Speed Control of an Autonomous Mobile Robot: Comparison between a PID Control and a Control Using Fuzzy Logic

An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.

Simulation of Active Control Using Fuzzy Logic Applied to a Pulse Combustor

This work analyzes an active fuzzy logic control system in a Rijke type pulse combustor. During the system development, a study of the existing types of control for pulse combustion was carried out and a simulation model was implemented to be used with the package Matlab and Simulink. Blocks which were not available in the simulator library were developed. A fuzzy controller was developed and its membership functions and inference rules were established. The obtained simulation showed that fuzzy logic is viable in the control of combustion instabilities. The obtained results indicated that the control system responded to pulses in an efficient and desirable way. It was verified that the system needed approximately 0.2 s to increase the tube internal pressure from 30 to 90 mbar, with an assumed total delay of 2 ms. The effects of delay variation were studied. Convergence was always obtained and general performance was not affected by the delay. The controller sends a pressure signal in phase with the Rijke tube internal pressure signal, through the speakers, when an increase the oscillations pressure amplitude is desired. On the other hand, when a decrease of the tube internal pressure amplitude is desired, the controller sends a signal 180º out of phase.

Key factors in transforming university internationalization into commercial activity in Finland. Case of University of Turku

Globalization, developments in ICT, emergence of knowledge society and other changes have reformed the environment for international higher education during the past few decades. Consequently, higher education sector has moved towards more marketing-oriented system, and universities have started to undertake commercial activities as part of their internationalization. This development has emerged to Finland as well, which forms the basis for this study. The purpose is to examine commercialization in Finnish university landscape and to investigate the ways Finnish university could capitalize its international activities and educational knowledge for export. The research question of the study is: What are the key factors in transforming university internationalization into commercial activity in the Finnish university landscape? The main problem is further divided into three sub-questions: 1) How can a university internationalize; 2) what are the motivational factors behind university internationalization and commercialization; and 3) how can higher education be developed into export services and products? The research was conducted as a qualitative case study of University of Turku. Methods used for gathering and examining data were interviewing and document analysis. Primary data was collected through four individual semi-structured interviews, which were conducted face-to-face. Secondary data that included reports, articles and electronic materials such as university web pages, was used to complement the primary data. The results were analyzed by theming the data into three broader categories of internationalization activities; drivers and motivations and; education export activities. After the data was organized in themes, analysis continued by comparing different parts of data and finding patterns that would explain the phenomenon in Finnish universities. According to the empirical data, University of Turku is currently on the growth state of internationalization with strategies such as internationalization of curriculum, establishment of international research groups, mobility of students and academics, international networking and support services. Commercialization phenomenon is still rather new to the case university, but it has already developed educational products and services for export. The study concludes that university internationalization cannot be directly transformed into commercial activities in the Finnish context, but the universities need to be active in actually creating educational products. The key factors found in this study include: 1) the Finnish government policies behind the current hype of export education; 2) the potential and knowledge capacity of universities for exports; 3) need for additional profits; 4) further internationalization through commercial activities; 5) recognizing and exploiting the specific areas of strength and 6) establishing of cooperative partnerships for better products.

Phenolics of the Inner Bark of Silver Birch: Characterization and Intraspecific Variation

This thesis describes work related to the in-depth characterization of the phenolic compounds of silver birch (Betula pendula) inner bark. Phenolic compounds are the most ubiquitous class of plant secondary compounds. The unifying feature of this structurally diverse group is an aromatic ring containing at least one hydroxyl group. Due to the structural diversity, phenolics have various roles in the plant defense against biotic and abiotic stresses. In addition, they can confer several health-promoting properties to humans. Furthermore, the structural diversity of this class of compounds causes challenges for their analysis. The study species in the present work, silver birch, is economically the most important hard wood species in northern Europe. Its inner bark contains a high level of phenolic compounds and it has shown one of the strongest antioxidant activities among 92 Finnish plant materials. The literature review surveys the diversity and organ specific distribution of phenolic compounds in silver birch as well as the proposed ecological functions of phenolic compounds in nature. In addition, the basis for the characterization of phenolics by mass spectrometry (MS), nuclear magnetic resonance spectroscopy (NMR), and circular dichroism spectroscopy (CD) are reviewed. The objective of the experimental work was to extract, purify, characterize, and quantify the inner bark phenolic compounds. Overall 36 compounds were characterized by MS and ultraviolet spectroscopy (UV). 24 compounds were isolated and their structures confirmed by NMR and CD spectroscopy. Five novel natural compounds were identified. Special emphasis was placed on the establishment of a method for the characterization of proanthocyanidins (PAs). Hydrophilic interaction liquid chromatography (HILIC) was utilized because of its high resolution power and predictable elution order of oligomeric and polymeric PAs according to an increasing degree of polymerization. The combination of HILIC and high-resolution MS detection allowed the identification of procyanidin (PC) polymers up to the degree of polymerization of 22. In addition, a series of oligomeric and polymeric PC monoxylosides were observed for the first time in nature. Season and genotype influenced the quantities of the main inner bark phenolics, yet qualitative differences were not observed. However, manual wounding of the inner bark induced the production of ellagitannins (ETs) in the wounded tissues, i.e. callus. Since ETs were not detected in the intact inner bark, this finding may reflect the capacity of silver birch to exploit ellagitannins in its defense.

