Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Modelagem dinâmica do escoamento de um sistema de elevação por plunger lift

A critical problem in mature gas wells is the liquid loading. As the reservoir pressure decreases, gas superficial velocities decreases and the drag exerted on the liquid phase may become insufficient to bring all the liquid to the surface. Liquid starts to drain downward, flooding the well and increasing the backpressure which decreases the gas superficial velocity and so on. A popular method to remedy this problem is the Plunger Lift. This method consists of dropping the "plunger"to the bottom of the tubing well with the main production valve closed. When the plunger reaches the well bottom the production valve is opened and the plunger carry the liquid to the surface. However, models presented in literature for predicting the behavior in plunger lift are simplistic, in many cases static (not considering the transient effects). Therefore work presents the development and validation of a numerical algorithm to solve one-dimensional compressible in gas wells using the Finite Volume Method and PRIME techniques for treating coupling of pressure and velocity fields. The code will be then used to develop a dynamic model for the plunger lift which includes the transient compressible flow within the well

Análise da indução de fluxo de ar por convecção livre em chaminé solar

Experiments were performed to study the effect of surface properties of a vertical channel heated by a source of thermal radiation to induce air flow through convection. Two channels (solar chimney prototype) were built with glass plates, forming a structure of truncated pyramidal geometry. We considered two surface finishes: transparent and opaque. Each stack was mounted on a base of thermal energy absorber with a central opening for passage of air, and subjected to heating by a radiant source comprises a bank of incandescent bulbs and were performed field tests. Thermocouples were fixed on the bases and on the walls of chimneys and then connected to a data acquisition system in computer. The air flow within the chimney, the speed and temperature were measured using a hot wire anemometer. Five experiments were performed for each stack in which convective flows were recorded with values ranging from 17 m³ / h and 22 m³ / h and air flow velocities ranging from 0.38 m / s and 0.56 m / s for the laboratory tests and air velocities between 0.6 m/s and 1.1m/s and convective airflows between 650 m³/h and 1150 m³/h for the field tests. The test data were compared to those obtained by semi-empirical equations, which are valid for air flow induced into channels and simulated data from 1st Thermodynamics equation. It was found that the chimney with transparent walls induced more intense convective flows than the chimney with matte finish. Based on the results obtained can be proposed for the implementation of prototype to exhaust fumes, mists, gases, vapors, mists and dusts in industrial environments, to help promote ventilation and air renewal in built environments and for drying materials, fruits and seeds

Influência dos modelos digitais de terreno na modelagem de circulação hidrodinâmica 2DH: um estudo de caso

Digital Elevation Models (DEM) are numerical representations of a portion of the earth surface. Among several factors which affect the quality of a DEM, it should be emphasized the attention on the input data and the choice of the interpolating algorithm. On the other hand, several numerical models are used nowadays to characterize nearshore hydrodynamics and morphological changes in coastal areas, whose validation is based on field data collection. Independent on the complexity of the physical processes which are modeled, little attention has been given to the intrinsic bathymetric interpolation built within the numerical models of the specific application. Therefore, this study aims to investigate and to quantify the influence of the bathymetry, as obtained by a DEM, on the hydrodynamic circulation model at a coastal stretch, off the coast of the State of Rio Grande do Norte, Northeast Brazil. This coastal region is characterized by strong hydrodynamic and littoral processes, resulting in a very dynamic morphology with shallow coastal bathymetry. Important economic activities, such as oil exploitation and production, fisheries, salt ponds, shrimp farms and tourism, also bring impacts upon the local ecosystems and influence themselves the local hydrodynamics. This fact makes the region one of the most important for the development of the State, but also enhances the possibility of serious environmental accidents. As a hydrodynamic model, SisBaHiA® - Environmental Hydrodynamics System ( Sistema Básico de Hidrodinâmica Ambiental ) was chosen, for it has been successfully employed at several locations along the Brazilian coast. This model was developed at the Coastal and Oceanographical Engineering Group of the Ocean Engineering Program at the Federal University of Rio de Janeiro. Several interpolating methods were tested for the construction of the DEM, namely Natural Neighbor, Kriging, Triangulation with Linear Interpolation, Inverse Distance to a Power, Nearest Neighbor, and Minimum Curvature, all implemented within the software Surfer®. The bathymetry which was used as reference for the DEM was obtained from nautical charts provided by the Brazilian Hydrographic Service of the Brazilian Navy and from a field survey conducted in 2005. Changes in flow velocity and free surface elevation were evaluated under three aspects: a spatial vision along three profiles perpendicular to the coast and one profile longitudinal to the coast as shown; a temporal vision from three central nodes of the grid during 30 days; a hodograph analysis of components of speed in U and V, by different tidal cycles. Small, but negligible, variations in sea surface elevation were identified. However, the differences in flow and direction of velocities were significant, depending on the DEM

