The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Ocorrência de Listeria spp. e de Listeria monocytogenes, em um matadouro-frigorífico de bovinos do estado de São Paulo

We evaluated the presence of Listeria spp. and Listeria monocytogenes in environmental samples by means of swabs collected the bovine slaughter plant enabled to export, located in the state of Sao Paulo, Brazil. After the pre-enrichment at 30±1°C for 22 to 26h the samples were analyzed using the BAX System Listeria. Those positive for Listeria spp. were submitted a second PCR reaction to confirm the presence of Listeria monocytogenes. From 411 environmental samples analyzed, 62 (15.1%) were positive for Listeria spp. and 21 (5.1%) for Listeria monocytogenes, which showed their persistence in the slaughter plant. There were no statistical differences between the rainy and dry periods and between areas sampled, although it has been found between sectors. The floor surface and the sector cuts have higher rates of positivity.

Características da anatomia foliar e da deposição de gotas de pulverização em plantas daninhas aquáticas

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Esterilização de materiais termossensíveis através de aplicação de plasma gerado por descarga com barreira dielétrica (DBD)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Modelos geoestatísticos espaço-tempo aplicados a dados pluviométricos no oeste do Estado de São Paulo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Classificação de níveis de desgaste de dressadores de ponta única utilizando sinais de emissão acústica e redes neurais artificiais

Pós-graduação em Engenharia Elétrica - FEB

Parâmetros espaço temporais da marcha e inter-relação com equilíbrio e força muscular isométrica de tornozelos em diabéticos com neuropatia periférica

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação da distribuição da pressão plantar e equilíbrio de diabéticos neuropatas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Mobilidade funcional em indivíduos com paralisia cerebral espástica

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)