Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás

This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal

Adição de geomanta e tecido não tecido de polipropileno em cimentos geopoliméricos de pega rápida

Geopolymers are cementing materials that depict a number of advantages compared to Portland cement. Contrary to the latter, geopolymers are synthesized at room temperature, thus significantly reducing the emission of CO2 to the atmosphere. Moreover, the composition and synthesis reactions can be tailored to adjust the setting time of the material as well as its compressive mechanical strength. It is then possible to produce geopolymeric cements with short setting times and high compressive strength, although relatively brittle. The objective of the present study was to produce and characterize composite materials by reinforcing fastsetting geopolymeric matrixes with polypropylene geosynthetics (geomats and geotextiles) in an attempt to improve the toughness and tensile strength of the cementing material. Geosynthetics have been increasingly used to reinforce engineering structures, providing higher strength and better toughness. In particular, polypropylene nonwoven and geomats depict other attractive properties such as low density, durability, impact absorption and resistance to abrasion. Fast-setting geopolymers were then synthesized and reinforced with polypropylene nonwoven and geomats. The mechanical strength of the materials, reinforced or not, was characterized. The results showed that relatively short setting times and adequate flowing behavior were achieved by adjusting the composition of the geopolymer. In addition, it is possible to improve the fracture resistance of geopolymeric cements by adding polypropylene geosynthetics. The best results were achieved by reinforcing geopolymer with polypropylene TNT

Capacidade de absorção de energia de tubos de compósitos submetidos à compressão

Structures capable of absorbing large amounts of energy are of great interest, particularly for the automotive and aviation industries, to reduce tbe impact on passengers in the case of a collision. The energy absorption properties of composite materials structures can be tailored, thus making these structures an appealing option a substitute of more traditional structures in applications where energy absorption is crucial. ln this research, the influence of some parameters, which affect the energy absorption capacity of composite material tubes, was investigated. The tubes were fabricated by hand lay-up, using orthophthalic polyester resin and a plain weave E-glass fabric Test specimens were prepared and tested under compression load. The ínfluence of the following parameters on the specific energy absorption capacity of the tubes was studied: fiber configuration (0/90º or ± 45°), tube cross-section (circular or square), and processing conditions (with or without vacuum). The results indicated that circular cross-section tubes with fibers oriented at 0/90º presented the highest level of specific energy absorbed. Further, specimens from tubes fabricated under vacuum displayed higher energy absorption capacity, when compared with specimens from tubes fabricated without vacuum. Thus, it can be concluded that the fabrication process with vacuum produce composite structures with better energy absorption capacity

Compósito de poliuretano de mamona e vermiculita para isolação térmica

They are in this study the experimental results of the analysis of thermal performance of composite material made from a plant matrix of polyurethane derived from castor oil of kernel of mamona (COF) and loading of clay-mineral called vermiculite expanded. Bodies of evidence in the proportions in weight of 10%, 15% and 20% were made to determine the thermal properties: conductivity (k), diffusivity (ά) and heat capacity (C), for purposes of comparison, the measurements were also performed the properties of polyurethane of castor without charge and also the oil polyurethane (PU), both already used in thermal insulation. Plates of 0.25 meters of material analyzed were manufactured for use as insulation material in a chamber performance thermal coverage. Thermocouples were distributed on the surface of the cover, and inside the material inside the test chamber and this in turn was subjected to artificial heating, consisting of a bank of incandescent lamps of 3000 w. The results obtained with the composite materials were compared with data from similar tests conducted with the camera alone with: (a) of oil PU, (b) of COF (c) glass wool, (d ) of rock wool. The heat resistance tests were performed with these composites, obtaining temperature limits for use in the range of 100 º C to 130 º C. Based on the analysis of the results of performance and thermal properties, it was possible to conclude that the COF composites with load of expanded vermiculite present behavior very close to those exhibited by commercial insulation material

Estudo térmico e de materiais de um compósito à base de gesso e EPS para construção de casas populares

