146,006 research outputs found
LQR controller via Bryson method in a printed robotic manipulator
No full textThe present work aims to design the Linear Quadratic Regulator in order to guarantee
the robust properties on the robotic manipulator EEZTbotAR dynamic model calculated
by FRIAS (2016). The LQR is a controller that aims to obtain a optimal control in order
to minimize an actuator energy on a plant, resulting in better performance in systems
that use external energy for a control action. The control challenge is concerned as
weighting matrices that guarantee infinite gain margin and phase of at least 60 °. In
order to select the Q and R matrix parameters of the quadratic performance index, the
Bryson Inverse Square heuristic method was used. Thus, it can be observed that the
Bryson method, acting in the LQR control, promoted improvements regarding temporal
and frequency responsesO presente trabalho tem como objetivo projetar o Regulador Linear Quadrático para
garantir as propriedades de robustez no modelo dinâmico obtido por FRIAS(2016) do
manipulador robótico impresso EEZTbotAR. O LQR é um controlador que visa obter
um controle ótimo de forma a minimizar a energia do atuador sobre a planta,
resultando em melhor rendimento em sistemas que utilizam energia externa para a
ação de controle. O desafio de controle encontra-se em determinar as matrizes de
ponderação que garantam margem de ganho infinita e fase de pelo menos 60°. Para
a seleção dos parâmetros matriciais Q e R do índice de desempenho quadrático
utilizou-se o método heurístico do Quadrado Inverso de Bryson. Desta forma, podese observar que o método de Bryson, atuando no controle LQR, promoveu melhoras
com relação as respostas temporal e frequencia
A Divulgação Científica de Bill Bryson e seu potencial para o Ensino de Ciências na obra “Corpo”
No full textEm seu novo livro, Corpo: um guia para usuários, publicado na Editora Doubleday, em 15 de outubro de 2019, o autor Bill Bryson traz, novamente, o brilhantismo, leveza, humor e impecabilidade na pesquisa científica que caracteriza seus trabalhos, notoriamente na área da Divulgação Científica. Bill Bryson nasceu em 08 de dezembro de 1951, na cidade de Des Moines, Iowa, Estados Unidos da América. Aos 22 anos, no ano de 1973, realizou uma expedição para a Inglaterra, país onde conheceu Cynthia Billen, com quem se casou, estabelecendo-se no país. Na Inglaterra, Bryson escreveu para vários jornais, como The Times e The Independent
<i>No se sabe</i>: entrevista a Lucas Gagliardi
No full textEntrevista al Licenciado y Profesor en Letras (UNLP) Lucas Gagliardi. Se especializa en literatura en lengua inglesa y en crítica genética. Se desempeña como profesor en la Universidad Pedagógica (UNIPE), en institutos de formación docente y escuelas secundarias. Ha participado en proyectos de investigación sobre archivos de escritores, publicaciones impresas. Participa en el programa de voluntariado universitario de la Facultad de Trabajo Social (UNLP) en articulación con la Biblioteca Ambulante del Hospital de Niños dictando talleres de lectura y escritura.Al hacer clic en el enlace que figura en "Documentos relacionados", pueden accederse a todos los trabajos de Lucas Gagliardi presentes en el repositorio.Radio Universidad Nacional de La Plat
Vaejovis montanus Graham & Bryson 2010
No full text<i>Vaejovis montanus</i> Graham & Bryson, 2010 <p>Figures 4, 13l, 14k, 15l, 16l, 17l, 18l, 19l, 30</p> <p> <i>Vaejovis montanus</i> Graham & Bryson, 2010: 286 –292, Figs: 1–6, 8–24.</p> <p> <i>Vaejovis montanus</i>: Bryson <i>et al</i>., 2013; Contreras-Félix <i>et al</i>., 2015: 134.</p> <p> <b>Type material.</b> Holotype male. MEXICO: Chihuahua, from a small ejido 5 km SW Guadalupe y Calvo, SE of Zorrillo (N 26.0398°, W 106.9396°, elev. 2625 m). VII-14-2008. Cols: R. W. Bryson Jr., M. Torocco and F. Mendoza-Quijano (CAS Type No. 18488). Examined.</p> <p>Paratypes: 5 ♀, same data as the holotype (CAS), examined; 1 ♂ and 5 ♀, same data as the holotype (UANL), examined.</p> <p> <b>Diagnosis.