A evolução da rotação estelar na vizinhança solar

Different studies point for an rotation age link following a α tα relationship. The value of the α -parameter has a strong role on the evolutionary behaviour of rotation, because it indicates how strong is the spindown once stars evolve. The well known Skumanich s relation α t −1/2, which is consistent with simple theories of angular momentum loss from rotating stars with magnetic fields and winds, is one of the best accepted. Nevertheless, several studies show clearly that such a relation cannot hold for stars much younger or much older than the Pleiades (100 Mega years) without leading to velocities much greater or much lower than those presently observed. The present study aims at improving this picture on the basis of an enlarged analyses taking into account the role of mass and metallicity on the rotation age relation, based on an unprecedented sample of about 14 000 stars in the solar neighbourhood. From this new approach we show that the α parameter it depends strongly on the stellar age and, by consequence, on the metallicity. In addition, one observes a strong dependence of the referred parameter on the single or binary status of the stars

Evolução top-hat hidrodinâmica em campos de velocidades peculiares primordiais

We investigate the cosmology of the vacuum energy decaying into cold dark matter according to thermodynamics description of Alcaniz & Lima. We apply this model to analyze the evolution of primordial density perturbations in the matter that gave rise to the first generation of structures bounded by gravity in the Universe, called Population III Objects. The analysis of the dynamics of those systems will involve the calculation of a differential equation system governing the evolution of perturbations to the case of two coupled fluids (dark matter and baryonic matter), modeled with a Top-Hat profile based in the perturbation of the hydrodynamics equations, an efficient analytical tool to study the properties of dark energy models such as the behavior of the linear growth factor and the linear growth index, physical quantities closely related to the fields of peculiar velocities at any time, for different models of dark energy. The properties and the dynamics of current Universe are analyzed through the exact analytical form of the linear growth factor of density fluctuations, taking into account the influence of several physical cooling mechanisms acting on the density fluctuations of the baryonic component of matter during the evolution of the clouds of matter, studied from the primordial hydrogen recombination. This study is naturally extended to more general models of dark energy with constant equation of state parameter in a flat Universe

Sobre a relação entre rotação, atividade crosmosférica e abundância de lítio em estrelas subgigantes

The connection between rotation, CaII emission flux and lithium abundance is analyzed for a sample of subgiant stars, with evolutionary status was determined from the Toulouse-Geneve code and HlPPARCOS trigonometric parallax measurements. We noted that the distribution of rotation and CaII emission flux, as a function of effective temperature, shows a discontinuity located around the same spectral type, F8IV. Stars located blueward of this spectral type, exhibit a large spread of values of rotation and CaII flux, whereas stars redward of F8lV show essentially low ratation anel low CaII flux. The strength of these declines nevertheless, depends on stellar mass. The distribution of lithium abundances also shows a discontinuity, however with behavior a little more complex for subgiants with mass lower than about 1.2 Solar Masses, this decrease is observed later than that in rotation and CaII flux, whereas for masses higher than 1.2 Solar Masses the decrease in lithium abundance is located around the spectral type F8IV. The discrepancy between the location of the discontinuities of rotation and CaII flux and log n(Li) for stars with masses lower than 102 Solar Masses, seems to reflect the sensitivity of these phenomena to the mass of the convective envelope. The drop in rotation, which results mostly from a magnetic braking, requires an increase in the mass of the convective envelope less than that required for the decrease in lithium abundance The location of the discontinuity in log n( Li) in the same region of the discontinuity ties in rotation and CaII flux, for stars with masses higher than 1.2 Solar Masses, may also be explained by the behavior of the deepening of the convective envelope. In contrast to the relationship between rotation and CaII flux the relationship between lithium abundance and rotation shows no dear tendency toward linear behavior. Similarly, the same tendency is observed in the relationship between lithium abundance and CaII flux in spite of these facts, subgiants with high lithium content also have high rotation and high CaII emission flux. We also observed that stars with high lithium content present, in its majority, an undeveloped convective envelope, whereas stars with low lithium content have a developed convective envelope. In the case of the rotation, stars with undeveloped convective envelope, show rotational velocities as much high as low, whereas stars with developed convective envelope only present low rotation

