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Jose Luis Huayanay Villar

Controle de um movil ultrasonico pela

Realimentação do Estado
Estimado por um Observador

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O presente trabalho tem por objetivo descrever os B. Final Stage
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um móvel ultrassónico mediante realimentação de estado been accepted), print it in two-column format, including
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
Manuscript received October 9, 2001. (Write the date on which you Word, Microsoft PowerPoint, Microsoft Excel, or Portable
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TABLE I
UNITS FOR MAGNETIC PROPERTIES
Conversion from Gaussian and
Symbol Quantity
CGS EMU to SI a
 magnetic flux 1 Mx  108 Wb = 108 V·s
B magnetic flux density, 1 G  104 T = 104 Wb/m2
magnetic induction
H magnetic field strength 1 Oe  103/(4) A/m
m magnetic moment 1 erg/G = 1 emu
 103 A·m2 = 103 J/T
M magnetization 1 erg/(G·cm3) = 1 emu/cm3
 103 A/m
4M magnetization 1 G  103/(4) A/m
 specific magnetization 1 erg/(G·g) = 1 emu/g  1 A·m2/kg
j magnetic dipole 1 erg/G = 1 emu
moment  4  1010 Wb·m
J magnetic polarization 1 erg/(G·cm3) = 1 emu/cm3
 4  104 T
,  susceptibility 1  4
 mass susceptibility 1 cm3/g  4  103 m3/kg
 permeability 1  4  107 H/m
Fig. 1. Magnetization as a function of applied field. Note that “Fig.” is = 4  107 Wb/(A·m)
abbreviated. There is a period after the figure number, followed by two spaces. relative permeability
r   r
It is good practice to explain the significance of the figure in the caption.
w, W energy density 1 erg/cm3  101 J/m3
N, D demagnetizing factor 1  1/(4)
E. Copyright Form Vertical lines are optional in tables. Statements that serve as captions for the
entire table do not need footnote letters.
An IEEE copyright form should accompany your final a
Gaussian units are the same as cgs emu for magnetostatics; Mx = maxwell,
submission. You can get a .pdf, .html, or .doc version at G = gauss, Oe = oersted; Wb = weber, V = volt, s = second, T = tesla, m =
http://www.ieee.org/copyright. Authors are responsible for meter, A = ampere, J = joule, kg = kilogram, H = henry.
obtaining any security clearances.

bottom of each column. In fact, all figures, figure captions,

III. MATH
and tables can be at the end of the paper. Large figures and
If you are using Word, use either the Microsoft Equation tables may span both columns. Place figure captions below
Editor or the MathType add-on (http://www.mathtype.com) the figures; place table titles above the tables. If your figure
for equations in your paper (Insert | Object | Create New | has two parts, include the labels “(a)” and “(b)” as part of the
Microsoft Equation or MathType Equation). “Float over text” artwork. Please verify that the figures and tables you mention
should not be selected. in the text actually exist. Please do not include captions as
part of the figures. Do not put captions in “text boxes”
linked to the figures. Do not put borders around the
IV. UNITS outside of your figures. Use the abbreviation “Fig.” even at
Use either SI (MKS) or CGS as primary units. (SI units are the beginning of a sentence. Do not abbreviate “Table.”
strongly encouraged.) English units may be used as secondary Tables are numbered with Roman numerals.
units (in parentheses). This applies to papers in data Color printing of figures is available, but is billed to the
storage. For example, write “15 Gb/cm 2 (100 Gb/in 2).” An authors. Include a note with your final paper indicating that
exception is when English units are used as identifiers in you request and will pay for color printing. Do not use color
trade, such as “3½-in disk drive.” Avoid combining SI and unless it is necessary for the proper interpretation of your
CGS units, such as current in amperes and magnetic field in figures. If you want reprints of your color article, the reprint
oersteds. This often leads to confusion because equations do order should be submitted promptly. There is an additional
not balance dimensionally. If you must use mixed units, charge for color reprints. Please note that many IEEE
clearly state the units for each quantity in an equation. journals now allow an author to publish color figures on
The SI unit for magnetic field strength H is A/m. However, Xplore and black and white figures in print. Contact your
if you wish to use units of T, either refer to magnetic flux society representative for specific requirements.
density B or magnetic field strength symbolized as µ0H. Use Figure axis labels are often a source of confusion. Use
the center dot to separate compound units, e.g., “A·m 2.” words rather than symbols. As an example, write the quantity
“Magnetization,” or “Magnetization M,” not just “M.” Put
units in parentheses. Do not label axes only with units. As in
V. HELPFUL HINTS Fig. 1, for example, write “Magnetization (A/m)” or

