Localização de robôs móveis autônomos utilizando fusão sensorial de odometria e visão monocular

The development and refinement of techniques that make simultaneous localization and mapping (SLAM) for an autonomous mobile robot and the building of local 3-D maps from a sequence of images, is widely studied in scientific circles. This work presents a monocular visual SLAM technique based on extended Kalman filter, which uses features found in a sequence of images using the SURF descriptor (Speeded Up Robust Features) and determines which features can be used as marks by a technique based on delayed initialization from 3-D straight lines. For this, only the coordinates of the features found in the image and the intrinsic and extrinsic camera parameters are avaliable. Its possible to determine the position of the marks only on the availability of information of depth. Tests have shown that during the route, the mobile robot detects the presence of characteristics in the images and through a proposed technique for delayed initialization of marks, adds new marks to the state vector of the extended Kalman filter (EKF), after estimating the depth of features. With the estimated position of the marks, it was possible to estimate the updated position of the robot at each step, obtaining good results that demonstrate the effectiveness of monocular visual SLAM system proposed in this paper

Uma proposta de FSS fractal com geometria simplificada

Frequency Selective Surfaces (FSS) are periodic structures in one or two dimensions that act as spatial filters, can be formed by elements of type conductors patches or apertures, functioning as filters band-stop or band-pass respectively. The interest in the study of FSS has grown through the years, because such structures meet specific requirements as low-cost, reduced dimensions and weighs, beyond the possibility to integrate with other microwave circuits. The most varied applications for such structures have been investigated, as for example, radomes, antennas systems for airplanes, electromagnetic filters for reflective antennas, absorbers structures, etc. Several methods have been used for the analysis of FSS, among them, the Wave Method (WCIP). Are various shapes of elements that can be used in FSS, as for example, fractal type, which presents a relative geometric complexity. This work has as main objective to propose a simplification geometric procedure a fractal FSS, from the analysis of influence of details (gaps) of geometry of the same in behavior of the resonance frequency. Complementarily is shown a simple method to adjust the frequency resonance through analysis of a FSS, which uses a square basic cell, in which are inserted two reentrance and dimensions these reentrance are varied, making it possible to adjust the frequency. For this, the structures are analyzed numerically, using WCIP, and later are characterized experimentally comparing the results obtained. For the two cases is evaluated, the influence of electric and magnetic fields, the latter through the electric current density vector. Is realized a bibliographic study about the theme and are presented suggestions for the continuation of this work

Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots

Análise espectral de reflectarrays com substratos de duas camadas dielétricas anisotrópicas uniaxiais

Recently, an amazing development has been observed in telecommunication systems. Two good examples of this development are observed in mobile communication and aerospace systems. This impressive development is related to the increasing need for receiving and transmitting communication signals. Particularly, this development has required the study of new antennas and filters. This work presents a fullwave analysis of reflectarrays. The considered structures are composed by arrays of rectangular conducting patches printed on multilayer dieletric substrates, that are mounted on a ground plane. The analysis is developed in the spectral domain, using an equivalent transmission line method in combination with Galerkin method. Results for the reflection coefficient of these structures are presented and compared to those available in the literature. A good agreement was observed. Particularly, the developed analysis uses the transmission lines theory in combination with the incident potentials and the field continuity equations, at the structures interfaces, for obtaining the scattered field components expressions as function of the patch surface currents and of the incident field. Galerkin method is used to determine the unknown coefficients in the boundary value problem. Curves for the reflection coefficient of several reflectarray geometries are presented as function of frequency and of the structural parameters

Estudo de Superfícies Seletivas de Frequência com o Uso de Inteligência Computacional

The main objective of this work is to optimize the performance of frequency selective surfaces (FSS) composed of crossed dipole conducting patches. The optimization process is performed by determining proper values for the width of the crossed dipoles and for the FSS array periodicity, while the length of the crossed dipoles is kept constant. Particularly, the objective is to determine values that provide wide bandwidth using a search algorithm with representation in bioinspired real numbers. Typically FSS structures composed of patch elements are used for band rejection filtering applications. The FSS structures primarily act like filters depending on the type of element chosen. The region of the electromagnetic spectrum chosen for this study is the one that goes from 7 GHz to 12 GHz, which includes mostly the X-band. This frequency band was chosen to allow the use of two X-band horn antennas, in the FSS measurement setup. The design of the FSS using the developed genetic algorithm allowed increasing the structure bandwidth

Análise espectral de reflectarrays com substrato de duas camadas dielétricas anisotrópicas uniaxiais

