Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Development of an instrumentation system embedded on FPGA for real time measurement of mechanical vibrations in rotating machinery

The real-time monitoring of events in an industrial plant is vital, to monitor the actual conditions of operation of the machinery responsible for the manufacturing process. A predictive maintenance program includes condition monitoring of the rotating machinery, to anticipate possible conditions of failure. To increase the operational reliability it is thus necessary an efficient tool to analyze and monitor the equipments, in real-time, and enabling the detection of e.g. incipient faults in bearings. To fulfill these requirements some innovations have become frequent, namely the inclusion of vibration sensors or stator current sensors. These innovations enable the development of new design methodologies that take into account the ease of future modifications, upgrades, and replacement of the monitored machine, as well as expansion of the monitoring system. This paper presents the development, implementation and testing of an instrument for vibration monitoring, as a possible solution to embed in industrial environment. The digital control system is based on an FPGA, and its configuration with an open hardware design tool is described. Special focus is given to the area of fault detection in rolling bearings. © 2012 IEEE.

A proposal for reliability evaluation of components on electric power distribution system integrating probabilistic models and fuzzy inference systems

The system reliability depends on the reliability of its components itself. Therefore, it is necessary a methodology capable of inferring the state of functionality of these components to establish reliable indices of quality. Allocation models for maintenance and protective devices, among others, have been used in order to improve the quality and availability of services on electric power distribution systems. This paper proposes a methodology for assessing the reliability of distribution system components in an integrated way, using probabilistic models and fuzzy inference systems to infer about the operation probability of each component. © 2012 IEEE.

Improving the grid operation and reliability cost of distribution systems with dispersed generation

In this work, a mathematical model to analyze the impact of the installation and operation of dispersed generation units in power distribution systems is proposed. The main focus is to determine the trade-off between the reliability and operational costs of distribution networks when the operation of isolated areas is allowed. In order to increase the system operator revenue, an optimal power flow makes use of the different energy prices offered by the dispersed generation connected to the grid. Simultaneously, the type and location of the protective devices initially installed on the protection system are reconfigured in order to minimize the interruption and expenditure of adjusting the protection system to conditions imposed by the operation of dispersed units. The interruption cost regards the unsupplied energy to customers in secure systems but affected by the normal tripping of protective devices. Therefore, the tripping of fuses, reclosers, and overcurrent relays aims to protect the system against both temporary and permanent fault types. Additionally, in order to reduce the average duration of the system interruption experienced by customers, the isolated operation of dispersed generation is allowed by installing directional overcurrent relays with synchronized reclose capabilities. A 135-bus real distribution system is used in order to show the advantages of using the mathematical model proposed. © 1969-2012 IEEE.

Reservoir design and operation: Effects on aquatic biota-a case study of planktonic copepods

Copepod assemblages from two cascade reservoirs were analyzed during two consecutive years. The upstream reservoir (Chavantes) is a storage system with a high water retention time (WRT of 400 days), and the downstream one (Salto Grande) is a run-of-river system with only 1. 5 days WRT. Copepod composition, richness, abundance, and diversity were correlated with the limnological variables and the hydrological and morphometric features. Standard methods were employed for zooplankton sampling and analysis (vertical 50-μm net hauls and counting under a stereomicroscope). Two hypotheses were postulated and confirmed through the data obtained: (1) compartmentalization is more pronounced in the storage reservoir and determines the differences in the copepod assemblage structure; and (2) the assemblages are more homogeneous in the run-of-river reservoir, where the abundance decreases because of the predominance of washout effects. For both reservoirs, the upstream zone is more distinctive. In addition, in the smaller reservoir the influence of the input from tributaries is stronger (turbid waters). Richness did not differ significantly among seasons, but abundance was higher in the run-of-river reservoir during summer. © 2012 Springer Science+Business Media Dordrecht.

