Seletividade e eficiência agronômica de herbicidas no controle de capim-colchão na cultura da melancia

Foi avaliada a seletividade e a eficiência agronômica dos herbicidas clethodim e sethoxydim, no controle de Digitaria horizontalis (capim-colchão) na cultura da melancia (cv. Crimson Sweet). O experimento foi conduzido em campo, no município de Floresta, PR, em 1995/96, em delineamento de blocos ao acaso, com quatro repetições. Os tratamentos avaliados foram clethodim nas doses de 84; 96 e 108 g i.a./ha adicionado de 1,0 L/ha de óleo mineral (Dytrol), sethoxydim na dose de 230 g i.a./ha adicionado de 1,0 L/ha de óleo mineral (Assist) e testemunhas com e sem capina. Os herbicidas foram aplicados em pós-emergência, quando a melancia apresentava ramas com 1,4 m e a D. horizontalis em estádio de três folhas a três perfilhos e densidade de 240 plantas/m². Para a aplicação dos herbicidas utilizou-se pulverizador costal de pressão mantida por injeção de CO2, equipado com pontas de jato plano XR110.02 e volume de calda de 200 L/ha. As avaliações de seletividade (Escala E.W.R.C.) e controle das plantas daninhas (0 - 100%) foram efetuadas aos 7; 15 e 30 dias após aplicação dos tratamentos. Os resultados indicaram que o herbicida clethodim, a partir de 96 g i.a./ha, controlou eficientemente a D. horizontalis, sendo estatisticamente superior ao herbicida sethoxydim e à testemunha sem capina. Nenhum dos tratamentos químicos causou fitotoxicidade que afetasse o desenvolvimento e a produção da melancia. A D. horizontalis interferiu no desenvolvimento da cultura, causando redução média de 36,0% da produção da melancia.

Implementação de um sistema embarcado aplicado ao controle de pressão arterial

Hypertension is a dangerous disease that can cause serious harm to a patient health. In some situations the necessity to control this pressure is even greater, as in surgical procedures and post-surgical patients. To decrease the chances of a complication, it is necessary to reduce blood pressure as soon as possible. Continuous infusion of vasodilators drugs, such as sodium nitroprusside (SNP), rapidly decreased blood pressure in most patients, avoiding major problems. Maintaining the desired blood pressure requires constant monitoring of arterial blood pressure and frequently adjusting the drug infusion rate. Manual control of arterial blood pressure by clinical personnel is very demanding, time consuming and, as a result, sometimes of poor quality. Thus, the aim of this work is the design and implementation of a database of tuned controllers based on patients models, in order to find a suitable PID to be embedded in a Programmable Integrated Circuit (PIC), which has a smaller cost, smaller size and lower power consumption. For best results in controlling the blood pressure and choosing the adequate controller, tuning algorithms, system identification techniques and Smith predictor are used. This work also introduces a monitoring system to assist in detecting anomalies and optimize the process of patient care.

Enxertia em plantas de pimentão no controle da murcha de fitóftora em ambiente protegido

Avaliou-se a viabilidade de utilização da enxertia em plantas de pimentão (Capsicum annuum, L.), visando o controle da murcha de fitóftora. A pesquisa foi conduzida de setembro de 2000 a julho de 2001, na UNESP, Botucatu, em ambiente protegido. Adotou-se o delineamento experimental de blocos ao acaso, com 4 repetições e 5 plantas por parcela. Foram utilizados dois porta-enxertos resistentes a Phytophthora capsici, híbridos F1 de Capsicum annuum, e três híbridos comerciais suscetíveis (Elisa, Margarita e Magali-R). A enxertia foi realizada quando porta-enxertos e enxertos apresentavam respectivamente sete e três folhas verdadeiras, pelo método de garfagem fenda simples. Aos 14 dias após o transplante das mudas foi feita a inoculação do fungo, utilizando sementes de trigo infestadas pelo patógeno, depositadas ao redor do colo da planta. Quatro dias após a inoculação, e a partir daí a cada 15 dias, foram feitas avaliações que confirmaram a resistência dos porta-enxertos e a suscetibilidade das plantas não enxertadas. Observou-se bom nível de compatibilidade de enxertia em todas as combinações, precocidade de florescimento das plantas não enxertadas, manutenção de resistência à doença pelas plantas enxertadas durante todo o período e variações na altura das plantas em algumas combinações. Com relação à produção, verificou-se que os frutos mantiveram as características fenotípicas de cada híbrido, revelando que não houve interferência dos porta-enxertos neste aspecto. Concluiu-se haver viabilidade técnica de utilização da enxertia no controle da murcha de fitóftora em ambiente protegido.

Controle inteligente de pressão para uma rede sem reservatório de abastecimento urbano de água

The sanitation companies from Brazil has a great challenge for the XXI century: seek to mitigate the rate of physical waste (water, chemicals and electricity) and financial waste caused by inefficient operating systems drinking water supply, considering that currently we already face, in some cases, the scarcity of water resources. The supply systems are increasingly complex as they seek to minimize waste and at the same time better serve the growing number of users. However, this technological change is to reduce the complexity of the challenges posed by the need to include users with higher quality and efficiency in services. A major challenge for companies of water supplies is to provide a good quality service contemplating reducing expenditure on electricity. In this situation we developed a research by a method that seeks to control the pressure of the distribution systems that do not have the tank in your setup and the water comes out of the well directly to the distribution system. The method of pressure control (intelligent control) uses fuzzy logic to eliminate the waste of electricity and the leaks from the production of pumps that inject directly into the distribution system, which causes waste of energy when the consumption of households is reduced causing the saturation of the distribution system. This study was conducted at Green Club II condominium, located in the city of Parnamirim, state of Rio Grande do Norte, in order to study the pressure behavior of the output of the pump that injects water directly into the distribution system. The study was only possible because of the need we had to find a solution to some leaks in the existing distribution system and the extensions of the respective condominium residences, which sparked interest in developing a job in order to carry out the experiments contained in this research

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Algoritmos genéricos para otimização de uma arquitetura de controle inteligente híerárquico

A hierarchical fuzzy control scheme is applied to improve vibration suppression by using an electro-mechanical system based on the lever principle. The hierarchical intelligent controller consists of a hierarchical fuzzy supervisor, one fuzzy controller and one robust controller. The supervisor combines controllers output signal to generate the control signal that will be applied on the plant. The objective is to improve the performance of the electromechanical system, considering that the supervisor could take advantage of the different techniques based controllers. The robust controller design is based on a linear mathematical model. Genetic algorithms are used on the fuzzy controller and the supervisor tuning, which are based on non-linear mathematical model. In order to attest the efficiency of the hierarchical fuzzy control scheme, digital simulations were employed. Some comparisons involving the optimized hierarchical controller and the non-optimized hierarchical controller will be made to prove the efficiency of the genetic algorithms and the advantages of its use