A housing unit was built to study the thermal performance, and of material using a composite made of gypsum and EPS ground. We used two techniques of construction, using blocks, and filling on the spot. Two compositions of the composite were studied. The blocks were fixed using conventional mortar. In the technical of filling on the spot were used PET bottles up inside the walls to provide mechanical and thermal resistance. Compression tests were realized according to the ABNT standard of sealing bricks. It is going to be shown an analysis of the thermal comfort through the use of thermocouples placed on the walls of the building, internally and externally. The manufacturing viability of houses, using recyclable materials, through the use of composite materials proposed will be demonstrated. The constructive aspects showing the advantages and disadvantages of the technique used also will be broached. The block used presents structural functions and thermal insulating, is low cost and represents an alternative to the use of EPS and PET bottles which are materials that end up occupying much space in the landfills, giving than an ecologically correct use. The results of thermal analysis shows the thermal comfort provided by the composite by the obtainment of a difference between the internal and external surfaces of the walls more exposed to the sun around 7º C. The average temperature of the air inside the building, around 28.0 º C was below the zone of thermal comfort recommended for countries with hot weather

Envelhecimento ambiental acelerado em PRF a base de tecidos híbridos kevlar/vidro: propriedades e instabilidade estrutural

There are a number of damaging mechanisms that various materials can suffer in service. However, when working with polymer composite materials, this is something that requires analysis, especially when exposed to adverse environmental conditions. Thus, the objective of the present thesis is the study of the direct influence of environmental aging and the form of hybridization of the reinforcement woven on the structural stability, surfacedegradation and fracture process of polymer composites laminates. For this, the development of two polymer composite laminates was necessary, where one of them was reinforced with a bi-directional woven with hybrid strandsofkevlar-49/glass-Efibers, and the other also with a bi-directionalwoven, however with weft and warpformed of alternating strandsof Kevlar-49 fibers and glass-E fiber The reinforcementwoven are industrially manufactured. Both laminates use a polyester resin as a matrixand are made up of four layers each. All laminates were industrially prepared by the hand lay-up method of manufacturing. To do this, test specimens were manufactured of the respective laminates and submitted to environmental aging accelerated through the aging chamber. They were exposed to alternating cycles of UV radiation and moisture (heated steam) for a standard defined period. At the end of the exposure period the specimens were subjected to mechanical tests of uniaxial tensile and bending in three points and to the characterizationsof the fracture and surface deterioration. In addition, they were submitted to a structural degradation assessment by the measurement of mass variation technique (MMVT) and the measurement of thickness variation technique (MTVT), this last technique being developed in this thesis. At the end of the analysis it was observed that the form of hybridization of the reinforcement woven and the aging process directly influence with losses or gain in mechanical properties, with losses in the structural degradation and in the formation and propagation of damage mechanism of the developedcomposite laminates

Efeitos da radiação uv, temperatura e vapor aquecido nos compósitos poliméricos: monitoramento, instabilidade estrutural e fratura

