Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Dinâmica sazional de fungos micorrízicos arbusculares (Glomeromycota) em cerradão e brejo de altitude na Chapada do Araripe, CE

Arbuscular mycorrhizal fungi (AMF) are obligatory symbiotic organisms that associate with roots of a large number of plant taxa, and are found in all terrestrial ecosystems. These fungi promote greater tolerance to environmental stresses to associated plant, favoring the establishment of plant communities, especially where soil fertility is a limiting factor, as in the Caatinga, an exclusively Brazilian domain that has been focus of research due to its great biodiversity that can help clarify the history of vegetation in South America. Because of the ecological importance of AMF, the limited number of jobs and the potential diversity of the Caatinga, this work aims to inventory the diversity and determine AMF communities in areas with different faces occurrent in FLONA Araripe, Ceará (CE). The sample collection occurred in four periods at the beginning and end of the dry season (August and December 2011, respectively) and rainy (February and June 2012, respectively) in an area of marsh and woodland altitude of the Araripe, Crato, CE. The glomerosporos were extracted by wet sieving and centrifugation in water and sucrose (50%) mounted between slide and coverslip using PVLG and PVLG + Reagent Melzer. In total, we found 46 species of AMF distributed in eight families and 16 genera: Acaulospora (6), Ambispora (1), Cetraspora (2), Dentiscutata (5), Fuscutata (2), Gigaspora (6), Glomus (13) Intraornatospora (1), Kuklospora (1), Orbispora (1), Paradentiscutata (1), Quatunica (1), Racocetra (1), Scutellospora (2), Septoglomus (2) and a new genus. analysis showed that ecological each area of study has its own seasonal dynamics, with an area of woodland with a greater diversity of species throughout the year, while the marsh elevation showed greater variation in species found among the collection periods, showing that vegetation and rainfall has strong influence on the seasonal dynamics of AMF, as well as the availability of nutrients and soil pH so

Estética do apocalipse: (re) considerações acerca da (des) arborização urbana de Natal e seu contributo à saúde pública

This study intends to establish a relation between environmental degradation, particularly the devastation of the green canopy, and public health. Utilizing a mapping of the trees included in the researched area, each individual tree was analyzed according to its age, taxonomic listing, architecture, shape and size (determined by aesthetic/convenience reasons or deformed by pruning). Initially investigated were the covert reasons lying underneath the constant aggression against trees (which many times seem to contain elements of hatred and contempt) within the urban environment. In addition to that, the aspects concerning environmental modifications and the consequent impact on public health were also assessed. Two main problems promptly emerged as a result of the removal of trees: a) without a canopy to protect the areas, they became subject to winds directly blown from SW Africa and impregnated with aerosol partic les, which are common causes for respiratory disorders and, b) direct UV solar radiation, which causes some types of skin cancers and eye disorders. To reach such results, we studied the origins and formation of UV radiation induced cancers and searched for the UV radiation spectra of action, e.g., usual intensity and quantity reaching clear and shadowed spaces in a certain area and its consequences. In a second instance, we also searched for pertinent data resources in order to confirm the increase of skin cancer cases due to exposure to UV radiation and the relation between the destruction of the green canopy and the above mentioned problems. We believe that a few significant results have been achieved by this study, namely: the relation between a culture based on medieval beliefs and its consequences on the environment; how this culture exploits and deforms nature in pursuit of financial and psychological interests to a point of transforming the landscape into a copy of something devoid of any relation to latitude and altitude; and above all, the indifference concerning the alarming results carried by these modifications

Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás

This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

O Gênero Cyathus haller: pers. (Agaricales, Basidiomycota) em áreas de caatinga do Nordeste brasileiro

