Global and local coordinates

This chapter described the global and local coordinate systems utilized in the formulation of spatial multibody systems. Global coordinate system is considered in the present work to denote the inertia frame. Additionally, body-fixed coordinate systems, also called local coordinate systems, are utilized to describe local properties of points that belong to a particular body. Furthermore, the process of transforming local coordinates into global coordinates is characterized by considering a transformation matrix. In the present work, Cartesian coordinates are utilized to locate the center of mass of each rigid body, as well as the location of any point that belongs to a body.

Vector of coordinates, velocities and accelerations

This chapter describes the how the vector of coordinates are defined in the formulation of spatial multibody systems. For this purpose, the translational motion is described in terms of Cartesian coordinates, while rotational motion is specified using the technique of Euler parameters. This approach avoids the computational difficulties associated with the singularities in the case of using Euler angles or Bryant angles. Moreover, the formulation of the velocities vector and accelerations vector is presented and analyzed here. These two sets of vectors are defined in terms of translational and rotational coordinates.

Educação e ambiguidades da autonomização: para uma pedagogia crítica da promoção do indivíduo autónomo

O presente artigo, confrontando a educação com o desiderato da autonomização, pretende analisar as ambiguidades a que esse confronto dá hoje origem e estabelecer, mediante a explicitação de uma conceção contra-hegemónica de autonomização, as bases e as coordenadas de uma pedagogia crítica da promoção do indivíduo autónomo, que seja simultaneamente humanista, emancipadora e transformadora tanto da realidade do sujeito quanto da realidade do contexto. A estrutura narrativa, em consonância com esse amplo propósito, articula as seguintes dimensões: a educação e a normatividade da autonomização; as ambiguidades da autonomização: sentidos divergentes de fazer educação para a autonomia; e, por fim, o empowerment emancipatório e transformador: vetor da educação enquanto autonomização contra-hegemónica. A conclusão aponta as linhas diretoras da construção de uma pedagogia crítica do indivíduo autónomo, assumida nas vertentes de emancipação individual e transformação social.

Spatial-temporal modellization of the NO2 concentration data through geostatistical tools

The nitrogen dioxide is a primary pollutant, regarded for the estimation of the air quality index, whose excessive presence may cause significant environmental and health problems. In the current work, we suggest characterizing the evolution of NO2 levels, by using geostatisti- cal approaches that deal with both the space and time coordinates. To develop our proposal, a first exploratory analysis was carried out on daily values of the target variable, daily measured in Portugal from 2004 to 2012, which led to identify three influential covariates (type of site, environment and month of measurement). In a second step, appropriate geostatistical tools were applied to model the trend and the space-time variability, thus enabling us to use the kriging techniques for prediction, without requiring data from a dense monitoring network. This method- ology has valuable applications, as it can provide accurate assessment of the nitrogen dioxide concentrations at sites where either data have been lost or there is no monitoring station nearby.

The role of automatic shape and position recognitionin streamlining manufacturing

The main features of most components consist of simple basic functional geometries: planes, cylinders, spheres and cones. Shape and position recognition of these geometries is essential for dimensional characterization of components, and represent an important contribution in the life cycle of the product, concerning in particular the manufacturing and inspection processes of the final product. This work aims to establish an algorithm to automatically recognize such geometries, without operator intervention. Using differential geometry large volumes of data can be treated and the basic functional geometries to be dealt recognized. The original data can be obtained by rapid acquisition methods, such as 3D survey or photography, and then converted into Cartesian coordinates. The satisfaction of intrinsic decision conditions allows different geometries to be fast identified, without operator intervention. Since inspection is generally a time consuming task, this method reduces operator intervention in the process. The algorithm was first tested using geometric data generated in MATLAB and then through a set of data points acquired by measuring with a coordinate measuring machine and a 3D scan on real physical surfaces. Comparison time spent in measuring is presented to show the advantage of the method. The results validated the suitability and potential of the algorithm hereby proposed

Electrochromic devices incorporating biohybrid electrolytes doped with a lithium salt, an ionic liquid or a mixture of both

