4,467 research outputs found
GRASS UTILIZATION IN GROWING FINISHING BÍSARO PIGS (85-107 KG). PERFORMANCE AND CARCASS COMPOSITION
The use of different quantities of vegetables, forages or fresh grass as fodder for growing-finishing pigs is an important factor of the northern Portugal traditional system. The increasing development of swine production in outdoor systems, extensive and organic production, turns to upcoming natural diets, in which grass performs a significant part. With regard to this, some investigation has been made concerning the use of fibre-rich feed ingredients in pig nutrition. Metabolic effects of its ingestion are analysed concerning different sights (economical, social, environmental and physiological ones).
The aim of this work was to study the effects of grass utilization in the diets on performances of finishing Bísaro pigs. A total of 22 pigs (16 castrated males and 6 females) was housed outdoor and fed ad libitum (37 – 85 kg live weight) with a growing diet and then transferred to an indoor system (with free access to an outdoor area) for 49 days, according to 3 different treatments: 100% concentrate (C), 75% concentrate + ad libitum grass (CE75), 50% concentrate + ad libitum grass (CE50). The grass was supplied and its intake registered on a daily basis. Every 14 days, the pigs were weighted and their back fat (P2 in vivo) measured. After slaughter (average weight of 107 kg LW), yield and ½ left carcass characteristics were controlled. During the outdoor growing phase, the ADG was 513 g/day. During the indoor finishing phase, the increase grass intake was proportional to the reduction of concentrate in the diet. The ADG (g) and the fat deposition (P2 cm) were significantly different (P<0,05) in the 3 treatments (ADG: C=641, CE75=467, CE50=356 and: C=11,4, CE75=+9,5, CE50=+6,2). The empty body weight (kg) was also proportional to the intake of concentrate (C=116,2; CE75=107,7; CE50=102,2). Comparatively to the weight of the body parts, pigs that had higher intake of grass and lower of concentrate showed a higher % of shoulder (P<0,05; C=20,4, CE75=21,7, CE50=22,2) and the pH45min of CE carcasses was significantly higher (P<0,05). As a conclusion, concentrate substitution for grass showed a slower growing rate, thinner carcasses and a high technological quality.
Neverthelles variability (CV %) of the productive parameters at the end of this study were higher in the treatments that included grass: live weight (C= 10,5%; C75=10,7%; C50=14,3%), finishing ADG (C=24%; C75=37%, C50=42%), and final fat (C=37%; C75=32%, C50=52%). These values suggest that the utilization of fibrous feeds in growing-finishing swine may be one of the possible explanations of the more heterogeneous products and carcasses found in the traditional or extensive systems, common users of fibrous feeds in the carcass finishing phase
Humanoid realistic simulator: the servomotor joint modeling
This paper presents a humanoid servomotor model that can be used in simulations. Once simulation is a tool that reduces the software production time, it was developed a realistic simulator that own the humanoid features. Based on a real platform, the simulator is validated when compared with the reality
Humanoid gait optimization resorting to an improved simulation model
The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for those robots is using simulation and optimization techniques. This paper addresses a new approach to optimize gait parameter sets using an Adaptive Simulated Annealing optimization algorithm combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach
Proposal of a new real-time cooperative challenge in mobile robotics
In this paper it is presented a new robot competition that is going to be included in Robotica 2011, the main Robotics Portuguese Competition. The robot competition takes place in an emulated factory plant, where Automatic Guided Vehicles (AGVs) must cooperate to perform tasks. To accomplish their goals the AGVs must deal with localization, navigation, scheduling and cooperation problems, that must be solved autonomously. One option of prototyping the AGVs is the use of the Lego Mindstorms NXT technology. The presented example can play an important role in education due to the inherent multi-disciplinary concepts that are involved, motivating students to technological areas. It also plays an important role in research and development, because it is expected that the outcomes that will emerge here, will later be transfered to other application areas, such as service robots and manufacturing
Inverted pendulum virtual control laboratory
This paper describes a tool for interactive learning that can be used to improve control systems design. The developed system is ready to use and allows testing different control methods. It can be used by students for problem solving and individual learning. The virtual control laboratory was implemented as a teaching aid during lectures on control systems. As there is no need to do any special programming or debugging, the students can focus on the control items. Classical control methods such as PID and State-Space approaches are available and gains can be tuned. A friendly appearance based on openGL 3D shows a simulation of the real word: A cart with an inverted pendulum is "bumped" with a force. The dynamic equations of motion for the control system are linearized assuming that the pendulum does not move more than a few degrees away from the vertical allowing to apply linear control methods. Although, the simulated system is realistic and based on a Dynamics Engine
Humanoid robot simulation with a joint trajectory optimized controller
This paper describes a joint trajectory optimized controller for a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfil this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback.
The proposed simulator, with realistic dynamics, allows to design and test behaviours and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot in the early stages of the development. The joints controller techniques, such as acceleration, speed and energy consumption minimization are discussed and experimental results are presented in order to validate the proposed simulator
Humanoid robot simulator: a realistic dynamics approach
This paper describes a humanoid robot simulator with realistic dynamics. As simulation is a powerful tool for speeding up the control software development, the suggested accurate simulator allows to accomplish this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback and allows the user to test any control strategy without damaging the real robot in the early stages of the development. The proposed simulator also captures some characteristics of the environment that are important and allows to test controllers without access to the real hardware. Experimental results are shown that validate this approach
Manufacturing education and training resorting to a new mobile robot competition
In this paper it is discussed the educational, research and development outcomes that are expected to achieve from a new robot competition, proposed and conceived by the authors, that was recently included in Robotica (the main Robotics Portuguese Competition). The robot competition takes place in an emulated factory plant, where Automatic Guided Vehicles (AGVs) must cooperate to perform tasks. To accomplish their goals the AGVs must deal with localization, navigation, scheduling and cooperation problems, that must be solved autonomously. The presented robot competition can play an important role in education due to the inherent multi-disciplinary concepts that are involved, motivating students to technological areas. It also plays an important role in research and development, because it is expected that the outcomes that will emerge here, will later be transfered to other application areas, such as service robots and manufacturing
“Ball and beam” virtual laboratory: a teaching aid in automatic control courses
This paper describes a humanoid robot simulator with realistic dynamics. As simulation is a powerful tool for speeding up the control software development, the suggested accurate simulator allows to accomplish this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback and allows the user to test any control strategy without damaging the real robot in the early stages of the development. The proposed simulator also captures some characteristics of the environment that are important and allows to test controllers without access to the real hardware. Experimental results are shown that validate this approach
A passive system approach to increase the energy efficiency in walk movements based in a realistic simulation environment
This paper presents a passive system that increases the walk energy efficiency of a Humanoid robot. A passive system is applied to the simulated robot allowing the energy consumption to be reduced. The optimal parameters for the passive system depend on the joint and gait trajectories. Final results prove the benefits of the presented system apply. It was optimized thanks to a realistic simulator where the humanoid robot was modeled. The model was validated against a real robot
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