenton Loch lake, and may represent autochthonous to parautochthonous fossil accumulations. The shells resemble those of anthracosiids and are herein assigned to Palaeanodonta sp. aff. P. dubia, a species also found in the Permian succession of the Karoo Basin, South Africa. Our results confirm that (a) the true distributions in space and time of all Permian non-marine (freshwater) bivalves are not yet well known, and (b) there is no evidence for marine conditions in the upper part of the Brenton Loch Formation.

Ordovician klippen structures of the Sierra de Umango: New insights on Tectonic evolution of the Western Sierras Pampeanas, Argentina

The basement rock of the Pampean flat-slab (Sierras Pampeanas) in the Central Andes was uplifted and rotated in the Cenozoic era. The Western Sierras Pampeanas are characterised by meta-igneous rocks of Grenvillian Mesoproterozoic age and metasedimentary units metamorphosed in the Ordovician period. These rocks, known as the northern Cuyania composite terrane, were derived from Laurentia and accreted toward Western Gondwana during the Early Paleozoic. The Sierra de Umango is the westernmost range of the Western Sierras Pampeanas.This range is bounded by the Devonian sedimentary rocks of the Precordillera on the western side and Tertiary rocks from the Sierra de Maz and Sierra del Espinal on the eastern side and contains igneous and sedimentary rocks outcroppings from the Famatina System on the far eastern side. The Sierra de Umango evolved during a period of polyphase tectonic activity, including an Ordovician collisional event, a Devonian compressional deformation, Late Paleozoic and Mesozoic extensional faulting and sedimentation (Paganzo and Ischigualasto basins) and compressional deformation of the Andean foreland during the Cenozoic. A Nappe System and an important shear zone, La Puntilla-La Falda Shear Zone (PFSZ), characterise the Ordovician collisional event, which was related to the accretion of Cuyania Terrane to the proto-Andean margin of Gondwana. Three continuous deformational phases are recognised for this event: the D1 phase is distinguished by relics of 51 preserved as internal foliation within interkinematic staurolite por-phyroblasts and likely represents the progressive metamorphic stage; the D2 phase exhibits P-T conditions close to the metamorphic peak that were recorded in an 52 transposition or a mylonitic foliation and determine the main structure of Umango; and the D3 phase is described as a set of tight to recumbent folds with S3 axial plane foliation, often related to thrust faults, indicating the retrogressive metamorphic stage. The Nappe System shows a top-to-the S/SW sense direction of movement, and the PFSZ served as a right lateral ramp in the exhumation process. This structural pattern is indicative of an oblique collision, with the Cuyania Terrane subducting under the proto-Andean margin of Gondwana in the NE direction. This continental subduction and exhumation lasted at least 30 million years, nearly the entire Ordovician period, and produced metamorphic conditions of upper amphibolite-to-granulite facies in medium- to high-pressure regimes. At least two later events deformed the earlier structures: D4 and D5 deformational phases. The D4 deformational phase corresponds to upright folding, with wavelengths of approximately 10 km and a general N-S orientation. These folds modified the S2 surface in an approximately cylindrical manner and are associated with exposed, discrete shear zones in the Silurian Guandacolinos Granite. The cylindrical pattern and subhorizontal axis of the D4 folds indicates that the S2 surface was originally flat-lying. The D4 folds are responsible for preserving the basement unit Juchi Orthogneiss synformal klippen. This deformation corresponds to the Chanica Tectonic during the interval between the Devonian and Carboniferous periods. The D5 deformational phase comprehends cuspate-lobate shaped open plunging folds with E W high-angle axes (D5 folds) and sub-vertical spaced cleavage. The D5 folds and related spaced cleavage deformed the previous structures and could be associated with uplifting during the Andean Cycle. (C) 2012 Elsevier Ltd. All rights reserved.

Geochemistry and Pb-207/Pb-206 zircon ages of granitoids from the southern portion of the Tamboril-Santa Quiteria granitic-migmatitic complex, Ceara Central Domain, Borborema Province (NE Brazil)

The Tamboril-Santa Quiteria Complex is an important Neoproterozoic granitic-migmatitic unit from the Ceara Central Domain that developed from ca. 650 to 610 Ma. In general the granitoids range in composition from diorite to granite with predominance (up to 85%) of granitic to monzogranitic composition with biotite as the main mafic AFM phase. Geochemical and Pb-207/Pb-206 evaporation zircon geochronology studies were applied in a group of these abundant monzogranitic rocks from the region of Novo Oriente in the southern portion of the Ceara Central Domain. In this area the granitoids are weakly peraluminous biotite granitoids and deformed biotite granitoids of high-K calc-alkaline and ferroan composition, which we interpreted as primary magmas (segregated diatexites) derived from the partial melting of crustal material. The close temporal relation of this magmatism with local eclogitic and regional high temperature metamorphism in Ceara Central Domain point out to an orogenic setting, arguably emplaced during the collisional stage. Subordinate coeval juvenile mantle incursions are also present. This crustally derived magmatism is the primary product of the continental thickening that resulted from the collision between the rocks represented by the Amazonian-West African craton (Sao Luiz cratonic fragment) to the northwest and the Paleoproterozoic-Archean basement of the Borborema Province to the southeast along the Transbrasiliano tectonic corridor. (C) 2011 Elsevier Ltd. All rights reserved.

