Acelerando algoritmos de baixo nível em visão robótica com hardware reconfigurável

A challenge that remains in the robotics field is how to make a robot to react in real time to visual stimulus. Traditional computer vision algorithms used to overcome this problem are still very expensive taking too long when using common computer processors. Very simple algorithms like image filtering or even mathematical morphology operations may take too long. Researchers have implemented image processing algorithms in high parallelism hardware devices in order to cut down the time spent in the algorithms processing, with good results. By using hardware implemented image processing techniques and a platform oriented system that uses the Nios II Processor we propose an approach that uses the hardware processing and event based programming to simplify the vision based systems while at the same time accelerating some parts of the used algorithms

Viabilidades térmica, econômica e de materiais de um sistema solar de aquecimento de água a baixo custo para fins residenciais

An solar alternative system for water heating is presented. Is composed for one low cost alternative collector and alternative thermal reservoir for hot water storing. The collector of the system has box confectioned in composite material and use absorption coils formed for PVC tubes. The box of hot water storage was confectioned from a plastic polyethylene drum used for storage of water and garbage, coated for a cylinder confectioned in fiber glass. The principle of functioning of the system is the same of the conventionally. Its regimen of work is the thermosiphon for a volume of 250 liters water. The main characteristic of the system in considered study is its low cost, allowing a bigger socialization of the use of solar energy. It will be demonstrated the viabilities thermal, economic and of materials of the system of considered heating, and its competitiveness in relation to the available collectors commercially. Relative aspects will be boarded also the susceptibility the thermal degradation and for UV for the PVC tubes. It will be shown that such system of alternative heating, that has as main characteristic its low cost, presents viabilities thermal, economic and of materials

Estudo da Potencialidade da produção de tijolos de adobe misturado com outros materiais: uma alternativa de baixo custo para a construção civil

The production of the red pottery brick, made traditionally with clay, is a technique that is already stabled. However, in spite of the little complexity that involves the conventional process of these bricks production, it are exposed to many problems that begin in the fase of exploration of the mines, the problems get worse because of the lack of the clay's characterization, and they continue through the steps of the dough preparation, conformation of the products, the drying and the burning process. The wastefulness is shown and so is the low quality of the material produced. Among other factors, the high use of energy in the burning makes the cost of this material inaccessible to the low income consumer. Besides this, the destruction of the environment around the mines and the use of native vegetation to produce wood - the most used fuel in the pottery industry - make serious environmental damage. The production technique of a new type of simple brick (adobe), that has low cost and no environmental damage, can be the viable altemative to lower the cost of this part of the civil construction, and, consequently, in the building of cheaper houses. In this paper, the results of the mechanical resistance of the adobe brick are shown, using in its composition, clay, natural vegetable fibers, cement and plaster in a process that is completely handcrafted and manual. It is intented to make clear that are possible alternatives to be put in practice, with the simple process, using "raw earth" that has been used in the construction of houses in thousands of years, trying to solve these severe problems. Analysis and tests were performed to find results that could prove the possibility of the utilization of this kind of material. Other studies are in progress, and the new researches are necessary to enrich this work, but it stays the certainty that there is potential to produce bricks from adobe, as an alternative that has low cost to civil construction

Construção, calibração e análise de desempenho de um piranômetro de baixo custo, baseado no modelo Kimball-Hobbs

In this work a pyrometer using the classic model of Kimball-Hobbs was developed, tested and calibrated. The solar radiation is verified through the temperature difference between the sensible elements covered by absorbing (black) and reflecting (white) pigmentations of the incoming radiation. The photoacoustic technique was used to optimize the choice of the pigments. Methodologies associated with linearity, thermo-variation, sensibility, response time and distance are also presented. To correctly classify the results, the international standard ISO 9060 as well as indicative parameters of World Meteorological Organization (WMO) are used. In addition a system of data acquisition of two channels with 12 bits, constructed during the this time, was used to measure the global solar radiation on the ground by the pyrometer and also by another pyrometer certified in the case of Keep & zonen. The results statistically show, through the hypothesis test presented here, that both equipments find population average with 95% of correctness

Projeto, construção e análise de desempenho de um forno solar alternativo tipo caixa a baixo custo