Potential utilization ways of recovered chemical products from digestate

The study evaluates the potential application of chemical substances, obtained from biogas plants` by-products. Through the anaerobic digestion process with biogas the large amount of digestate is produced. This digestate mainly consists on the organic matter with the high concentration of nutrients such as nitrogen and phosphorus. During ammonia stripping and phosphorus precipitation the products- ammonia water, ammonium sulfate, ammonium nitrate, ferrous phosphate, aluminum phosphate, calcium phosphate and struvite can be recovered. These chemicals have potential application in different industrial sectors. According to Finnish market and chemicals properties, the most perspective industrial applications were determined. Based on the data, obtained through the literature review and market study, the ammonia water was recognized as a most perspective recovered substances. According to interview provided among Finnish companies, ammonia water is used for flue gas treatment in SNCR technology. This application has a large scale in the framework of Finnish industrial sectors. As well nitrogen with phosphorous can be used as a source of nutrients in the biological wastewater treatment plants of paper mills.

Sistema de classificação fuzzy para o risco de infestação por plantas daninhas considerando a sua variabilidade espacial

Este artigo trata do problema de classificação do risco de infestação por plantas daninhas usando técnicas geoestatísticas, análise de imagens e modelos de classificação fuzzy. Os principais atributos utilizados para descrever a infestação incluem a densidade de sementes, bem como a sua extensão, a cobertura foliar e a agressividade das plantas daninhas em cada região. A densidade de sementes reflete a produção de sementes por unidade de área, e a sua extensão, a influência das sementes vizinhas; a cobertura foliar indica a extensão dos agrupamentos das plantas daninhas emergentes; e a agressividade descreve a porcentagem de ocupação de espécies com alta capacidade de produção de sementes. Os dados da densidade de sementes, da cobertura foliar e da agressividade para as diferentes regiões são obtidos a partir de simulação com modelos matemáticos de populações. Neste artigo propõe-se um sistema de classificação fuzzy utilizando os atributos descritos para inferir os riscos de infestação de regiões da cultura por plantas daninhas. Resultados de simulação são apresentados para ilustrar o uso desse sistema na aplicação localizada de herbicida.

Weed community and growth under the canopy of trees adapted to the brazilian semi-arid region

The objectives of this work were to evaluate the floristic composition and dry biomass of weeds under the canopy of seven perennial species adapted to the Semi-Arid region of Brazil, and correlate these characteristics with growth traits of the perennial species. The following perennial species were evaluated in two experiments (E1 and E2): mesquite (Prosopis juliflora), jucá (Caesalpinia ferrea), white popinac (Leucaena leucocephala), mofumbo (Combretum leprosum), neem (Azadirachata indica), sabiá (Mimosa caesalpiniaefolia) and tamarind (Tamarindus indica). In E1, the seven species were evaluated in a random block design with four replicates and nine plants per plot. In E2, evaluation comprised four species (mesquite, jucá, white popinac, and tamarind) in a random block design with eight replicates and nine plants per plot. A circle with an area of 1.77 m² was established around the trunk of each plant, two years after they were transplanted to the permanent location. The weeds collected within this circle were cut even with the ground, classified and weighed. At this time, plant height, and crown and stem diameters were evaluated in all trees of each plot. In E1 there were no differences between tree species as to weed frequency under their canopies; however, weed growth was smaller under the canopy of sabiá trees. Mesquite and sabiá had the greatest plant height and crown diameter means, but only sabiá had the greatest stem diameter. In E2, the perennial species were not different with regard to weed frequency and growth under their canopies, but mesquite had the greatest growth, as measured by plant height (with significant results for jucá as well) and crown and stem diameter.

