On the use of IEEE 802.15.4/Zigbee for time-sensitive wireless sensor network applications

Mestrado em Engenharia Electrotécnica e de Computadores

Estudo da tratabilidade laboratorial e optimização experimental do tratamento de águas residuais de indústrias lácteas

O presente trabalho experimental teve como objectivos estudar a tratabilidade dum efluente lácteo utilizando a técnica de coagulação/floculação e avaliar a possibilidade de utilização do carvão activado granulado (CAG) Aquasorb 2000 como adsorvente para a remoção de compostos orgânicos presentes nos efluentes lácteos pré–tratados por coagulação/floculação, funcionando como um tratamento de polimento. No estudo da tratabilidade do efluente por coagulação/floculação investigou-se a influência de determinadas variáveis como o tipo e dose de coagulante e pH, a fim de encontrar as melhores condições operatórias. A utilização da referida técnica visou a redução do valor de concentração de alguns parâmetros: carência química de oxigénio (CQO); fósforo total e turvação, tendo sido utilizados efluentes desta indústria recolhidos em diferentes datas e após tratamento biológico, designados por A, B, C e D apresentando características diferentes. Sendo que o efluente A apresentava valores de CQO, fósforo total e turvação de 500 mg O2/L;32 mg P/L e 40 NTU respectivamente, o efluente B 1400 mg O2/L; 120 mg P/L e 80 NTU respectivamente, o efluente C 12300 mg O2/L; 87 mg P/L e 350 NTU respectivamente e o efluente D 340 mg O2/L; 33 mg P/L e 42 NTU respectivamente. Os coagulantes estudados foram hidróxido de cálcio (HC), sulfato de alumínio (SA) e tricloreto de ferro (TF). Verificou-se que o coagulante com maior eficácia nos efluentes estudados foi o TF. As maiores remoções de CQO, fósforo total e turvação, 89%, 99,9% e 99%, respectivamente, foram obtidas para o efluente C, com uma dosagem de TF de 4 g/L e com um pH entre 6 e 7. Entre os efluentes estudados este era o que apresentava valores iniciais mais elevados para qualquer um destes parâmetros. As melhores percentagens de remoção obtidas com o HC, para a CQO, fósforo total e turvação foram de 59%, 99% e 91%, respectivamente, com uma dosagem de HC de 1 g/L e com um pH entre 10 e 11,5 foram conseguidas no tratamento do efluente D, com o qual se alcançaram também as melhores remoções de CQO, fósforo total e turvação de 65%, 99% e 87%, respectivamente, quando se utilizou o coagulante SA, com uma dosagem de 2 g/L e com um pH entre 7 e 7,5. Relativamente ao volume de lamas produzido neste processo pela utilização dos diferentes coagulantes no tratamento dos efluentes referidos concluiu-se que o coagulante que gera menor volume de lamas é o HC, sendo o SA aquele que origina um maior volume. Submeteu-se posteriormente o efluente D, pré-tratado por coagulação/floculação, a um processo de adsorção em batch utilizando o CAG Aquasorb 2000, onde se conseguiu uma remoção de CQO de 48%, alcançando para este parâmetro o valor de 63 mg O2/L, nas condições operatórias que correspondem a uma massa de CAG de 12,5 g/L e um tempo de contacto de 3 horas. Quanto aos custos associados com os coagulantes, o que menores custos apresenta é o HC (150 €/ton), seguido pelo TF (250 €/ton) e por ultimo o SA (340 €/ton). Sendo que o efluente quando tratado com TF e SA é necessário uma correcção do pH do meio para que estes coagulantes actuem eficazmente, em que essa correcção de pH é realizada com hidróxido de sódio (540 €/ton). Realizaram-se ainda estudos de equilíbrio de adsorção com o carvão activado referido e o azul-de-metileno usando diferentes concentrações deste (50 mg/L; 100 mg/L e 200 mg/L) e diferentes massas de CAG (0,1g; 0,2g; 0,3g; 0,4g e 0,5g). A temperatura a que se realizaram estes ensaios foi de 28,7ºC e o volume de azul-de-metileno foi de 200 mL. Verificou-se que os melhores resultados obtidos foram para uma concentração de adsorvato de 100 mg/L. Ajustaram-se os modelos de Langmuir e Freundlich às isotérmicas obtidas tendo correlações mais elevadas para a concentração de 100 mg/L de corante (azul de metileno), sendo o modelo de Freundlich aquele que melhor se ajustou apresentando uma correlação quadrática de 0,9744 e os seguintes parâmetros Kf = 6,59 e n = 5,33, enquanto que o de Langmuir apresentou uma correlação quadrática de 0,9583 e os seguintes parâmetros qmáx = 83,3 mg/g de adsorvente e K = 20 L/mg de adsorvato.. Verificou-se que a capacidade de adsorção promovida pelo CAG, em relação ao azul-demetileno, obtida experimentalmente, 83,3 mg/g, é muito inferior à capacidade de adsorção teoricamente prevista pela ficha técnica deste carvão, 280 mg/g a uma temperatura de 25ºC, o que pode indiciar que o carvão utilizado não estaria nas melhores condições.

