Avaliação de heterociclo do tipo mesoiônico solubilizado em sistema microemulsionado para aplicação em dutos

The efficiency of inhibition to corrosion of steel AISI 1018 of surfactant coconut oil saponified (SCO) and heterocyclic type mesoionics (1,3,4-triazólio-2-tiolato) in systems microemulsionados (SCO-ME and SCO-ME-MI) Of type O/A (rich in water emulsion) region with the work of Winsor IV. The systems microemulsionados (SCO-ME and SCO-ME-MI) were evaluated with a corrosion inhibitor for use in saline 10,000 ppm of chloride enriched with carbon dioxide (CO2). The assessment of corrosion inhibitors were evaluated by the techniques of linear polarization resistance (LPR) and loss of weight (MW) in a cell instrumented given the gravity and electrochemical devices. The systems were shooting speed of less than 60 minutes and efficiency of inhibition [SCO-ME (91.25%) and SCO-ME-MI (98.54%)]

Avaliação do desempenho de uma cortina de estacas espaçadas, atirantada, em areia

It is presented the analysis of a retaining wall designed for the basement of a residential building, located in Natal/RN, which consists in a spaced pile wall, anchored by tiebacks, in sand. This structure was instrumented in order to measure the wall s horizontal movements and the load distribution throughout the anchor fixed length. The horizontal movements were measured with an inclinometer, and the loads in the anchors were measured with strain gages, installed in three places throughout the anchor fixed length. Measurements for displacement were done right after the implementation of each stage of the building and right after the conclusion of the building, and the measurements for loads in the anchors were done during the performance test, at the moment of the locking off and, also, right after the conclusion of the building. From the data of displacement were obtained velocity and acceleration data of wall. It was found that the time elapsed on braced installation was decisive in the magnitude of the displacements. The maximum horizontal displacement of wall ranged between 0,18 and 0,66% of the final depth of excavation. The loads in the anchors strongly reduced to approximately half the anchor fixed length, followed an exponential distribution. Furthermore, it was found that there was a loss of load in the anchors over time, reaching 50% loss in one of them

Localização e planejamento de caminhos para um robô humanóide e um robô escravo com rodas

This work presents the localization and path planning systems for two robots: a non-instrumented humanoid and a slave wheeled robot. The localization of wheeled robot is made using odometry information and landmark detection. These informations are fused using a Extended Kalman Filter. The relative position of humanoid is acquired fusing (using another Kalman Filter) the wheeled robot pose with the characteristics of the landmark on the back of humanoid. Knowing the wheeled robot position and the humanoid relative position in relation to it, we acquired the absolute position of humanoid. The path planning system was developed to provide the cooperative movement of the two robots,incorporating the visibility restrictions of the robotic system

Navegação cooperativa de um robô humanóide e um robô com rodas usando informação visual

This work presents a cooperative navigation systemof a humanoid robot and a wheeled robot using visual information, aiming to navigate the non-instrumented humanoid robot using information obtained from the instrumented wheeled robot. Despite the humanoid not having sensors to its navigation, it can be remotely controlled by infra-red signals. Thus, the wheeled robot can control the humanoid positioning itself behind him and, through visual information, find it and navigate it. The location of the wheeled robot is obtained merging information from odometers and from landmarks detection, using the Extended Kalman Filter. The marks are visually detected, and their features are extracted by image processing. Parameters obtained by image processing are directly used in the Extended Kalman Filter. Thus, while the wheeled robot locates and navigates the humanoid, it also simultaneously calculates its own location and maps the environment (SLAM). The navigation is done through heuristic algorithms based on errors between the actual and desired pose for each robot. The main contribution of this work was the implementation of a cooperative navigation system for two robots based on visual information, which can be extended to other robotic applications, as the ability to control robots without interfering on its hardware, or attaching communication devices

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

Avaliação por pig de perfilagem de danos superfciais nos materiais das paredes de dutos de petróleo