Recently, an amazing development has been observed in telecommunication systems. Two good examples of this development are observed in mobile communication and aerospace systems. This impressive development is related to the increasing need for receiving and transmitting communication signals. Particularly, this development has required the study of new antennas and filters. This work presents a fullwave analysis of reflectarrays. The considered structures are composed by arrays of rectangular conducting patches printed on multilayer dieletric substrates, that are mounted on a ground plane. The analysis is developed in the spectral domain, using an equivalent transmission line method in combination with Galerkin method. Results for the reflection coefficient of these structures are presented and compared to those available in the literature. A good agreement was observed. Particularly, the developed analysis uses the transmission lines theory in combination with the incident potentials and the field continuity equations, at the structures interfaces, for obtaining the scattered field components expressions as function of the patch surface currents and of the incident field. Galerkin method is used to determine the unknown coefficients in the boundary value problem. Curves for the reflection coefficient of several reflectarray geometries are presented as function of frequency and of the structural parameters

Efeito de adições poliméricas na aderência de pastas de cimento a tubos metálicos após ciclagem térmica

Thermal recovery methods, especially steam injection, have been used to produce heavy oils. However, these methods imply that the metallic casing-cement sheath interface is submitted to thermal cycling. As a consequence, cracking may develop due to the thermal expansion mismatch of such materials, which allows the flow of oil and gas through the cement sheath, with environmental and economical consequences. It is therefore important to anticipate interfacial discontinuities that may arise upon Thermal recovery. The present study reports a simple alternative method to measure the shear strength of casing-sheath interfaces using pushthrough geometry, applied to polymer-containing hardened cement slurries. Polyurethane and recycled tire rubber were added to Portland-bases slurries to improve the fracture energy of intrinsically brittle cement. Samples consisting of metallic casing sections surrounded by hardened polymer-cement composites were prepared and mechanically tested. The effect of thermal cycles was investigated to simulate temperature conditions encountered in steam injection recovery. The results showed that the addition of polyurethane significantly improved the shear strength of the casing-sheath interface. The strength values obtained adding 10% BWOC of polyurethane to a Portland-base slurry more than doubled with respect to that of polyurethane-free slurries. Therefore, the use of polyurethane significantly contributes to reduce the damage caused by thermal cycling to cement sheath, improving the safety conditions of oil wells and the recovery of heavy oils

Estudo do aproveitamento de resíduo de gesso como carga para compósito com matriz de resina expansiva de mamona

In the execution of civil engineering works, either by wasting during the coating of wall or demolition of gypsum walls, the generation of the gypsum waste involves serious environmental concerns. These concerns are increased by the high demand of this raw material in the sector and by the difficulties of proper disposal byproduct generated. In the search for alternatives to minimize this problem, many research works are being conducted, giving emphasis in using gypsum waste as fillers in composites materials in order to improve the acoustic, thermal and mechanical performances. Through empirical testing, it was observed that the crystallization water contained in the residue (CaSO4.2H2O) could act like primary agent in the expanding of the polyurethane foam. Considering that polyurethane produced from vegetable oils are biodegradable synthetic polymers and that are admittedly to represent an alternative to petrochemical synthetic polyurethane, this research consist an analysis of the thermal behavior of a composite whose matrix obtained from a resin derived from the expansive castor oil seed, with loads of 4%, 8%, 12% and 16% of gypsum waste replacing to the polyol prepolymer blend. Contributors to this analysis: a characterization of the raw material through analysis of spectroscopy by Fourier transform infrared (FTIR), chemical analysis by X-Ray Fluorescence (XRF) and mineralogical analysis by X Ray Diffraction (XRD), complemented by thermo gravimetric analysis (TGA). In order to evaluate the thermo physical properties and thermal behavior of the composites manufactured in die closed with expansion contained, were also carried tests to determine the percentage of open pore volume using a gas pycnometer, scanning electronic microscopy (SEM), in addition to testing of flammability and the resistance to contact with hot surfaces. Through the analysis of the results, it appears that it is possible to produce a new material, which few changes in their thermo physical properties and thermal performance, promotes significant changes and attractive to the environment

Eletrofiação e caracterização de membranas biopoliméricas a base de quitosana extraídas dos exoesqueletos de crustáceos