Detecção e seguimento de objectos em imagens termográficas: análise experimental de modelos de descrição

A instalação de sistemas de videovigilância, no interior ou exterior, em locais como aeroportos, centros comerciais, escritórios, edifícios estatais, bases militares ou casas privadas tem o intuito de auxiliar na tarefa de monitorização do local contra eventuais intrusos. Com estes sistemas é possível realizar a detecção e o seguimento das pessoas que se encontram no ambiente local, tornando a monitorização mais eficiente. Neste contexto, as imagens típicas (imagem natural e imagem infravermelha) são utilizadas para extrair informação dos objectos detectados e que irão ser seguidos. Contudo, as imagens convencionais são afectadas por condições ambientais adversas como o nível de luminosidade existente no local (luzes muito fortes ou escuridão total), a presença de chuva, de nevoeiro ou de fumo que dificultam a tarefa de monitorização das pessoas. Deste modo, tornou‐se necessário realizar estudos e apresentar soluções que aumentem a eficácia dos sistemas de videovigilância quando sujeitos a condições ambientais adversas, ou seja, em ambientes não controlados, sendo uma das soluções a utilização de imagens termográficas nos sistemas de videovigilância. Neste documento são apresentadas algumas das características das câmaras e imagens termográficas, assim como uma caracterização de cenários de vigilância. Em seguida, são apresentados resultados provenientes de um algoritmo que permite realizar a segmentação de pessoas utilizando imagens termográficas. O maior foco desta dissertação foi na análise dos modelos de descrição (Histograma de Cor, HOG, SIFT, SURF) para determinar o desempenho dos modelos em três casos: distinguir entre uma pessoa e um carro; distinguir entre duas pessoas distintas e determinar que é a mesma pessoa ao longo de uma sequência. De uma forma sucinta pretendeu‐se, com este estudo, contribuir para uma melhoria dos algoritmos de detecção e seguimento de objectos em sequências de vídeo de imagens termográficas. No final, através de uma análise dos resultados provenientes dos modelos de descrição, serão retiradas conclusões que servirão de indicação sobre qual o modelo que melhor permite discriminar entre objectos nas imagens termográficas.

Nonmonotone hybrid tabu search for inequalities and equalities: an experimental study

The main goal of this paper is to analyze the behavior of nonmono- tone hybrid tabu search approaches when solving systems of nonlinear inequalities and equalities through the global optimization of an appro- priate merit function. The algorithm combines global and local searches and uses a nonmonotone reduction of the merit function to choose the local search. Relaxing the condition aims to call the local search more often and reduces the overall computational e ort. Two variants of a perturbed pattern search method are implemented as local search. An experimental study involving a variety of problems available in the lit- erature is presented.

Application of integer and fractional models in electrochemical systems

This paper describes the use of integer and fractional electrical elements, for modelling two electrochemical systems. A first type of system consists of botanical elements and a second type is implemented by electrolyte processes with fractal electrodes. Experimental results are analyzed in the frequency domain, and the pros and cons of adopting fractional-order electrical components for modelling these systems are compared.

