Desenvolvimento de uma cadeira de rodas robótica para transporte de portador de necessidades especiais

The objective of the dissertation was the realization of kinematic modeling of a robotic wheelchair using virtual chains, allowing the wheelchair modeling as a set of robotic manipulator arms forming a cooperative parallel kinematic chain. This document presents the development of a robotic wheelchair to transport people with special needs who overcomes obstacles like a street curb and barriers to accessibility in streets and avenues, including the study of assistive technology, parallel architecture, kinematics modeling, construction and assembly of the prototype robot with the completion of a checklist of problems and barriers to accessibility in several pathways, based on rules, ordinances and existing laws. As a result, simulations were performed on the chair in various states of operation to accomplish the task of going up and down stair with different measures, making the proportional control based on kinematics. To verify the simulated results we developed a prototype robotic wheelchair. This project was developed to provide a better quality of life for people with disabilities

Modelo matemático para otimização dos custos de um sistema híbrido eólico-solar : aplicação no bombeamento de petróleo

This work purposes the application of a methodology to optimize the implantation cost of an wind-solar hybrid system for oil pumping. The developed model is estimated the implantation cost of system through Multiple Linear Regression technique, on the basis of the previous knowledge of variables: necessary capacity of storage, total daily energy demand, wind power, module power and module number. These variables are gotten by means of sizing. The considered model not only can be applied to the oil pumping, but also for any other purposes of electric energy generation for conversion of solar, wind or solar-wind energy, that demand short powers. Parametric statistical T-student tests had been used to detect the significant difference in the average of total cost to being considered the diameter of the wind, F by Snedecor in the variance analysis to test if the coefficients of the considered model are significantly different of zero and test not-parametric statistical by Friedman, toverify if there is difference in the system cost, by being considered the photovoltaic module powers. In decision of hypothesis tests was considered a 5%-significant level. The configurations module powers showed significant differences in total cost of investment by considering an electrical motor of 3 HP. The configurations module powers showed significant differences in total cost of investment by considering an electrical motor of 5 HP only to wind speed of 4m/s and 6 m/s in wind of 3 m, 4m and 5 m of diameter. There was not significant difference in costs to diameters of winds of 3 m and 4m. The mathematical model and the computational program may be used to others applications which require electrical between 2.250 W and 3.750 W. A computational program was developed to assist the study of several configurations that optimizes the implantation cost of an wind-solar system through considered mathematical model

Desenvolvimento e caracterização de nanocompósito de resina epóxi com nanopartículas de sílica para revestimento de dutos para transporte de petróleo

The use of polymer based coatings is a promising approach to reduce the corrosion problem in carbon steel pipes used for the transport of oil and gas in the oil industry. However, conventional polymer coatings offer limited properties, which often cannot meet design requirements for this type of application, particularly in regard to use temperature and wear resistance. Polymer nanocomposites are known to exhibit superior properties and, therefore, offer great potential for this type of application. Nevertheless, the degree of enhancement of a particular property is greatly dependent upon the matrix/nanoparticle material system used, the matrix/nanoparticle interfacial bonding and also the state of dispersion of the nanoparticle in the polymer matrix. The objective of the present research is to develop and characterize polymer based nanocomposites to be used as coatings in metallic pipelines for the transportation of oil and natural gas. Epoxy/SiO2 nanocomposites with nanoparticle contents of 2, 4, and 8 wt % were processed using a high-energy mill. Modifications of the SiO2 nanoparticles‟ surfaces with two different silane agents were carried out and their effect on the material properties were investigated. The state of dispersion of the materials processed was studied using Scanning and Transmission Electron Microscopy (SEM and TEM) micrographs. Thermogravimetric analysis (TG) were also conducted to determine the thermal stability of the nanocomposites. In addition, the processed nanocomposites were characterized by dynamic mechanical analysis (DMA) to investigate the effect of nanoparticles content and silane treatment on the viscoelastic properties and on the glass transition temperature. Finally, wear tests of the pin-on-disc type were carried out to determine the effects of the nanoparticles and the silane treatments studied. According to the results, the addition of SiO2 nanoparticles treated with silane increased the thermal stability, the storage modulus and Tg of the epoxy resin and decreased wear rate. This confirms that the interaction between the nanoparticles and the polymer chains plays a critical role on the properties of the nanocomposites

Análise da sensibilidade do biodiesel B5 em frotas de transporte coletivo com motorização diesel