The sol-gel method was employed in the synthesis of di-urethane cross-linked poly( caprolactone) (PCL(530)/siloxane biohybrid ormolytes incorporating either a mixture of lithium triflate (LiCF3SO3) and the ionic liquid (IL) 1-ethyl-3-methyl imidazolium tetrafluoroborate ([Emim]BF4), or solely with [Emim]BF4 or LiCF3SO3. The ormolyte doped with [Emim]BF4 is thermally more stable and exhibits higher ionic conductivity (4 x 10-4 and 2 x 10-3 S cm-1 at 36 and 98 ºC, respectively) than those containing the LiCF3SO3/[Emim]BF4 mixture or just LiCF3SO3. The three ormolytes were employed in the production of glass/ITO/ormolyte/WO3/ITO/glass electrochromic devices (ECDs) designated as ECD@Y with Y = Li-[Emim]BF4, [Emim]BF4 and Li. The three ECDs displayed fast switching speed (ca. 30 s). ECD@Li-[Emim]BF4 exhibited an electrochromic contrast of 18.4 % and an optical density change of 0.11 in the visible region, the coloration efficiency attained at 555 nm was 159 and 80.2 cm-2 C-1 in the “on” and “off” states, respectively, and the open circuit memory was 48 hours. In the “on” state the CIE 1931 color space coordinates were x = 0.29 and y = 0.30, corresponding to blue color.

Sistema de posicionamento baseado em redes de sensores sem fios

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e Computadores

Fundamental concepts in multibody dynamics

In this chapter, the fundamental ingredients related to formulation of the equations of motion for multibody systems are described. In particular, aspects such as degrees of freedom, types of coordinates, basic kinematics joints and types of analysis in multibody systems are briefly characterized. Illustrative examples of application are also presented to better clarify the fundamental issues for spatial rigid multibody systems, which are of crucial importance in the formulation development of mathematical models of mechanical systems, as well as its computational implementation.

Euler angles, Bryant angles and Euler parameters

This chapter deals with the different approaches for describing the rotational coordinates in spatial multibody systems. In this process, Euler angles and Bryant angles are briefly characterized. Particular emphasis is given to Euler parameters, which are utilized to describe the rotational coordinates in the present work. In addition, for all the types of coordinates considered in this chapter, a characterization of the transformation matrix is fully described.

Kinematic constraint equations

This chapter presents a general methodology for the formulation of the kinematic constraint equations at position, velocity and acceleration levels. Also a brief characterization of the different type of constraints is offered, namely the holonomic and nonholonomic constraints. The kinematic constraints described here are formulated using generalized coordinates. The chapter ends with a general approach to deal with the kinematic analysis of multibody systems.

Equations of motion for constrained systems

"Series title: Springerbriefs in applied sciences and technology, ISSN 2191-530X"

Multibody systems formulation

"Series: Solid mechanics and its applications, vol. 226"

Contact force models for multibody dynamics

"Series: Solid mechanics and its applications, vol. 226"

New integrative computational approaches unveil the Saccharomyces cerevisiae pheno-metabolomic fermentative profile and allow strain selection for winemaking

During must fermentation by Saccharomyces cerevisiae strains thousands of volatile aroma compounds are formed. The objective of the present work was to adapt computational approaches to analyze pheno-metabolomic diversity of a S. cerevisiae strain collection with different origins. Phenotypic and genetic characterization together with individual must fermentations were performed, and metabolites relevant to aromatic profiles were determined. Experimental results were projected onto a common coordinates system, revealing 17 statistical-relevant multi-dimensional modules, combining sets of most-correlated features of noteworthy biological importance. The present method allowed, as a breakthrough, to combine genetic, phenotypic and metabolomic data, which has not been possible so far due to difficulties in comparing different types of data. Therefore, the proposed computational approach revealed as successful to shed light into the holistic characterization of S. cerevisiae pheno-metabolome in must fermentative conditions. This will allow the identification of combined relevant features with application in selection of good winemaking strains.