Lítio e rotação nas estrelas análogas solares: análise teórica das observações

The projected rotational velocity together with lithium abundance and the onset of the dilution by the deepening in mass of the convective envelope provide a key tool to investigate the so far poorly understood processes at work in stellar interiors of solar-analog stars. To investigate the link between abundances, convection and rotational velocities in solar-analog G dwarf stars, we study a bona fide sample of 118 selected solar-analog G dwarf stars presenting measured lithium abundances, rotational velocities, and fundamental parameters together with computed evolutionary tracks (Toulouse-Geneva code) for a range of stellar masses around 1 M and metallicity consistent with the solar-analog range. The aim of this work is to build up an evolution of lithium and rotation as a function of stellar age, mass, effective temperature, and convection. We analyze the evolutionary status of the sample of 118 solar-analog G dwarf in the HR diagram based on Hipparcos data and using a grid of stellar models in the effective temperature and mass range of the solar-analog stars. We discuss the deepening (in mass) of the convective envelope and the influence on the Li abundances and projected rotational velocities. We determined the stellar mass and the mass of the convective envelope for a bona fide sample of 118 selected solar-analog G dwarf and checked the evolutionary link between the rotational velocity, lithium abundance, and the deepening of the convective envelope. Fast rotators (vsini 6 km s��1) are also stars with high Li content. Slow rotators present a wide range of values of log n(Li). Our results shed new light on the lithium and rotational behavior in G dwarf stars. We confirmed the presence of a large Li abundance spread among the solar-analog stars and concluded that the solar twins probably share a similar mixing history with the Sun

Análise hidrodinâmica e morfodinâmica do complexo estuarino do Rio Piranhas-Açu/RN, Nordeste do Brasil

The aim of this study was the seasonal characterization of the morphology, sedimentology and hydrodynamic of the Açu, Cavalos and Conchas estuaries. These estuaries are inserted in a semi-arid climate area and form the mouth of the hydrographic basin of the Piranhas-Açu river, that represent the discharge of the largest watershed in the state. They are embedded in an environment consisting of a fluvial-marine floodplain, mangrove ecosystem, sandbanks, fields of dunes, spits and sandy beaches. Adjacent to the natural units are the main local socioeconomic activities (oil industry, salt industry, shrimp farming, fishing and tourism) are dependent on this river and its conservation. The environmental monitoring is necessary because it is an area under constant action of coastal processes and at high risk of oil spill. The acquisition and interpretation of hydrodynamic, sonographic and sediment data was conducted in two campaigns, dry season (2010) and rainy season (2011), using respectively the current profiler ADCP Doppler effect, the side-scan sonar and Van Veen sampler. In these estuaries: Açu, Cavalos and Conchas were identified the following types of bedforms: flatbed and Dunes 2-D and 3-D (small to medium size), generated at lower flow regime (Froude number <1). Structures such as ripples were observed in the Açu estuary mouth. The higher values of flow discharge and velocity were recorded in the Açu estuary (434,992 m³.s-¹ and 0,554 m.s-¹). In rainy season, despite the record of highest values of discharge and flow velocities at the mouth, the energy rates upstream did not differ much from the data of the dry season. However, in all estuaries were recorded an increase in speed and flow, with reservation to the flow in the Açu estuary and flow at the mouth of the Conchas estuary. Sediment grain sizes tend to increase towards the mouth of the estuary and these ranged from very fine sand to very coarse sand, medium sand fraction being the most recurrent. Based on the data acquired and analyzed, the estuaries Açu, Cavalos and Conchas are classified as mixed , dominated by waves and tides. According to their morphology, they are classified as estuaries constructed by bar and according to the classification by salinity, estuaries Conchas and Cavalos were ranked as hypersaline estuaries, and Açu as hypersaline and vertically well mixed type C

analise da dispersao de ondas de superficie na provincia borborema, Nordeste do Brasil

The Borborema Province, Northeastern Brazil, had its internal structure investigated by different geophysical methods like gravity, magnetics and seismics. Additionally, many geological studies were also carried out to define the structural domains of this province. Despite the plethora of studies, there are still many important open aspects about its evolution. Here, we study the velocity structure of S-wave in the crust using dispersion of surface waves. The dispersion of surface waves allows an estimate of the average thickness of the crust across the region between the stations. The inversion of the velocity structure was carried out using the inter-station dispersion of surface waves of Rayleigh and Love types. The teleseismic events are mainly from the edges of the South and North American plates. The period of data collection occurred between 2007 and 2010 and we selected 7 events with magnitude above 5.0 MW and up to 40 km depth. The difference between the events back-azimuths and the interstation path was not greater than 10. We also know the depth of the Moho, results from Receiver Functions (Novo Barbosa, 2008), and use those as constrains in inversion. Even using different parameterizations of models for the inversion, our results were very similar the mean profiles velocity structure of S-wave. In pairs of stations located in the Cear´a Central Domain Borborema the province, there are ranges of depths for which the velocities of S are very close. Most of the results in the profile near the Moho complicate their interpretation at that depth, coinciding with the geology of the region, where there are many shear zones. In particular, the profile that have the route Potiguar Bacia in inter-station, had low velocities in the crust. We combine these results to the results of gravimetry and magnetometry (Oliveira, 2008) and receptor function (Novo Barbosa, 2008). We finally, the first results on the behavior of the velocity structure of S-wave with depth in the Province Borborema