The aim of this study was investigate the consolidation of the biodiesel fuel used in (a) engines of urban and intercity bus companies, (b) a stationary engine. It was necessary to investigate and analyze, technologically, if the biodiesel fuels were presenting troubleshooting relative to wear of parts lied to fuel and to evaluate the consumption fluctuations of this fuel. The urban and intercity bus companies, localized in Natal, Rio Grande do Norte state, Brazil, had 41 and 12 vehicles, respectively. It were analyzed datasheet of each one vehicle during three years, since 2008 until 2010 and were interviewed the management of the maintenance team of bus companies relative to aspects concerning the substitution of the diesel fuel by the B5 biodiesel. The second aim of this study was visually inspect the wear of the parts directly lied to combustion process. For this reason, it was investigated a stationary engine, manufactured by Branco BD5, 5 HP of power, fueled by (a) diesel, (b) biodiesel B5, (c) biodiesel B20 and (d) diesel or biodiesel, both contaminated by distilled water. In this engine, its power utilizing biodiesel B5 versus diesel was lower about 5.2% and, in the investigated case of B20 versus diesel, it was lower around 11.5%

Tubulações de PRFV com adição de areia quartzosa visando sua aplicação na indústria do petróleo

Fillers are often added in composites to enhance performance and/or to reduce cost. Fiberglass pipes must meet performance requirements and industrial sand is frequently added for the pipe to be cost competitive. The sand is added to increase pipe wall thickness, thus increase pipe stiffness. The main goal of the present work is to conduct an experimental investigation between pipes fabricated with and without de addition of sand, to be used in the petroleum industry. Pipes were built using E-glass fibers, polyester resin and siliceous sand. The fabrication process used hand lay up and filament winding and was divided in two different parts: the liner and the structural wall. All tested pipes had the same liner, but different structural wall composition, which is the layer where siliceous sand may be added or not. The comparative investigation was developed considering the results of longitudinal tensile tests, hoop tensile tests, hydrostatic pressure leak tests and parallel-plate loading stiffness tests. SEM was used to analyze if the sand caused any damage to the glass fibers, during the fabrication process, because of the fiber-sand contact. The procedure was also used to verify the composite conditions after the hydrostatic pressure leak test. The results proved that the addition of siliceous sand reduced the leak pressure in about 17 %. In the other hand, this loss in pressure was compensated by a stiffness increment of more than 380 %. MEV analyses show that it is possible to find damage on the fiber-sand contact, but on a very small amount. On most cases, the contact occurs without damage evidences. In summary, the addition of sand filler represented a 27.8 % of cost reduction, when compared to a pipe designed with glass fiber and resin only. This cost reduction combined to the good mechanical tests results make siliceous sand filler suitable for fiberglass pressure pipes

Sistema de secagem solar para frutos tropicais e modelagem da secagem de banana em um secador de coluna estática

In this study were projected, built and tested an electric solar dryer consisting of a solar collector, a drying chamber, an exhaust fan and a fan to promote forced hot air convection. Banana drying experiments were also carried out in a static column dryer to model the drying and to obtain parameters that can be used as a first approximation in the modeling of an electric solar dryer, depending on the similarity of the experimental conditions between the two drying systems. From the banana drying experiments conducted in the static column dryer, we obtained food weight data as a function of aqueous concentration and temperature. Simplified mathematical models of the banana drying were made, based on Fick s and Fourier s second equations, which were tested with the experimental data. We determined and/or modeled parameters such as banana moisture content, density, thin layer drying curves, equilibrium moisture content, molecular diffusivity of the water in banana DAB, external mass transfer coefficient kM, specific heat Cp, thermal conductivity k, latent heat of water evaporation in the food Lfood, time to heat food, and minimum energy and power required to heat the food and evaporate the water. When we considered the shrinkage of radius R of a banana, the calculated values of DAB and kM generally better represent the phenomenon of water diffusion in a solid. The latent heat of water evaporation in the food Lfood calculated by modeling is higher than the latent heat of pure water evaporation Lwater. The values calculated for DAB and KM that best represent the drying were obtained with the analytical model of the present paper. These values had good agreement with those assessed with a numeric model described in the literature, in which convective boundary condition and food shrinkage are considered. Using parameters such as Cp, DAB, k, kM and Lfood, one can elaborate the preliminary dryer project and calculate the economy using only solar energy rather than using solar energy along with electrical energy

