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

Avaliação da capacidade de adsorção do CO2 em zeólita 12X com gases sintéticos e originados da pirólise do lodo de esgoto

This work depicts a study of the adsorption of carbon dioxide on zeolite 13X. The activities were divided into four stages: study batch adsorption capacity of the adsorbent with synthetic CO2 (4%), fixed bed dynamic evaluation with the commercial mixture of gases (4% CO2, 1.11% CO, 1 2% H2, 0.233% CH4, 0.1% C3, 0.0233% C4 argon as inert closing balance), fixed bed dynamic modeling and evaluation of the breakthrough curve of CO2 originated from the pyrolysis of sewage sludge. The sewage sludge and the adsorbent were characterized by analysis TG / DTA, SEM, XRF and BET. Adsorption studies were carried out under the following operating conditions: temperature 40 °C (for the pyrolysis of the sludge T = 600 °C), pressures of 0.55 to 5.05 bar (batch process), flow rate of the gaseous mixture between 50 - 72 ml/min and the adsorbent masses of 10, 15 and 20 g (fixed bed process). The time for the adsorption batch was 7 h and on the fixed bed was around 180 min. The results of this study showed that in batch adsorption process step with zeolite 13X is efficient and the mass of adsorbed CO2 increases with the increases pressure, decreases with temperature increases and rises due the increase of activation temperature adsorbent. In the batch process were evaluated the breakthrough curves, which were compared with adsorption isotherms represented by the models of Langmuir, Freündlich and Toth. All models well adjusted to the experimental points, but the Langmuir model was chosen in view of its use in the dynamic model does not have implications for adsorption (indeterminacy and larger number of parameters such as occurred with others) in solving the equation. In the fixed bed dynamic study with the synthetic gas mixture, 20 g of mass adsorbent showed the maximum adsorption percentage 46.7% at 40 °C temperature and 50 mL/min of flow rate. The model was satisfactorily fitted to the three breakthrough curves and the parameters were: axial dispersion coefficient (0.0165 dm2/min), effective diffusivity inside the particle (dm2/min 0.0884) and external transfer coefficient mass (0.45 dm/min). The breakthrough curve for CO2 in the process of pyrolysis of the sludge showed a fast saturation with traces of aerosols presents in the gas phase into the fixed bed under the reaction process

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 multitemporal da dinâmica espacial do estuário Potengi/RN, utilizando como base os dados de Sensoriamento Remoto.

This work was developed in the Potengi river estuary, northern coastal city of Natal, located in the State of Rio Grande do Norte. The objective was to study the dynamics of Multitemporal Space in that estuary, however, analyze how this environment has behaved during the years 1988, 1994 and 2006. The definition of that, there was the fact that during that period, which occurred in that area and more intensive space exploration to practice economic activities as well as a greater and more rapid expansion of urban area. This study was supported by the Remote Sensing, who have been shown today, as an efficient analysis of the environmental studies, through geoprocessing techniques. From the performed analysis it was found that occurred during the period of study (1988 to 2006), a huge change in the design of the estuary of Potengi river. The figures showed the area of vegetation was decreased 65.22%, the deforested area increased by 70.44% and the shrimp activity grow 452.07% and the urban area was increased in 52.65% along that period described. Considering the numbers shown there that the process of occupying space in that area requires attention, because it is an environment that represents a huge contribution to the ecological balance.

A construção e estruturação do território comercial no bairro Alecrim Natal/RN

The study done has as objective the comprehension of the constructed territorial spaces through the commercial perspective, because it is a social practice which enables the dynamic of the space and the appearing of territories. Related to the territory, we emphasized the interest for the idea of used territory treated by Milton Santos, because we agreed with him believing that is the use of the territory which warrants its legitimacy. Then, the spatial dimension chose concentrates itself into the district of Alecrim, localized at the east zone of Natal/RN, where it is recognized by its strong commercial dynamic which was built during years, facing some events which happened in the context of the city. However, this dynamic counts with a hard dichotomy which involves as the considered by the State formal activities, as the informal one. About the commerce of the district, it has characteristics into its activities whose make him to be considered popular, as by the existing products, as by the strong presence of informal workers that constitutes the district s landscape. The informal workers practice expresses one of the multiples constructed alternative territorialities. We believe that this fact has direct relation with the growing process of the exclusion from the formal jobs market. Still talking about the spatial dimension, this real example of the Alecrim district shows how the techniques changes, together with the capitalism process, may influence one entire spatial dynamic across years, involving many agents, since the transient people from somewhere, until the State. Shall the Geography understand the multiple forms from the space, face to the relations that occur into it and also how new territories have been built

Ilha de Santana e Alto de Santa Rita: a produção do espaço a partir do turismo em Caicó e Santa Cruz - RN

Tourism is an activity that uses the spatial objects and also produces and because it creates an economic activity areas for leisure. So for this to occur itdoes need a space reorganized, with infrastructure to receive visitors. And in the process of construction / reconstruction of tourist destination the state comes as a precursor, creating public policies that tourism can develop. Thus, this paper examines the transformation process by which the spaces are aiming to become tourist, and what changes occur in socio-spatial dynamic of the city in which this activity is inserted. The spatial area of study refers to the Alto de Santa Rita, Santa Cruz and the Isla de Santana Tourist Complex in Caicó both in Rio Grande do Norte. The reconstruction of the Island de Santana did not occur randomly, in order that the spatial changes were performed to meet the demand for which Caicó had to perform his greatest social and religious event, the Feast of Santana, which occurs since its colonization in year 1748 and also the Carnival these two events being considered as a strong tourist attraction of the city. And the Santa Rita High was built in order to enter the city of Santa Cruz in the script of religious tourism of the state through the devotion of the patron. The Dissertation isstructured in five parts, the first refers to the introduction of the work, while the second examines how tourism wound to the Rio Grande do Norte and internalizesthe third part deals with the spaces for tourism in these cities, the the fourthidentifies as the symbolism of these spaces influence the transformation and the latter reveals how these spaces affect the socio-economic structure of cities across the events