Técnicas visuais de localização e mapeamento simultâneos sem extração de primitivas geométricas da imagem

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments

Estratégia de controle robusto para interconexão de sistemas PV trifásicos à rede elétrica

Atualmente há uma grande preocupação em relação a substituição das fontes não renováveis pelas fontes renováveis na geração de energia elétrica. Isto ocorre devido a limitação do modelo tradicional e da crescente demanda. Com o desenvolvimento dos conversores de potência e a eficácia dos esquemas de controle, as fontes renováveis têm sido interligadas na rede elétrica, em um modelo de geração distribuída. Neste sentido, este trabalho apresenta uma estratégia de controle não convencional, com a utilização de um controlador robusto, para a interconexão de sistemas fotovoltaicos com à rede elétrica trifásica. A compensação da qualidade de energia no ponto de acoplamento comum (PAC) é realizada pela estratégia proposta. As técnicas tradicionais utilizam detecção de harmônicos, já neste trabalho o controle das correntes é feita de uma forma indireta sem a necessidade desta detecção. Na estratégia indireta é de grande importância que o controle da tensão do barramento CC seja efetuado de uma forma que não haja grandes flutuações, e que a banda passante do controlador em regime permanente seja baixa para que as correntes da rede não tenham um alto THD. Por este motivo é utilizado um controlador em modo dual DSM-PI, que durante o transitório se comporta como um controlador em modo deslizante SM-PI, e em regime se comporta como um PI convencional. A corrente é alinhada ao ângulo de fase do vetor tensão da rede elétrica, obtido a partir do uso de um PLL. Esta aproximação permite regular o fluxo de potência ativa, juntamente com a compensação dos harmônicos e também promover a correção do fator de potência no ponto de acoplamento comum. Para o controle das correntes é usado um controlador dupla sequencia, que utiliza o princípio do modelo interno. Resultados de simulação são apresentados para demonstrar a eficácia do sistema de controle proposto

Modelagem de Superfícies Seletivas de Freqüência e Antenas de Microfita utilizando Redes Neurais Artificiais

This work has as main objective the application of Artificial Neural Networks, ANN, in the resolution of problems of RF /microwaves devices, as for example the prediction of the frequency response of some structures in an interest region. Artificial Neural Networks, are presently a alternative to the current methods of analysis of microwaves structures. Therefore they are capable to learn, and the more important to generalize the acquired knowledge, from any type of available data, keeping the precision of the original technique and adding the low computational cost of the neural models. For this reason, artificial neural networks are being increasily used for modeling microwaves devices. Multilayer Perceptron and Radial Base Functions models are used in this work. The advantages/disadvantages of these models and the referring algorithms of training of each one are described. Microwave planar devices, as Frequency Selective Surfaces and microstrip antennas, are in evidence due the increasing necessities of filtering and separation of eletromagnetic waves and the miniaturization of RF devices. Therefore, it is of fundamental importance the study of the structural parameters of these devices in a fast and accurate way. The presented results, show to the capacities of the neural techniques for modeling both Frequency Selective Surfaces and antennas

Estudo térmico de um sistema solar de aquecimento de água residencial para duas configurações de superfície absorvedora

It presents a solar collector to be used in a system for heating water for bathing, whose main characteristics are its low cost and easy manufacturing and assembly. The absorbing surface of the collector is formed by an aluminum plate with eight flaps where they lodge PVC pipes. The catchment area of solar radiation corresponds to 1.3 meters. The collector box was made of wood, is covered by transparent glass and thermal insulation of tire chips and expanded polystyrene (EPS). Absorber tubes were connected in parallel through the use of PVC fittings and fixed to the plate by the use of metal poles and rivets. The entire absorber received paint flat black for better absorption of sunlight. The system worked on a thermosiphon assembly and absorber of the collector has been tested in two configurations: with the tubes facing up, directly exposed to the impact of sunlight and facing down, exchanging heat with the plate by conduction. It was determined the most efficient configuration for the correct purpose. The solar collector was connected to a thermal reservoir, also alternative, low-cost forming the system of solar water heating. We evaluated thermal parameters that proved the viability of the heating system studied

