Simulação e controle de um quadcopter utilizando lógica fuzzy

The present work develops a model to simulate the dynamics of a quadcopter being controlled by a PD fuzzy controller. Initially is presented a brief history of quadcopters an introduction to fuzzy logic and fuzzy control systems. Afterwards is presented an overview of the quadcopter dynamics and the mathematical modelling development applying Newton-Euler method. Then the modelling are implemented in a Simulink model in addition to a PD fuzzy controller. A prototype proposition is made, by describing each necessary component to build up a quadcopter. In the end the results from the simulators are discussed and compared due to the discrepancy between the model using ideal sensor and the model using non-ideal sensors

Quantificação da desintegração de comprimidos por fluxo ótico em seqüências de imagens de biosusceptometria AC

AC Biosusceptometry (ACB) is a low-cost biomagnetic tool that has been successfully applied on pharmaceutical research to evaluate performance of solid dosage forms. The aim of this work was to evaluate the Horn & Shunck method to access tablet disintegration. To evaluate the HS results was record on video a test with a objet moving in a rail with a constant velocity. The desintegration was recorded on video and ACB, which used have seven pairs of detection coils and a pair of excitation coils to mensure the magnetic ux variation. The signals were ampli ed and digitalized to create images, which were restored by Wiener lter, while the video images are converted to gray scale, both are normalized and binarized and had the optical ow estimation calculated by Horn & Schunck (HS) algorithm. All signals and images are processed and developed algorithm on Matlab. During the tests the ve tablets (500mg ferrite, 375mg excipients, compression 10 to 50 kN) were on a becker between of the ACB system and of the video system, and only touching the surface of the water. With all OF maps calculated was realized the sum of the resultants of each, to get a disintegration process resultant for each compression. Whit that was possible observed the disintegration behaves. For the compression force study the HS components of each sequence was sum, take mean and normalized for sequence's max modulo, therefore can be observed a high growing on less compression tablets. We can conclude the HS algorithm is viable to tablets disintegration data collection and whit that was possible to create a tablets disintegration analyzes protocol, which would be useful on desintegration kinetics study

Auxílio a tomada de decisão na inclusão de sobressalentes de manutenção em estoque utilizando um sistema especialista fuzzy

In the current economic scenario of constant changes, industries seek to increase their profitability decreasing inventory levels. Maintenance and maintenance management, combined with the inventory management of spare parts, has assumed a position of competitive advantage in business. Stock only what you need has become a difficult decision for managers, who are faced with the lack of models and criteria to assist this decision-making. This work proposes a method which supports decision making, on a MATLAB modeling, using criteria established by an expert and his maintenance workers team, focusing on no regular demand of spare parts. The proposed model was adequate to the needs of the company and the maintenance manager in the decision on the storage

Estudo do comportamento dos músculos estabilizadores da escápula durante exercícios de rotação do ombro

A função normal dos músculos escapulotorácicos é um dos componentes vitais para a estabilidade dinâmica do complexo do ombro. A maioria dos estudos aborda o controle dinâmico da escápula, porém o comportamento muscular no controle estático da mesma tem sido menos frequente. O objetivo do estudo foi analisar a ação simultânea dos músculos serrátil anterior e as três porções do trapézio durante o movimento de rotação interna e externa do ombro, entre voluntários assintomáticos. 10 indivíduos com idade entre 20 e 40 anos foram avaliados com testes de movimentos de rotação do ombro direito e esquerdo, contra uma resistência elástica (40% da CIVM), para captação de EMG por meio de eletrodos de superfície nos músculos: trapézio ascendente (TA), trapézio transverso (TT), trapézio descendente (TD) e serrátil anterior (SA). Foram obtidos valores de Contração Isométrica Voluntária Máxima (CIVM) para os músculos rotadores do ombro e TA, TT, TD e SA. Os sinais foram normalizados pela CIVM e processados no software Matlab, gerando curvas médias de ativação simultânea para cada par muscular (TA/TT; TA/TD; TA/SA; TT/TD; TT/SA; e TD/SA). A quantidade de cocontração dos pares musculares foi baixa (variação média de 2,3% a 11% da CIVM), e os pares em combinação com o SA tiveram tendência de maiores valores; a variabilidade encontrada foi baixa e a confiabilidade foi adequada (ICC > 0,70). Os baixos valores de co-contração encontrados neste estudo eram esperados, concordando com a biomecânica do movimento utilizado e com os estudos que avaliaram os mesmos músculos em outras condições; o movimento de RE apresentou co-contração levemente maior que a RI e isto sugere que a RE é um movimento mais instável, além de ser considerado o movimento mais fraco do ombro. Diante dos resultados encontrados, conclui-se que a metodologia utilizada foi... (Resumo completo, clicar acesso eletrônico abaixo)

Avaliação de parâmetros farmacêuticos em comprimidos matriciais empregando a técnica de Biosusceptometria AC

