Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

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

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 das propriedades mecânicas de biocompósitos de polipropileno reforçados com fibras naturais

This research presents an approach to the addition of curauá fibers and licuri fibers in a polypropylene resin matrix, such as an alternative proposal to reinforce the polymeric composites. Fiber content of 0 %, 5 %, 10 %, and 20% were analyzed for verification of their mechanical properties comparing them, inclusive with the properties of polypropylene. The grainulated biocomposites had been prepared in an extrusora. The test bodies had been molded by injection and submitted to the mechanical essays uniaxial traction, flexion on three points, impact, in addition to thermal tests (HDT). These biocomposites had been also subjected the essay physicist-chemistry index of fluidity (IF). It was observed that the biocomposites of PP with 20% curauá, obtained bigger increase in the modulus of elasticity and a bigger reduction in the resistance to the impact. In the mechanical behavior, for all the biocomposites, these were increases in values of the limit of drainage and tension of rupture, when tested by uniaxial traction, as they added the fibers. Another important point was the increase of the resistance the flexion. It was also noted that the addition of fibers reduced the thermal degradation of the mixture natural fibers / polypropylene.

Desenvolvimento de um laminado compósito híbrido a base de fibras de vidro/licurí

This research work is based, in search of reinforcement s vegetable alternative to polymer composites. The idealization of making a hybrid composite reinforced with vegetable fibers licuri with synthetic fibers is a pioneer in this area. Thus was conceived a hybrid composite laminate consisting of 05 (five) layers being 03 (three) webs of synthetic fibers of glass and E-02 (two) unidirectional fabrics of vegetable fibers licuri. In the configuration of the laminate layers have alternating distribution. The composite laminate was manufactured in Tecniplas Commerce & Industry LTD, in the form of a card through the manufacturing process of hand lay up. Licuri fibers used in making the foil were the City of Mare Island in the state of Bahia. After cooking and the idealization of the hybrid composite laminate, the objective of this research work has focused on evaluating the performance of the mechanical properties (ultimate strength, stiffness and elongation at break) through uniaxial tensile tests and three point bending. Comparative studies of the mechanical properties and as well as among other types of laminated hybrid composites studied previously, were performed. Promising results were found with respect to the mechanical properties of strength and stiffness to the hybridization process idealized here. To complement the entire study were analyzed in terms of macroscopic and microscopic characteristics of the fracture for all tests.

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

Resposta térmica de um compósito PEEK+PTFE+Fibra de carbono+grafite

Composites based on PEEK + PTFE + CARBON FIBER + Graphite (G_CFRP) has increased application in the top industries, as Aerospace, Aeronautical, Petroleum, Biomedical, Mechanical and Electronics Engineering challenges. A commercially available G_CFRP was warmed up to three different levels of thermal energy to identify the main damage mechanisms and some evidences for their intrinsic transitions. An experimental test rig for systematize a heat flux was developed in this dissertation, based on the Joule Effect. It was built using an isothermal container, an internal heat source and a real-time measurement system for test a sample by time. A standard conical-cylindrical tip was inserted into a soldering iron, commercially available and identified by three different levels of nominal electrical power, 40W (manufacturer A), 40W (manufacturer B), 100W and 150W, selected after screening tests: these power levels for the heat source, after one hour of heating and one hour of cooling in situ, carried out three different zones of degradation in the composite surface. The bench was instrumented with twelve thermocouples, a wattmeter and a video camera. The twelve specimens tested suffered different degradation mechanisms, analyzed by DSC (Differential Scanning Calorimetry) and TG (Thermogravimetry) techniques, Scanning Electron Microscopy (SEM) and Energy-Dispersive X-Rays (EDX) Analysis. Before and after each testing, it was measured the hardness of the sample by HRM (Hardness Rockwell M). Excellent correlations (R2=1) were obtained in the plots of the evaporated area after one hour of heating and one hour of cooling in situ versus (1) the respective power of heat source and (2) the central temperature of the sample. However, as resulting of the differential degradation of G_CFRP and their anisotropy, confirmed by their variable thermal properties, viscoelastic and plastic properties, there were both linear and non-linear behaviour between the temperature field and Rockwell M hardness measured in the radial and circumferential directions of the samples. Some morphological features of the damaged zones are presented and discussed, as, for example, the crazing and skeletonization mechanism of G_CFRP