Aproveitamento de resíduos de cinza da cana de açúcar em massas cerâmicas

This study aimed to investigate the use of cane sugar ashes from small-scale stills of Eunápolis region, state of Bahia, in pottery mass that can be developed as porcelain stoneware. Bahia is the second largest producer of rum distillery in Brazil. In the production of rum is produced residue called bagasse, which is used to generate electricity in Power plants and in the distillery itself, generating ashes as residue, which is played in nature, causing environmental damage. We studied 5 (five) formulations of 0% 10% 20%, 30% and 40% by weight of the ash, without ignition and 3 (three) formulations of 10%, 20% and 30% with gray ash temperature of 1250ºC. The formulation at 0% by weight of ash was used for a comparison between the traditional mass of porcelain stoneware and the masses with the addition of ash calcined, replacing feldspar. The percentage by weight of kaolin and of Clay was kept the same, 30%, and all raw materials were derived from the state of Bahia. The samples were made in uniaxial array with dimensions of (60 x 20 x 5) mm and compressed to a pressure of 45 MPa. Assays were performed to characterize the raw by X-ray fluorescence, X-ray diffraction, ATD and ATG and Dilatometric analysis. The samples were sintered at temperatures of 1100°C, 1150°C, 1200°C and 1250°C, for the specimens with the ashes without ash and 1150° C and 1200° C for specimens with the gray level of calcined 60 minutes. and then we made a cooling ramp with the same rate of warming until reach ambient temperature. The sintered bodies were characterized by water absorption, porosity, linear shrinkage, bending strength and XRD of the fracture surface and the results analyzed. It was proven, after results of tests performed, that it is possible to use the ash residue of sugar cane bagasse on ceramic coating with the addition of up to 10% wt of the residue ash

Construção e análise de desempenho de um forno/fogão solar tipo caixa construído a partir de uma sucata de pneu

An alternative box-type solar cooker built starting from the scrap of a tire and a scrap of old office chair is presented, which principles functions are the effect greenhouse and the concentration. The tire served as structure for making of is the baking enclosure where the absorber (roasting pan 20x30cm) of the solar is located, being re-covered for a glass blade for the generation of the greenhouse effect isolated lateral and having deep its and for a composite the plaster base and EPS. Segments of plain mirrors had been placed in the laterals of the oven/cook for the concentration of the radiation and a reflecting parable was introduced in the baking enclosure for the exploitation of the incident reflected radiation inside of the oven/cook. The oven/cook is mobile to allow one better aiming of exactly in relation to the apparent movement of the sun. The thermal economic and of materials viabilities of the stove/cook in study will be demonstrate. The average internal temperature of the absorber was around 152,3°C and the internal temperature around 110°C. Will demonstrate that toits low cost and good thermal performance, represents basic characteristics for the viability of large use of such archetype, mainly for cooking the decreases and averages temperatures. One will reveal that the archetype in study is competitive with the box-type solar cooker conceived in the whole world

Simulação computacional do escoamento em bombas de cavidades progressivas

The use of Progressing Cavity Pumps (PCPs) in artificial lift applications in low deep wells is becoming more common in the oil industry, mainly, due to its ability to pump heavy oils, produce oil with large concentrations of sand, besides present high efficiency when compared to other artificial lift methods. Although this system has been widely used as an oil lift method, few investigations about its hydrodynamic behavior are presented, either experimental or numeric. Therefore, in order to increase the knowledge about the BCP operational behavior, this work presents a novel computational model for the 3-D transient flow in progressing cavity pumps, which includes the relative motion between rotor and stator, using an element based finite volume method. The model developed is able to accurately predict the volumetric efficiency and viscous looses as well as to provide detailed information of pressure and velocity fields inside the pump. In order to predict PCP performance for low viscosity fluids, advanced turbulence models were used to treat, accurately, the turbulent effects on the flow, which allowed for obtaining results consistent with experimental values encountered in literature. In addition to the 3D computational model, a simplified model was developed, based on mass balance within cavities and on simplification on the momentum equations for fully developed flow along the seal region between cavities. This simplified model, based on previous approaches encountered in literature, has the ability to predict flow rate for a given differential pressure, presenting exactness and low CPU requirements, becoming an engineering tool for quick calculations and providing adequate results, almost real-time time. The results presented in this work consider a rigid stator PCP and the models developed were validated against experimental results from open literature. The results for the 3-D model showed to be sensitive to the mesh size, such that a numerical mesh refinement study is also presented. Regarding to the simplified model, some improvements were introduced in the calculation of the friction factor, allowing the application fo the model for low viscosity fluids, which was unsuccessful in models using similar approaches, presented in previous works