A. Figures and Tables


“Magnetization (A m1),” not just “A/m.” Do not label axes
with a ratio of quantities and units. For example, write
Because IEEE will do the final formatting of your paper, “Temperature (K),” not “Temperature/K.”
you do not need to position figures and tables at the top and Multipliers can be especially confusing. Write
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“Magnetization (kA/m)” or “Magnetization (10 3 A/m).” Do r2

not write “Magnetization (A/m)  1000” because the reader  0

F ( r ,  ) dr d  [ r2 / ( 2 0 )]

would not know whether the top axis label in Fig. 1 meant  exp(   | z j  zi | ) 1 J 1 (  r2 ) J 0 (  ri ) d .
16000 A/m or 0.016 A/m. Figure labels should be legible, 0

approximately 8 to 12 point type. (1)

B. References Be sure that the symbols in your equation have been
Number citations consecutively in square brackets [1]. The defined before the equation appears or immediately following.
sentence punctuation follows the brackets [2]. Multiple Italicize symbols (T might refer to temperature, but T is the
references [2], [3] are each numbered with separate brackets unit tesla). Refer to “(1),” not “Eq. (1)” or “equation (1),”
[1]–[3]. When citing a section in a book, please give the except at the beginning of a sentence: “Equation (1) is ... .”
relevant page numbers [2]. In sentences, refer simply to the
reference number, as in [3]. Do not use “Ref. [3]” or E. Other Recommendations
“reference [3]” except at the beginning of a sentence: Use one space after periods and colons. Hyphenate complex
“Reference [3] shows ... .” Please do not use automatic modifiers: “zero-field-cooled magnetization.” Avoid dangling
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Footnote).1 Place the actual footnote at the bottom of the calculated the potential.”
column in which it is cited; do not put footnotes in the Use a zero before decimal points: “0.25,” not “.25.” Use
reference list (endnotes). Use letters for table footnotes (see “cm3,” not “cc.” Indicate sample dimensions as “0.1 cm  0.2
Table I). cm,” not “0.1  0.2 cm2.” The abbreviation for “seconds” is
Please note that the references at the end of this document “s,” not “sec.” Do not mix complete spellings and
are in the preferred referencing style. Give all authors’ names; abbreviations of units: use “Wb/m 2” or “webers per square
do not use “et al.” unless there are six authors or more. Use a meter,” not “webers/m 2.” When expressing a range of values,
space after authors’ initials. Papers that have not been write “7 to 9” or “7-9,” not “7~9.”
published should be cited as “unpublished” [4]. Papers that A parenthetical statement at the end of a sentence is
have been accepted for publication, but not yet specified for punctuated outside of the closing parenthesis (like this). (A
an issue should be cited as “to be published” [5]. Papers that parenthetical sentence is punctuated within the parentheses.)
have been submitted for publication should be cited as In American English, periods and commas are within
“submitted for publication” [6]. Please give affiliations and quotation marks, like “this period.” Other punctuation is
addresses for private communications [7]. “outside”! Avoid contractions; for example, write “do not”
Capitalize only the first word in a paper title, except for instead of “don’t.” The serial comma is preferred: “A, B, and
proper nouns and element symbols. For papers published in C” instead of “A, B and C.”
translation journals, please give the English citation first, If you wish, you may write in the first person singular or
followed by the original foreign-language citation [8]. plural and use the active voice (“I observed that ...” or “We
C. Abbreviations and Acronyms observed that ...” instead of “It was observed that ...”).
Remember to check spelling. If your native language is not
Define abbreviations and acronyms the first time they are English, please get a native English-speaking colleague to
used in the text, even after they have already been defined in carefully proofread your paper.
the abstract. Abbreviations such as IEEE, SI, ac, and dc do
not have to be defined. Abbreviations that incorporate periods VI. SOME COMMON MISTAKES
should not have spaces: write “C.N.R.S.,” not “C. N. R. S.”
Do not use abbreviations in the title unless they are The word “data” is plural, not singular. The subscript for
unavoidable (for example, “IEEE” in the title of this article). the permeability of vacuum µ0 is zero, not a lowercase letter
“o.” The term for residual magnetization is “remanence”; the
D. Equations adjective is “remanent”; do not write “remnance” or
Number equations consecutively with equation numbers in “remnant.” Use the word “micrometer” instead of “micron.”
parentheses flush with the right margin, as in (1). First use A graph within a graph is an “inset,” not an “insert.” The
the equation editor to create the equation. Then select the word “alternatively” is preferred to the word “alternately”
“Equation” markup style. Press the tab key and write the (unless you really mean something that alternates). Use the
equation number in parentheses. To make your equations word “whereas” instead of “while” (unless you are referring
more compact, you may use the solidus ( / ), the exp function, to simultaneous events). Do not use the word “essentially” to
or appropriate exponents. Use parentheses to avoid mean “approximately” or “effectively.” Do not use the word
ambiguities in denominators. Punctuate equations when they “issue” as a euphemism for “problem.” When compositions
are part of a sentence, as in are not specified, separate chemical symbols by en-dashes; for
example, “NiMn” indicates the intermetallic compound
Ni0.5Mn0.5 whereas “Ni–Mn” indicates an alloy of some
1
It is recommended that footnotes be avoided (except for the unnumbered composition NixMn1-x.
footnote with the receipt date on the first page). Instead, try to integrate the
footnote information into the text.
Be aware of the different meanings of the homophones
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“affect” (usually a verb) and “effect” (usually a noun), pages.

