Projeto e concepção de um quadcopter utilizando o controle PID

The present work refers to the design, conception and development of a quadcopter based on PID controllers, a widespread microcontroller on the market was being implemented, the Arduino. Also made use of LabVIEW programming tool from National Instruments company for the quadcopter control and telemetry. For the control, LabVIEW software acquired the joystick commands, making the necessary adjustments to the perfect interpretation by microcontroller on the quadcopter and adjusts the parameters of PID controllers. For telemetry, data relating to quadcopter behavior are received, interpreted and presented in an intuitive user interface. In the first part of this graduate work presents the theoretical background on the subject, with a brief history about the quadcopters, followed by the main projects in the academic and commercial matters. Also are presented the theories of communications used in the design and PID control. Then an overview of the dynamic and mathematical model is demonstrated. Having done this, the physical and computer components required to complete the project are showed and the results are achieved consequently. Finally, a conclusion is made taking into account the results obtained. In this work will be presented the PID control of quadcopter translational movements only to roll and pitch movements

A repercussão midiática das mensagens na camisa do corinthians nos sites esportivos Lance Net, Globo Esporte e ESPN

Pós-graduação em Comunicação - FAAC

Variação do canto de Thamnophilus Doliatus (Linnaeus, 1764) (Aves: Thamnophilidae) em diferentes regiões da América Latina

Pós-graduação em Ciências Biológicas (Zoologia) - IBB

Detecção de danos em estruturas guiadas usando ondas de alta frequência

Pós-graduação em Engenharia Mecânica - FEIS

Combinação de dispositivos de baixo custo para rastreamento de gestos

Pós-graduação em Ciência da Computação - IBILCE

Em busca de uma definição para o fenômeno do ouvido absoluto

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

How do laryngeal and respiratory functions contribute to differentiate actors/actresses and untrained voices?

Purpose. The present study aimed to compare actors/actresses's voices and vocally trained subjects through aerodynamic and electroglottographic (EGG) analyses. We hypothesized that glottal and breathing functions would reflect technical and physiological differences between vocally trained and untrained subjects.Methods. Forty participants with normal voices participated in this study (20 professional theater actors and 20 untrained participants). In each group, 10 male and 10 female subjects were assessed. All participants underwent aerodynamic and EGG assessment of voice. From the Phonatory Aerodynamic System, three protocols were used: comfortable sustained phonation with EGG, voice efficiency with EGG, and running speech. Contact quotient was calculated from EGG. All phonatory tasks were produced at three different loudness levels. Mean sound pressure level and fundamental frequency were also assessed. Univariate, multivariate, and correlation statistical analyses were performed.Results. Main differences between vocally trained and untrained participants were found in the following variables: mean sound pressure level, phonatory airflow, subglottic pressure, inspiratory airflow duration, inspiratory airflow, and inspiratory volume. These variables were greater for trained participants. Mean pitch was found to be lower for trained voices.Conclusions. The glottal source seemed to have a weak contribution when differentiating the training status in speaking voice. More prominent changes between vocally trained and untrained participants are demonstrated in respiratory-related variables. These findings may be related to better management of breathing function (better breath support).

Differences in acoustic and perceptual parameters of the voice between elderly and young women at habitual and high intensity

The present study aimed to compare elderly and young female voices in habitual and high intensity. The effect of increased intensity on the acoustic and perceptual parameters was assessed. Sound pressure level, fundamental frequency, jitter, shimmer, and harmonic to noise ratio were obtained at habitual and high intensity voice in a group of 30 elderly women and 30 young women. Perceptual assessment was also performed. Both groups demonstrated an increase in sound pressure level and fundamental frequency from habitual voice to high intensity voice. No differences were found between groups in any acoustic variables on samples recorded with habitual intensity level. No significant differences between groups were found in habitual intensity level for pitch, hoarseness, roughness, and breathiness. Asthenia and instability obtained significant higher values in elderly than young participants, whereas, the elderly demonstrated lower values for perceived tension and loudness than young subjects. Acoustic and perceptual measures do not demonstrate evident differences between elderly and young speakers in habitual intensity level. The parameters analyzed may lack the sensitivity necessary to detect differences in subjects with normal voices. Phonation with high intensity highlights differences between groups, especially in perceptual parameters. Therefore, high intensity should be included to compare elderly and young voice.

Física e o som: possibilidades didáticas e experimentais para o ensio de acústica

We studied in this work some aspects of the physics of sound and music as a tool for physics teaching. The theory of sound since it is generated by some stimulus to its uptake by the human body, in areas such as: frequency, intensity, tone and propagation. The literature of the subject research was combined with the study of free software that captures waves on a computer, using a microphone, and allows to analyze the waves and frequencies involved in the sound, being able to distinguish tones, frequencies and intensities. We have analyzed some instruments (guitar, harmonica and pitch), including voice, from the quantitative and qualitative point of view. Finally we analyze textbooks in their acoustic topics and try to understand how important these materials give to this topic in basic education. We suggest a teaching sequence that could be applied in a high school classroom