Mecanismos de desgaste de poliuretano em ensaios de microabrasão

Wear mechanisms and thermal history of two non-conforming sliding surfaces was investigated in laboratory. A micro-abrasion testing setup was used but the traditional rotative sphere method was substituted by a cylindrical surface of revolution which included seven sharp angles varying between 15o to 180o. The micro-abrasion tests lead to the investigation on the polyurethane response at different contact pressures. For these turned counterfaces with and without heat treatment. Normal load and sliding speeds were changed. The sliding distance was fixed at 5 km in each test. The room and contact temperatures were measured during the tests. The polyurethane was characterized using tensile testing, hardness Shore A measurement, Thermogravimetric Analysis (TGA), Differential Scanning Calorimetry (DSC) and Thermomechanical Analyze (TMA). The Vickers micro-hardness of the steel was measured before and after the heat treatment and the metallographic characterization was also carried out. Worn surface of polyurethane was analysed using Scanning Electron Microscope (SEM) and EDS (Electron Diffraction Scanning) microanalyses. Single pass scratch testing in polyurethane using indenters with different contact angles was also carried out. The scar morphology of the wear, the wear mechanism and the thermal response were analyzed in order to correlate the conditions imposed by the pressure-velocity pair to the materials in contact. Eight different wear mechanisms were identified on the polyurethane surface. It was found correlation between the temperature variation and the wear scar morphology.

Modelagem e simulação da deposição de parafinas em escoamento turbulento

The flow assurance has become one of the topics of greatest interest in the oil industry, mainly due to production and transportation of oil in regions with extreme temperature and pressure. In these operations the wax deposition is a commonly problem in flow of paraffinic oils, causing the rising costs of the process, due to increased energy cost of pumping, decreased production, increased pressure on the line and risk of blockage of the pipeline. In order to describe the behavior of the wax deposition phenomena in turbulent flow of paraffinic oils, under different operations conditions, in this work we developed a simulator with easy interface. For that we divided de work in four steps: (i) properties estimation (physical, thermals, of transport and thermodynamics) of n-alkanes and paraffinic mixtures by using correlations; (ii) obtainment of the solubility curve and determination the wax appearance temperature, by calculating the solid-liquid equilibrium of parafinnic systems; (iii) modelling wax deposition process, comprising momentum, mass and heat transfer; (iv) development of graphic interface in MATLAB® environment for to allow the understanding of simulation in different flow conditions as well as understand the matter of the variables (inlet temperature, external temperature, wax appearance temperature, oil composition, and time) on the behavior of the deposition process. The results showed that the simulator developed, called DepoSim, is able to calculate the profile of temperature, thickness of the deposit, and the amount of wax deposited in a simple and fast way, and also with consistent results and applicable to the operation

