Nonlinear control system applied to atomic force microscope including parametric errors

The performance of the optimal linear feedback control and of the state-dependent Riccati equation control techniques applied to control and to suppress the chaotic motion in the atomic force microscope are analyzed. In addition, the sensitivity of each control technique regarding to parametric uncertainties are considered. Simulation results show the advantages and disadvantages of each technique. © 2013 Brazilian Society for Automatics - SBA.

Control design applied to a non-ideal structural system with behavior chaotic

In this paper we study the behavior of a structure vulnerable to excessive vibrations caused by an non-ideal power source. To perform this study, the mathematical model is proposed, derive the equations of motion for a simple plane frame excited by an unbalanced rotating machine with limited power (non-ideal motor). The non-linear and non-ideal dynamics in system is demonstrated with a chaotic behavior. We use a State-Dependent Riccati Equation Control technique for regulate the chaotic behavior, in order to obtain a periodic orbit small and to decrease its amplitude. The simulation results show the identification by State-Dependent Riccati Equation Control is very effective. © 2013 Academic Publications, Ltd.

Fenômenos não-lineares, incluindo-se os não-ideias, em captura de energia utilizando-se dispositivos piezoelétricos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Caos e controle de microviga em balanço de um microscópio de força atômica, operando em modo intermitente, na ressonância

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise higiênico-sanitária da carne do caranguejo-uçá (Ucides cordatus) beneficiada em dois municípios litorâneos do Estado do Pará

Entre os produtos de origem animal o caranguejo é tido como um dos alimentos mais susceptíveis ao processo de deterioração devido à sua composição química específica, atividades de enzimas autolíticas e ao pH próximo da neutralidade. Além destes fatores intrínsecos relacionados ao crustáceo, o processo de extração de suas carnes é realizado, na grande maioria das vezes, em condição higiênico-sanitária insatisfatória, ocasionando, assim um alto teor de contaminação destas. Com objetivo de analisar a qualidade microbiológica, microscópica e parasitológica da carne de caranguejo comercializada em dois municípios do Estado do Pará (São Caetano de Odivelas e Bragança), foram pesquisadas 30 amostras da carne adquiridas dos catadores, nos seus pontos de catação. Na análise microbiológica, observou-se presença, em níveis elevados, de coliformes fecais e Staphylococcus aureus, em ambos os municípios, entretanto a Salmonella sp (S. panama: sorogrupo D) foi detectada somente em Bragança/Vila de Caratateua. Ressalta-se que grande parte dos pontos de catação apresentou suas amostras fora dos padrões legais vigentes na atual legislação brasileira, seja em relação aos coliformes fecais, Staphylococcus aureus e/ou Salmonella sp. A análise microscópica revelou constante presença de sujidades (lasca de madeira, fibra e semente de origem vegetal, pêlo humano, larva e excremento de inseto). Contudo, a análise parasitológica foi negativa para a detecção de cistos de protozoários (E. histolytica/E. díspar e G. lamblia). Os resultados revelam a precariedade das condições higiênico-sanitárias das amostras pesquisadas, indicando desta forma a necessidade de ser criado, por parte das autoridades competentes, um registro do Ministério da Agricultura e Secretaria da Agricultura do estado, para que o beneficiamento e a comercialização deste produto sejam feitos de acordo com as normas sanitárias vigentes.

Os direitos humanos de acessibilidade e locomoção das pessoas com necessidades especiais: a realidade paraense, com ênfase em Belém/PA

Aborda a problemática enfrentada, diuturnamente, pelas pessoas com necessidades especiais, frente às barreiras arquitetônicas, nos edifícios destinados ao uso público e nos meios de transporte coletivo, bem como diante da falta de equipamentos e elementos do mobiliário urbano acessíveis. Utiliza dados censitários acerca das referidas pessoas. Analisa essa problemática sob o enfoque dos direitos humanos. Enfatiza a imprescindibilidade de eliminação das referidas barreiras ou de serem adaptadas. Demonstra como o assunto é tratado no plano internacional e como está substanciado em normas constitucionais nacionais e estaduais, nas leis orgânicas municipais e na legislação infraconstitucional específica nos níveis federal, estadual e municipal, bem assim em normas técnicas. Aponta a precariedade das estruturas físico-ambientais, principalmente no município de Belém, Estado do Pará. Contém propostas para a efetividade das normas de acessibilidade e locomoção das aludidas pessoas e a concreção desses direitos humanos.

Tm-afm nonlinear motion control with robustness analysis to parametric errors in the control signal determination

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Nonlinear control in an electromechanical transducer with chaotic behaviour

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Nonlinear dynamics and control strategies: On a energy harvester vibrating system with a linear form to non-ideal motor torque

In this paper, we deal with the research of a vibrating model of an energy harvester device, including the nonlinearities in the model of the piezoelectric coupling and the non-ideal excitation. We show, using numerical simulations, in the analysis of the dynamic responses, that the harvested power is influenced by non-linear vibrations of the structure. Chaotic behavior was also observed, causing of the loss of energy throughout the simulation time. Using a perturbation technique, we find an approximate analytical solution for the non-ideal system. Then, we apply both two control techniques, to keep the considered system, into a stable condition. Both the State Dependent Ricatti Equation (SDRE) control as the feedback control by changing the energy of the oscillator, were efficient in controlling of the considered non-ideal system.

