Motor de indução trifásico sem mancais com bobinado dividido: otimização do sistema de posicionamento radial

This dissertation dea1s with the active magnetic suspension controI system of an induction bearingIess motor configured with split windings. It analyses a dynamic modeI for the radial magnetic forces actuating on the rotor. From that, it proposes a new approach for the composition of the currents imposed to the machine's stator. It shows the tests accomplished with a prototype, proving the usefulness of the new actuating structure for the radial positioning controI. Finnaly, it points out the importance of adapting this structure to well-known rotational controI techniques, continuing this kind of equipment research, which is carried out at Federal University of Rio Grande do Norte since 2000

Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Construção e validação de um receptor GPS para uso espacial

Global Positioning System, or simply GPS, it is a radionavigation system developed by United States for military applications, but it becames very useful for civilian using. In the last decades Brazil has developed sounding rockets and today many projects to build micro and nanosatellites has appeared. This kind of vehicles named spacecrafts or high dynamic vehicles, can use GPS for its autonome location and trajectories controls. Despite of a huge number of GPS receivers available for civilian applications, they cannot used in high dynamic vehicles due environmental issues (vibrations, temperatures, etc.) or imposed dynamic working limits. Only a few nations have the technology to build GPS receivers for spacecrafts or high dynamic vehicles is available and they imposes rules who difficult the access to this receivers. This project intends to build a GPS receiver, to install them in a payload of a sounding rocket and data collecting to verify its correct operation when at the flight conditions. The inner software to this receiver was available in source code and it was tested in a software development platform named GPS Architect. Many organizations cooperated to support this project: AEB, UFRN, IAE, INPE e CLBI. After many phases: defining working conditions, choice and searching electronic, the making of the printed boards, assembling and assembling tests; the receiver was installed in a VS30 sounding rocket launched at Centro de Lançamento da Barreira do Inferno in Natal/RN. Despite of the fact the locations data from the receiver were collected only the first 70 seconds of flight, this data confirms the correct operation of the receiver by the comparison between its positioning data and the the trajectory data from CLBI s tracking radar named ADOUR

Monitoramento por dgps e análise dos processos erosivos da linha de costa na praia de Pirangi do Norte - Parnamirim / RN

Through out the course of a steady increase in search and recovery of space in the coastal zone, there is also an expanding concern about the erosion processes of this area. The main problem in coastal areas is that urbanization occurs in a disorderly fashion and unsustainable, further aggravating the problems of coastal dynamics. The study area of this work is located on the southern coast of Pirangi do Norte beach to about 20km south of Natal, capital of Rio Grande do Norte in the Parnamirim City. This area has the length of approximately 1km, divided into three sections (Western, Central and Eastern) with a morphology consisting of a tableland at the top, sea cliffs in the West and Central parts and sand dunes in the Eastern section, both vegetated, and a coastal plain on the inferior part associated with the presence of beach rocks. This study aimed to analyze the erosion processes operating in the excerpt of Pirangi do Norte beach and assess the feasibility of their monitoring making use of DGPS (Global Positioning System Differential mode). During the work it was carried out a physical description of the area through photo-interpretation and site survey after measurement of the shoreline in the period between November 2004 and November 2009 and beach profiles between August 2005 and July 2006. The analysis of the results of the annual surveys showed the occurrence of variations of the shoreline along the stretch traveled. Sites are identified in advancement coast from the sea and it was verified in loco the presence of erosion with deposition of materials on the lower part of the coastal bluff, the former position of the shoreline, showing a false notion of advancing it. This leads to the conclusion that the data collected in a survey of the shoreline should always be accompanied by photographic records of the local area and with the highest rate of erosion, thus avoiding the mistake of treating the deposit materials as evidence of progress coast. At the end of the study, after a review of various works to mitigate the erosion in the coastal zone, it is recommended to the area of study the adoption of an artificial feeding of the beach, aiming the minimization of the erosive effects of the tides. Moreover, it is suggested that even the continuity of monitoring, maintenance of existing vegetation and control of the occupation on the edge of sea cliffs