The application of composite materials and in particular the fiber-reinforced plastics (FRP) has gradually conquered space from the so called conventional materials. However, challenges have arisen when their application occurs in equipment and mechanical structures which will be exposed to harsh environmental conditions, especially when there is the influence of environmental degradation due to temperature, UV radiation and moisture in the mechanical performance of these structures, causing irreversible structural damage such as loss of dimensional stability, interfacial degradation, loss of mass, loss of structural properties and changes in the damage mechanism. In this context, the objective of this thesis is the development of a process for monitoring and modeling structural degradation, and the study of the physical and mechanical properties in FRP when in the presence of adverse environmental conditions (ageing). The mechanism of ageing is characterized by controlled environmental conditions of heated steam and ultraviolet radiation. For the research, it was necessary to develop three polymer composites. The first was a lamina of polyester resin reinforced with a short glass-E fiber mat (representing the layer exposed to ageing), and the other two were laminates, both of seven layers of reinforcement, one being made up only of short fibers of glass-E, and the other a hybrid type reinforced with fibers of glass-E/ fibers of curaua. It should be noted that the two laminates have the lamina of short glass-E fibers as a layer of the ageing process incidence. The specimens were removed from the composites mentioned and submitted to environmental ageing accelerated by an ageing chamber. To study the monitoring and modeling of degradation, the ageing cycles to which the lamina was exposed were: alternating cycles of UV radiation and heated steam, a cycle only of UV radiation and a cycle only of heated steam, for a period defined by norm. The laminates have already undergone only the alternating cycle of UV and heated steam. At the end of the exposure period the specimens were subjected to a structural stability assessment by means of the developed measurement of thickness variation technique (MTVT) and the measurement of mass variation technique (MMVT). Then they were subjected to the mechanical tests of uniaxial tension for the lamina and all the laminates, besides the bending test on three points for the laminates. This study was followed by characterization of the fracture and the surface degradation. Finally, a model was developed for the composites called Ageing Zone Diagram (AZD) for monitoring and predicting the tensile strength after the ageing processes. From the results it was observed that the process of degradation occurs Abstract Raimundo Nonato Barbosa Felipe xiv differently for each composite studied, although all were affected in certain way and that the most aggressive ageing process was that of UV radiation, and that the hybrid laminated fibers of glass-E/curaua composite was most affected in its mechanical properties

Utilização de RNA´s na construção do diagrama de vida constante de probabilidade de materiais compósitos

The static and cyclic assays are common to test materials in structures.. For cycling assays to assess the fatigue behavior of the material and thereby obtain the S-N curves and these are used to construct the diagrams of living constant. However, these diagrams, when constructed with small amounts of S-N curves underestimate or overestimate the actual behavior of the composite, there is increasing need for more testing to obtain more accurate results. Therewith, , a way of reducing costs is the statistical analysis of the fatigue behavior. The aim of this research was evaluate the probabilistic fatigue behavior of composite materials. The research was conducted in three parts. The first part consists of associating the equation of probability Weilbull equations commonly used in modeling of composite materials S-N curve, namely the exponential equation and power law and their generalizations. The second part was used the results obtained by the equation which best represents the S-N curves of probability and trained a network to the modular 5% failure. In the third part, we carried out a comparative study of the results obtained using the nonlinear model by parts (PNL) with the results of a modular network architecture (MN) in the analysis of fatigue behavior. For this we used a database of ten materials obtained from the literature to assess the ability of generalization of the modular network as well as its robustness. From the results it was found that the power law of probability generalized probabilistic behavior better represents the fatigue and composites that although the generalization ability of the MN that was not robust training with 5% failure rate, but for values mean the MN showed more accurate results than the PNL model

Descontinuidade na seção transversal em laminados compósitos poliméricos: efeitos e propriedades

The growing demand in the use of composite materials necessitates a better understanding its behavior to many conditions of loading and service, as well as under several ways of connections involved in mechanisms of structural projects. It is know that most of the structural elements are designed with presence of geometric discontinuities (holes, notches, etc) in their longitudinal sections and / or transversals, and that these discontinuities affect the mechanical response of these elements. This work has aims to analyze a study of the mechanical response, when in the presence geometric discontinuity, of polymer matrix composite laminates (orthophthalic polyester) to the uniaxial tensile test. The geometric discontinuity is characterized by the presence of a center hole in the transversal section of the composite. In this study, different kinds of stacking sequences are tested, with and without the presence of the hole, so as to provide better understanding of the mechanical properties. This sense, two laminates were studied: the first is only reinforced by with seven layers short mats of fiberglass-E (CM) and the second where the reinforcement of fiberglass-E comes in the form of bidirectional fabric (CT), with only four layers. The laminate CT has the presence of anisotropy (sense of continuous fibers with respect to the applied load) as the main parameter influencing its mechanical behavior, behavior this, not observed for the CM. In addition to the mechanical properties was also studied the fracture characteristics developed in each composite laminated. The results also showed that the presence of the hole in the transversal section decreased the ultimate strength of laminates and changed the final characteristic of fracture in all kinds of composite laminated studied

