Estudo de estratégias de otimização para poços de petróleo com elevação por bombeio de cavidades progressivas

The progressing cavity pump artificial lift system, PCP, is a main lift system used in oil production industry. As this artificial lift application grows the knowledge of it s dynamics behavior, the application of automatic control and the developing of equipment selection design specialist systems are more useful. This work presents tools for dynamic analysis, control technics and a specialist system for selecting lift equipments for this artificial lift technology. The PCP artificial lift system consists of a progressing cavity pump installed downhole in the production tubing edge. The pump consists of two parts, a stator and a rotor, and is set in motion by the rotation of the rotor transmitted through a rod string installed in the tubing. The surface equipment generates and transmits the rotation to the rod string. First, is presented the developing of a complete mathematical dynamic model of PCP system. This model is simplified for use in several conditions, including steady state for sizing PCP equipments, like pump, rod string and drive head. This model is used to implement a computer simulator able to help in system analysis and to operates as a well with a controller and allows testing and developing of control algorithms. The next developing applies control technics to PCP system to optimize pumping velocity to achieve productivity and durability of downhole components. The mathematical model is linearized to apply conventional control technics including observability and controllability of the system and develop design rules for PI controller. Stability conditions are stated for operation point of the system. A fuzzy rule-based control system are developed from a PI controller using a inference machine based on Mandami operators. The fuzzy logic is applied to develop a specialist system that selects PCP equipments too. The developed technics to simulate and the linearized model was used in an actual well where a control system is installed. This control system consists of a pump intake pressure sensor, an industrial controller and a variable speed drive. The PI control was applied and fuzzy controller was applied to optimize simulated and actual well operation and the results was compared. The simulated and actual open loop response was compared to validate simulation. A case study was accomplished to validate equipment selection specialist system

Uma abordagem comportamental para inserção de robôs em ambientes culturais

In this work, we propose methodologies and computer tools to insert robots in cultural environments. The basic idea is to have a robot in a real context (a cultural space) that can represent an user connected to the system through Internet (visitor avatar in the real space) and that the robot also have its representation in a Mixed Reality space (robot avatar in the virtual space). In this way, robot and avatar are not simply real and virtual objects. They play a more important role in the scenery, interfering in the process and taking decisions. In order to have this service running, we developed a module composed by a robot, communication tools and ways to provide integration of these with the virtual environment. As welI we implemented a set of behaviors with the purpose of controlling the robot in the real space. We studied available software and hardware tools for the robotics platform used in the experiments, as welI we developed test routines to determine their potentialities. Finally, we studied the behavior-based control model, we planned and implemented alI the necessary behaviors for the robot integration to the real and virtual cultural spaces. Several experiments were conducted, in order to validate the developed methodologies and tools

A cafeína como agente modulador do ciclo atividade-repouso e memória em saguis (Callithrix jacchus)

Caffeine is the most consumed psychostimulant, with effects on attention, memory, and arousal. But when this substance is ingested near to bedtime there is a decrease on sleep, interfering on mnemonic processes. So, our ain was to investigate how the caffeine ingested near to sleep onset acts on sleep and memory in marmosets. We used 16 adult marmosets, single housed, in a 12:12h light-dark cycle. For registering locomotor activity were used two kinds of sensors. The gyroscope sensor registers activity each 30 sec and detects motion with good accuracy. Because of this we used this sensor for detecting nocturnal activity. The second sensor was based on infrared and accumulates activity each 5 min and it’s not able to detect nocturnal activity, just diurnal activity. We also used camera for registering Rest phase of one marmoset. For the cognitive task, the animals needed to learn a rewarded context (CR) when compared to a non-rewarded context CNR). This experiment comprises 5 phases: 1) Two days of habituation to apparatus; 2)Training for 8 days; 3) oral administration of caffeine (10 mg/kg) or placebo administration ±1h before sleep onset, for 8 days, with marmosets receiving placebo or caffeine; 4) retraining to apparatus and after that, placebo administration (placebo group-GP), or caffeine administration (with continuous group-GC and acute groupGA); 5) Test, for evaluating learning to CR. The sessions were filmed and each one had 8 min of duration. At 7 am started the habituation, training and test sessions, and at 3:15 pm started retraining. The results for gyroscope sensor showed that there was coincidence of 68,57% with nocturnal register of the cameras. Then, the gyroscope sensors detected nocturnal activity for all experimental groups Moreover, when compared sensor gyroscope with sensor based on infrared, was observed that both sensor presented similarity on patterns of activity curve. When we observed the effects of caffeine on Activity-Rest Cycle in GP, GA and GC, is possible to see that that gyroscope sensors and based on infrared presented only intra group differences. As behavioral results, the marmosets learned to discriminate CR when compared to CNR. Moreover, GP presented deficits on memory recall during the test, and GA increased the memory recall, when both were compared to GP. We concluded that the marmosets were able to learning the cognitive task and that the caffeine ingested near to sleep onset acts modulating memory in these animals. Moreover the gyroscope sensor can be used as alternative tool for investigating nocturnal activity. Then, the utilization of this non-invasive device allows marmosets exhibit their behavior within the laboratory conditions as natural as possible.