Fungi of the family Nidulariaceae or bird s nest fungi present a vase-shaped basidiomata with the wall surface smooth or striated lengthwise and internal structures resembling small bird eggs in a nest, the peridioles. Among the five genera that comprise the group, the more representative is Cyathus Haller: Pers. The Brazilian Northeast region shows major importance for the world s diversity by containing a Brazilian unique and exclusively phytoecological domain, the Caatinga, which lacks particular attention regarding macrofungi. Although the gradual growth of knowledge in recent years, studies are still insipient in the Caatinga domain. Between their various vegetal formations are the Brejos de Altitude , described as islands with moist perennial vegetation, low soil fertility and annual precipitation of 900 1.300 mm. This study aimed to evaluate the taxonomic richness of Nidulariaceae fungi in Caatinga s areas of Northeastern Brazil, describing and identifying species, as well as expanding the collection of Herbarium UFRN Fungos. For description of Nidulariaceae fungi was followed the proposed by specialized literature in the group. We have found and described 10 species of the genus Cyathus, namely: C. earlei Lloyd, C. gayanus Tul. & C. Tul., C. gracilis H.J. Brodie, C. intermedius (Mont.) Tul. & C. Tul., C. limbatus Tul. & C. Tul., C. montagnei Tul. & C. Tul., C. pallidus Berk. & M.A. Curtis, C. poeppigii Tul. & C. Tul., C. striatus (Huds.) Willd. and C. tríplex Lloyd. Beyond these have been described four new species to science: Cyathus calvescens R. Cruz & Baseia sp. nov., C. hortum R. Cruz & Baseia sp. nov., C. magnomuralis R. Cruz & Baseia sp. nov. and C. parvocinereus R. Cruz & Baseia sp. nov. Two samples were identified only to genus level. No member of Mycocalia J.T. Palmer, Nidula V.S. White, Nidularia Fr. and Crucibulum Tul. & C. Tul. has been found, however the results were extremely valuable for being an unprecedented work in Caatinga, and importante tool for implementation of conservation projects and sustainable utilization of this domain

A história do intemperismo na Província Borborema Oriental, Nordeste do Brasil: implicações paleoclimáticas e tectônicas