Postural adjustment after an unexpected perturbation in children with haemophilia

. Children with haemophilia often bleed inside joints and muscles, which may impair postural adjustments. These postural adjustments are necessary to control postural balance during daily activities. The inability to quickly recover postural balance could elevate the risk of bleeding. To determine whether children with haemophilia have impaired postural adjustment after an unexpected perturbation compared with healthy children. Twenty children with haemophilia comprised the haemophilic group (HG), and 20 healthy, age-paired children comprised the control group (CG). Subjects stood on a force plate, and 4% of the subjects body weight was applied via a pulley system to a belt around the subjects trunks. The centre of pressure (COP) displacement was measured after the weight was unexpectedly released to produce a controlled postural perturbation followed by postural adjustment to recover balance. The subjects postural adjustments in eight subsequent intervals of 1 s (t1t8), beginning with the moment of weight removal, were compared among intervals and between groups. The applied perturbation magnitudes were the same for both groups, and no difference was observed between the groups in t1. However, the COP displacement in t2 in the HG was significantly higher than in the CG. No differences were observed between the groups in the other intervals. Within-group analysis showed that the COP was higher in t2 than in t4 (P = 0.016), t5 (P = 0.001) and t8 (P = 0.050) in the HG. No differences were observed among intervals in the CG. Children with haemophilia demonstrated differences in postural adjustment while undergoing unexpected balance perturbations when compared with healthily children.

Petrogenesis of syntectonic granites emplaced at the transition from thrusting to transcurrent tectonics in post-collisional setting: Whole-rock and Sr-Nd-Pb isotope geochemistry in the Neoproterozoic Quatro Ilhas and Mariscal Granites, Southern Brazil

The Neoproterozoic post-collisional period in southern Brazil (650-580 Ma) is characterized by substantial volumes of magma emplaced along the active shear zones that compose the Southern Brazilian Shear Belt. The early-phase syntectonic magmatism (630-610 Ma) is represented by the porphyritic, high-K, metaluminous to peraluminous Quatro Ilhas Granitoids and the younger heterogranular, slightly peraluminous Mariscal Granite. Quatro II has Granitoids include three main petrographic varieties (muscovite-biotite granodiorite mbg; biotite monzogranite - bmz: and leucogranite - lcg) that, although sharing some significant geochemical characteristics, are not strictly comagmatic, as shown by chemical and Sr-Nd-Pb isotope data. The most primitive muscovite-biotite granodiorite was produced by contamination of more mafic melts (possibly with some mantle component) with peraluminous crustal melts; the biotite monzogranite, although more felsic, has higher Ca, MgO,TiO2 and Ba, and lower K2O, FeOt, Sr and Rb contents, possibly reflecting some mixing with coeval mafic magmas of tholeiitic affinity; the leucogranite may be derived from pure crustal melts. The Mariscal Granite is formed by two main granite types which occur intimately associated in the same pluton, one with higher K (5-6.5 wt.% K2O) high Rb and lower CaO, Na2O, Ba and Zr as compared to the other (3-5 wt.% of K2O). The two Mariscal Granite varieties have compositional correspondence with fine-grained granites (fgg) that occur as tabular bodies which intruded the Quatro Ilhas Granoitoids before they were fully crystallized, and are inferred to correspond to the Mariscal Granite feeders, an interpretation that is reinforced by similar U-Pb zircon crystallization ages. The initial evolution of the post-collisional magmatism, marked by the emplacement of the Quatro Ilhas Granitoids varieties, activated sources that produced mantle and crustal magmas whose emplacement was controlled both by flat-lying and transcurrent structures. The transition from thrust to transcurrent-related tectonics coincides with the increase in the proportion of crustal-derived melts. The transcurrent tectonics seems to have played an essential role in the generation of mantle-derived magmas and may have facilitated their interaction with crustal melts which seem to be to a large extent the products of reworking of orthogneiss protoliths. (C) 2012 Elsevier B.V. All rights reserved.

Complex, 3D strain patterns in a synkinematic tonalite batholith from the Aracuai Neoproterozoic orogen (Eastern Brazil): Evidence from combined magnetic and isotopic chronology studies

This work combines structural and geochronological data to improve our understanding of the mechanical behaviour of continental crust involving large amount of magma or partially melted material in an abnormally hot collisional belt. We performed a magnetic and geochronological (U/Pb) study on a huge tonalitic batholith from the Neoproterozoic Aracual belt of East Brazil to determine the strain distribution through space and time. Anisotropy of magnetic susceptibility, combined with rock magnetism investigations, supports that the magnetic fabric is a good proxy of the structural fabric. Field measurements together with the magnetic fabrics highlight the presence in the batholith of four domains characterized by contrasted magmatic flow patterns. The western part is characterized by a gently dipping, orogen-parallel (similar to NS) magmatic foliation that bears down-dip lineations, in agreement with westward thrusting onto the Sao Francisco craton. Eastward, the magmatic foliation progressively turns sub-vertical with a lineation that flips from sub-horizontal to sub-vertical over short distances. This latter domain involves an elongated corridor in which the magmatic foliation is sub-horizontal and bears an orogen-parallel lineation. Finally the fourth, narrow domain displays sub-horizontal lineations on a sub-vertical magmatic foliation oblique (similar to N150 degrees E) to the trend of the belt. U/Pb dating of zircons from the various domains revealed homogeneity in age for all samples. This, together with the lack of solid-state deformation suggests that: 1) the whole batholith emplaced during a magmatic event at similar to 580 Ma, 2) the deformation occurred before complete solidification. and 3) the various fabrics are roughly contemporaneous. The complex structural pattern mapped in the studied tonalitic batholith suggests a 3D deformation of a slowly cooling, large magmatic body and its country rock. We suggest that the development of the observed 3D flow field was promoted by the low viscosity of the middle crust that turned gravitational force as an active tectonic force combining with the East-West convergence between the Sao Francisco and Congo cratons. (C) 2012 Elsevier Ltd. All rights reserved.