</b> Adult size 28.1 mm on males (Fig: 30-a, b), 26.7 to 34.2 mm on females; carapace, as long as metasomal segment V (Carapace L/MS-V 1 [0.89±0.08]) and longer than femur (Carapace L/ Femur L 1.24 [1.15±0.1). Anterior margin of carapace slightly concave, without median notch (Fig: 13-l). Mesosomal tergite VII with one pair of granular carinae, not reaching posterior margin. Pectinal teeth 11–13 [10–15]; sternite V with an elongated whitish patch reaching anterior margin, sternite VII with lateral carinae feebly granular, with 10 setae. Metasomal segment I subquadrate in dorsal view (MSI L/ W 0.80 [0.69±0.01]); intercarinal spaces on segments I–IV smooth. Segment V longer than wide (MS-V L/ W 2.21 [2.1±0.2]). Vesicle slender (L/ W 1.79 [1.7±0.01]), thin (W/D 1.21 [1.28±0.01]), on males with a well-developed vesicular gland dorsally (Fig: 14-l). Pedipalp femur (Fig: 15-l) and patella (Fig: 16-l) less than three times as long as wide (Femur L/ W 2.84 [2.58±0.1]; Patella L/ W 2.83 [2.54±0.06]). Chela longer than wide (CM L/ W 1.87 [1.76±0.04]), deeper than wide (CM W/D 0.84 [0.83±0.01]), with dorsal prosubmedian and prolateral median carinae granular (Fig: 17, 18-l). Pedipalp chela fingers on males with dentate margins straight.</p> <p>Hemispermatophore (Fi: 19-l); lamella with an apical crest present about 1/3 length of lamina; wider at level of hooks; lamellar hook moderately elongated and bent at 90 degrees. Median lobe well-sclerotized, with margin dentate.</p> <p>Full morphometric variation is given in tables 13 and 14. Setae variation is given in tables 9–12.</p> <p> <b>Distribution.</b> Known from the type locality (Chihuahua) and has been reported from another locality in Sonora (Yecora) (Figure 4).</p> <p> <b>Natural history.</b> This species was located under rocks and fallen logs in pine-oak forest.</p>Published as part of <i>A, Contreras-Félix Gerardo & Oscar, Francke B., 2019, Taxonomic revision of the " mexicanus " group of the genus Vaejovis C. L. Koch, 1836 (Scorpiones: Vaejovidae), pp. 1-100 in Zootaxa 4596 (1)</i> on pages 45-47, DOI: 10.11646/zootaxa.4596.1.1, <a href="http://zenodo.org/record/2659091">http://zenodo.org/record/2659091</a>
<i>No se sabe</i>: entrevista a Laura Sombra del Río
No full textEntrevista a la profesora de Matemática Laura Sombra del Río, integrante del Instituto de Metodología Alternativa para la Enseñanza de la Ciencia (IMApEC). Se especializa en tecnología informática aplicada a la educación, especialmente de las ciencias duras como la matemática.Al hacer clic en el enlace que figura en "Documentos relacionados", pueden accederse a todos los trabajos de Laura Sombra del Río presentes en el repositorio.Facultad de Ingenierí
On behalf of the Temporalidades it is announced to the public that all the landholdings belonging to the suppressed convents will be made available for lease
No full textPublic annoucement on behalf of the Directory of the Temporalidades. Oblong quarto. 1p.This document is an English translation of the "Por la Intendencia de temporalidades se ha anunciado al publico que se van á dar en arrendamiento todas las fincas que pertenecian á los Conventos extinguidos." Translated by Lorena Gauthereau-Bryson. The language of the original document is Spanish
Vaejovis sierrae Sissom, Graham, Donaldson & Bryson Jr. 2016
No full textVaejovis sierrae Sissom, Graham, Donaldson & Bryson Jr., 2016 Figures 4, 35g, 36g, 37g, 38g, 39g, 40g, 41g, 47 Vaejovis sierrae Sissom, Graham, Donaldson & Bryson Jr., 2016: 2 –5; Figs: 2–20. Type material. Holotype male. MEXICO: Durango, near Rancho Las Margaritas, SE Mezquital (N23.31279°, W104.30334°, elev. 2724 m). VII.18.2010. Col: R. W. Bryson, Jr. (CNAN). Examined. Paratypes: Four adult and two juvenile females with same data as holotype; deposited as follows: 2 ♀ (CNAN), examined; 1 ♀, 1 J# (AMNH), examined; 1 ♀, 1 J# (CAS), not examined. Other specimens examined. 