Fractional order modelling of fractional-order holds

Discrete time control systems require sample- and-hold circuits to perform the conversion from digital to analog. Fractional-Order Holds (FROHs) are an interpolation between the classical zero and first order holds and can be tuned to produce better system performance. However, the model of the FROH is somewhat hermetic and the design of the system becomes unnecessarily complicated. This paper addresses the modelling of the FROHs using the concepts of Fractional Calculus (FC). For this purpose, two simple fractional-order approximations are proposed whose parameters are estimated by a genetic algorithm. The results are simple to interpret, demonstrating that FC is a useful tool for the analysis of these devices.

Slotted wiDom: schedulability analysis and its experimental validation

WiDom is a wireless prioritized medium access control protocol which offers a very large number of priority levels. Hence, it brings the potential to employ non-preemptive static-priority scheduling and schedulability analysis for a wireless channel assuming that the overhead of WiDom is modeled properly. One schedulability analysis for WiDom has already been proposed but recent research has created a new version of WiDom (we call it: Slotted WiDom) with lower overhead and for this version of WiDom no schedulability analysis exists. In this paper we propose a new schedulability analysis for slotted WiDom and extend it to work also for message streams with release jitter. We have performed experiments with an implementation of slotted WiDom on a real-world platform (MicaZ). We find that for each message stream, the maximum observed response time never exceeds the calculated response time and hence this corroborates our belief that our new scheduling theory is applicable in practice.

A traffic differentiation add-on to the IEEE 802.15.4 protocol: implementation and experimental validation over a real-time operating system

The IEEE 802.15.4 is the most widespread used protocol for Wireless Sensor Networks (WSNs) and it is being used as a baseline for several higher layer protocols such as ZigBee, 6LoWPAN or WirelessHART. Its MAC (Medium Access Control) supports both contention-free (CFP, based on the reservation of guaranteed time-slots GTS) and contention based (CAP, ruled by CSMA/CA) access, when operating in beacon-enabled mode. Thus, it enables the differentiation between real-time and best-effort traffic. However, some WSN applications and higher layer protocols may strongly benefit from the possibility of supporting more traffic classes. This happens, for instance, for dense WSNs used in time-sensitive industrial applications. In this context, we propose to differentiate traffic classes within the CAP, enabling lower transmission delays and higher success probability to timecritical messages, such as for event detection, GTS reservation and network management. Building upon a previously proposed methodology (TRADIF), in this paper we outline its implementation and experimental validation over a real-time operating system. Importantly, TRADIF is fully backward compatible with the IEEE 802.15.4 standard, enabling to create different traffic classes just by tuning some MAC parameters.

Zigbee over tinyos: Implementation and experimental challenges

The IEEE 802.15.4/Zigbee protocols are a promising technology for Wireless Sensor Networks (WSNs). This paper shares our experience on the implementation and use of these protocols and related technologies in WSNs. We present problems and challenges we have been facing in implementing an IEEE 802.15.4/ZigBee stack for TinyOS in a two-folded perspective: IEEE 802.15.4/ZigBee protocol standards limitations (ambiguities and open issues) and technological limitations (hardware and software). Concerning the former, we address challenges for building scalable and synchronized multi-cluster ZigBee networks, providing a trade-off between timeliness and energy-efficiency. On the latter issue, we highlight implementation problems in terms of hardware, timer handling and operating system limitations. We also report on our experience from experimental test-beds, namely on physical layer aspects such as coexistence problems between IEEE 802.15.4 and 802.11 radio channels.

Real-time communications over cluster-tree sensor networks with mobile sink behaviour

Modelling the fundamental performance limits of wireless sensor networks (WSNs) is of paramount importance to understand the behaviour of WSN under worst case conditions and to make the appropriate design choices. In that direction, this paper contributes with a methodology for modelling cluster tree WSNs with a mobile sink. We propose closed form recurrent expressions for computing the worst case end to end delays, buffering and bandwidth requirements across any source-destination path in the cluster tree assuming error free channel. We show how to apply our theoretical results to the specific case of IEEE 802.15.4/ZigBee WSNs. Finally, we demonstrate the validity and analyze the accuracy of our methodology through a comprehensive experimental study, therefore validating the theoretical results through experimentation.

