This research is a systematization of Geraldo Vespaziano Puntoni's carrier as an architect and public servant, having as a background his work on the Department of Public Building (DOP), where he stayed from 1960 to 1990. Beyond DOP, the architect was commissioned to work in five others institutions and companies: Educational Buildings State Fund (FECE), State Company of Houses for the People (CECAP), São Paulo Electrical Centers (CESP) and Municipal Company of Urbanization (EMURB) and Welfare Institute of São Paulo (IPESP). During his stay at those institutions, the architect had several experiences and was able to try many different architectural and urban expressions. Starting with the question "What is the architect's role in the development of a country, state and city?", I chose a professional that dedicated half of his 60 years of work to the elaboration of projects for public institutions in São Paulo.
The successful control of a robot hand with multiple degrees of freedom not only requires sensors to determine the state of the hand but also a thorough understanding of the actuator system and its properties. This article presents a set of sensors and analyzes the actuator properties of an anthropomorphic robot hand driven by flexible fluidic actuators. These flexible and compact actuators are integrated directly into the finger joints, they can be driven either pneumatically or hydraulically.The sensors for the measurement of joint angles, contact forces, and fluid pressure are described; the designs utilize mostly commodity components. Hall sensors and customized half-ring rare-earth magnets are used to integrate the joint angle sensors directly into the actuated joints. A force sensor setup allowing soft finger surfaces is evaluated. Fluid pressure sensors are needed for the model-based computation of joint torques and to limit the actuator pressure.Static and dynamic actuator characteristics are determined in a theoretical process analysis, and suitable parameters are identified in several experiments. The resulting actuator model incorporates the viscoelastic material behavior and describes the relations of joint angle, actuator pressure, and actuator torque. It is used in simulations and for the design of a joint position controller.
Die Akzeptanz und der tägliche Gebrauch von Handprothesen hängt neben kosmetischen Aspekten von der Funktionalität, dem Gewicht und der Benutzerfreundlichkeit ab. Nach einer kurzen Beschreibung des mechatronischen Systems wird zunächst das Gesamtkonzept der Steuerung einer neuartigen leichtgewichtigen Handprothese beschrieben. Danach wird ein modulares Konzept für eine individuelle Anpassung der Prothesensteuerung an unterschiedliche Prothesenträger vorgestellt, das die Auswahl komplexer Bewegungsabläufe ermöglicht. Anschließend wird ein Teststand für die dafür benötigte Kraft- und Positionssteuerung bzw. -regelung beschrieben. Den Abschluss bilden einige Schlussfolgerungen für die weiteren Arbeiten.
Radar technology in the millimeter-wave frequency band offers many interesting features for wind park surveillance, such as structural monitoring of rotor blades or the detection of bats and birds in the vicinity of wind turbines (WTs). Currently, the majority of WTs are affected by shutdown algorithms to minimize animal fatalities via direct collision with the rotor blades or barotrauma effects. The presence of rain is an important parameter in the definition of those algorithms together with wind speed, temperature, time of the day, and season of the year. A Ka-band frequency-modulated continuous-wave radar (33.4-36.0 GHz) installed at the tower of a 2-MW WT was used during a field study. We have observed characteristic rain-induced patterns, based on the range-Doppler algorithm. To better understand those signatures, we have developed a laboratory experiment and implemented a numerical modeling framework. Experimental and numerical results for rain detection and classification are presented and discussed here. Based on this article, a bat-and bird-friendly adaptive WT control can be developed for improved WT efficiency in periods of rain and, at the same time, reduced animal mortality.
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