Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor

To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)- Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.The authors would like to thank CEFET-MG and Leuphana University of L¨uneburg for their financial support.info:eu-repo/semantics/publishedVersio

Ambiente educacional multifuncional integrado para sintonia e avaliação do desempenho de malhas industriais de controle

Industrial processes as well as the production based on the philosophy of quality assurance demand controllers that work facilities with their finely parameters, independent of the load situations and disturbances. A lot has been spoken regarding the PID controllers tuning, however, still, most is used in way PI or they possess adjusted parameters in an inadequate way, fomenting, like this, a premature life of the actuators and other components of the system. The control theory already studies controllers with PID algorithm since the beginning of last century, and several works prove controller PID’s efficiency for the classic and advanced control. In spite of PID controller to be used and studied at a long time, the acting of industrial loops is not satisfactory in many of the cases. Several criteria and acting indexes exist (IAE, ITAE,ISE, ITSE, Harris Índex, time of stabilization, etc.) that allow to define the efficiency of a control loop. Comes in this work an environment multifunctional, developed in C++, platform C++Builder, for tuning and analysis of acting of simulated industrial processes or real processes. This environment can also be used in the training of actual plant technical staff.Processos industriais bem como meios de produção baseados na filosofia da qualidade total, exigem controladores que trabalhem com seus parâmetros sintonizados, independente das situações de carga e distúrbios. Muito se tem discutido a respeito da sintonia de controladores PID, porém, a maioria, ainda, é utilizada em modo PI ou possuem parâmetros ajustados de forma inadequada, conduzindo a uma vida prematura dos atuadores e outros componentes do sistema. A teoria de controle já estuda controladores com algoritmo PID desde o início do século passado, sendo que diversos trabalhos comprovam a eficiência deste controlador em estruturas de controle clássicos e avançados. Apesar do controlador PID ser utilizado e estudado há muito tempo, o desempenho de malhas industriais não é satisfatório em muitos dos casos. Existem diversos critérios e índices de desempenho (IAE, ITAE, ISE, ITSE, Harris Index, tempo de estabilização, etc.) que permitem definir a eficiência de uma malha de controle. Apresenta-se neste trabalho um ambiente multifuncional, desenvolvido em C++, plataforma C++Builder, para sintonia e análise do desempenho de processos industriais simulados ou processos reais. Este ambiente pode também ser utilizado no treinamento de técnicos, operadores e engenheiros

CARACTERES MORFOANATÔMICOS DE Campomanesia adamantium (Cambess.) O. Berg, UMA PLANTA MEDICINAL DO CERRADO BRASILEIRO

Campomanesia adamantium, Myrtaceae, é conhecida popularmente como guavira ou gabiroba. Estudos com espécies de Campomanesia têm comprovado seu uso como anti-inflamatório, antidiarreico, anti-séptico das vias urinárias, e na medicina popular usada em males do fígado e problemas reumáticos. O objetivo deste estudo foi caracterizar morfoanatomicamente raiz, caule e folhas de C. adamantium, visando à contribuição de estudos futuros para o controle da qualidade da matéria prima vegetal. Amostras do material vegetal da espécie estudada foram coletadas, seccionadas, fixadas e coradas com corantes específicos, seguindo metodologias descritas na literatura especializada. A raiz possui epiderme unisseriada; exoderme uniestratificada e endoderme contendo compostos fenólicos e estrias de Caspary; o cilindro vascular varia de pentarco a hexarco com metaxilema e cordões floemáticos localizados entre o protoxilema. O caule tem células secretoras subepidérmicas e endoderme com amiloplastídios; ainda possui uma camada subepidérmica de colênquima no córtex e anéis de crescimento distintos, delimitados por estreita camada de fibras. A folha possui epiderme unisseriada, com células epidérmicas retangulares na face abaxial; células epidérmicas menores na face adaxial, com parede periciclinal recoberta com cera ou cutícula fina; as folhas são hipoestomáticas, onde os estômatos são dispostos somente na face abaxial. Os resultados obtidos neste trabalho poderão ser utilizados em referências para o maior conhecimento e ampliação da espécie estudada

Núcleos de Ensino da Unesp: artigos 2008

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq

Brazilian Flora 2020: Leveraging the power of a collaborative scientific network

International audienceThe shortage of reliable primary taxonomic data limits the description of biological taxa and the understanding of biodiversity patterns and processes, complicating biogeographical, ecological, and evolutionary studies. This deficit creates a significant taxonomic impediment to biodiversity research and conservation planning. The taxonomic impediment and the biodiversity crisis are widely recognized, highlighting the urgent need for reliable taxonomic data. Over the past decade, numerous countries worldwide have devoted considerable effort to Target 1 of the Global Strategy for Plant Conservation (GSPC), which called for the preparation of a working list of all known plant species by 2010 and an online world Flora by 2020. Brazil is a megadiverse country, home to more of the world's known plant species than any other country. Despite that, Flora Brasiliensis, concluded in 1906, was the last comprehensive treatment of the Brazilian flora. The lack of accurate estimates of the number of species of algae, fungi, and plants occurring in Brazil contributes to the prevailing taxonomic impediment and delays progress towards the GSPC targets. Over the past 12 years, a legion of taxonomists motivated to meet Target 1 of the GSPC, worked together to gather and integrate knowledge on the algal, plant, and fungal diversity of Brazil. Overall, a team of about 980 taxonomists joined efforts in a highly collaborative project that used cybertaxonomy to prepare an updated Flora of Brazil, showing the power of scientific collaboration to reach ambitious goals. This paper presents an overview of the Brazilian Flora 2020 and provides taxonomic and spatial updates on the algae, fungi, and plants found in one of the world's most biodiverse countries. We further identify collection gaps and summarize future goals that extend beyond 2020. Our results show that Brazil is home to 46,975 native species of algae, fungi, and plants, of which 19,669 are endemic to the country. The data compiled to date suggests that the Atlantic Rainforest might be the most diverse Brazilian domain for all plant groups except gymnosperms, which are most diverse in the Amazon. However, scientific knowledge of Brazilian diversity is still unequally distributed, with the Atlantic Rainforest and the Cerrado being the most intensively sampled and studied biomes in the country. In times of “scientific reductionism”, with botanical and mycological sciences suffering pervasive depreciation in recent decades, the first online Flora of Brazil 2020 significantly enhanced the quality and quantity of taxonomic data available for algae, fungi, and plants from Brazil. This project also made all the information freely available online, providing a firm foundation for future research and for the management, conservation, and sustainable use of the Brazilian funga and flora