A influência do sorriso gengival no vedamentos labial

Ideally the smile should expose minimal gingival, therefore patients with gummy smile and passive eruption altered or excessive marginal gingivae, usually excessive gingival display because incomplete anatomical crown exposure is present. If the maxillary incisor show at rest is optimal, active upper incisor intrusion should not be iniciated. To achieve a smile with minimal gingival exposure, the anatomic crown should be fully exposed by surgical crown lengthening. Precise determination of the location of cementoenamel junction prior to surgery, precise placement of incisions and correct establish of biological width are necessary in order to achive this goal. One protocol is decribed and clinical results from 15 brazilian subjects, after three years post surgery are showed

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Desacoplamento de um gerador síncrono através de um controle adaptativo por modelo de referência baseado em funções de Base radial

An alternative nonlinear technique for decoupling and control is presented. This technique is based on a RBF (Radial Basis Functions) neural network and it is applied to the synchronous generator model. The synchronous generator is a coupled system, in other words, a change at one input variable of the system, changes more than one output. The RBF network will perform the decoupling, separating the control of the following outputs variables: the load angle and flux linkage in the field winding. This technique does not require knowledge of the system parameters and, due the nature of radial basis functions, it shows itself stable to parametric uncertainties, disturbances and simpler when it is applied in control. The RBF decoupler is designed in this work for decouple a nonlinear MIMO system with two inputs and two outputs. The weights between hidden and output layer are modified online, using an adaptive law in real time. The adaptive law is developed by Lyapunov s Method. A decoupling adaptive controller uses the errors between system outputs and model outputs, and filtered outputs of the system to produce control signals. The RBF network forces each outputs of generator to behave like reference model. When the RBF approaches adequately control signals, the system decoupling is achieved. A mathematical proof and analysis are showed. Simulations are presented to show the performance and robustness of the RBF network

Utilização da lógica difusa no controle inteligente de sistemas eletro-hidráulicos

Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time and compact size. However, precise control of electro-hydraulic systems, due to their inherent nonlinear characteristics, cannot be easily obtained with conventional linear controllers. Most flow control valves can also exhibit some hard nonlinearities such as deadzone due to valve spool overlap on the passage´s orifice of the fluid. This work describes the development of a nonlinear controller based on the feedback linearization method and including a fuzzy compensation scheme for an electro-hydraulic actuated system with unknown dead-band. Numerical results are presented in order to demonstrate the control system performance

Determinacão do período orbital de sistemas binários clipsantes

In this work is presented a new method for the determination of the orbital period (Porb) of eclipsing binary systems based on the wavelet technique. This method is applied on 18 eclipsing binary systems detected by the CoRoT (Convection Rotation and planetary transits) satellite. The periods obtained by wavelet were compared with those obtained by the conventional methods: box Fitting (EEBLS) for detached and semi-detached eclipsing binaries; and polynomial methods (ANOVA) for contact binary systems. Comparing the phase diagrams obtained by the different techniques the wavelet method determine better Porb compared with EEBLS. In the case of contact binary systems the wavelet method shows most of the times better results than the ANOVA method but when the number of data per orbital cicle is small ANOVA gives more accurate results. Thus, the wavelet technique seems to be a great tool for the analysis of data with the quality and precision given by CoRoT and the incoming photometric missions.

Análise sísmica usando transformada de Curvelet

Oil prospecting is one of most complex and important features of oil industry Direct prospecting methods like drilling well logs are very expensive, in consequence indirect methods are preferred. Among the indirect prospecting techniques the seismic imaging is a relevant method. Seismic method is based on artificial seismic waves that are generated, go through the geologic medium suffering diffraction and reflexion and return to the surface where they are recorded and analyzed to construct seismograms. However, the seismogram contains not only actual geologic information, but also noise, and one of the main components of the noise is the ground roll. Noise attenuation is essential for a good geologic interpretation of the seismogram. It is common to study seismograms by using time-frequency transformations that map the seismic signal into a frequency space where it is easier to remove or attenuate noise. After that, data is reconstructed in the original space in such a way that geologic structures are shown in more detail. In addition, the curvelet transform is a new and effective spectral transformation that have been used in the analysis of complex data. In this work, we employ the curvelet transform to represent geologic data using basis functions that are directional in space. This particular basis can represent more effectively two dimensional objects with contours and lines. The curvelet analysis maps real space into frequencies scales and angular sectors in such way that we can distinguish in detail the sub-spaces where is the noise and remove the coefficients corresponding to the undesired data. In this work we develop and apply the denoising analysis to remove the ground roll of seismograms. We apply this technique to a artificial seismogram and to a real one. In both cases we obtain a good noise attenuation