An alternative box-type solar oven constructed from the scrap iron of a gas conventional cook is presented, which functions principles are the effect greenhouse and the concentration. The oven of the conventional cook is the baking enclosure where the absorber (pot) of the solar oven 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 for the concentration of the radiation and a reflecting parabola was introduced in the baking enclosure for the exploitation of the incident reflected radiation in the interior of the oven. The oven 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 in study will be demonstrate The average internal temperature of the absorber was around 150°C and the internal temperature around 120°C. Will demonstrate that its 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

Análise do desempenho térmico de um sistema de aquecimento solar de baixo custo

It presents a solar collector to be used in a system for heating water for bathing, whose main characteristics are low cost and easy manufacturing and assembly. The system operates under natural convection or thermosiphon. The absorbing surface of the collector is formed by twelve PVC pipes of 25 mm outside diameter connected in parallel via connections in T of the same material. The tubes were covered with absorbing fins made with recycled aluminum cans. We studied eight settings between absorber plate, thermal insulating EPS boards and thermal reservoirs 150 and 200 liters. It was determined the most efficient configuration for the correct purpose. We evaluated thermal parameters that proved the viability of the heating system studied

Projeto, construção e análise de eficiência térmica de um sistema de aquecimento solar de água de baixo custo

We studied the feasibility of using a system of Solar Water Heating (SAS) with low cost, for three configurations. In configurations I and II have the collector grid absorber composed of six PVC tubes placed in parallel on the tile cement. In configuration II, the PVC tubes were transparent cover made of plastic bottles. Configuration III uses a collector composed of 12 black HDPE pipes, supported on four cement tiles 2.44 m x 0.50 m, two by two overlapping and interspersed with a filling of glass wool, comprising an area exposed to the global radiation incident of 2.44 m2, with the top two tiles painted matte black. In this configuration, the HDPE pipes replace conventional PVC pipes painted black. The total cost of SAS for configuration III, the most economical, was around $ 150.00. For the configurations tested the system of operation was thermosyphon collector. The study showed that the proposed systems have good thermal efficiency, are easy to install and handle and have low cost compared to conventional.

Obtenção e caracterização de farinha de frutas e vegetais através do uso de um sistema de secagem solar de baixo custo

In this work a solar drying system for food dehydration was developed. It is a direct exposition drying apparatus that uses solar energy to heat the circulating air. First, the construction and assembly of this apparatus was described, in which was used scrap wraps of used tires for thermal insulation, allowing the reuse of solid waste, being an ecologically correct recycling option. After, the results obtained in experiments for cashew drying showed the thermal and economical feasibility of the proposed solar drying system, focusing on the process of flour production and in its chemical characterization. It was also demonstrated the social importance of this production for socially excluded people, since the value added to this fruit, in relation to its in nature form, may represent an option for job and income generation. The main features of the proposed dryer are its low cost and its easy fabrication and assembly process. After cashew drying, the obtained product was processed into flour by using a knife mill and it was added crushed rapadura to reduce the rancid taste caused by tannin

Modelagem dinâmica do escoamento de um sistema de elevação por plunger lift

A critical problem in mature gas wells is the liquid loading. As the reservoir pressure decreases, gas superficial velocities decreases and the drag exerted on the liquid phase may become insufficient to bring all the liquid to the surface. Liquid starts to drain downward, flooding the well and increasing the backpressure which decreases the gas superficial velocity and so on. A popular method to remedy this problem is the Plunger Lift. This method consists of dropping the "plunger"to the bottom of the tubing well with the main production valve closed. When the plunger reaches the well bottom the production valve is opened and the plunger carry the liquid to the surface. However, models presented in literature for predicting the behavior in plunger lift are simplistic, in many cases static (not considering the transient effects). Therefore work presents the development and validation of a numerical algorithm to solve one-dimensional compressible in gas wells using the Finite Volume Method and PRIME techniques for treating coupling of pressure and velocity fields. The code will be then used to develop a dynamic model for the plunger lift which includes the transient compressible flow within the well

Desenvolvimento de sistemas de pastas leves para aplicação em cimentação de poços petrolíferos com baixo gradiente de fratura