Estudo da presença de entalhes semicirculares em compósitos poliméricos híbridos

Composite materials have a wide application in various sectors, such as the medical field in the manufacture of prostheses, in automotive and aerospace. Thus it is essential to the development of new composite and a better understanding in the face of various loading conditions and service. Several structural elements are manufactured in the presence of geometric discontinuity (notch, hole, etc ) in their longitudinal sections and/or cross-cutting, and these affect the mechanical response of these elements. The objective is to study the mechanical response of laminated polymer matrix hybrid composites reinforced with glass fiber/jute in a uniaxial tensile test. The mechanical response takes in account both the influence of the presence of a geometric discontinuity (semicircular notches) and the orientation of fibers in the layers (anisotropy). The semicircular notches are located in longitudinal section (with a reduction in cross section) of the same. In this analysis, the anisotropy is characterized by types of configurations (with different orientations of fibers in the outer layers). A comparative study of mechanical properties with and without the presence of notches is developed. Both configurations consist of four layers of woven jute fiber bidirectional and a central layer of bidirectional woven glass fibers. In addition to the mechanical properties was also studied the characteristics of the fracture developed in each composite laminate. The results showed that in the comparative study, the anisotropy and the presence of semicircular notches directly influences the mechanical behavior of laminates composites, mainly in reducing the tensile strength, and well as the final characteristics of the fracture

Avaliação do comportamento tribológico de compósitos poliéster/fibra de vidro utilizando resíduos de poliéster/fibra de vidro e carbonato de cálcio como carga

The use of composite materials and alternative is being increased every day, as it becomes more widespread awareness that the use of renewable and not harmful to the environment is part of a new environmentally friendly model. Since its waste (primarily fiberglass) can not be easily recycled by the difficulty that still exists in this process, since they have two phases mixed, a polymeric matrix thermoset difficult to recycle because it is infusible and phase of fiber reinforcements. Thermoset matrix composites like Polyester + fiberglass pose a threat due to excessive discharge. Aiming to minimize this problem, aimed to reuse the composite Polyester + fiber glass, through the wastes obtained by the grinding of knifes and balls. These residues were incorporated into the new composite Polyester/Fiberglass for hot compression mold and compared tribological to composites with filler CaCO3, generally used as filler, targeting a partial replacement of CaCO3 by such waste. The composites were characterized by thermal analysis (TGA, DSC and DMA), by the surface integrity (roughness determination, contact angle and surface energy), mechanical properties (hardness) and tribological tests (wear and coefficient of dynamic friction) in order to evaluate the effect of loads and characterize these materials for applications that can take, in the tribological point of view since waste Polyester + fiberglass has great potential for replacement of CaCO3

Viabilidade de utilização de um compósito de matriz cerâmica com cargas recicláveis na fabricação de equipamentos solares

Composite materials can be defined as materials formed from two or more constituents with different compositions, structures and properties, which are separated by an interface. The main objective in producing composites is to combine different materials to produce a single device with superior properties to the component unit. The present study used a composite consisting of plaster, cement, EPS, tire, PET and water to build prototype solar attempt to reduce the manufacturing cost of such equipment. It was built two box type solar cookers, a cooler to be cooled by solar energy, a solar dryer and a solar cooker concentration. For these prototypes were discussed the processes of construction and assembly, determination of thermal and mechanical properties, and raising the performance of such solar systems. Were also determined the proportions of the constituents of the composite materials according to specific performance of each prototype designed. This compound proved to be feasible for the manufacture of such equipment, low cost and easy manufacturing and assembly processes

Desenvolvimento de um núcleo versátil e integrado de ferramentas CAD/CAE para a modelagem e simulação de peças mecânicas