The modern technology of materials and structural integrity of pipelines requests the use of inspection tools named inspection pigs to detect, localize and measure the length, width and depth dimensions of the thickness losses of walls of buried and underwater pipelines in service. These tools run them internally, performing and recording measurements, with performance that varies according to the pig s technology. It has been developed recently an instrumented pig technology, called feller pig. This work aims to indicate factors that influence the feller pig technology performance in the detection and in the accuracy of measurement of the length, width and depth dimensions of the thickness losses on the internal surface of an oil pipeline wall under normal conditions of oil pipe inspection with pig. In this work, is made a collection of factors and an analyses of the technology based on the available literature, as well as an experiment to observe the technology and the factors operating. In the experiment, a feeler pig is used in a pipeline built in carbon steel and in operation that flows petroleum, in witch are observed areas with internal thickness losses occurred naturally. Some of these areas and their dimensions taken by automated ultra-sound scanner are compared with the ones indicated by the feller pig. Based on the data collection, on the analysis and on the experiment, the influence of factors object of this research is discussed. It is concluded that, among these, there are factors related to pipe fabrication tolerances, to wear of pig components, to internal adhesive wear of pipeline, to other pipeline damages and to technology characteristics. Finally, actions are suggested to know better, improve and define the applicability of this technology

Desempenho de um painel fotovoltaico de baixa tensão, acoplado ao protótipo de um conversor dc/dc topologia Booster

Low voltage solar panels increase the reliability of solar panels due to reduction of in series associations the configurations of photovoltaic cells. The low voltage generation requires DCDC converters devices with high efficiency, enabling raise and regulate the output voltage. This study analyzes the performance of a photovoltaic panel of Solarex, MSX model 77, configured to generate an open circuit voltage of 10.5 V, with load voltage of 8.5 V, with short circuit current of 9 A and a power of 77 W. The solar panel was assembled in the isolated photovoltaic system configuration, with and without energy storage as an interface with a DCDC converter, Booster topology. The converter was designed and fabricated using SMD (Surface Mounted Devices) technology IC (integrated circuit) that regulates its output voltage at 14.2 V, with an efficiency of 87% and providing the load a maximum power of 20.88 W. The system was installed and instrumented for measurement and acquisition of the following data: luminosities, average global radiation (data of INPE Instituto Nacional de Pesquisas Espaciais), solar panel and environment temperatures, solar panel and DC-DC converter output voltages, panel, inverter, and battery charge output currents. The photovoltaic system was initially tested in the laboratory (simulating its functioning in ideal conditions of operation) and then subjected to testing in real field conditions. The panel inclination angle was set at 5.5°, consistent with the latitude of Natal city. Factors such as climatic conditions (simultaneous variations of temperature, solar luminosities and ra diation on the panel), values of load resistance, lower limit of the maximum power required by the load (20.88 W) were predominant factors that panel does not operate with energy efficiency levels greater than 5 to 6%. The average converter efficiency designed in the field test reached 95%

Resposta térmica de um compósito PEEK+PTFE+Fibra de carbono+grafite

Composites based on PEEK + PTFE + CARBON FIBER + Graphite (G_CFRP) has increased application in the top industries, as Aerospace, Aeronautical, Petroleum, Biomedical, Mechanical and Electronics Engineering challenges. A commercially available G_CFRP was warmed up to three different levels of thermal energy to identify the main damage mechanisms and some evidences for their intrinsic transitions. An experimental test rig for systematize a heat flux was developed in this dissertation, based on the Joule Effect. It was built using an isothermal container, an internal heat source and a real-time measurement system for test a sample by time. A standard conical-cylindrical tip was inserted into a soldering iron, commercially available and identified by three different levels of nominal electrical power, 40W (manufacturer A), 40W (manufacturer B), 100W and 150W, selected after screening tests: these power levels for the heat source, after one hour of heating and one hour of cooling in situ, carried out three different zones of degradation in the composite surface. The bench was instrumented with twelve thermocouples, a wattmeter and a video camera. The twelve specimens tested suffered different degradation mechanisms, analyzed by DSC (Differential Scanning Calorimetry) and TG (Thermogravimetry) techniques, Scanning Electron Microscopy (SEM) and Energy-Dispersive X-Rays (EDX) Analysis. Before and after each testing, it was measured the hardness of the sample by HRM (Hardness Rockwell M). Excellent correlations (R2=1) were obtained in the plots of the evaporated area after one hour of heating and one hour of cooling in situ versus (1) the respective power of heat source and (2) the central temperature of the sample. However, as resulting of the differential degradation of G_CFRP and their anisotropy, confirmed by their variable thermal properties, viscoelastic and plastic properties, there were both linear and non-linear behaviour between the temperature field and Rockwell M hardness measured in the radial and circumferential directions of the samples. Some morphological features of the damaged zones are presented and discussed, as, for example, the crazing and skeletonization mechanism of G_CFRP