Until some years ago, weathering geochronology was primarily based on the K-Ar and 40Ar/39Ar dating of supergene minerals. Recent advances in the analysis of supergene goethite by the (U-Th)/He method expanded the number of suitable minerals for such purpose, as well as the time of application for weathering geochronology. This study represents the first systematic approach in Brazil, combining both the 40Ar/39Ar e (U-Th)/He methodologies to improve the knowledge on the weathering and the age of nonfossiliferous sediments. Supported by geologic and geomorphologic correlations, we identified different types of weathering profiles occurring in the interior and coastal areas of northeastern Brazil. These profiles were correlated to main regional geomorphological domains: the Borborema Plateau , the Sertaneja Depression , and the Coastal Cuestas and Plains, and respective planation surfaces, which study is fundamental to understand the landscape evolution of the northern portion of the eastern Borborema Province. The depth and stratigraphic organization of the weathering profiles in each of the geomorphological domains permitted to establish that: (i) the profiles on the highlands that cap the Borborema Surface are deeper (up to 100 m) and can be considered as typical lateritic profiles; (ii) on the lowlands that form the Sertaneja Surface , the weathering profiles are shallow and poorly developed (2-5 m deep); (iii) the profiles along the coastal area are moderately developed (up to 25 m deep), and are characterized by thick saprolites and mottle zones. Aiming to establish the timing of the evolution of northeastern Brazil, we studied 29 weathering profiles representing distinct topographic levels of the Borborema Province, from the highlands to the coast, through the analysis of 248 grains of supergene manganese oxides using laser step-heating 40Ar/39Ar geochronology. Additionally, we applied the (U-Th)/He method in 20 weathering profiles, by dating 171 grains of supergene iron oxides and hydroxides. Geochronological results for 248 grains of manganese oxides analyzed by the 40Ar/39Ar method indicate that the weathering profiles in the study area record the history of weathering from the Oligocene to the Pleistocene, with ages in the order of 31.4 ± 1.0 Ma to 0.8 ± 0.4 Ma. Dating of 171 grains of goethite by the (U-Th)/He method yielded ages ranging from 43.2 ± 4.3 Ma to 0.8 ± 0.1 Ma, suggesting the weathering processes last from the Eocene to the Pleistocene. The precipitation of supergene goethite in this interval confirms the age of the weathering processes identified from the manganese oxides record. 105 goethite grains from 8 different occurrences of the Barreiras Formation were dated by the (U-Th)/He method. Five grains collected from the cement in the Barreiras Formation sandstones, in the Lagoa Salgada and Rio do Fogo coastal cuestas, yielded ages of 17.6 ± 1.8 Ma, 17.3 ± 1.7 Ma, 16.3 ± 1.6 Ma, 16.2 ± 1.6 Ma and 13.6 ± 1.4 Ma. Results of 69 goethite grains from authigenic pisoliths collected in 7 different localities also yielded concordant ages, varying from 17.8 ± 1.8 to 7.5 ± 0.8 Ma. Results obtained from 31 detrital grains are concordant in 3 distinct localities (Lagoa Salgada, Praia da Garças e Ponta Grossa); they vary in the range of 43.2 ± 4.3 to 21.6 ± 2.2 Ma, and indicate that the maximum age for the Barreiras Formation deposition is around 22 Ma. 40Ar/39Ar results for 15 manganese oxides grains associated with the Barreiras Formation weathering profiles, in 3 different localities, vary from 13.1 ± 0.9 to 7.7 ± 0.4 Ma, in the same range of ages obtained by the (U-Th)/He method. The systematic application of the 40Ar/39Ar and (U-Th)/He methods, respectively for manganese oxides and goethites, show that the Barreiras Formation sediments were already deposited since ca. 17 Ma, and that the weathering processes were active until ca. 7 Ma ago. The ages obtained from manganese oxides collected in the Cenozoic basalts (Macau Formation) also reveal a weathering history between 19 and 7 Ma, pointing to hot and humid conditions during most of the Miocene. 40Ar/39Ar ages yielded by manganese oxides associated with the Serra do Martins Formation vary from 14.1 ± 0.4 to 10.5 ± 0.3 Ma. On the other hand, (U-Th)/He ages from iron oxides/hydroxides collected in the Serra do Martins Formation mesas vary from 20.0 ± 2.0 to 5.5 ± 0.6 Ma, indicating that those sediments are older than 20 Ma. 40Ar/39Ar and (U-Th)/He results produced in this study are in agreement with paleoclimatic interpretations based on stable isotopes and clay index values measured in the Atlantic Ocean sediments, validating the use of weathering geochronology to investigate paleoclimatic variations. The direct dating of the Barreiras Formation permitted, for the first time, confident inferences on the age of the brittle deformation recorded by this sedimentary unit in the Rio Grande do Norte and Ceará states. The first event, syn-deposition, occurred during the early Miocene; an younger event, related to the post-depositional deformation of the Barreiras Formation, is associated with tectonic activity from the very early Miocene to the Holocene. In agreement with data from other areas, results obtained in this study reveal that the depth and complexity of the weathering profiles reflect the time of exposition of such areas to the weathering agents close to the surface. However, there is no clear relationship between ages vs. altitude. The depth and the stratigraphic organization of weathering profiles in northeastern Brazil, contrary to the southeastern Brazil pattern, do not vary toward the coast. In our study area, field observations reveal the presence of ancient, thick and complex lateritic profiles preserved in the sedimentary mesas on the Borborema Plateau, as younger, narrow and incipient ones occur in the dissected areas. Geochronological results obtained for these profiles yielded older ages on the high altitudes, and younger ages in the lowlands, suggesting the scarp retreatment is the most reliable model to explain the regional landscape evolution. However, in the coastal lowlands, the relatively older ages obtained indicate that more complexes processes were involved in the modeling of the local relief