Mapeamento da zona costeria protegida por arenitos de praia (Beachrocks) em Nísia Floresta - RN

The goal of this work comprises the detailed mapping of the coastal zone of the south coast of the State of Rio Grande do Norte. The emphasis of the study is the units of beachrocks and the features of the physical environment associated. The mapping of the beachrocks and of the adjacent coastal features is justified, among other aspects, by the fact that the beachrocks constitute an important protection agent against the sea erosion. By one side, they dissipate the energy of the sea waves and make possible the imprisonment of sediments in the foreshore. The beachrocks in the studied area are constituted of discontinuous strips, parallel to the coast line presenting emerged in some places, even in the highest tides, entirely submerged or partially buried by coastal sediments. These sandstones compose the landscape of big part of the coast and they are responsible for the partial dissipation of the energy of the waves on the studied coast. The methodology used in this work consisted of different techniques were used, as the use of aerial pictures of small format (FAPEFs), acquisition of data of system of global positioning (GPS) and later elaboration of thematic maps and of digital models of soil (MDTs). The results obtained in the mapping of the use and occupation of the soil, demonstrate the existence of strong human pressure in the coastal area (built lots and no built), occupying about 54,74% of built areas. This problem has been taking to degradation risks due to the inconsequent expansion of divisions into lots and tourist enterprises. The MDT came as an excellent resource, as visual as functional, being possible to visualize several angles and to act in three dimensions the relief of the area in study, as well as to identify the present features in the coastal area. By the importance of the bodies of beachrocks as a protection agent against the coastal erosion, faces were delimited in the sandstones based in geometric criteria, classifying them in, central face, outside face, inside face, break and undermiming. These last two associates to the erosion and washout in the base of these bodies. Field data indicate clearly that the most important process in the fracturing of the bodies is associated with mechanisms related to the gravity, being the joints formed by processes of gravitational sliding. Finally, the mapping of the coastal zone starting from aerial pictures of small format it made possible the identification of the elements that compose the beach strip, for accomplishing with larger detailed level and by presenting a better monitoring of the dynamics of the coastal zone

Caracterização geomorfológica e modelagem de dados espaciais na plataforma continental rasa do RN nos limites da folha Touros

This work focuses the geomorphological characterization and spatial data modeling in the shallow continental shelf within the Folha Touros limits (SB-25-CV-II), based on bathymetric data analysis and remote sensing products interpretation. The Rio Grande do Norte state is located in northeastern Brazil and the work area is located at the transition region between the eastern and northern portions of their coast. The bathymetric surveys were conduced between march and may 2009, using a 10 meters long vessel and 0.70 meters draught, equipped with global positioning system and echo sounder (dual beam, 200KHz , 14°). The fieldwork resulted in 44 bathymetric profiles espaced 1.5 km and 30 km average length. The bathymetric data amount were 111,200 points and were navigated 1395.7 km within na area about 1,850 km2. The bathymetric data were corrected for the tide level, vessel draught and were subsequently entered into a geographic information system for further processing. Analysis of remote sensing products was carried out using Landsat 7/ETM + band 1, from november 1999. The image was used for visualization and mapping submerged features. The results showed the presence of geomorphological features within the study area. Were observed, from the analysis of local bathymetry and satellite image, seven types of geomorphological features. The channels, with two longitudinals channels (e. g. San Roque and Cioba channels) and other perpendicular to the coast (e. g. Touros, Pititinga and Barretas). Coastal reef formations (Maracajaú, Rio do Fogo and Cioba). Longitudinal waves, described in the literature as longitudinal dunes. The occurrence of a transverse dune field. Another feature observed was the oceanic reefs, an rock alignment parallel to the coast. Were identified four riscas , from north to south: risca do Liso, Gameleira, Zumbi, Pititinga (the latter being described for the first time). Finally, an oceanic terrace was observed in the deepest area of study. Image interpretation corroborated with the in situ results, enabling visualization and description for all features in the region. The results were analysed in an integrating method (using the diferent methodologies applied in this work) and it was essential to describe all features in the area. This method allowed us to evaluate which methods generated better results to describe certain features. From these results was possible to prove the existence of submerged features in the eastern shallow continental shelf of Rio Grande do Norte. In this way, the conclusions was (1) this study contributed to the provision of new information about the area in question, particularly with regard to data collection in situ depths, (2) the method of data collection and interpretation proves to be effective because, through this, it was possible to visualize and interpret the features present in the study area and (3) the interpretation and discussion of results in an integrated method, using different methodologies, can provide better results

