Aplicação prática do método de sintonia de controladores PID utilizando o método do relé com histerese

The area of research and development involving the PID tune of controllers is an active area in the academic and industrial sectors yet. All this due to the wide use of PID controllers in the industry (96% of all controllers in the industry is still PID). Controllers well tuned and tools to monitor their performance over time with the possibility of selftuning, become an item almost obligatory to maintain processes with high productivity and low cost. In a globalized world, it is essential for their self survival. Although there are several new tools and techniques that make PID tune, in this paper will explore the PID tune using the relay method, due its good acceptance in the industrial environment. In addition, we will discuss some techniques for evaluation of control loops, as IAE, ISE, Goodhart, the variation of the control signal and index Harris, which are necessary to propose new tuning for control loops that have a low performance. Will be proposed in this paper a tool for tuning and self tuning PID. Will be proposed in this paper a PID auto-tuning software using a relay method. In particular, will be highlighted the relay method with hysteresis. This method has shown tunings with satisfactory performance when applied to the didactic, simulated and real plants

Um método para determinação da profundidade combinando visão estéreo e autocalibração para aplicação em robótica móvel

This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment

O Núcleo genuíno lateral dorsal do tálamo do sagüi (callithrix jacchus): Pprojeção retiniana, caracterização citoarquitetônica e neuroquimica da principal estação visual primária.

The thalamus plays an important role in the sensorial processing information, in this particular case, the visual information. Several neuronal groups have been characterized as conductors and processors of important sensorial information to the cerebral cortex. The lateral geniculate complex is one to them, and appears as a group very studied once it is responsible, in almost all totality, for the processing of visual information. Among the nuclei that constitute the lateral geniculate complex we highlight the dorsal lateral geniculate nucleus of the thalamus (DLG), the main thalamic relay for the visual information. This nucleus is located rostral and lateral to medial geniculate nucleus and ventral to thalamic pulvinar nucleus in most of the mammals. In the primates humans and non-humans, it presents as a laminate structure, arranged in layers, when observed in coronal sections. The objective of this work was to do a mapping of the retinal projections and a citoarchictetonic and neurochemical characterization of DLG in the marmoset (Callithrix jacchus), a New World primate. The retinal projections were traced by anterograde transport of subunit b of cholera toxin (CTb), the citoarchicteture was described by Nissl method, and to neurochemical characterization immunohistochemicals technical were used to examine the main neurotransmitters and neuroatives substances present in this neural center. In DGL of marmoset thalamus, in coronal sections labeled by Nissl method, was possible to visualize the division of this nucleus in four layers divided in two portions: magnocellular and parvocellular. The retinal projections were present being visualized fibers and terminals immunorreactives to CTb (IR-CTb) in the DLG ipsilateral and contralateral. And through the immunohistochemicals techniques was observed that DLG contain cells, fibers and/or terminals immunoreactives against neuronal nuclear protein, subunits of AMPA 15 glutamate receptors (GluR1, GluR2/3, GluR4), choline acetyltransferase, serotonin, glutamic acid decarboxylase, binding calcium proteins (calbindin, parvalbumin and calretinin), vasopressin, vasoactive intestinal polypeptide, and an astrocyte protein, glial fibrillary acidic protein.

El pensamiento de Carlos Nelson Coutinho: interpretar el Brasil

El presente artículo muestra una interpretación de Brasil a partir de la fecunda apropiación del pensamiento de Gramsci por el intelectual brasileño de izquierda Carlos Nelson Coutinho. Se destaca la osadía intelectual que caracteriza su producción a lo largo de cinco décadas en la búsqueda permanente de la ampliación conceptual como superación dialéctica, siendo fiel a la relación fundante entre historia y teoría política. A partir de una revisión del pensamiento de Coutinho, las autoras analizan el proceso de modernización de Brasil en el tránsito al capitalismo por la vía de la revolución pasiva. Se rescatan aportes de Coutinho sobre las configuraciones estatales en la historia brasileña, enfatizando el proceso de occidentalización con la ampliación del Estado a través de la actuación política de la sociedad civil que emerge de las entrañas de la dictadura militar. Se trata de una producción en proceso que delinea vías analíticas para trabajar el marxismo en movimiento propugnado por Coutinho

Sobre pedras, entre rios: modernização do espaço urbano de Caicó/RN (1950/1960)

thèse de maîtrise, qui a été idealizée et exécutée à partir de la réunion et les relations dialogiques établies entre la géographie et l'histoire, et l'espace et le temps, a considéré l'environnement urbain comme le thème général et, comme la référence empirique, l'espace urbain de Caicó, incrusté dans les terres semi-arides du Sertão do Seridó Potiguar, plus précisément à la mi-sud de l'État du Rio Grande do Norte. Dans cet espace, à travers de recherche des fragments de mémoires acquis de diverses sources historiques, on a tenté de faire des investigations sur les transformations urbaines qui ont eu lieu dans la ville au cours des années 50 et 60 du XXe siècle. Ces transformations, dans l espace urbain de Caicó à un moment du pic de l'activité de développement de coton, reflétaient et conditionnaient les propres projets de modernization urbaine qui représentants des élites locales eurent conçu avec l'objectif de la construction d une ville idéal dans les regions isolées du Seridó: moderne, civilisé, progressive et capitale régionale du Seridó. Pour cette construction, les nouveaux équipements et services urbains ont passé du plan imaginaire à l espace réel, installés dans plusieurs quartiers de la ville en transformant le paysage urbain. Face à cette situation, cinémas, magasins, station de radio, énergie électrique, institutions de l'éducation, téléphonie, maison de soins infirmiers, usine de bénéficiement de coton, banques, politiques urbaines, hygiéniques et sanitaires, modes de comportement, sociabilités urbaines distincttes, parmi d'autres éléments géographiques se sont institués à travers la réalisation de certains idéaux de progrès social et dans un esprit de modernité urbaine, dans de nouveaux espaces et pratiques inventés, tramés et éprouvés sur les rochers et entre le cours d eau au milieu d'un quotidien urbain marqué par ruptures et permanence de certaines coutumes et habitudes antiques et de certains paysages et environnement ridé