Dinâmica e controle de um sistema Maglev simplificado

Pós-graduação em Engenharia Mecânica - FEIS

SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Suppression of vibrations in a nonlinear half-car model using a magneto-rheological damper

The present work investigates the nonlinear response of a half-car model. The disturbances of the road are assumed to be sinusoidal. After constructing the bifurcation diagram, we use the 0-1 test to identify chaotic motions. The main objective of this study is to eliminate chaotic behavior of the chassis and reduce its vibrations. To accomplish this, a semi-active vehicle suspension control system, using magneto-rheological dampers, is proposed. The proposed semi-active control strategy consists of two nonlinear control laws: a feedforward control, and a feedback control. They are obtained by considering the SDRE (State Dependent Riccati Equation) control, where the control parameter is the voltage applied to the coils of the magneto-rheological dampers. Numerical results show that the proposed control method is effective in significantly reducing of the chassis vibration, increasing, therefore, passenger comfort.

Preventing chaotic motion in tapping-mode atomic force microscope

During the last 30 years the Atomic Force Microscopy became the most powerful tool for surface probing in atomic scale. The Tapping-Mode Atomic Force Microscope is used to generate high quality accurate images of the samples surface. However, in this mode of operation the microcantilever frequently presents chaotic motion due to the nonlinear characteristics of the tip-sample forces interactions, degrading the image quality. This kind of irregular motion must be avoided by the control system. In this work, the tip-sample interaction is modelled considering the Lennard-Jones potentials and the two-term Galerkin aproximation. Additionally, the State Dependent Ricatti Equation and Time-Delayed Feedback Control techniques are used in order to force the Tapping-Mode Atomic Force Microscope system motion to a periodic orbit, preventing the microcantilever chaotic motion

Chaos control and sensitivity analysis of a double pendulum arm excited by an RLC circuit based nonlinear shaker

In this paper the dynamical interactions of a double pendulum arm and an electromechanical shaker is investigated. The double pendulum is a three degree of freedom system coupled to an RLC circuit based nonlinear shaker through a magnetic field, and the capacitor voltage is a nonlinear function of the instantaneous electric charge. Numerical simulations show the existence of chaotic behavior for some regions in the parameter space and this behaviour is characterized by power spectral density and Lyapunov exponents. The bifurcation diagram is constructed to explore the qualitative behaviour of the system. This kind of electromechanical system is frequently found in robotic systems, and in order to suppress the chaotic motion, the State-Dependent Riccati Equation (SDRE) control and the Nonlinear Saturation control (NSC) techniques are analyzed. The robustness of these two controllers is tested by a sensitivity analysis to parametric uncertainties.

Enhanced Expression of Heme Oxygenase-1 and Carbon Monoxide Excitatory Effects in Oxytocin and Vasopressin Neurones During Water Deprivation

A growing body of evidence indiates that carbon monoxide (CO) acts as a gas neurotransmitter within the central nervous system. Although CO has been shown to affect neurohypophyseal hormone release in response to osmotic stimuli, the precise sources, targets and mechanisms underlying the actions of CO within the magnocellular neurosecretory system remain largely unknown. In the present study, we combined immunohistochemistry and patch-clamp electrophysiology to study the cellular distribution of the CO-synthase enzyme heme oxygenase type 1 (HO-1), as well as the actions of CO on oxytocin (OT) and vasopressin (VP) magnocellular neurosecretory cells (MNCs), in euhydrated (EU) and 48-h water-deprived rats (48WD). Our results show the expression of HO-1 immunoreactivity both in OT and VP neurones, as well as in a small proportion of astrocytes, both in supraoptic (SON) and paraventricular (PVN) nuclei. HO-1 expression, and its colocalisation with OT and VP neurones within the SON and PVN, was significantly enhanced in 48WD rats. Inhibition of HO activity with chromium mesoporphyrin IX chloride (CrMP; 20 mu m) resulted in a slight membrane hyperpolarisation in SON neurones from EU rats, without significantly affecting their firing activity. In 48WD rats, on the other hand, CrMP resulted in a more robust membrane hyperpolarisation, significantly decreasing neuronal firing discharge. Taken together, our results indicate that magnocellular SON and PVN neurones express HO-1, and that CO acts as an excitatory gas neurotransmitter in this system. Moreover, we found that the expression and actions of CO were enhanced in water-deprived rats, suggesting that the state-dependent up-regulation of the HO-1/CO signalling pathway contributes to enhance MNCs firing activity during an osmotic challenge.