Medição e modelagem da resposta de um sensor de pig perfilométrico sob diferentes solicitações dinâmicas

Ensure the integrity of the pipeline network is an extremely important factor in the oil and gas industry. The engineering of pipelines uses sophisticated robotic inspection tools in-line known as instrumented pigs. Several relevant factors difficult the inspection of pipelines, especially in offshore field which uses pipelines with multi-diameters, radii of curvature accentuated, wall thickness of the pipe above the conventional, multi-phase flow and so on. Within this context, appeared a new instrumented Pig, called Feeler PIG, for detection and sizing of thickness loss in pipelines with internal damage. This tool was developed to overcome several limitations that other conventional instrumented pigs have during the inspection. Several factors influence the measurement errors of the pig affecting the reliability of the results. This work shows different operating conditions and provides a test rig for feeler sensors of an inspection pig under different dynamic loads. The results of measurements of the damage type of shoulder and holes in a cyclic flat surface are evaluated, as well as a mathematical model for the sensor response and their errors from the actual behavior

Investigação dos processos hidrossedimentológicos em parcela experimental no semi-árido potiguar

In northeastern semiarid, seasonality on precipitation temporal distribution, high intensity storm events and inadequate management of native vegetation can promote soil erosion. Vegetation removal causes soil surface exposure, reduces soil water storage capacity and can be the source degradation processes. In this context, this approach aims to analyze water and soil erosion processes on a 250 m2 undisturbed experimental plot with native vegetation, slope 2.5% by using 2006 and 2007 monitoring data. The site was instrumented to monitor rainfall, overland flow runoff and erosion by using a 5 m³ tank downstream the plot. Soil erosion monitoring was made by transported sediment and organic matter collection after each event. Field infiltration experiments were made at 16 points randomly distributed within the plot area by using a constant head infiltrometer during drought and rainy seasons, respectively. Infiltration data revealed high spatial and temporal variability. It was observed that during the beginning of the rainy period, 77% of the events showed runoff coefficient less than 0.05. As the rainy season began, soil water increase produced annual species germination. High intensity storms resulted in runoff coefficients varying between 0.33 and 0.42. Once the annual species was established, it was observed that approximately 39% of the events produced no runoff, which reflects an increase on soil water retention capacity caused by the vegetation. A gradual runoff reduction during the rainy season emphasizes the effect of vegetative density increase. Soil erosion observed data allowed to fit an empirical relationship involving soil loss and precipitation height, which was used to analyze the plot installation impact on soil erosion. Observed soil loss in 2006 and 2007 was 230 Kg/ha and 54 Kg/ha, respectively

Reavaliação da eficiência de óleo de coco saponificado e de sua microemulsão como inibidores de corrosão em uma célula eletroquímica

An interesting development in surfactants science and technology is their application as corrosion inhibitors, since they act as protective films over anodic and cathodic surfaces. This work aims to investigate the efficiency of saponified coconut oil (SCO) as corrosion inhibitor and of microemulsified system (SCO + butanol + kerosene oil + distilled water), in saline medium, using an adapted instrumented cell, via techniques involving linear polarization resistance (LPR) and mass loss coupons (MLC). For this, curves of efficiency versus SCO concentration (ranging between 0 and 75 ppm) have been constructed. According to the obtained results, the following efficiency levels were reached with OCS: 98% at a 75 ppm concentration via the LPR method and 95% at 75 ppm via the MLC method. The microemulsified system, for a concentration of 15 ppm of SCO, obtained maximum inhibition of 97% (LPR) and 93% (MLC). These data indicate that it is possible to optimize the use of SCO in similar applications. Previous works have demonstrated that maximal efficiencies below 90% are attained, typically 65% as free molecules and 77% in microemulsified medium, via the LPR method in a different type of cell. Therefore, it can be concluded that the adapted instrumented cell (in those used methods) showed to be an important tool in this kind of study and the SCO was shown effective in the inhibition of the metal

Obtenção de novos sistemas nanoautoemulsificantes a partir do óleo das sementes de Azadirachta indica A Juss e suas aplicações como inibidores de corrosão