Gravitomagnetismo e o teste da sonda gravidade B

The so-called gravitomagnetic field arised as an old conjecture that currents of matter (no charges) would produce gravitational effects similar to those produced by electric currents in electromagnetism. Hans Thirring in 1918, using the weak field approximation to the Einsteins field equations, deduced that a slowly rotating massive shell drags the inertial frames in the direction of its rotation. In the same year, Joseph Lense applied to astronomy the calculations of Thirring. Later, that effect came to be known as the Lense- Thirring effect. Along with the de Sitter effect, those phenomena were recently tested by a gyroscope in orbit around the Earth, as proposed by George E. Pugh in 1959 and Leonard I. Schiff in 1960. In this dissertation, we study the gravitational effects associated with the rotation of massive bodies in the light of the Einsteins General Theory of Relativity. With that finality, we develop the weak field approximation to General Relativity and obtain the various associated gravitational effects: gravitomagnetic time-delay, de Sitter effect (geodesic precession) and the Lense-Thirring effect (drag of inertial frames). We discus the measures of the Lense-Thirring effect done by LAGEOS Satellite (Laser Geodynamics Satellite) and the Gravity Probe B - GPB - mission. The GPB satellite was launched into orbit around the Earth at an altitude of 642 km by NASA in 2004. Results presented in May 2011 clearly show the existence of the Lense-Thirring effect- a drag of inertial frames of 37:2 7:2 mas/year (mas = milliarcsec)- and de Sitter effect - a geodesic precession of 6; 601:8 18:3 mas/year- measured with an accuracy of 19 % and of 0.28 % respectively (1 mas = 4:84810��9 radian). These results are in a good agreement with the General Relativity predictions of 41 mas/year for the Lense-Thirring effect and 6,606.1 mas/year for the de Sitter effect.

Evolução estrutural e termocronológica meso-cenozóica da Zona de Cisalhamento Portalegre, Nordeste do Brasil

The Portalegre shear zone (ZCPa), which is located in the Rio Grande do Norte and Paraíba states (Northeastern Brazil), is na important right-lateral, northeast-trending lineament formed during the Brazilian Orogenic Cicle). The ZCPa experienced na important brittle reactivation from the Mesozoic until the present. This reactivation led to the formation of the Gangorra, Pau dos Ferros, Coronel João Pessoa, Icozinho and Rio do Peixe basins. The reactivation northern parto f the ZCPa that marks the boundary of the Potiguar Basin is denominated Carnaubais Fault. Several fracture patterns were mapped along the ZCPa. Samples were collected in Neoproterozoic granite outcrops, along the ZCPa. These samples yielded AFT ages from 86±13 to 376±57 Ma, and the mean track length from 10.9±0.8 to 12.9±1.5 mm. Samples from the East block yielded mean ages of 103 Ma, mean track lengtn 12,1mm, and mean altitude 250m, whereas samples from West block yielded mean ages of 150 Ma, which reach 345 Ma and 220 Ma in the Pau dos Ferros and Coronel João Pessoa basins, respectively. Thermal history models were sorted out for each crustal block. Samples from West block recorded a thermal history from Carboniferous Period until the Permiano, when the block experienced gradual uplift until the Cretaceous, when it underwent downfaulting and heating until the Tertiary, and it eventually experienced a rapid uplift movement until recent times. Samples from the East block presented the same cooling and heating events, but at they occurred different times. The East block thermal record started ~140 Ma, when this block experienced cooling until ~75 Ma. Both blocks show a denundacion/erosional history more similar in the Tertiary. The AFT data indicate an important tectonic event ~140 Ma, when the West block experienced downfaulting and the East block experienced uplift. This tectonic process led to the generation of several sedimentary basins in the region, including the Potiguar basin. This tectonic event is also interpreted as a rift process caused by an E-W-trending extension. It the Tertiary, some heating events can be tentatively attributed to the macau volcanic event