Russian SME technology transfer to Finland – Entrepreneurial challenges and motivation

The purpose of this thesis is to study the international technology transfer of transition economy SME entrepreneurs to the developed countries. The research aims to characterize the phenomenon by studying Russian SME technology transfer to Finland with the research methods from case studies. In addition to characterizing the phenomenon, the research finds out factors that motivate Russian entrepreneurs to conduct international technology transfer and what are the challenges the Russian entrepreneurs face when they enter the Finnish business environment. The qualitative data was collected from six semi-structured interviews with the entrepreneurs and several secondary data sources, considering four different technology transfer cases. The data and the analysis showed that the case companies in Finland are mostly linked to manufacturing of physical products. The entrepreneurs are motivated to come to Finland mainly by the opportunities and support the Finnish business and innovation environment provides to the entrepreneurs and by the personal gain that they get by establishing the company in Finland. Major challenges in the process include time constraints and capital requirements, difficulties on achieving sales on the Finnish market and finding skilled personnel to support the Russian management and owners.

Fuzzy ontology for knowledge mobilisation and decision support

A growing concern for organisations is how they should deal with increasing amounts of collected data. With fierce competition and smaller margins, organisations that are able to fully realize the potential in the data they collect can gain an advantage over the competitors. It is almost impossible to avoid imprecision when processing large amounts of data. Still, many of the available information systems are not capable of handling imprecise data, even though it can offer various advantages. Expert knowledge stored as linguistic expressions is a good example of imprecise but valuable data, i.e. data that is hard to exactly pinpoint to a definitive value. There is an obvious concern among organisations on how this problem should be handled; finding new methods for processing and storing imprecise data are therefore a key issue. Additionally, it is equally important to show that tacit knowledge and imprecise data can be used with success, which encourages organisations to analyse their imprecise data. The objective of the research conducted was therefore to explore how fuzzy ontologies could facilitate the exploitation and mobilisation of tacit knowledge and imprecise data in organisational and operational decision making processes. The thesis introduces both practical and theoretical advances on how fuzzy logic, ontologies (fuzzy ontologies) and OWA operators can be utilized for different decision making problems. It is demonstrated how a fuzzy ontology can model tacit knowledge which was collected from wine connoisseurs. The approach can be generalised and applied also to other practically important problems, such as intrusion detection. Additionally, a fuzzy ontology is applied in a novel consensus model for group decision making. By combining the fuzzy ontology with Semantic Web affiliated techniques novel applications have been designed. These applications show how the mobilisation of knowledge can successfully utilize also imprecise data. An important part of decision making processes is undeniably aggregation, which in combination with a fuzzy ontology provides a promising basis for demonstrating the benefits that one can retrieve from handling imprecise data. The new aggregation operators defined in the thesis often provide new possibilities to handle imprecision and expert opinions. This is demonstrated through both theoretical examples and practical implementations. This thesis shows the benefits of utilizing all the available data one possess, including imprecise data. By combining the concept of fuzzy ontology with the Semantic Web movement, it aspires to show the corporate world and industry the benefits of embracing fuzzy ontologies and imprecision.

Herbicide detection in groundwater in Córrego Rico-SP watershed

Due to the large amount of pesticides applied in agriculture, mainly herbicides, there is a growing concern about a possible environmental contamination with these products, including water bodies. Given the above, the aim of the present work was to detect and quantify herbicides through multiresidue analysis in water samples collected in semi-artesian wells and springs in a rural area of the city of Jaboticabal (SP). Samples were collected from 32 wells and 13 water springs, in three different seasons: October 2010, February 2011 and May 2011. Additionally, samples at a residence in the urban area were also collected. Analysis using high performance liquid chromatography coupled to mass spectrometry was performed and herbicides ametryn, amicarbazone, clomazone, diclosulan, diuron, hexazinone, imazapic, imazapyr, isoxaflutole, S-metolachlor, sulfentrazone, sulfometuron-methyl, and tebuthiuron were evaluated. In semi-artesian wells, an incresed quantity of herbicides was found in comparison with the water springs. Among the tested herbicides, hexazinone, imazapyr and sulfentrazone were detected in measurable amounts in accordance with the analytical method applied, while clomazone was the most common herbicide being detected in more than 60% of the samples. Ametryn, diuron and amicarbazone herbicides were also detected. Diclosulan, imazapic, isoxaflutole, S-metolachlor, sulfometuron-methyl, and tebuthiuron were not detected in any sample. Inappropriate use of these products without prior knowledge of the behavior of the soil can lead to groundwaters and water springs contamination, thus an ongoing monitoring of this resource becomes very important.

Structure and dynamics of a woody plant community of a tropical semi-deciduous seasonal forest in the "Estação Ecológica do Panga", municipality of Uberlândia, Minas Gerais, Brazil

Studies of plant community dynamics are essential in understanding the demographic patterns of species since changes in demographic rates can affect the floristic composition and future structure. The purpose of the present study was to analyze the changes in the community structure and floristic composition of woody plants in a tropical semi-deciduous forest in Uberlândia in central Brazil, during a 10-years period. The data were collected in 1989 and in 2000 in 50 quadrats (10 m x 10 m) where all trees with a minimum circumference at breast height of 10 cm were sampled. In 1989, 93 species and 1103 individuals were registered. Over a period of 10 years, seven new species were added to the community, although eight disappeared. The main change that occurred during this period in the floristic composition was the replacement of savannah species occurring in forest gaps by those from the forest understory.

