Anemômetro ultrassônico baseado em sensor de distância

In this work we propose the development of an ultrasonic anemometer using distance sensors. The wind is an important tool for studying the dynamics of the atmosphere, changes in climate and agricultural crops meteorological variable. Thus it is necessary advances in studies that provide increasingly characterizing the behavior of the wind. Currently there are several types of anemometers to measure wind speed, among which stands out due to the ultrasonic anemometer accuracy in measurements. But this device has a high cost difficult to use. Therefore, we sought to lower the cost of the ultrasonic anemometer, developing an apparatus capable of measuring wind velocity using distance sensors. In this type of anemometer wind speed is measured based on the transit time of the ultrasonic pulse, in this same distance sensors to space technique measures. Here various assemblies seeking the best configuration which could use the distance sensor to measure wind speed were made. Arrangements bulkhead and separate transducers are examples of worked assemblies that will be detailed in chapter 3. With the measures collected (with and without wind) histograms, which show the distribution of records transit time of the sound wave for each case were generated. Two of the studied configurations show favorable results regarding the use of the distance sensor as the wind speed.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Controle feedback de nível baseado em sensor de imagem aplicado ao equipamento misturador-decantador à inversão de fases (MDIF®)

The treatment of wastewaters contaminated with oil is of great practical interest and it is fundamental in environmental issues. A relevant process, which has been studied on continuous treatment of contaminated water with oil, is the equipment denominated MDIF® (a mixer-settler based on phase inversion). An important variable during the operation of MDIF® is the water-solvent interface level in the separation section. The control of this level is essential both to avoid the dragging of the solvent during the water removal and improve the extraction efficiency of the oil by the solvent. The measurement of oil-water interface level (in line) is still a hard task. There are few sensors able to measure oil-water interface level in a reliable way. In the case of lab scale systems, there are no interface sensors with compatible dimensions. The objective of this work was to implement a level control system to the organic solvent/water interface level on the equipment MDIF®. The detection of the interface level is based on the acquisition and treatment of images obtained dynamically through a standard camera (webcam). The control strategy was developed to operate in feedback mode, where the level measure obtained by image detection is compared to the desired level and an action is taken on a control valve according to an implemented PID law. A control and data acquisition program was developed in Fortran to accomplish the following tasks: image acquisition; water-solvent interface identification; to perform decisions and send control signals; and to record data in files. Some experimental runs in open-loop were carried out using the MDIF® and random pulse disturbances were applied on the input variable (water outlet flow). The responses of interface level permitted the process identification by transfer models. From these models, the parameters for a PID controller were tuned by direct synthesis and tests in closed-loop were performed. Preliminary results for the feedback loop demonstrated that the sensor and the control strategy developed in this work were suitable for the control of organic solvent-water interface level