Estudo sobre a relação entre a atividade geomagnética e cintilações de sinais de GPS em Natal-RN (Brasil)

To identify the relationship between GPS scintillation in Natal-RN (Brazil) and geomagnetic disturbances of any intensities and variations, this work made analysis of the ionospheric behavior and magnetic indexes (Dst , AE and Bz of the interplanetary magnetic field) concerning to different periods of the solar cycle between 2000 and 2014. Part of the data of this research originated at the UFRN observatory, from a GEC Plessey board connected to an ANP -C 114 antenna, modified by Cornell University’s Space group Plasma Physics in order to operate the ScintMon, a GPS monitoring program. This study, therefore, found several cases of inhibited scintillations after the main phase of magnetic storms, a fact that, along with others, corroborated with categorization of Aarons (1991) and models of disturbed dynamo (according to Bonelli, 2008) and over-shielding penetration, defended by Kelley et al. (1979) and Abdu (2011) [4]. In addition to these findings, different morphologies were noted in such disruptions in the GPS signal in accordance with previous magnetic activities. It also found a moderate relationship (R2 = 0.52) between the Dst rate (concerning to specific time) and the average of S4 through a polynomial function. This finding therefore, corroborating Ilma et al. (2012) [17], is an important evidence that the scintillation GPS are not directly controlled by magnetic induction of storms. Completing this work, this relation did show itself as a way of partial predicting of scintillations.

SINAES: as diferentes faces da avaliação na UFRN

This thesis entitled SINAES: the different faces of the evaluation at UFRN, aims to analyze the configuration that the national policy for assessment in higher education has taken on UFRN. We assume that in recent years there are an oscillation between the concepts of evaluation, according with the logic of public administration it has preferred an approach that presents itself as a promoter of quality, sometimes with regulatory aspects, sometimes with educational ones. The text discusses the use of the new assessment tools for higher education placing them under the new demands on state reform context in which this is to promote and measure quality based on the values of excellence and competitiveness. This movement arises from the redefinition of the role of the State that has been taking features of Evaluator State. From a historical review of government initiatives in the field of evaluation, we analyze the characteristics of assessment policies outlined over the past decades. We are based on the theoretical method that aims to examine the multiple determinants that shape a particular reality from the larger movement of totality. To identify, in this case, connections and ruptures that have emerged over the history of assessment policies aimed at higher education by checking their determinants in order to better explain the reality. To investigate the object of this study we used as instruments: the research literature and research documents, the semi-structured interviews and non-participant observation. The study revealed that there are different practices of evaluation and that before to establishment the SINAES program, the UFRN already had a culture of an institutional assessment, more participatory and democratic, opposing to the rigidity of the self-assessment in SINAES program that it was instituted by the Commission for assessment (CPA). We also noticed that the implementation of the SINAES at URFN has been performed very slowly and the breadth and complexity of the evaluation process has contributed to hinder its implementation in all dimensions provided by MEC. Although it was observed that in its operationalization the SINAES has assumed a more normative assessment and directed to establish rankings between courses and higher education schools than to establish a more qualitative assessment in this system. As regards the evaluation of the undergraduate course studied on this research and subjected to the three dimensions of evaluation proposed by SINAES (self-assessment, Evaluation of Courses and ENADE) it was not possible to verify an effective integration between the methods of assessing conducted. The results are considered separately, in only a partial view of the course evaluated the proposal what pits the SINAES as a system that involves the totality

Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Extração de metais (K, Mg, Ba, Ca, Cr, Mn, Li, Fe) de água produzida utilizando sistema microemulsionado

The produced water is a byproduct formed due to production of petroleum and carries with it a high amount of contaminants such as oil particles in suspension, organic compounds and metals. Thus, these latter pollutants are very difficult to treat because of its high solubility in water. The objective of this work is to use and evaluate a microemulsioned system to remove metals ( K , Mg , Ba , Ca , Cr , Mn , Li , Fe ) of synthetic produced water. For the extraction of metals, it was used a pseudoternary diagram containing the following phases: synthetic produced water as the aqueous phase (AP), hexane as organic phase (OP), and a cosurfactant/surfactant ratio equal to four (C/S = 4) as the third phase, where the OCS (saponified coconut oil) was used as surfactant and n-butanol as cosurfactant. The synthetic produced water was prepared in a bench scale and the region of interest in the diagram for the removal of metals was determined by experimental design called. Ten points located in the phase Winsor II were selected in an area with a large amount of water and small amounts of reagents. The samples were analyzed in atomic absorption spectrometer, and the results were evaluated through a statistical assesment, allowing the efficiency analysis of the effects and their interactions. The results showed percentages of extraction above 90% for the metals manganese, iron, chromium, calcium, barium and magnesium, and around 45% for metals lithium and potassium. The optimal point for the simultaneous removal of metals was calculated using statistical artifact multiple response function (MR). This calculation showed that the point of greatest extraction of metals occurs was the J point, with the composition [72% AP, 9% OP, 19% C/S], obtaining a global extraction percentage about 80%. Considering the aspects analyzed, the microemulsioned system has shown itself to be an effective alternative in the extraction of metals on synthetic produced water remediation

O sistema de certificação do etanol brasileiro sob a ótica do princípio constitucional do desenvolvimento sustentável

The gradual inclusion of biofuels is a necessary change that countries must include in their energy mixes. Energy sources still widely used in the world, such as oil and coal, are endowed with a high pollution load to the environment, bringing damages to the water, to the air and to humans as well. In addition, although there are conflicting studies, they are also identified as major causes of the greenhouse effect and the global warming phenomenon. They are, moreover, finite sources of energy, given that its reserves will surely run out. However, even if the introduction of biofuels, such as ethanol, in the energy mix is crucial for the survival of the present and future populations, this insertion cannot settle so disorderly and, thus, one must ensure the quality of these resources and promote transparency in international trade. In this manner, a certification process for ethanol is essential to attest that this biofuel meets the sustainable requirements defined for its production. Hence, this study sought to address the importance of the adoption of certification in the ethanol industry, according to the principle of sustainable development, by analyzing the evolution of its concept, its combination with the fundamental objectives sculptured in the Constitution of 1988, its regulation under Brazilian laws and the need for a balance between economic activities and the mentioned principle. The work also encompassed the criteria used to establish certification standards and their participating actors, combined with a study of ongoing initiatives. Finally, the consequences of the adoption of a certification process for ethanol in Brazil were presented, both in terms of sustainable development and in international trade

Diagnóstico para implantação do sistema de gestão ambiental em postos revendedores de combustíveis no município de Paranamirim RN: um estudo de caso