Wind resource modelling in complex terrain using different mesoscale–microscale coupling techniques

Wind resource evaluation in two sites located in Portugal was performed using the mesoscale modelling system Weather Research and Forecasting (WRF) and the wind resource analysis tool commonly used within the wind power industry, the Wind Atlas Analysis and Application Program (WAsP) microscale model. Wind measurement campaigns were conducted in the selected sites, allowing for a comparison between in situ measurements and simulated wind, in terms of flow characteristics and energy yields estimates. Three different methodologies were tested, aiming to provide an overview of the benefits and limitations of these methodologies for wind resource estimation. In the first methodology the mesoscale model acts like “virtual” wind measuring stations, where wind data was computed by WRF for both sites and inserted directly as input in WAsP. In the second approach, the same procedure was followed but here the terrain influences induced by the mesoscale model low resolution terrain data were removed from the simulated wind data. In the third methodology, the simulated wind data is extracted at the top of the planetary boundary layer height for both sites, aiming to assess if the use of geostrophic winds (which, by definition, are not influenced by the local terrain) can bring any improvement in the models performance. The obtained results for the abovementioned methodologies were compared with those resulting from in situ measurements, in terms of mean wind speed, Weibull probability density function parameters and production estimates, considering the installation of one wind turbine in each site. Results showed that the second tested approach is the one that produces values closest to the measured ones, and fairly acceptable deviations were found using this coupling technique in terms of estimated annual production. However, mesoscale output should not be used directly in wind farm sitting projects, mainly due to the mesoscale model terrain data poor resolution. Instead, the use of mesoscale output in microscale models should be seen as a valid alternative to in situ data mainly for preliminary wind resource assessments, although the application of mesoscale and microscale coupling in areas with complex topography should be done with extreme caution.

Numerical and experimental analyses of biocomposites reinforced with natural fibres

n the last decades the biocomposites have been widely used in the construction, automobile and aerospace industries. Not only the interface transition zone (ITZ) but also the heterogeneity of natural fibres affects the mechanical behaviour of these composites. This work focuses on the numerical and experimental analyses of a polymeric composite fabricated with epoxy resin and unidirectional sisal and banana fibres. A three-dimensional model was set to analyze the composites using the elastic properties of the individual phases. In addition, a two-dimensional model was set taking into account the effective composite properties obtained by micromechanical models. A tensile testing was performed to validate the numerical analyses and evaluating the interface condition of the constitutive phases.

Numerical and experimental study of tensile strength of single and double-strap repairs

Adhesive bonding as a joining or repair method has a wide application in many industries. Repairs with bonded patches are often carried out to re-establish the stiffness at critical regions or spots of corrosion and/or fatigue cracks. Single and double-strap repairs (SS and DS, respectively) are a viable option for repairing. For the SS repairs, a patch is adhesively-bonded on one of the structure faces. SS repairs are easy to execute, but the load eccentricity leads to peel peak stresses at the overlap edges. DS repairs involve the use of two patches, one on each face of the structure. These are more efficient than SS repairs, due to the doubling of the bonding area and suppression of the transverse deflection of the adherends. Shear stresses also become more uniform as a result of smaller differential straining. The experimental and Finite Element (FE) study presented here for strength prediction and design optimization of bonded repairs includes SS and DS solutions with different values of overlap length (LO). The examined values of LO include 10, 20 and 30 mm. The failure strengths of the SS and DS repairs were compared with FE results by using the Abaqus® FE software. A Cohesive Zone Model (CZM) with a triangular shape in pure tensile and shear modes, including the mixed-mode possibility for crack growth, was used to simulate fracture of the adhesive layer. A good agreement was found between the experiments and the FE simulations on the failure modes, elastic stiffness and strength of the repairs, showing the effectiveness and applicability of the proposed FE technique in predicting strength of bonded repairs. Furthermore, some optimization principles were proposed to repair structures with adhesively-bonded patches that will allow repair designers to effectively design bonded repairs.

Experimental backlash study in mechanical manipulators

The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.

Fractional calculus: application in modelling and control

This contribution introduces the fractional calculus (FC) fundamental mathematical aspects and discuses some of their consequences. Based on the FC concepts, the chapter reviews the main approaches for implementing fractional operators and discusses the adoption of FC in control systems. Finally are presented some applications in the areas of modeling and control, namely fractional PID, heat diffusion systems, electromagnetism, fractional electrical impedances, evolutionary algorithms, robotics, and nonlinear system control.