“complement” and “compliment,” “discreet” and “discrete,” 3) Authors must convince both peer reviewers and the
“principal” (e.g., “principal investigator”) and “principle” editors of the scientific and technical merit of a paper;
(e.g., “principle of measurement”). Do not confuse “imply” the standards of proof are higher when extraordinary or
and “infer.” unexpected results are reported.
Prefixes such as “non,” “sub,” “micro,” “multi,” and 4) Because replication is required for scientific progress,
“ultra” are not independent words; they should be joined to papers submitted for publication must provide sufficient
the words they modify, usually without a hyphen. There is no information to allow readers to perform similar
period after the “et” in the Latin abbreviation “et al.” (it is experiments or calculations and use the reported results.
also italicized). The abbreviation “i.e.,” means “that is,” and Although not everything need be disclosed, a paper must
the abbreviation “e.g.,” means “for example” (these contain new, useable, and fully described information.
abbreviations are not italicized). For example, a specimen’s chemical composition need
An excellent style manual and source of information for not be reported if the main purpose of a paper is to
science writers is [9]. A general IEEE style guide and an introduce a new measurement technique. Authors should
Information for Authors are both available at expect to be challenged by reviewers if the results are not
http://www.ieee.org/web/publications/authors/transjnl/index.html supported by adequate data and critical details.
5) Papers that describe ongoing work or announce the latest
technical achievement, which are suitable for
VII. EDITORIAL POLICY presentation at a professional conference, may not be
Submission of a manuscript is not required for appropriate for publication in a T RANSACTIONS or
participation in a conference. Do not submit a reworked JOURNAL.
version of a paper you have submitted or published elsewhere.
Do not publish “preliminary” data or results. The submitting
author is responsible for obtaining agreement of all coauthors IX. CONCLUSION
and any consent required from sponsors before submitting a A conclusion section is not required. Although a conclusion
paper. IEEE TRANSACTIONS and JOURNALS strongly may review the main points of the paper, do not replicate the
discourage courtesy authorship. It is the obligation of the abstract as the conclusion. A conclusion might elaborate on
authors to cite relevant prior work. the importance of the work or suggest applications and
The Transactions and Journals Department does not extensions.
publish conference records or proceedings. The
TRANSACTIONS does publish papers related to conferences APPENDIX
that have been recommended for publication on the basis of Appendixes, if needed, appear before the acknowledgment.
peer review. As a matter of convenience and service to the
technical community, these topical papers are collected and
ACKNOWLEDGMENT
published in one issue of the TRANSACTIONS.
At least two reviews are required for every paper The preferred spelling of the word “acknowledgment” in
submitted. For conference-related papers, the decision to American English is without an “e” after the “g.” Use the
accept or reject a paper is made by the conference editors and singular heading even if you have many acknowledgments.
publications committee; the recommendations of the referees Avoid expressions such as “One of us (S.B.A.) would like to
are advisory only. Undecipherable English is a valid reason thank ... .” Instead, write “F. A. Author thanks ... .” Sponsor
for rejection. Authors of rejected papers may revise and and financial support acknowledgments are placed in the
resubmit them to the T RANSACTIONS as regular papers, unnumbered footnote on the first page, not here.
whereupon they will be reviewed by two new referees.
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[26] Motorola Semiconductor Data Manual, Motorola Semiconductor
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[27] (Basic Book/Monograph Online Sources) J. K. Author. (year, month, day).
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[28] J. Jones. (1991, May 10). Networks (2nd ed.) [Online]. Available:
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[29] (Journal Online Sources style) K. Author. (year, month). Title. Journal
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[30] R. J. Vidmar. (1992, August). On the use of atmospheric plasmas as
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vidmar

First A. Author (M’76–SM’81–F’87) and the other authors may include

biographies at the end of regular papers. Biographies are often not included in
conference-related papers. This author became a Member (M) of IEEE in 1976,
a Senior Member (SM) in 1981, and a Fellow (F) in 1987. The first paragraph
may contain a place and/or date of birth (list place, then date). Next, the author’s
educational background is listed. The degrees should be listed with type of
degree in what field, which institution, city, state, and country, and year degree
was earned. The author’s major field of study should be lower-cased.
The second paragraph uses the pronoun of the person (he or she) and not the
author’s last name. It lists military and work experience, including summer and
fellowship jobs. Job titles are capitalized. The current job must have a location;
previous positions may be listed without one. Information concerning previous
publications may be included. Try not to list more than three books or published
articles. The format for listing publishers of a book within the biography is: title
of book (city, state: publisher name, year) similar to a reference. Current and
previous research interests end the paragraph.
The third paragraph begins with the author’s title and last name (e.g., Dr.
Smith, Prof. Jones, Mr. Kajor, Ms. Hunter). List any memberships in professional