Caracterização do lodo de lagoa anaeróbia tratando resíduos esgotados de tanques sépticos e fossas com vistas ao aproveitamento

The sludge generated in stabilization ponds can be designed for various purposes, among them we mention agricultural use, recovery of degraded areas and civil construction. The choice of these alternatives should be made based on qualitative and quantitative characteristics of the sludge. In this context, this study characterized the digested sludge from an anaerobic lagoon in Cidade do Natal/RN, which deals exclusively with residues of depleted septic tanks and pits. The sludge showed levels of macro and micronutrients that confirm its potential for agriculture, with 139.49 g.kg -1 organic matter, 15.40 g.kg-1 nitrogen and metal concentrations below those required by Resolution No. 375/06 of CONAMA, besides the absence of fecal coliform and less than 0.15 viable helminthes eggs/g, on average. The particle size distribution showed that most of the particles have a diameter similar to the sand, allowing the replacement of this input, for example. Analysis of the leachate and of the sludge solubilized classified as non-inert and non-hazardous according to NBR 10.004/04. The volume produced in three years of operation by the pond was 1903.50m³, equivalent to approximately 400 kg of dry sludge. Overall, the concentrations of the parameters were similar to literature, although none of them addresses sludge anaerobic pond treating sewer from septic tanks and pits.The sludgepresents technical feasibility to various types of use, however the cost of dewatering and especially with transport can derail it. It needs to be made a more thorough study of the costs to prove its economic viability

A influência do esqueleto açúcar-fostato no transporte da molécula de DNA

This dissertation analyses the influence of sugar-phosphate structure in the electronic transport in the double stretch DNA molecule, with the sequence of the base pairs modeled by two types of quasi-periodic sequences: Rudin-Shapiro and Fibonacci. For the sequences, the density of state was calculated and it was compared with the density of state of a piece of human DNA Ch22. After, the electronic transmittance was investigated. In both situations, the Hamiltonians are different. On the analysis of density of state, it was employed the Dyson equation. On the transmittance, the time independent Schrödinger equation was used. In both cases, the tight-binding model was applied. The density of states obtained through Rudin-Shapiro sequence reveal to be similar to the density of state for the Ch22. And for transmittance only until the fifth generation of the Fibonacci sequence was acquired. We have considered long range correlations in both transport mechanism

Implicações socioambientais da construção de um parque eólico no município de Rio de Fogo-RN

The purpose of this study was to investigate the social-environmental implications of the first large scale wind farm recently built in Brazil (2006), Parque Eólico de Rio do Fogo (PERF), to the nearby communities. The research was base on the adjustment of the DIS/BCN tool to analyze social impact and it was linked to the multi-method approach. Applying the autophotography strategy, cameras were given to five children from the district of Zumbi, the nearest location to PERF, and they were asked to individually photograph the six places they liked the most and the six places they liked the least in their community. Then, these children were interviewed individually and collectively about the photographs. Adult locals in Zumbi, residents of Zumbi/Rio do Fogo settlement, members of the State and Municipal government and representatives of the PERF were also interviewed with the aid of some of the pictures taken by the children and others that might trigger something to say, as a strategy called sample function. The five children presented positive image towards PERF; all of them chose to photograph it as one of places they liked. Adult population of Zumbi presented positive visual evaluation towards PERF. A small number of the interviewees were aware of the environmental and social benefits of wind energy production. Residents did not participate of the decision making process regarding PERF. They approved the project, especially because of the jobs provided during construction. Nowadays, PERF is something apart from their lives because it no longer provides jobs or any other interaction between the facility and the locals. Residents relate to the land, not with the facility. However, there is no evidence of rejection towards PERF, it is simply seen as something neutral to their lives. The low levels of education, traditional lack of social commitment and citizenship, and the experience accumulated by PERF´s planners and builders in other countries, may be contributing points to the fact that Zumbi residents did not oppose to PERF. It is clear that the country needs a legislation which seriously considers the psycho-social dimension involved in the implementation of wind farms

As fontes de desgaste físico e emocional e a Síndrome de Burnout no setor de transporte coletivo urbano de Natal