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

Influência da umidade nas propriedades mecânicas dos compósitos poliméricos híbridos (sisal/ vidro)

This study aims to evaluate the mechanical properties of polymer matrix composites reinforced with sisal fabric bidirectional tissue (Agave sisalana,) and E-glass fibers, containing the following configuration: a polymer matrix hybrid composite (Polyester Resin orthophalic) reinforced with three (3) layers of glass fibers and alternating-2 (two) layers of bidirectional sisal fabric, and finally a composite of polymer matrix reinforced with five (5) layers of glass fiber mat-type E. For this purpose as first step, the preparation of by sisal, since they are not on the market. The composites were made by manual lamination (Hand lay-up) and evaluated for tensile properties and three point bending both in the dry, and wet conditions aswele as immersed in oil. Macroscopic and microscopic characteristics of the materialsweve awalysed, after the completion of the mechanical tests. After the studies, it was proven that the sisal fiber decreases the tensile stiffness of the material above 50% for both situations studied the tensile strength of the material decreases by approximately 40% for the cases mentioned, and when compared to the specific strength stiffness values drop to 14.6% and 29.02% respectively for the dry state only. Constants for bending the values were are to approximately 50% to 25% for strength and stiffness of the material for the cases dry, wet and immersed in oil. Under the influence of tension fluids do not interfere in the stiffness of the material for the bending tests, the same does not occur with the resistance, and these values are modified only in the cases stiffness and flexural strength

Envelhecimento ambiental em compósitos poliméricos à base de tecidos de reforços híbridos

The utilization of synthetic fibers for plastic reinforcement is more and more frequent and this growing interest requires that their mechanic behavior under the most variable conditions of structural applications be known. The use of such materials in the open and exposed to the elements is one of them. In this case, it becomes extremely necessary to study their mechanical properties (strength, stiffness) and the mechanism of fracture by which the environment aging them out. In order to do that, the material must be submitted to hot steam and ultraviolet radiation exposure cycles, according to periods of time determined by the norms. This study proposal deals with the investigation of accelerated environmental aging in two laminated polymeric composites reinforced by hybrid woven made up of synthetic fibers. The configurations of the laminated composites are defined as: one laminate reinforced with hybrid woven of glass fibers/E and Kevlar fibers/49 (LHVK) and the other laminate is reinforced with hybrid tissue of glass fibers/E and of carbon fibers AS4 (LHVC). The woven are plane and bidirectional. Both laminates are impregnated with a thermofix resin called Derakane 470-300 Epoxy Vinyl-Ester and they form a total of four layers. The laminates were industrially manufactured and were made through the process of hand-lay-up. Comparative analyses were carried out between their mechanical properties by submitting specimen to uniaxial loading tractions and three-point flexion. The specimen were tested both from their original state, that is, without being environmentally aging out, and after environmental aging. This last state was reached by using the environmental aging chamber

Por uma pedagogia do oprimido midiático: meios de comunicação e suas intervenções na escola

En este trabajo nos ocupamos de la convergencia de la fotografía, el vídeo y la música, intermediado por una estación de radio en la escuela, instalada en la escuela Municipal de Djalma Maranhão, Natal, Rio Grande do Norte, en una clase de 5º año de jóvenes y adultos en el año escolar 2007. Se analizan las intervenciones causados los que participan en la vida escolar, a partir de las actividades realizadas por ellos, en la producción de programas de radio. Los procedimientos metodológicos sobre la base de la etnometodologia (COULON, 1995a, 1995b), en la investigación cualitativa (BOGDAN, BIKLEN, 1999, DENZIN y LINCOLN, 2006), participante como observador (MAY, 2004) y la investigación-acción (THIOLLENT, 1992). La comprensión de Paulo Freire en la comunicación e la educación es nuestro principal referente teórico. Los experimentos citados en los medios de comunicación revelaron varias posibilidades de mejora en la enseñanza y el aprendizaje, como el aumento de la autoestima de los estudiantes, social y de inclusión educativa de personas con discapacidad, disminución de la timidez y facilitar la comunicación entre los sujetos, lo que permite el diálogo entre ellos, intervino en sus relaciones sociales, más allá de los límites de la escuela. La investigación confirma, entonces, que la comunicación y la educación son parte de la misma naturaleza