Secagem de grãos de girassol em leito fixo e em leito de jorro

This work studies two methods for drying sunflower grains grown in the western region of Rio Grande do Norte, in the premises of the Instituto Federal de Educação, Ciência e Tecnologia do Rio Grande do Norte - IFRN - Campus Apodi. This initiative was made because of the harvested grain during the harvest, being stored in sheds without any control of temperature, humidity etc. Therewith, many physical, chemical and physiological characteristics are compromised and grains lose much quality for oil production as their germination power. Taking into account that most of the stored grain is used for replanting, the studied methods include drying of grains in a thin layer using an oven with air circulation (fixed bed) and drying in a spouted bed. It was studied the drying of grains in natura, i.e., newly harvested. The fixed bed drying was carried out at temperatures of 40, 50, 60 and 70°C. Experiments in spouted bed were performed based on an experimental design, 2² + 3, with three replications at the central point, where the independent variables were grains load (1500, 2000 and 2500 g) and the temperature of the inlet air (70, 80, and 90 °C), obtaining the drying and desorption equilibrium isotherms. Previously, the characteristic curves of the bed were obtained. Both in the fixed bed as in the spouted bed, drying and desorption curves were obtained by weighing the grains throughout the experiments and measurements of water activity, respectively. The grains drying in the spouted bed showed good results with significant reduction of processing time. The models of FICK and PAGE were fitted to the experimental data, models which will represent the drying of grains both in the fixed bed as in the spouted bed. The desorption curves showed no influence of the processing temperature in the hygroscopic characteristics of the grains. The models of GAB, OSWIN and LUIKOV could well represent the desorption isotherms

Estudo da secagem do pedúnculo do caju em sistemas convencional e solar: modelagem e simulação do processo

This work aims to study the drying of cashew-nut pulp with different lay-out of dryers using conventional and solar energy. It concerns with the use of exceeding of the regional raw material and the suitable knowledge for the applicability of the drying systems as pathway for food conservation. Besides, it used renewable sources as solar energy to dry these agroindustrial products. Runs were carried out using a conventional tray-dryer with temperature, air velocity control and cashew slice thickness of 55°C, 65°C, 75°C; 3.0; 4.5, 6.0 m s-1; 1.0; 1.5 and 2.0 cm, respectively, in order to compare the studied systems. To evaluate the conventional tray-dryer, it was used a diffusional model of 2nd Fick´s law, where the drying curves were quite well fitted to an infinite flat plate design. For the drying runs where the room temperature had no control, it was developed a phenomenological-mathematical model for the solar dryer with indirect radiation under natural and forced convection based on material and energy balances of the system. Besides, it was carried out assays in the in natura as well as dehydrated, statistic analysis of the experimental drying data, sensorial analysis of the final dry product and a simplified economical analysis of the systems studied

Incorporação de lodo de esgoto na massa cerâmica para fabricação de tijolos maciços: uma alternativa para a disposição final de resíduo

The disposal of sewage sludge is a growing problem face up to management of sanitary sevices. Otherwise, because its making process characteristic, the Ceramic Industry can tolerate the presence of this wastes as raw material. This study has as object to confirm the use of the sewage sluge in the Ceramic Industry like a sustentable alternative for its disposal. Futhermore, this study quests to evaluate the maximum proportion for incorporation of sludge wich result in technically and enviromentally suitable bricks. For found this proportion, the research consisted of (1) making of bricks in full scale, adde up 0%, 5%,10%, 15%, 20%, 25%,30%, 35% e 40% sludge, with size 220x105x45 mm, hand-molded by rammer and baked by industrial kiln; and (2) tecnical and enviromental evaluation of this bricks, according to Brazilian norms. The raw material uses were two distinct clays come from Goianinha/RN and sewage comes from a septic system tank and pumped into tank vehicle, of Natal/RN. The technical evaluation allowed to conclude the addiotion of the sludge brings about signifcant lost of mass and the water absorption grew up according to increase of sludge: every sludge-amended clay bricks absorved more water than control group. Thus, the compressive strength was signicantly decreased because the increase of sludge: bricks with 5% sludge added lost 45% of strength achieved at control group; the bricks made with 10 and 20% lost almost 70% of bigger strength. With up to 25% sludge added to the bricks, the streght decreased over 90%. Concerning heavy metal leaching, the two maximum proportion wich have tecnical approval, it means bricks sludge added with 15 and 20%, can say there is no risk of enviromental contamination using those bricks. This way, in this work context, it can to conclude the maximum proportion atends the technical and enviromental criterion is 20%

Incorporação do resíduo oriundo do beneficiamento de caulim em concreto asfáltico