Recognizing the importance the workplace has on mental health of the individual, the objective of this study was to investigate the relationship between the burnout syndrome and the sources of physical and emotional wear which permeate the work conditions of the urban public transport system of the city of Natal. Although existent in international literature, research on burnout in the professional transport category and studies directed to this category are not a tradition in Brazil. The research was carried out using 412 drivers and money-changers of two transport companies of Natal. To collect the data, two questionnaires and a semi-structured interview were used. The first instrument, developed and validated during the research, investigated the sources of wear and the second, the syndrome of burnout. As its main results, two sources of empirical wear were identified as follows: (1) the Conflict of Values and the Lack of Justice at the Workplace, (2) Union and Reward. Besides these, it was observed that there is an incidence of the syndrome of burnout among the drivers and money-changers of urban transport by bus, not only in the caring occupations studied before in Natal and Brazil and that this incidence is related to the sources of wear which permeate the work conditions of these professionals

Renderizações não fotorealísticas para estilização de imagens e vídeos usando areia colorida

Non-Photorealisitc Rendering (NPR) is a class of techniques that aims to reproduce artistic techniques, trying to express feelings and moods on the rendered scenes, giving an aspect of that they had been made "by hand". Another way of defining NPR is that it is the processing of scenes, images or videos into artwork, generating scenes, images or videos that can have the visual appeal of pieces of art, expressing the visual and emotional characteristics of artistic styles. This dissertation presents a new method of NPR for stylization of images and videos, based on a typical artistic expression of the Northeast region of Brazil, that uses colored sand to compose landscape images on the inner surface of glass bottles. This method is comprised by one technique for generating 2D procedural textures of sand, and two techniques that mimic effects created by the artists using their tools. It also presents a method for generating 21 2D animations in sandbox from the stylized video. The temporal coherence within these stylized videos can be enforced on individual objects with the aid of a video segmentation algorithm. The present techniques in this work were used on stylization of synthetic and real videos, something close to impossible to be produced by artist in real life

Diagnóstico da degradação ambiental no município de Areia Branca-RN por geotecnologias

The municipality of Areia Branca is within the mesoregion of West Potiguar and within the microregion of Mossoró, covering an area of 357,58 km2. Covering an area of weakness in terms of environmental, housing, together with the municipality of Grossos-RN, the estuary of River Apodi-Mossoró. The municipality of Areia Branca has historically suffered from a lack of planning regarding the use and occupation of land as some economic activities, attracted by the extremely favorable natural conditions, have exploited their natural resources improperly. The aim of this study is to quantify and analyze the environmental degradation in the municipality. Thus initially was performed a characterization of land use using remote sensing, geoprocessing and geographic information system GIS in order to generate data and information on the municipal scale, which may serve as input to the environmental planning and land use planning in the region. From this perspective, were used a Landsat 5 image TM sensor for the year 2010. In the processing of this image was used SPRING 5.2 and applied a supervised classification using the classifier regions, which was employed Bhattacharya Distance method with a threshold at 30%. Thus was obtained the land use map that was analyzed the spatial distribution of different types of the use that is occurring in the city, identifying areas that are being used incorrectly and the main types of environmental degradation. And further, were applied the methodology proposed by Beltrame (1994), Physical Diagnosis Conservationist under some adaptations for quantifying the level of degradation or conservation study area. As results, the indexes were obtained for the parameters in the proposed methodology, allowing quantitatively analyze the degradation potential of each sector. From this perspective, considering a scale of 0 to 100, sector A and sector B had value 31.20 units of risk of physical deterioration. And the C sector, has shown its value - 34.64 units degradation risk and should be considered a priority in relation to the achievement of conservation actions

Vivências ludopoiéticas no jogo de areia: a tatilidade na autoformação humanescente

This study presents the ludopoietic experiences in Sandplay and the expression of tactility in humanescente self-training of future teachers of geography. The overall objective was to analyze and interpret as the tactility in the ludopoietic experiences with Sandplay facilitates the sentipensar and boosts the humanescent self-training. The qualitative research approach follows the principles of existential research-action into the etnofenomenologic perspective, that considers studies of the ethnography and the phenomenology with ethnomethodology. In this study we used the sedimentary rock called sandstone and your mineral grains as cognitive operator to stimulate the discussions of the ludopoietic experiences in Sandplay. The members of research were students of the Geography degree of IFRN. To achieve the research objectives were organized experiential meetings and virtual meetings. The ludopoietic experiences in Sandplay revealed the impact of tactility to humanescente self-training, indicating the importance of touch for apprehend and experience the world with beauty, joy and tenderness. These experiences showed the ludopoietic system properties, the threads of embodiment and the meaning of the sentipensar of tactility as a phenomenon that drives the humanescent self-training, evidenced by etnofenomenologie. Data were obtained through Sandplay, sensitive listening, experiential diary, photographic and movie records. In the process of data analysis were revealed the of etnofenomenological principles of experientiality indiciality, reflexivity, self-organizability, filiability, archetypality and humanescencialidade. Through the tactility, the Sandplay favors the awareness of the condition of being, takes life stories, providing the construction of knowledge in a meaningful and contextual way

