Caracterização da tecnologia de frio comercial e profissional

Hoje em dia a preocupação ambiental e a economia são fatores de sustentabilidade que são tidos em conta em países desenvolvidos, especialmente no seio da União Europeia. Reduzir os consumos de energia é, portanto, um ponto-chave para a redução das emissões de gases com efeito de estufa e aumentar a dependência das energias renováveis. Consequentemente surge então a necessidade de aumentar a eficiência dos equipamentos, em particular no presente caso, equipamentos de refrigeração. Para isso foi adotado pela Comissão Europeia uma rotulagem nos produtos consumidores de energia, em particular na refrigeração, os frigoríficos e congeladores domésticos permitindo informar o consumidor para os equipamentos mais eficientes. Mais recentemente, frigoríficos comerciais e profissionais também terão obrigatoriedade de incluir um rótulo energético na parte externa dos mesmos. Nesses rótulos estão incluídas várias informações técnicas do aparelho representadas de uma forma compreensível e lúdica aos olhos do consumidor mais leigo, entre as quais as classes de eficiência energética. As classes de eficiência energética caracterizam-se pela componente tecnológica dos frigoríficos. Perceber quais os componentes e materiais em particular que promovem uma melhor eficiência, quantificar a sua influência e avaliar os seus custos de integração torna-se assim essencial para toda a cadeia envolvida na produção destes equipamentos. Os fluídos frigorigénios e compressores aparentam ser os que mais exercem influência na eficiência de frigoríficos de baixa potência. Tubos capilares com trocador de calor são uma escolha mais eficiente comparado com o tubo capilar padrão que é utilizado nestes frigoríficos. Por forma a obter informação adicional e relevante do ponto de vista da análise energética realizaram-se simulações para determinação do consumo elétrico anual com recurso ao software Pack Calculation Pro. Entre os fluídos frigorigénios R-134a, R-22 e R-410a, os compressores scroll apresentaram consumos mais reduzidos (no máximo de 16%) do que os compressores alternativos. No caso do amoníaco (R-717) os compressores alternativos consumiram em média 14% menos do que os compressores parafuso. O recurso a velocidade variável em compressores permite reduzir o consumo na ordem dos 25%. Válvulas de expansão eletrónicas trazem reduções no consumo de 1,5% quando comparadas com válvulas de expansão termostáticas em compressores de velocidade variável. O propano (R-290) é um gás que mostra ter um melhor desempenho do que o R-134a e R404a em vários compressores, consumindo 16% menos do que o R-404a. Em função da temperatura exterior, o R-290 também apresentou um bom desempenho consumindo em climas quentes (Belém, Brasil) 24% menos do que o R-404a.

A mobile robot platform for open learning based on serious games and remote laboratories

Within the pedagogical community, Serious Games have arisen as a viable alternative to traditional course-based learning materials. Until now, they have been based strictly on software solutions. Meanwhile, research into Remote Laboratories has shown that they are a viable, low-cost solution for experimentation in an engineering context, providing uninterrupted access, low-maintenance requirements, and a heightened sense of reality when compared to simulations. This paper will propose a solution where both approaches are combined to deliver a Remote Laboratory-based Serious Game for use in engineering and school education. The platform for this system is the WebLab-Deusto Framework, already well-tested within the remote laboratory context, and based on open standards. The laboratory allows users to control a mobile robot in a labyrinth environment and take part in an interactive game where they must locate and correctly answer several questions, the subject of which can be adapted to educators' needs. It also integrates the Google Blockly graphical programming language, allowing students to learn basic programming and logic principles without needing to understand complex syntax.

Effect of fractional orders in the velocity control of a servo system

The application of fractional-order PID controllers is now an active field of research. This article investigates the effect of fractional (derivative and integral) orders upon system's performance in the velocity control of a servo system. The servo system consists of a digital servomechanism and an open-architecture software environment for real-time control experiments using MATLAB/Simulink tools. Experimental responses are presented and analyzed, showing the effectiveness of fractional controllers. Comparison with classical PID controllers is also investigated.

Optimal fuzzy PID control tuned with genetic algorithms

Fuzzy logic controllers (FLC) are intelligent systems, based on heuristic knowledge, that have been largely applied in numerous areas of everyday life. They can be used to describe a linear or nonlinear system and are suitable when a real system is not known or too difficult to find their model. FLC provide a formal methodology for representing, manipulating and implementing a human heuristic knowledge on how to control a system. These controllers can be seen as artificial decision makers that operate in a closed-loop system, in real time. The main aim of this work was to develop a single optimal fuzzy controller, easily adaptable to a wide range of systems – simple to complex, linear to nonlinear – and able to control all these systems. Due to their efficiency in searching and finding optimal solution for high complexity problems, GAs were used to perform the FLC tuning by finding the best parameters to obtain the best responses. The work was performed using the MATLAB/SIMULINK software. This is a very useful tool that provides an easy way to test and analyse the FLC, the PID and the GAs in the same environment. Therefore, it was proposed a Fuzzy PID controller (FL-PID) type namely, the Fuzzy PD+I. For that, the controller was compared with the classical PID controller tuned with, the heuristic Ziegler-Nichols tuning method, the optimal Zhuang-Atherton tuning method and the GA method itself. The IAE, ISE, ITAE and ITSE criteria, used as the GA fitness functions, were applied to compare the controllers performance used in this work. Overall, and for most systems, the FL-PID results tuned with GAs were very satisfactory. Moreover, in some cases the results were substantially better than for the other PID controllers. The best system responses were obtained with the IAE and ITAE criteria used to tune the FL-PID and PID controllers.

Formation Control Driven by Cooperative Object Tracking

In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

Visualizing control systems performance: A fractional perspective

This article presents a novel method for visualizing the control systems behavior. The proposed scheme uses the tools of fractional calculus and computes the signals propagating within the system structure as a time/frequency-space wave. Linear and nonlinear closed-loop control systems are analyzed, for both the time and frequency responses, under the action of a reference step input signal. Several nonlinearities, namely, Coulomb friction and backlash, are also tested. The numerical experiments demonstrate the feasibility of the proposed methodology as a visualization tool and motivate its extension for other systems and classes of nonlinearities.