Measurements of thermophysical properties of perfluorocarbons and ionic liquids

No presente trabalho propõe-se estudar a tensão superficial de vários perfluorocarbonetos lineares, cíclicos, aromáticos e [alfa]-substituídos bem como líquidos iónicos com o catião imidazolium em comum. Apesar do seu interesse inerente, informação sobre esta propriedade para os compostos seleccionados é escassa e quando disponível apresenta discrepâncias consideráveis entre si. As medições foram realizadas no intervalo de temperaturas (283 to 353) K usando o método do anel de Du Noüy. Para os fluorocarbonetos, os dados experimentais demonstram que a estrutura molecular é o factor primordial no comportamento da superfície uma vez que os fluorocarbonetos aromáticos apresentam a tensão superficial mais elevada, seguida pelos fluorocarbonetos cíclicos e substituídos. Os perfluorocarbonetos lineares apresentam os menores valores de tensão superficial, aumentando ligeiramente com o aumento do número de carbonos. Os líquidos iónicos estudados foram seleccionados com o objectivo de fornecerem um estudo compreensivo sobre a influência do tamanho da cadeia alquílica do catião, o número de substituições no catião e a influência do anião. A influência do conteúdo de água na tensão superficial foi estudada em função da temperatura e da fracção molar de água para o liquido iónico mais hidrofóbico, [omim][PF6], e para o mais higroscópico, [bmim][PF6]. As funções termodinâmicas de superfície, como a entropia e entalpia de superfície, foram derivadas a partir da dependência da tensão superficial com a temperatura. Os dados obtidos para o fluorocarbonetos foram comparados com a correlação proposta por Faizullin, apresentando um desvio inferior a 4 % e demonstrando a sua aplicabilidade para com esta classe de compostos. A metodologia adoptada neste trabalho requer o conhecimento das densidades dos compostos de modo a aplicar a necessária correcção hidrostática. Contudo, para os líquidos iónicos esta informação é limitada ou mesmo inexistente. Por este motivo realizaram-se medições de densidade em função da pressão (0.10 < p/MPa < 10.0) e da temperatura (293.15 < T/K < 393.15). Desta dependência, as propriedades termodinâmicas, tais como compressibilidade isotérmica, expansividade isobárica, coeficiente térmico da pressão e dependência da capacidade calorífica com a pressão foram investigadas. A influência do teor de água na densidade foi também estudada para o líquido iónico mais hidrofóbico, [omim][PF6]. Um modelo simples de volume-ideal foi aplicado de forma preditiva para os volumes molares dos líquidos iónicos, em condições ambientais, descrevendo bem os dados experimentais. ABSTRACT: This work aims at studying the surface tension of some linear, cyclic, aromatic, [alfa]-substituted perfluorocarbons and imidazolium based ionic liquids. Despite its fundamental interest, information about this property for these compounds is scarce and the available data present strong discrepancies among each other. The measurements were carried out in the temperature range (283 to 353) K with the Du Noüy ring method. For the fluorocarbons, the analysis of the experimental data shows that the molecular structure is the main factor in the surface since the aromatic fluorocompounds present the highest surface tensions, followed by the cyclic and substituted fluorocompounds. The linear n-perfluoroalkanes exhibit the lowest surface tension values, slightly increasing with the carbon number. The set of selected ionic liquids was chosen to provide a comprehensive study of the influence of the cation alkyl chain length, the number of cation substitutions and the anion on the properties under study. The influence of water content in the surface tension was studied for several ILs as a function of the temperature as well as a function of water mole fraction, for the most hydrophobic IL investigated, [omim][PF6], and one hygroscopic IL, [bmim][PF6]. The surface thermodynamic functions such as surface entropy and enthalpy were derived from the temperature dependence of the surface tension values. The perfluorocarbons experimental data were compared against the Faizullin correlation, and it is shown that this correlation describes the measured surface tensions with deviations inferior to 4 %. The methodology adopted in this work requires the knowledge of the densities of the compounds under study in order to apply an hydrostatic correction. However, for ionic liquids these information is scarse and in some cases unavailable. Therefore, experimental measurements of the pressure (0.10 < p/MPa < 10.0) and temperature (293.15 < T/K < 393.15) dependence of the density and derived thermodynamic properties, such as the isothermal compressibility, the isobaric expansivity, the thermal pressure coefficient, and the pressure dependence of the heat capacity of several imidazolium-based ionic were determined. The influence of water content in the density was also studied for the most hydrophobic IL used, [omim][PF6]. A simple ideal-volume model was employed for the prediction of the imidazolium molar volumes at ambient conditions, which proved to agree well with the experimental results.

Goal detection using laser range finder for goalkeeper and striker from CAMBADA team

For a robot be autonomous and mobile, it requires being attached with a set of sensors that helps it to have a better perception of the surrounding world, to manage to localize itself and the surrounding objects. CAMBADA is the robotic soccer team of the IRIS research group, from IEETA, University of Aveiro, that competes in the Middle-Size League of RoboCup. In competition, in order to win, the main objective of the game it's to score more goals than the conceded, so not conceding goals, and score as much as possible it's desirable, thus, this thesis focus on adapt an agent with a better localization capacity in defensive and offensive moments. It was introduced a laser range finder to the CAMBADA robots, making them capable of detecting their own and the opponent goal, and to detect the opponents in specific game situations. With the new information and adapting the Goalie and Penalty behaviors, the CAMBADA goalkeeper is now able to detect and track its own goal and the CAMBADA striker has a better performance in a penalty situation. The developed work was incorporated within the competition software of the robots, which allows the presentation, in this thesis, of the experimental results obtained with physical robots on the laboratory field.