Sistemas computacionais espaço-temporais para toma de decisão em questões ambientais relacionadas à indústria de petróleo e gás

The area between São Bento do Norte and Macau cities, located in the northern coast of the Rio Grande do Norte State is submitted to intense and constant processes of littoral and aeolian transport, causing erosion, alterations in the sediments balance and modifications in the shoreline. Beyond these natural factors, the human interference is huge in the surroundings, composed by sensitive places, due to the existence of the Guamaré Petroliferous Pole, RN, the greater terrestrial oil producing in Brazil, besides the activities of the salt companies and shrimp farms. This socioeconomic-environmental context justifies the elaboration of strategies of environmental monitoring of that coastal area. In the environmental monitoring of coastal strips, submitted to human impacts, the use of multi-sources and multitemporal data integrated through a Spatio- Temporal Database that allows the multiuser friendly access. The objective was to use the potential of the computational systems as important tools the managers of environmental monitoring. The stored data in the form of a virtual library aid in making decisions from the related results and presented in different formats. This procedure enlarges the use of the data in the preventive attendance, in the planning of future actions and in the definition of new lines of researches on the area, in a multiscale approach. Another activity of this Thesis consisted on the development of a computational system to automate the process to elaborate Oil-Spill Environmental Sensitivity Maps, based on the temporal variations that some coastal ecosystems present in the sensibility to the oil. The maps generated in this way, based on the methodology proposed by the Ministério do Meio Ambiente, supply more updated information about the behavior of the ecosystem, as a support to the operations in case of oil spill. Some parameters, such as the hydrodynamic data, the declivity of the beach face, types of resources in risk (environmental, economical, human or cultural) and use and occupation of the area are some of the essential basic information in the elaboration of the sensitivity maps, which suffer temporal alterations.In this way, the two computational systems developed are considered support systems to the decision, because they provide operational subsidies to the environmental monitoring of the coastal areas, considering the transformations in the behavior of coastal elements resulting from temporal changes related the human and/or natural interference of the environment

Transporte eletrônico e propriedades termodinâmicas de nanobiomoléculas

We use a tight-binding formulation to investigate the transmissivity and the currentvoltage (I_V) characteristics of sequences of double-strand DNA molecules. In order to reveal the relevance of the underlying correlations in the nucleotides distribution, we compare theresults for the genomic DNA sequence with those of arti_cial sequences (the long-range correlated Fibonacci and RudinShapiro one) and a random sequence, which is a kind of prototype of a short-range correlated system. The random sequence is presented here with the same _rst neighbors pair correlations of the human DNA sequence. We found that the long-range character of the correlations is important to the transmissivity spectra, although the I_V curves seem to be mostly inuenced by the short-range correlations. We also analyze in this work the electronic and thermal properties along an _-helix sequence obtained from an _3 peptide which has the uni-dimensional sequence (Leu-Glu-Thr- Leu-Ala-Lys-Ala)3. An ab initio quantum chemical calculation procedure is used to obtain the highest occupied molecular orbital (HOMO) as well as their charge transfer integrals, when the _-helix sequence forms two di_erent variants with (the so-called 5Q variant) and without (the 7Q variant) _brous assemblies that can be observed by transmission electron microscopy. The di_erence between the two structures is that the 5Q (7Q) structure have Ala ! Gln substitution at the 5th (7th) position, respectively. We estimate theoretically the density of states as well as the electronic transmission spectra for the peptides using a tight-binding Hamiltonian model together with the Dyson's equation. Besides, we solve the time dependent Schrodinger equation to compute the spread of an initially localized wave-packet. We also compute the localization length in the _nite _-helix segment and the quantum especi_c heat. Keeping in mind that _brous protein can be associated with diseases, the important di_erences observed in the present vi electronic transport studies encourage us to suggest this method as a molecular diagnostic tool