Chitin and chitosan are nontoxic, biodegradable and biocompatible polymers produced by renewable natural sources with applications in diverse areas such as: agriculture, textile, pharmaceutical, cosmetics and biomaterials, such as gels, films and other polymeric membranes. Both have attracted greater interest of scientists and researchers as functional polymeric materials. In this context, the objective of this study was to take advantage of the waste of shrimp (Litopenaeus vannamei and Aristeus antennatus) and crabs (Ucides cordatus) from fairs, beach huts and restaurant in Natal/RN for the extraction of chitin and chitosan for the production of membranes by electrospinning process. The extraction was made through demineralization, deproteinization, deodorization and deacetylation. Morphological analyzes (SEM and XRD), Thermal analysis (TG and DTG), Spectroscopy in the Region of the Infrared with Transformed of Fourier (FTIR) analysis Calorimetry Differential Scanning (DSC) and mechanical tests for traction were performed. In (XRD) the semicrystalline structure of chitosan can be verified while the chitin had higher crystallinity. In the thermal analysis showed a dehydration process followed by decomposition, with similar behavior of carbonized material. Chitosan showed temperature of maximum degradation lower than chitin. In the analysis by Differential Scanning Calorimetry (DSC) the curves were coherent to the thermal events of the chitosan membranes. The results obtained with (DD) for chitosan extracted from Litopenaeus vannamei and Aristeus antennatus shrimp were (80.36 and 71.00%) and Ucides cordatus crabs was 74.65%. It can be observed that, with 70:30 solutions (v/v) (TFA/DCM), 60 and 90% CH3COOH, occurred better facilitate the formation of membranes, while 100:00 (v/v) (TFA/DCM) had formation of agglomerates. In relation to the monofilaments diameters of the chitosan membranes, it was noted that the capillary-collector distance of 10 cm and tensions of 25 and 30 kV contributed to the reduction of the diameters of membranes. It was found that the Young s modulus decreases with increasing concentration of chitosan in the membranes. 90% CH3COOH contributed to the increase in the deformation resulting in more flexible material. The membranes with 5% chitosan 70:30 (v/v) (TFA/DCM) had higher tensile strength

Desenvolvimento de nanocompósito (hidroxiapatita/ poliuretano) pela gelação (gelling) de poli ( álcool vinílico) (PVA) para remoção de metais pesados

Removing microcontaminants from effluents is a challenge today, because of its high cost and low efficiency, especially in the treatment of effluents containing heavy metals. An alternative that has emerged is the use of biodegradable nanocomposites, which exhibit good removal and recovery performances, in addition to its low cost. With this in mind, the present study aimed to develop and characterize a nanocomposite based on hydroxyapatite (HAP), polyurethane (PU) and polyvinyl alcohol (PVA) for removing heavy metals. Thus, the research was conducted in several steps: i)- Physico-chemical and microbiological hospital effluent characterization; ii)- Production of hydroxyapatite by aqueous precipitation technique, and their characterization; iii)- Production of the nanocomposite in which the hydroxyapatite was added to the polyurethane prepolymers and then the polyvinyl alcohol/hydroxyapatite film was produced; iv)- Polyvinyl composite without film PU/HAp was also produced in the proportions of 20 and 40% HAp; v)- The composites was characterized by the techniques of XRD, FTIR, SEM / EDS, BET, Zeta Potential and TGA; vi)- The sisal and coconut fibres were washed and dried for comparative tests of adsorption; vii)- Adsorption tests for evaluating the removal of heavy metals (nickel and cadmium). Initial screening adsorption capacity (HAp; PU/HAp - 20 and 40%; PU / HAp / PVA), kinetic studies of adsorption of Cd (II) by HAp; multifactorial design analysis (factorial design) for identifying the most important variables in the adsorption of Cd (II) by composite PU/HAp. Also comparative analysis of adsorption of Cd and Ni by composite PU/HAp were conducted, as well as comparative tests of adsorption of Cd (coconut fibre) and Ni (sisal fibre). It was possible to verify that the composite PU/HAp 40% showed better effectiveness for the removal of Cd (II) and Ni (II), above 80%, equivalent to the lignocellulosic fibre used and HAp produced. As main conclusion, it can be referred that the composite PU/HAp 40% is an effective adsorvent to wastewater treatment for heavy metal removal, with low cost and high efficiency

Estudo da introdução de resíduo de britagem de rocha calcária e cinza de biomassa de cana-de-açúcar em formulações de argamassas colantes