Ontogeny and structure of the pericarp and the seed coat of Miconia albicans (Sw.) Triana (Melastomataceae) from " cerrado" , Brazil

Miconia albicans fruit and seed coat ontogeny were described under light microscope. The samples were fixed in formalin-aceto-alcohol (FAA), neutral-buffered formaldehyde solution (NBF) and formalin-ferrous sulphate (FFS) solutions, embedded in plastic resin, sectioned at 10 µm and stained with Toluidine Blue. Specific dyes and/or reagents were used for the microchemical tests. The ovary is semi-inferior and the indehiscent, fleshy globose berries are originated mainly from the development of the inferior portion of the ovary. The immature pericarp is mainly parenchymatous with some sclereids, druse crystal and phenolic-like compounds idioblasts widespread in the mesocarp. In the mature pericarp, the endocarp cells are often collapsed, the mesocarp is thick with cells more or less turgid, and the sclereids, the druses and the phenolic-like compound idioblasts are almost absent. The ovules are anatropous, bitegmic and crassinucellate, and the zig-zag micropyle is formed by both the exostome and the endostome. The mature seed is pyramidal-elongated in shape, exalbuminous and testal. The raphal part occupies about 40% of the seed coat total length and had the mechanical layer derived from its inner layer. The antiraphal side is non-multiplicative and the exotesta, mesotesta and endotesta are differentiated into a sclerotic layer, with the exotesta being the mechanical one. The tegmen is absent.

Target audience and message alignment for integrated marketing communication of luxury products: entering the Chinese market

The purpose of this study is to identify opportunities to match marketing communication message strategies with the target audience characteristics in the Chinese luxury market entry context. Therefore, consumer behaviour and psychographic marketing segmentation fields are being reviewed in a holistic view in order to identify the similarities and connection points. Through the analysis of the messages in advertisements placed in a certain luxury and fine living magazine, message creation strategies are being anticipated.

Comportamento fenológico de três espécies de Jatropha (Euphorbiaceae) da Caatinga, semi-árido do Brasil

O comportamento fenológico vegetativo e reprodutivo de Jatropha mollissima (Pohl) Baill., Jatropha mutabilis (Pohl) Baill. e Jatropha ribifolia (Pohl) Baill. foi comparado em uma área de caatinga hiperxerófila arbustiva-arbórea do nordeste brasileiro, no período de julho de 2005 a junho de 2007. Adicionalmente, investigou-se a correlação entre as fenofases e as variáveis abióticas (temperatura, umidade relativa, precipitação e fotoperíodo), a capacidade de armazenamento de água e o padrão de distribuição espacial. Todas as espécies apresentaram alta capacidade de armazenamento de água e comportamento fenológico contínuo e irregular com ausência de flores, frutos, queda foliar e brotamento nos meses mais frios e úmidos do ano. Apenas a floração de J. ribifolia apresentou correlação significativa com a precipitação. As três espécies apresentaram populações com distribuição agregada, favorecida principalmente devido ao processo de dispersão de sementes por autocoria. Os resultados obtidos indicam que a alta capacidade de armazenamento de água pelas espécies garante a ocorrência dos eventos fenológicos mesmo na ausência de chuvas.

The genus Stachybotrys (anamorphic fungi) in the semi-arid region of Brazil

(The genus Stachybotrys (anamorphic fungi) in the semi-arid region of Brazil). Stachybotrys is characterized by macronematous, mononematous, unbranched or branched conidiophores, with discrete terminal and phialidic conidiogenous cells, and aseptate, reniform, ellipsoidal to spherical, smooth or verrucose conidia, which are produced in a slimy mass. Eight species have been reported from Brazil, occurring in the soil, air and leaf litter. During investigation of conidial fungi on decaying leaf litter in semi-arid areas of Brazil nine species were found: S. bisbyi (Sriniv.) G.L. Barron, S. chartarum (Ehrenb.) S. Hughes, S. globosa P. C. Misra & S. K. Srivast., S. kampalensis Hansf., S. longispora Matsush., S. nephrospora Hansf., S. nilagirica Subram., Stachybotrys parvispora S. Hughes and S. verrucispora Matsush. Stachybotrys nilagirica is a new record from Brazil. Descriptions, comments, geographic distribution and illustrations are presented for above mentioned species. A key for all species recorded in semi-arid region of Brazil is presented.