1 ♂, 3 ♀, MEXICO: Durango, near Rancho las Margaritas, SE from Mezquital (N 23.312793, W 104.303349, elev: 2661 m). VII.18.2010|. Col: R. W. Bryson Jr. (CNAN) Diagnosis. Small to medium sized scorpions, adult length ranging from 22 mm to 35 mm (Fig: 47-a, b). Carapace (Fig: 35-g) on males and females shorter than metasomal segment V and pedipalp femur (Carapace L/MS V 0.86[1.04±0.06]; Carapace L/Femur L 1.08 [1.16±0.04]); anterior margin of carapace, slightly concave, without median notch. Tergite VII lateral carinae granular, composed by an irregular line of rounded granules and not reaching posterior margin; sternite V with a faint white patch at posterior margin; sternite VII bearing a pair of lateral carinae, smooth, and 10 [12] setae. Metasomal segment I wider than long (MSI L/ W 0.78 [0.71±0.03]); intercarinal surfaces on metasoma smooth to shagreened; metasomal segment V wider than deep (MSV W/D 1.11 [1.21±0.09]). Vesicle long and slender (Vesicle L/W 2 [2.09±0.03]; W/D 1.42 [1.32±0.04]), on males dorsal face with a noticeable whitish oval vesicular gland medially (Fig: 36-g), absent on females. Pedipalp femur (Fig: 37-g) usually three or more times longer than wide (Femur L/ W 3.08 [3.08±0.08]), but patella (Fig: 38-g) less than three times longer than wide (Patella L/W 3 [2.77±0.09]); prolateral median carina weak, only marked by 4 large, pointed granules. Chela manus rounded (CM L/ W 1.8 [1.96±0.2]; W/D 1[0.98 ±0.02]), with dorsal prosubmedian, prolateral median and ventral retrolateral carinae feebly granular, but noticeably elevated (Figs: 39, 40-g). Pedipalp chela fingers dentate margins straight. Hemispermatophore: (Fig: 41–g): Lamelliform (TL: 6; LL: 3.4; LW: 1), lamina wider at the base, with an apical crest on distal third; two pointed hooks bent 90°. Capsular lobe well-sclerotized, with denticles on margin. Variation: This species exhibits a wide variation in overall size (male size range 17–30; female size range 20–35) while other morphological characters show little variation; further studies on its life history are needed. Full morphometric variation is given in tables 13 and 14. Setae variation is given in tables 9–12. Distribution. This species is only known from the type locality in the southeastern mountains of Durango (Figure 4). Natural history. All the known specimens are from a single collecting event in July.Published as part of A, Contreras-Félix Gerardo & Oscar, Francke B., 2019, Taxonomic revision of the " mexicanus " group of the genus Vaejovis C. L. Koch, 1836 (Scorpiones: Vaejovidae), pp. 1-100 in Zootaxa 4596 (1) on pages 71-72, DOI: 10.11646/zootaxa.4596.1.1, http://zenodo.org/record/265909
<i>No se sabe</i>: entrevista a José Eduardo Jorge
No full textEntrevista al investigador de la UNLP José Eduardo Jorge, especialista en cultura política. Jorge, además, es miembro del Consejo Directivo del Instituto de Investigación en Comunicación (IICOM), director de proyectos de investigación acreditados y autor de un centenar de artículos científicos y de divulgación sobre Cultura Política y Comunicación Política. Autor también del libro Cultura Política y Democracia en Argentina (Edulp, 2010). Revisor de artículos científicos de la revista Questión.Al hacer clic en el enlace que figura en "Documentos relacionados", pueden accederse a todos los trabajos de José Eduardo Jorge presentes en el repositorio.Radio Universidad Nacional de La Plat
<i>No se sabe</i>: entrevista a Nilda Ester Radman
No full textEntrevista a la médica veterinaria y bacterióloga clínica industrial Nilda Ester Radman, profesora titular de Parasitología Comparada en la Facultad de Ciencias Veterinarias de nuestra universidad y estudiosa de las enfermedades zoonóticas.Al hacer clic en el enlace que figura en "Documentos relacionados", pueden accederse a todos los trabajos de Nilda Ester Radman presentes en el repositorio.Radio Universidad Nacional de La Plat
Table, showing the results and computation of all the Departmental Council votes for substitute magistrates of the Supreme Court of Justice, August 27, 1829
No full textFolio (folding). 1 p.This document is an English translation of the "Tabla en que se demuestra el escrutinio y regulacion de votos de todos las juntas departmentales para magistrados suplentes de la Corte Superior de Justicia, 27 de agosto 1829." Translated by Lorena Gauthereau-Bryson. The language of the original document is Spanish
- …