Influence of air abrasion tips and operation modes on enamel-cutting characteristics

Objective: To assess the influence of air abrasion tips and system operation modes on enamel cutting. Methods: Forty bovine teeth were abraded with the air abrasion system Mach 4.1 for 10 and 15 seconds, employing conventional and sonic tips of 0.45-mm inner diameter and a 90° angle, and 27.5-μm aluminum oxide at 5.51 bar air pressure in continuous and pulsed modes. The width and depth of the resulting cuts were measured in SEM. Results: The multivariate analysis of variances revealed that, compared to the sonic tip, the conventional tip produced shallower cuts independent of the operation mode and the application period. Conclusions: The cutting patterns observed in this study suggest that the pulsed mode produced deeper cuts when both the conventional and sonic tips were used, and that the sonic tip cut more dental tissue than the conventional one.

Advanced network reconfiguration system applied to CEMIG-D system

In the network reconfiguration context, the challenge nowadays is to improve the system in order to get intelligent systems that are able to monitor the network and produce refined information to support the operator decisions in real time, this because the network is wide, ramified and in some places difficult to access. The objective of this paper is to present the first results of the network reconfiguration algorithm that has been developed to CEMIG-D. The algorithm's main idea is to provide a new network configuration, after an event (fault or study case), based on an initial condition and aiming to minimize the affected load, considering the restrictions of load flow equations, maximum capacity of the lines as well as equipments and substations, voltage limits and system radial operation. Initial tests were made considering real data from the system, provided by CEMIG-D and it reveals very promising results. © 2013 IEEE.

Viabilidade espermática e geração de metabólicos reativos do oxigênio(ROS) no sêmen ovino criopreservado em diluidor aditivado de lauril de sódio (OE), trolox-C e catalase

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A Novel 785-nm Laser Diode-Based System for Standardization of Cell Culture Irradiation

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Osteoblast Adhesion Dynamics: A Possible Role for ROS and LMW-PTP

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Effects of P-MAPA immunomodulator on Toll-like receptor 2, ROS, nitric oxide, MAPKp38 and IKK in PBMC and macrophages from dogs with visceral leishmaniasis

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

An Ultracapacitor-Based No-Break System for Microcomputers

This work aims at presenting a no-break system for microcomputers using ultracapacitors in replacement of the conventional chemical batteries. We analyzed the most relevant data about average power consumption of microcomputers, electrical and mechanical characteristics of ultracapacitors and operation of no-break power circuits, to propose a configuration capable of working properly with a microcomputer switching mode power supply. Our solution was a sixteen-component ultracapacitor bank, with a total capacitance of 350 F and voltage of 10.8 V, adequate to integrate a low-capacity no-break system, capable of feeding a load of 180 Wh, during 75 s. Our proposed no-break increases the reliability of microcomputers by reducing the probability of user data losses, in case of a power grid failure, offering, so, a high benefit-cost ratio. The replacement of the battery by ultracapacitors allows a quick no-break recharge and low maintenance costs, since these modern components have a lifetime longer than the batteries. Moreover, this solution reduces the environmental impact and eliminates the constant recharge of the energy storage device.

Projeto e desenvolvimento de robô cartesiano de baixo custo para manipulação de produtos em linhas de média cadência

Pós-graduação em Engenharia Elétrica - FEB

A mixed-integer quadratically-constrained programming model for the distribution system expansion planning

This paper presents a mixed-integer quadratically-constrained programming (MIQCP) model to solve the distribution system expansion planning (DSEP) problem. The DSEP model considers the construction/reinforcement of substations, the construction/reconductoring of circuits, the allocation of fixed capacitors banks and the radial topology modification. As the DSEP problem is a very complex mixed-integer non-linear programming problem, it is convenient to reformulate it like a MIQCP problem; it is demonstrated that the proposed formulation represents the steady-state operation of a radial distribution system. The proposed MIQCP model is a convex formulation, which allows to find the optimal solution using optimization solvers. Test systems of 23 and 54 nodes and one real distribution system of 136 nodes were used to show the efficiency of the proposed model in comparison with other DSEP models available in the specialized literature. (C) 2014 Elsevier Ltd. All rights reserved.

TLR 2, TLR 4, ROS, óxido nítrico, P38 e IKK em células mononucleares de cães com leishmaniose Visceral tratadas com o imunomodulador P-MAPA: Larissa Martins Melo. -

Pós-graduação em Ciência Animal - FMVA