All around the world, naturally occurring hydrocarbon deposits, consisting of oil and gas contained within rocks called reservoir rocks , generally sandstone or carbonate exists. These deposits are in varying conditions of pressure and depth from a few hundred to several thousand meters. In general, shallow reservoirs have greater tendency to fracture, since they have low fracture gradient, ie fractures are formed even with relatively low hydrostatic columns of fluid. These low fracture gradient areas are particularly common in onshore areas, like the Rio Grande do Norte basin. During a well drilling, one of the most favorable phases for the occurrence of fractures is during cementing, since the cement slurry used can have greater densities than the maximum allowed by the rock structure. Furthermore, in areas which are already naturally fractured, the use of regular cement slurries causes fluid loss into the formation, which may give rise to failures cementations and formation damages. Commercially, there are alternatives to the development of lightweight cement slurries, but these fail either because of their enormous cost, or because the cement properties were not good enough for most general applications, being restricted to each transaction for which the cement paste was made, or both reasons. In this work a statistical design was made to determine the influence of three variables, defined as the calcium chloride concentration, vermiculite concentration and nanosilica concentration in the various properties of the cement. The use of vermiculite, a low density ore present in large amounts in northeastern Brazil, as extensor for cementing slurries, enabled the production of stable cements, with high water/cement ratio, excellent rheological properties and low densities, which were set at 12.5 lb / gal, despite the fact that lower densities could be achieved. It is also seen that the calcium chloride is very useful as gelling and thickening agent, and their use in combination with nanosilica has a great effect on gel strength of the cement. Hydrothermal Stability studies showed that the pastes were stable in these conditions, and mechanical resistance tests showed values of the order of up to 10 MPa

Estudos dos aspectos qualitativos e quantitativos da água e do sedimento no baixo curso do Rio Pitimbu (RN)

Urban growth of metropolitan areas has produced impacts of considerable importance on environment and water resources. Such impacts are in general associated with human activities, such as basin area uncontrolled development. In this context, Pitimbu river watershed, located at Natal metropolitan area, has been affected by uncontrolled development caused by urban expansion. Indeed, such effects have been reflected on water quantity and quality, which may produce social consequences. Pitimbu river is an important water supplier for human consumption, actually supplying a 2600 m3/h water discharge. This study aims to analyze the qualitative and quantitative aspects of water and sediment on Pitimbu river lowland portion. For this purpose, physical-chemical water properties were analyzed, and sediment macro invertebrates benthonic were monitored in two cross sections in a period between November 8th, 2007 and October 3rd, 2008. Monitoring methodology consisted of water and sediment sampling for laboratory analysis. Water quality analysis included Dissolved Oxygen, Oxygen Biochemical Demand, Nitrate, pH and Alkalinity, Suspended and Total Solids. The analysis of heavy metals in the sediment included Cadmium, Cobalt, Copper, Chrome, Silver and Nickel. Dry season water discharge data were measured and used to adjust recession function parameters, whose values reveal quick recession and strong river-aquifer unconfined interaction. Water quality analysis revealed the absence of degradation by organic composites. However, DO and BOD levels indicate that more consistent results could be provided if sampling time interval were reduced. Biomonitoring showed signs of aquatic ecosystem degradation by the absence of sensitive and abundance of resistant benthic organisms. Obtained results demonstrate the urgent need of effective management measures to provide environmental protection. The increase of environmental degradation will certainly make impracticable the use of water for human consumption

Propriedades magnéticas de nanopartículas de ferro em substratos antiferromagnéticos

The effect of finite size on the magnetic properties of ferromagnetic particles systems is a recurrent subject. One of the aspects wide investigated is the superparamagnetic limit where the temperature destroys the magnetic order of ferromagnetic small particles. Above the block temperature the thermal value of the magnetic moment of the particle vanishes, due to thermal fluctuations. The value of the blocking temperature diminishes when the size of the particle is reduced, reflecting the reduction of the anisotropy energy barrier between the uniform states along the uniaxial axis. The increasing demand for high density magnetic media has recently attracted great research interest in periodic arrangements of nanometric ferromagnetics particles, approach in the superparamagnetic limit. An interesting conjecture is the possibility of stabilization of the magnetic order of small ferromagnetic particles (F) by interface coupling with antiferromagnetic (AF) substrate. These F/AF systems may also help to elucidate some details of the effect of exchange bias, because the effect of interface roughness and the paper of domain walls, either in the substrate or the particle, are significantly reduced. We investigate the magnetic phases of small ferromagnetic particles on a antiferromagnetic substrate. We use a self-consistent local field method, incorporating the interface field and the dipole interaction between the spins of the ferromagnetic particle. Our results indicate that increasing the area of the interface favors the formation of the uniform state. Howere above a critical height value appears a state non-uniform is formed where the spins of in the particle s free surface are rotated with respect to the interface spins direction. We discuss the impact of the competition between the dipolar and interface field on the magnetic charge, that controls the field of flux leakage of the particle, and on the format of the hysteresis curves. Our results indicate that the liquid magnetic charge is not a monotonically increasing function of the height of the particle. The exchange bias may display anomalous features, induced for the dipolar field of the spins near the F/AF interface