A educação informal para o consumo infantil e juvenil na televisão e na mídia

The consumption has become a major pillar of modern capitalism and at the same time, one of the factors that relate to social inequality. Karl Marx developed the theory of historical materialism which maintains a history of society determined by class struggle and the! exploitation of man by man. Considered to be overtaken by those who believe that Marxism is synonymous with real socialism, the Marxist ideals seem more present than in the Western world which each individual takes the individualization (loss of sense of public and collective) and the alienation by the work. Weassumed we could work on these issues in student education, even in elementary school, through questioning of the consumer society, with the criticism of television and the media, the main promoter of the current sense of consumption, as an initial step that could lead to future autonomy of theindividual. The theory of ideology and ideas of Paulo Freire's liberating education theory permeated the experience that happened as a participant observation of groups in the discipline of sociology in the unit 2 of the Colégio Pedro II in Rio de Janeiro, the state capital, an institution under the direct administration Ministry of Education. Wehave found fertile ground in which the students were able to understand and question the meaning of advertising media

Caracterização sonográfica e sismoestratigráfica de alta resolução do estuário do Rio Potengi, Natal - RN

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Metodologia númerico-experimental para avaliação da espessura de filmes de nitreto de titânio obtidos por processamento a plasma

In recent decades, changes in the surface properties of materials have been used to improve their tribological characteristics. However, this improvement depends on the process, treatment time and, primarily, the thickness of this surface film layer. Physical vapor deposition (PVD) of titanium nitrate (TiN) has been used to increase the surface hardness of metallic materials. Thus, the aim of the present study was to propose a numerical-experimental method to assess the film thickness (l) of TiN deposited by PVD. To reach this objective, experimental results of hardness (H) assays were combined with a numerical simulation to study the behavior of this property as a function of maximum penetration depth of the indenter (hmax) into the film/substrate conjugate. Two methodologies were adopted to determine film thickness. The first consists of the numerical results of the H x hmax curve with the experimental curve obtained by the instrumental indentation test. This methodology was used successfully in a TiN-coated titanium (Ti) conjugate. A second strategy combined the numerical results of the Hv x hmax curve with Vickers experimental hardness data (Hv). This methodology was applied to a TiN-coated M2 tool steel conjugate. The mechanical properties of the materials studied were also determined in the present study. The thicknesses results obtained for the two conjugates were compatible with their experimental data.

Desenvolvimento de um painel sanduíche com carga de particulado oriundo de resíduo lignocelulósico para aplicação em produtos na área de equipamentos de proteção

This work aims to study and investigate the use of a hybrid composite polymer formed with blanket aramid (Kevlar 29) fiber blanket flax fiber and particulate dry endocarp of coconut (Cocos nucifera Linn), using as matrix an epoxy resin based thermoset for use in areas of protective equipment. Besides such material is used an aluminum plate, joined to the composite by means of glue based on epoxy and araldite commercial. The manufacturing process adopted was manual lamination (Hand Lay Up) to manufacture the hybrid composite. After the composite is prepared, an aluminum plate is subjected to pressure and glued to cure the adhesive. Layers of veil will also be used to separate the particulate from the linen blanket layer without disturbing the alignment of the fibers of the blankets. To characterize the mechanical and physical behavior was manufactured a plate of 800 x 600 mm of the hybrid composite, which were removed specimens for tests of water absorption to saturation; density; impact test (Charpy) and two test specimens for ballistic testing 220 mm x 200 mm to make a comparative study between the dry state and saturated water absorption and thus see the ballistic performance of these two conditions. The test was applied to make a comparative study of fracture in these two conditions, caused by penetrating ballistic missile (38 and 380). To test the impact (Charpy) will analyze the absorbed energy, fracture appearance and lateral contraction, also in dry condition and saturation of absorbed water, thereby analyzing situations where the impact load is relevant, such as bumps and shocks produced by stone, metal or wooden bars among others. The proposed configuration, along with the tests, has the purpose, application in the fields of equipment against ballistic impact, such as helmets; bullet proof vests; shields; protective packaging and other items to be identified in this research.