The adhesive mortars are a mixture of cement, sand, and additives to polymers that retain the mixing water and promotes adherence, being used in setting on various ceramic substrates. The sand used in the production of these mortars is from the riverbeds, and with the increasing restriction of these sands extraction by environmental agencies, and often having to be transported over long distances to the consumer center. This work aims to design and physical and mechanical characterization of ecological adhesive mortar with total replacement of natural sand by sand from the crushing of limestone, and the addition of mineral ash biomass of cane sugar in partial replacement cement used in the production of adhesive mortar , aiming compositions that meet the regulatory specifications for use adhesive mortar. Standardized tests to determine the tensile bond strength (NBR 14081-4), determination of open time (NBR 14081-3) and determination of slip (NBR 14081-5) were performed. Were also conducted trials squeeze flow in different formulation, the mortar with addition of 15 % gray biomass of cane sugar for cement mortars as well as the total replacement of natural sand by sand limestone crushing, got the best performance among the mortars studied, it was found that the addition of biomass to replace cement is perfectly feasible due to its pozzolanic activity, which contributed to this reduction in the cement matrix formation of adhesive mortar

Estudo de um isolante térmico para tubos fabricado em material compósito

It presents a new type of insulation for ductwork hot water, which can be used in solar systems for heating water, which consists of a composite of different compositions based on plaster, cement and EPS ground, palm and water. This composite has as its main features easy assembly and manufacturing processes and low cost. Comparative results will be presented on the tests of materials and thermal tubes proposed. Four formulations were used to manufacture tubes with three diameters 70, 65 and 42mm. It was also tested conventionally used for elastomeric foam insulation to 110 ° C, for a comparative analysis with the composite pipe insulator proposed. It will demonstrate that the cost of manufacturing of such tubes is competitive with alternative elastomeric foam tested, but results of the composite tube to the temperature range studied, are lower. Another drawback of the composite insulator tube is its large mass. It would be important to test such a composite for greater levels of temperature to a diagnostic technique competitive with conventionally used insulators. A positive factor of using the proposed composite-tube would be the recycling of EPS so damaging to the environment, representing an environmentally friendly application of science

Competitividade de diferentes atmosferas de plasma sobre as propriedades hidrofílicas em tecidos de polilático

Os polímeros biodegradáveis, como o poliácido láctico (PLA) apesar de consolidado nos campos farmacêuticos, médico e biomédico como biomateriais úteis para aplicações variadas, porém, depende da necessidade de funcionalizar a sua superfície estudando suas propriedades tais como hidrofilidade e hidrofobicidade favorecendo a interação do polímero com os materiais de aplicação farmacêutica, médica e biomédica. Este trabalho tem como objetivo produzir um material com características diferentes em cada um de seus lados, sendo um lado hidrofílico e o outro hidrofóbico. O substrato têxtil utilizado neste estudo foi um tecido de malha de composição 100% PLA que é biodegradável e biocompatível, o que possibilita sua aplicação na área biomédica. Para modificação superficial foi utilizado o tratamento a plasma de baixa pressão. A técnica de modificação de superfície por plasma foi escolhida por ser uma tecnologia limpa, anticorrosiva e não tóxica ao contrario de muitos processos químicos convencionais utilizados na indústria têxtil, além disso, não afeta as propriedades de massa do substrato. Neste estudo, um lado da superfície do substrato foi tratado com plasma oxigênio, argônio e nitrogênio, para o trabalho de melhoria da hidrofilidade da superfície e metano para a hidrofobicidade da amostra. A espectroscopia de emissão ótica (OEE) foi utilizada para fazer o diagnóstico das espécies do plasma durante o tratamento. Após o tratamento a plasma as amostras foram caracterizadas por medidas de ângulo de contato, microscopia eletrônica de varredura (MEV), Espectroscopia de fotoelétrons de raios-X (XPS), Infravermelho com Transformada de Fourier (FTIR) de reflexão total atenuada (ATR), medidas da área de espalhamento do líquido e arraste vertical. Onde foi caracterizado o aumento e diminuição da molhabilidade das amostras tratadas por plasma bem como as variáveis que contribuíram para tal efeito. O tratamento das amostras de PLA com O2 + CH4 apresenta comportamento hidrofílico no lado tratado com O2, apresentando aumento de rugosidade e grupos funcionais e no lado tratado com CH4, apresentando a formação de um filme polimérico formado sobre a superfície da amostra. O tratamento com N2 + CH4 apresenta comportamento hidrofóbico, porém com variações no fluxo do CH4 tem-se um controle da molhabilidade na superfície das amostras, podendo ir de hidrofóbico a hidrofílico, neste tratamento as amostras apresentaram pequenas diferenças de molhabilidade entre os lados tratados com plasma de N2 e com plasma de CH4