Currently there is still a high demand for quality control in manufacturing processes of mechanical parts. This keeps alive the need for the inspection activity of final products ranging from dimensional analysis to chemical composition of products. Usually this task may be done through various nondestructive and destructive methods that ensure the integrity of the parts. The result generated by these modern inspection tools ends up not being able to geometrically define the real damage and, therefore, cannot be properly displayed on a computing environment screen. Virtual 3D visualization may help identify damage that would hardly be detected by any other methods. One may find some commercial softwares that seek to address the stages of a design and simulation of mechanical parts in order to predict possible damages trying to diminish potential undesirable events. However, the challenge of developing softwares capable of integrating the various design activities, product inspection, results of non-destructive testing as well as the simulation of damage still needs the attention of researchers. This was the motivation to conduct a methodological study for implementation of a versatile CAD/CAE computer kernel capable of helping programmers in developing softwares applied to the activities of design and simulation of mechanics parts under stress. In this research it is presented interesting results obtained from the use of the developed kernel showing that it was successfully applied to case studies of design including parts presenting specific geometries, namely: mechanical prostheses, heat exchangers and piping of oil and gas. Finally, the conclusions regarding the experience of merging CAD and CAE theories to develop the kernel, so as to result in a tool adaptable to various applications of the metalworking industry are presented

Desenvolvimento de têxteis técnicos para reforço de compósitos poliméricos

Materials denominated technical textiles can be defined as structures designed and developed with function to fulfill specific functional requirements of various industrial sectors as are the cases of the automotive and aerospace industries. In this aspect the technical textiles are distinguished from conventional textile materials, in which the aesthetic and of comfort needs are of primordial importance. Based on these considerations, the subject of this dissertation was established having as its main focus the study of development of textile structures from aramid and glass fibers and acting in order to develop the manufacture of composite materials that combine properties of two different structures, manufactured in an identical operation, where each structure contributes to improving the properties of the resulting composite material. Therefore were created in laboratory scale, textile structures with low weight and different composition: aramid (100%), glass (100%) and aramid /glass (65/35%), in order to use them as a reinforcing element in composite materials with polyester matrix. These composites were tested in tension and its fracture surface, evaluated by MEV. Based on the analysis of mechanical properties of the developed composites, the efficiency of the structures prepared as reinforcing element were testified by reason of that the resistance values of the composites are far superior to the polyester matrix. It was also observed that hybridization in tissue structure was efficient, since the best results obtained were for hybrid composites, where strength to the rupture was similar to the steel 1020, reaching values on the order of 340 MPa

Compósito Polimérico Híbrido: Comportamento Mecãnico, Descotinuidade Geométrica e Resistência Residual

The growing demand in the use of hybrid composite materials makes it essential a better understanding of their behavior face of various design conditions, such as the presence of geometric discontinuities in the cross section of structural elements. This way, the purpose of this dissertation is a study of the mechanical response (strength and stiffness), modes (characteristics) of fracture and Residual Strength of an hybrid polymeric composite with and without a geometric discontinuity in its longitudinal section (with a reduction in the cross section) loaded by uniaxial tension. This geometric discontinuity is characterized by central holes of different diameters. The hybrid composite was fabricated as laminate (plate) and consisting of ortho-tereftalic polyester matrix reinforced by 04 outer layers of Jute fibers bidirectional fabrics and 01 central layer of E-glass bidirectional fabric. The laminate was industrially manufactured (Tecniplas Nordeste Indústria e Comércio Ltda.), obtained by the hand lay-up technique. Initially, a study of the volumetric density of the laminate was made in order to verify its use in lightweight structures. Also were performed comparative studies on the mechanical properties and fracture modes under the conditions of the specimens without the central hole and with the different holes. For evaluating the possible influence of the holes in the structural stability of the laminate, the Residual Strength of the composite was determined for each case of variation in hole diameter. As a complementary study, analyses of the macroscopic final fracture characteristic of the laminates were developed. The presence of the central hole of any sizes, negatively changed the ultimate tensile strength. Regarding the elastic modulus, moreover, the difference found between the specimens was within the range of tests displacement, showing the laminate stability related to the stiffness