Corrosion is a natural process that causes progressive deterioration of materials, so, reducing the corrosive effects is a major objective of development of scientific studies. In this work, the efficiency of corrosion inhibition on a AISI 1018 carbon steel of the nanoemulsion system containing the oil of the seeds of Azadirachta indica A. Juss (SNEOAI) was evaluated by the techniques of linear polarization resistance (LPR) and weight loss (CPM), a instrumented cell. For that, hydroalcoholic extract of leaves of A. indica (EAI) was solubilized in a nanoemulsion system (SNEOAI) of which O/W system (rich in aqueous phase). This nanoemulsion system (tested in different concentrations) was obtained with oil from the seeds of this plant species (OAI) (oil phase), dodecylammonium chloride (DDAC) (surfactant), butanol (cosurfactant) and water, using 30 % of C/T (cosurfactant/surfactant), 0.5 % of oil phase and 69.5 % of aqueous phase, and characterized by surface tension, rheology and droplet sizes. This systems SNEOAI and SNEOAI-EAI (nanoemulsion containing hydroalcoholic extract - EAI) showed inhibition efficiencies in corrosive environment in saline (1 %), for the method of LPR with significant value of 70.58 % (300 ppm) to SNEOAI, 74.17 % (100 ppm) and 72.51 % (150 ppm) to SNEOAI-EAI. The best efficiencies inhibitions were observed for the method of CPM with 85.41 % for the SNEOAI (300 ppm) and 83.19 % SNEOAI-EAI (500 ppm). The results show that this formulation could be used commercially for use as a corrosion inhibitor, this research contributed to the biotechnological applicability of Azadirachta indica, considering the large use of this plant species rich in limonoids (tetranortriterpenoids), especially azadirachtin

Avaliação da eficiência da técnica de obturação pela compressão hidrùlica vertical após instrumentação automatizada

The purpose of this study was to evaluate through radiographic and microscopic analysis the efficiency of the filling techniques by vertical hidraulic compression after the root canal mechanical instrumentation in vitro as well to evaluate the marginal apical leakage through macroscopic and microscopic analysis. Thirty human mandibular molars were used , they were divided on three groups, these were subdivided on six subgroups with five specimens each, come down to 106 root canals filled. Initially, the teeth were instrumented with Profile system series 29 and filled with two ways: single accessory cone or single cone associated with gutta-percha secundary cone, with Fill Canal sealer or Sealer 26. Completed the filling, the teeth were coated with araldit and finger -nail polish except for the apical 2 mm and dried for 3 hours, thep radiographs were taken of the teeth in orto and disto-radiai directions. Next, the coronal seal was carried out with composite resin photopolymerized and with their process of making impermeable. Teeth of positive controls were used without araldit and finger-nail polish whereas the negative controls were used with total coat of araldit and finger-nail polish. The specimens were placed in 2% Methylene Blue dye for 24 hours and thermocycled for 7 days. Afterwards, sections were made of each tooth at mesial and distal roat, after this the teeth were radiographed at buccolíngual direction for a macroscopic analysis and at buccolingual and mesiodistal directions for assessment of the marginal apical leakage. Cross sections were made 3 mm to 3mm since the tooth apice. The sections obtained for each group were observed with a stereomicroscope to evaluate the quality of the root canal filling and the marginal apical leakage. The results showed that: In the four techniques the marginal dye leakage was present in the apical third; in all groups the quality of the root canal filling in the radiography was better at mesial root canal and the single cone technique showed inefficient when only a single distal root canal was present. In the radiographic evaluation the best quality of the root canal filling was observed in the 1A group (single accessory cone + FiIl Canal), as in the mesial root as in the distal root wich Shcwed twe root canals: when the distaI root had only one canal. the best result was showed by 28 group (single accessory cone associated with secundary cone + Fill Canal) In the macroscopic analysis of longitudinal !eaKage (outside surface). less leakage was showed as In the mesial root as in the distal root in the negative control group (3) followed 2A group (single accessory cone + Sealer 26). When the microscopic analysis of tranversal leakage of both roots (inside surface) was carried out. the groups that showed less dye leakage were the negative control (38) followed the 28 group (single acessory cone associated with secundary cone + Sealer 26). The homogeneity o filling was best noted in the 1 A group (.single accessoty cone + Fill Canal). The groups that showed less dye penetration in the tranversal leakage (total area) were negative control (3B) and 2B