Avaliação e modelagem reológica de fluido de perfuração base água

The determination of the rheology of drilling fluids is of fundamental importance to select the best composition and the best treatment to be applied in these fluids. This work presents a study of the rheological behavior of some addictives used as viscosifiers in water-based drilling fluids. The evaluated addictives were: Carboxymethylcellulose (CMC), Xanthan gum (GX), and Bentonite. The main objective was to rheologically characterize suspensions composed by these addictives, by applying mathematical models for fluid flow behavior, in order to determine the best flow equation to represent the system, as well as the model parameters. The mathematical models applied in this research were: the Bingham Model, the Ostwald de Wale Model, and the Herschel-Bulkley Model. A previous study of hydration time for each used addictive was accomplished seeking to evaluate the effect of polymer and clay hydration on rheological behavior of the fluid. The rheological characterization was made through typical rheology experiments, using a coaxial cylinder viscosimeter, where the flow curves and the thixotropic magnitude of each fluid was obtained. For each used addictive the rheological behavior as a function of temperature was also evaluated as well as fluid stability as a function of the concentration and kind of addictive used. After analyses of results, mixtures of polymer and clay were made seeking to evaluate the rheological modifications provided by the polymer incorporation in the water + bentonite system. The obtained results showed that the Ostwald de Waale model provided the best fit for fluids prepared using CMC and for fluids with Xanthan gum and Bentonite the best fit was given by the Herschel-Bulkley one

Nano emulsões aplicadas a recuperação avançada de petróleo

A exploração de petróleo está a cada dia em circunstâncias mais adversas, no que diz respeito à profundidade dos poços como também, em relação à fluidez do óleo. Os reservatórios de descobertas recentes não possuem energia própria para produzir ou os métodos convencionais não são eficientes para fazer com que esses reservatórios tenham uma vida útil elevada, devido a alterações das propriedades físico-químicas, como por exemplo a viscosidade, que torna o deslocamento do óleo pelos poros do reservatório até a superfície cada vez mais complexo. O presente trabalho tem como objetivo estudar a preparação, caracterização e a utilização de nanoemulsões obtidas a partir de sistemas microemulsionados, com e sem a presença de polímero. Esses sistemas foram aplicados como método químico de recuperação de petróleo, com o intuito de obter maior eficiência de volume de óleo deslocado. O interesse por esse tipo de sistema existe devido a sua baixa tensão superficial, o pequeno tamanho de gotícula e, principalmente, pelo baixo percentual de matéria ativa presente em sua composição. Os ensaios realizados para caracterizar esses sistemas foram: aspecto físico, medidas de tamanho de gotícula, índice de polidispersão, tensão superficial, pH e condutividade. Ensaios de reologia e de adsorção dos sistemas foram realizados com o objetivo de avaliar sua influencia na recuperação de petróleo. Os ensaios de recuperação foram realizados em um equipamento que simula as condições de um reservatório de petróleo, utilizando plugs de rocha arenito Botucatu. Esses plugs foram saturados com salmoura (KCl 2%) e com petróleo proveniente da Bacia Potiguar do campo de Ubarana. Após essas etapas foi realizada a recuperação convencional utilizando a salmoura e, por último, foi injetada, a nanoemulsão, como método de recuperação avançada. Os sistemas obtidos variaram de 0% à 0,4% de polímero. Os ensaios de tamanhos de partícula obtiveram como resultado uma variação de 9,22 a 14,8 nm, caracterizando que as nanoemulsões estão dentro da faixa de tamanho inerente a esse tipo de sistema. Para ensaios de tensão superficial os valores foram na faixa de 33,6 a 39,7 dynas/cm, valores semelhantes à microemulsões e bem abaixo da tensão superficial da água. Os resultados obtidos para os valores de pH e condutividade se mantiveram estáveis ao longo do tempo de armazenamento, essa avaliação indica estabilidade das nanoemulsões estudadas. O teste de recuperação avançada utilizando nanoemulsão com baixo percentual de matéria ativa obteve como resultado de eficiência de deslocamento 39,4%. Porém esse valor foi crescente, de acordo com o aumento do percentual de polímero na nanomeulsão. Os resultados de eficiência de deslocamento de petróleo estão diretamente relacionados com o aumento da viscosidade das nanoemulsões. A nanoemulsão V (0,4% polímero) é o sistema mais viscoso dentre os analisados, e obteve o maior percentual de óleo deslocado (76,7%), resultando na maior eficiência de deslocamento total (90%). Esse estudo mostrou o potencial de sistemas nanoemulsionados, com e sem polímeros, na recuperação avançada de petróleo. Eles apresentam algumas vantagens com relação a outros métodos de recuperação avançada, como: o baixo percentual de matéria ativa, baixo índice de adsorção do polímero, dissolvido em nanoemulsão, na rocha e alta eficiência de recuperação