RESUMO -Avaliaram-se a influência do fornecimento de 23, 43 e 63% de concentrado em dietas com milho moído e resíduo desidratado de mandioca como fonte de amido sobre o consumo, os coeficientes de digestibilidade total e parcial dos nutrientes, a concentração de amônia, o pH ruminal e a eficiência microbiana. Utilizaram-se três bovinos holandeses (Bos taurus) e três búfalos Murrah (Bubalus bubalis) com 473±54 kg e 400±33 kg de peso corporal (PC), respectivamente, canulados no rúmen e duodeno. Os fluxos duodenais e fecais foram estimados utilizando-se óxido crômico. O delineamento experimental utilizado foi com dois quadrados latinos 3 x 3 e arranjo fatorial 3 x 2. A ingestão média de MS foi inferior nos bubalinos (1,40% do PC) em comparação aos bovinos (1,63% do PC Murrah buffaloes averaging, respectively, 473±54 kg and 400±33 kg of body weight (BW), fitted with ruminal and duodenal cannulas were blocked by species and randomly assigned to two replicated 3 x 3 Latin squares with a factorial arrangement of treatments. Chromium oxide was used as duodenal and fecal flow marker. Intake of dry matter (DM) was lower on bubalines (1.40% of BW) than on bovines (1.63% of BW). The greatest CP intake was of 10.09 g/kg BW 0.75 for bovines and 8.63 g/kg BW 0.75 for bubalines with 44.4% of concentrate in the diet while the highest starch intake was of 32.83 g/kg BW 0.75 for bovines and 28.38 g/kg BW 0.75 for bubalines with 61.69% of concentrate in the diet. There were no effects of CL and species on total tract digestibility, ruminal digestibility, and intestinal digestibility of nutrients with the exception of starch and CP. Apparent total tract digestibility of starch was greatest on bovines (95.7 vs. 85.8%); ruminal starch digestibility was also greatest on bovines (87.4% vs. 81.9%) and that increased linearly when the CL was increased in the diet. It was observed lower ruminal digestibility (13.2 vs. 27.5%) and higher intestinal digestibility (86.8 vs. 72.5%) of CP on bovines compared to bubalines in this trial. Ruminal pH averaged 6.7 on bubalines and was greater that than on bovines (6.3). Ruminal ammonia concentration differed across treatments on bubalines but not on bovines whereas microbial efficiency was not affected either by dietary CL or by species.

No abstract

No abstract

No abstract

Abstract-Iterative learning control (ILC) is a control technique for systems subject to repetitive setpoints or disturbances. However, in many applications, the setpoint is not strictly repetitive, and the learning process should start all over from the beginning if the setpoint changes. In this brief, point-to-point movements with different magnitudes will be considered, which are constructed by scaling a nominal setpoint. Second-order ILC with an adaptive low-pass filter in the trial domain is used to accurately track these scale varying setpoints under the influence of disturbances that are either repetitive or experience the same scaling as the setpoint. Experiments have been carried out to validate the proposed method.

No abstract

Abstract-This paper describes a new active ball handling method for the RoboCup mid-size league as used by team Tech United at Eindhoven University of Technology. A theoretical model is derived followed by the control design including a feedback controller and a feedforward controller. The proposed control design is validated with the Tech United soccer robots. The results of several tests show the effectiveness of the new ball handling design.

In this article a method is proposed for ball tracking using 100 Hz computer vision in a semi-automated foosball table. In this application the behavior of the ball is highly dynamic with speeds up to 10 m/s and frequent bounces occur against the sides of the table and the puppets. Moreover, in the overhead camera view of the field the ball is often fully or partially occluded and there are other objects present that resemble the ball. The table is semi-automated to enable single user game play. This article shows that it is possible to perform fast and robust ball tracking by combining efficient image processing algorithms with a priori knowledge of the stationary environment and position information of the automated rods.