Multicamadas Ferromagnéticas Nanométricas Periódicas e Quasiperiódicas

We present a study of nanostructured magnetic multilayer systems in order to syn- thesize and analyze the properties of periodic and quasiperiodic structures. This work evolved from the deployment and improvement of the sputtering technique in our labora- tories, through development of a methodology to synthesize single crystal ultrathin Fe (100) films, to the final goal of growing periodic and quasiperiodic Fe/Cr multilayers and investi- gating bilinear and biquadratic exchange coupling between ferromagnetic layer dependence for each generation. Initially we systematically studied the related effects between deposition parameters and the magnetic properties of ultrathin Fe films, grown by DC magnetron sput- tering on MgO(100) substrates. We modified deposition temperature and film thickness, in order to improve production and reproduction of nanostructured monocrystalline Fe films. For this set of samples we measured MOKE, FMR, AFM and XPS, with the aim of investi- gating their magnocrystalline and structural properties. From the magnetic viewpoint, the MOKE and FMR results showed an increase in magnetocrystalline anisotropy due to in- creased temperature. AFM measurements provided information about thickness and surface roughness, whereas XPS results were used to analyze film purity. The best set of parame- ters was used in the next stage: investigation of the structural effect on magnetic multilayer properties. In this stage multilayers composed of interspersed Fe and Cr films are deposited, following the Fibonacci periodic and quasiperiodic growth sequence on MgO (100) substrates. The behavior of MOKE and FMR curves exhibit bilinear and biquadratic exchange coupling between the ferromagnetic layers. By computationally adjusting magnetization curves, it was possible to determine the nature and intensity of the interaction between adjacent Fe layers. After finding the global minimum of magnetic energy, we used the equilibrium an- gles to obtain magnetization and magnetoresistance curves. The results observed over the course of this study demonstrate the efficiency and versatility of the sputtering technique in the synthesis of ultrathin films and high-quality multilayers. This allows the deposition of magnetic nanostructures with well-defined magnetization and magnetoresistance parameters and possible technological applications

Espectro das ondas de spin lineares e não-lineares em multicamadas magnéticas anisotrópicas

Conselho Nacional de Desenvolvimento Científico e Tecnológico

Efeito Kerr magneto-óptico; Ressonância ferromagnética; Acoplamento bilinear; Acoplamento biquadrático

In this work, we investigated the magnetic properties of a monocrystalline Fe thin film and of Fe(80 Å)/Cr(t)/Fe(80 Å) tri-layers, with the nonmagnetic metallic Cr spacer layer thickness varying between 9 Å < t < 40 Å. The samples were deposited by the DC Sputtering on Magnesium Oxide (MgO) substrates, with (100) crystal orientation. For this investigation, experimental magneto-optical Kerr effect (MOKE) magnetometry and ferromagnetic resonance (FMR) techniques were employeed. In this case, these techniques allowed us to study the static and dynamical magnetization properties of our tri-layers. The experimental results were interpreted based on the phenomenological model that takes into account the relevant energy terms to the magnetic free energy to describe the system behavior. In the case of the monocrystalline Fe film, we performed an analytical discussion on the magnetization curves and developed a numerical simulation based on the Stoner-Wohlfarth model, that enables the numerical adjustment of the experimental magnetization curves and obtainment of the anisotropy field values. On the other hand, for the tri-layers, we analyzed the existence of bilinear and biquadratic couplings between the magnetizations of adjacent ferromagnetic layers from measurements of magnetization curves. With the FMR fields and line width angular dependencies, information on the anisotropy in three layers was obtained and the effects of different magnetic relaxation mechanisms were evidenced. It was also possible to observe the dependence of the epitaxy of the multilayers with growth and sputtering parameters. Additionally it was developed the technique of AC magnetic susceptibility in order to obtain further information during the investigation of magnetic thin films