natural resources that still enjoy, in the certainty that if we do not, could culminate at the end of that remains. The environmental contamination by fuels in the retail service of oil and biofuels, has been a subject of growing research in Brazil, due to the large pollution potential of this activity. The aim of this study was to evaluate the importance of implementing the Environmental Management System (EMS) in fuel retail service stations in the city of Parnamirim-RN, but also describe the current situation the same as licensing and environmental characterization; identify existing barriers to implementation of EMS on the costs, technologies, knowledge, vision, present the potential benefits for the implementation of the EMS (social, economic and environmental), to identify the existence of plans for future action to implement the EMS , as a subsidy to promote the implementation of it. The methodology was developed through analysis of documents provided by the environmental agency responsible for licensing of retail service stations and fuel pala ANP. For data collection, we used the questionnaire was applied directly to managers or managers of sub-stations. Data were collected in 12 of 30 posts in the municipality. For purposes of data treatment was performed a descriptive analysis with respect to the opinion of twelve managers (respondents). The data acquired, according to the Likert scale were tabulated and analyzed using software SPSS 17.0 and Excel 2003, it was generated tables and graphs to observe the behavior of the data. The results showed that most respondents have a schooling level higher (58.3%) of the jobs surveyed 50% work on average 6 to 10 years and 41.6% are in operation for over 11 years , 75.0% do not have a license to operate and 12 stations, 58.3% were sued for not having a license to operate and are therefore in full commercial activity, 83% of jobs have some practice environmentally responsible, 75% agree in making planning future action to implement 8 the EMS in their ventures, 70% in full agreement that the high cost is a form of impediment to implementation of EMS; 66.67% agreed that resistance to change is an impediment to implementation of EMS; 90.91% agreed that the implementation of EMS is very complex, 80% of respondents agreed in a very significant environmental legislation is also a key factor preventing the implementation of EMS is noteworthy that 100% of respondents agreed that the knowledge about the use of the EMS will help to solve environmental problems in the fuel retail service stations, the implementation of the EMS will benefit with increased efficiency of resources applied to the findings by the agreement of 91.66% of respondents, where only 8, 33% disagreed, there was also a percentage of 100%, agreed that the company's image will be a great benefit, but also a contribution to solving environmental problems in the fuel retail service stations. Thus, the importance of the implementation of EMS in the fuel retail service stations in the city of Parnamirim-RN, with an urgent need to be deployed. And the bodies responsible for policy on state-run and supervise more tightly and action, this type of activity, in order to regulate the sustainable functioning of retail service stations of fuel, thus promoting a better quality of life for the population of the municipality of natal-RN

A influência da gestão do conhecimento nas companhias brasileiras com melhor governança corporativa: uma análise nas empresas classificadas pelo Investor Relations Global Rankings

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Avaliação de robustez, desempenho e aplicação do controlador adaptativo por posicionamento de pólos e estrutura variável

In this work, the variable structure adaptive pole placement controller (VS-APPC) robustness and performance are evaluated and this algorithm is applied in a motor control system. The controller robustness evaluation will be done through simulations, where will be introduced in the system the following adversities: time delay, actuator response boundeds, disturbances, parametric variation and unmodeled dynamics. The VS-APPC will be compared with PI control, pole placement control (PPC) and adaptive pole placement controller (APPC). The VS-APPC will be simulated to track a step and a sine reference. It will be applied in a three-phase induction motor control system to track a sine signal in the stator reference frame. Simulation and experimental results will prove the efficiency and robustness of this control strategy

Processamento embarcado aplicado a um sistema de deteccão de vazamentos

Embedded systems are widely spread nowadays. An example is the Digital Signal Processor (DSP), which is a high processing power device. This work s contribution consist of exposing DSP implementation of the system logic for detecting leaks in real time. Among the various methods of leak detection available today this work uses a technique based on the pipe pressure analysis and usesWavelet Transform and Neural Networks. In this context, the DSP, in addition to do the pressure signal digital processing, also communicates to a Global Positioning System (GPS), which helps in situating the leak, and to a SCADA, sharing information. To ensure robustness and reliability in communication between DSP and SCADA the Modbus protocol is used. As it is a real time application, special attention is given to the response time of each of the tasks performed by the DSP. Tests and leak simulations were performed using the structure of Laboratory of Evaluation of Measurement in Oil (LAMP), at Federal University of Rio Grande do Norte (UFRN)