The municipal district of Equador-RN is located in an area of great amounts of ores, being your main economical activity the extraction and the kaolin improvement. The main originating from environmental problem that activity is the amount of generated residue, about 70% of the extracted kaolin. The residues are simply piled up in lands of the improvement companies, occupying like this a large area and causing impact in the existent flora. When dry, the residues transform powdered and for the action of the wind, they disperse, polluting the air. Being like this, the present work has as objective evaluates the incorporation of the great residue, originating from of the kaolin improvement, in partial substitution of all the employed aggregates in a conventional mixture of asphalt concrete, which was used in the paving of BR101/RN061 - passage between Ponta Negra and Ares. That evaluation was accomplished in three stages. The first refers to the evaluation of the physical, thermal and mineralogical characteristics of the residue with the intention of to classify it and to define your application as aggregate (small and great). The second refers to the physical characterization of the aggregates and of the asphalt material used in the conventional mixture. And the third, to the evaluation of the mixtures containing residue, which were elaborated starting from the conventional mixture with the gradual incorporation of the residue, from 5 to 40%, in substitution to the part of the conventional aggregates, in way to obtain similar particle size curves the one of the conventional mixture. That evaluation was accomplished through the comparison between the volumetric composition, the mechanical behavior and the susceptibility to the humidity of the mixtures containing residue with the one of the conventional mixture, and with the one of the DNIT specifications. The results show that the great residue originating from of the kaolin improvement has grains of the most varied size, being like this, it can substitute part of all the conventional aggregates and of the filler in an asphalt mixture. Besides, your mineralogical composition presented the same present minerals in the composition of conventional aggregates used in paving. The results evaluation of the volumetric composition of the mixtures containing residue indicates that it can use up to 30% of residue in substitution to the conventional aggregates. The evaluation of the mechanical behavior of those mixtures indicates that the residue increment in the studied mixtures caused an increase of the stability and a reduction of the resistance to the traction. The values obtained in the resistance to the traction meet below the minimum value specified by DNIT, but close to the value obtained in the conventional mixture. When taking in consideration the susceptibility of the same ones to the humidity, the results indicate that she can use up to 25% of residue

Uma proposta para o ensino de eletromagnetismo no nível médio

This paper aims at building a proposal for teaching of electromagnetism in the secondary level in the state public school in Natal, RN, encompassing at the most possible comprehensive manner the fundamental aspects of electromagnetism. The methodology employed here is prioritize physical concepts rather than instruments (such as the mathematics), which should have the connotation of just tools, or of aids in the context of physics teaching in the referred teaching level. The proposal is to give teachers a consultation resource, from differentiated lesson plans, which have as main focus activities based primarily in texts and active participation of students in the teaching- learning process and the implementation of the PCN+ proposals (BRAZIL, 2000), which suggest alternative ways to make the practice in the classroom more exciting, targeting a significant teaching-learning process for both the teacher and the student. This material was applied during the 3rd and 4th term (i.e., bimester) throughout the school year of 2007, in the State School Teacher Varela Barca in two classes (3V1 and 3V2) of 3rd grade of secondary level. As evaluation of the implementation of this proposal one can cite that students were more secure when to apply the concepts, when conducting the experiments, and less anxious when formal evaluation of the evidence, showing greater motivation when presented to electromagnetism contextualized in their everyday situations. The product of this educational work includes, besides the dissertation, the lesson plans, itineraries and experimental assessment of the instruments used (Annex E to I)

O gênero blog: ação social e multimodalidade.

Studies about discursive genres peak at a necessity to understand how these genres work in a society that is more and more submissive to the technology of informatics such as ours. In acknowledging that the virtual context of the Internet provides the manifestation and development of new genres of the discourse, we perceived that the online journal, or blog, as commonly known, is responsible for a variety of linguistic phenomena that would normally take severaI years to consolidate. Since its appearance in 1997 blogs rush as a virtual version of the personal diary and in a short time due to communicative demands suffers several changes, making new categories of blog genres emerge. Facing such phenomena, this work intends at first to characterize blogs as a genre that exercises a social action, evidencing its formal, structural and pragmatic characteristics from the notion of recurrence and rhetoric in a discursive-semiotic perspective. The methodological postulates adopted by this research are considered of qualitative basis in the sense that they are not restricted to looking at the discursive events as a product, but mainly they take into consideration a group of situational, cultural and ideologic factors that are present in the constitution of genre.