Oral administration is widely accepted route for drug delivery and solid dosage forms are commonly employed. The variation of absorption profiles along the human gastrointestinal tract (GIT) and the ability to target drugs by adequate dosage forms to distinct sites is the challenge in the pharmaceutical development of solid dosage forms. AC Biosusceptometry (ACB) is a technique that deserves consideration due to its features, accuracy of results and versatility. The purpose of this work was to evaluate, by employing the AC Biosusceptometer, the rate of swelling of systems matrices consisting of hydrophilic polymer (hydroxypropyl methyl cellulose) and magnetic material. Matrices tablets were evaluated in vitro to a more detailed analysis of kinetics of swelling, in addition to the study and application of mathematical models to correlate the magnetic area variation and the water uptake. All the procedures for qualitative and quantitative analysis of digital signals as well as the magnetic images processing were performed in MatLab® (Mathworks Inc.). ACB technique proved to be useful towards estimating the swelling properties of hydrophilic matrices in vitro, showing a promising capacity for further analyses involving dissolution test and in vivo studies, supporting their innovative potential pharmaceutical applications

Interpretação da fadiga muscular por meio da eletromiografia durante corrida em esteira

O presente estudo teve como objetivo identificar a fadiga muscular por meio da amplitude e freqüência do sinal eletromiográfico (EMG) do músculo vasto lateral (VL) e reto femoral (RF) do membro inferior direito, durante protocolo incremental de corrida em esteira e nas contrações isométricas submáximas realizadas no início e após cada velocidade. Participaram deste estudo 07 voluntários saudáveis, do gênero masculino, experientes em corrida na esteira, com idade média de 25 anos (± 4,3), sem antecedentes de doenças músculo-esqueléticas nos membros inferiores e de antropometria semelhante. Foram realizadas três contrações isométricas voluntárias máximas (CIVM = 100%) de extensão do joelho para posterior determinação da contração submáxima de 50% da CIVM (CI-50%). O protocolo de corrida foi composto de um aquecimento de 5 minutos (9 km/h), e após iniciou-se o teste com velocidade inicial de 10 km/h e incremento de 1 km/h a cada 3 minutos, até a exaustão voluntária, havendo uma pausa entre cada velocidade de aproximadamente 2 minutos. Antes do início da corrida e após cada velocidade realizou-se uma contração isométrica com 50% da CIVM (CI-50%) de 5s de duração. No sinal eletromiográfico coletado durante a corrida, os valores de RMS (Root Mean Square) dos músculos VL e RF foram obtidos no período correspondente a um ciclo completo da passada a 10% e 100% do tempo analisado (120 segundos finais de cada velocidade) por meio de rotina específica (Matlab). No sinal eletromiográfico coletado durante as CI-50% (5s), os valores de RMS e FM (freqüência mediana) foram obtidos no período de 1s (intervalo de 1 a 2s). A normalidade dos dados foi determinada através do teste de Shapiro-Wilk. Utilizou-se teste-t de Student para amostras pareadas, e o nível de significância (p) adotado foi de p<0,05. Os resultados...(Resumo completo, clicar acesso eletrônico abaixo)

Desenvolvimento de software para exibição de exames de eletrocardiograma

The main objective is to create a software, using C++ language, for reading and exhibiting in a graphic an Electrocardiogram (ECG) wave. The data is recorded as a FM modulated signal and compressed using Adaptive Differential Pulse Code Modulation (ADPCM). The signal have this characteristics because it was acquired using an experimental equipment, this equipment is the result of research made by the professor who supervised this work. FM demodulation techniques in discrete time, discrete filters and digital signal processing are some of the topics that can be found in this essay. Some concepts about the human heart and about ECG waves are also briefly introduced. These concepts are necessary for understanding the final evaluation of the software performance. The development is partly made using MATLAB. Most of the functions that are used on the software are first tested and designed in MATLAB environment. In the end, an evaluation is done comparing the results that are expected with the ones that MATLAB presents and the ones that the developed software presents

Análise comparativa dos sistemas de jogo e das ações técnicas realizadas pela seleção brasileira de futebol

Since its origin, soccer has been conquering followers all over the world. As a consequence of this cultural phenomenon, countless works are being done aiming to analyze the game systems and the fundamentals carried out by a team. The purpose of this paper is to analyze the Brazilian Soccer Team’s game systems and actions with ball possession in the 1958, 1962 and 2002 World Cup finals. Specifically, the paper analyzed the actions that occur during the match, such as control, dribble, pass, shot, foul and tackling. In order to achieve that, the Skout software (Barros et al., 2006) was utilized and, through it, all fundamentals carried out by the Brazilian team were identified and codified in a virtual field. The data from each match was transported into the Matlab® software, in which the zone of major action of each player was analyzed, represented by the main axis. The outcome showed that the game systems put into practice by the Brazilian team in the 1958 and 1962 World Cup finals didn’t present significant changes, nevertheless, regarding the 2002 final, there was a great difference. The Brazilian team got similar percentages in the technical actions carried out in the three World Cup finals analyzed, however, in absolute numbers, the passes, the shots and the dribbles decreased while the fouls increased.

Análise de variáveis eletromiográficas e cinemáticas em protocolo incremental de corrida na esteira

Muscle fatigue is described as a cause of injuries among the many related to the running practice. Therefore, the purpose of this study was to analyze the behavior of the amplitude (RMS) and median frequency (MF) of EMG signal of the iliocostalis (CI), rectus femoris (RF), vastus lateralis (VL), vastus medialis (VM) biceps femoris (long head) (BFCL), tibialis anterior (TA) and gastrocnemius (lateral) (LNG) from the right lower limb, and the behavior of the parameters of amplitude (AP) and frequency (PF) spent in different percentages of the maximum speed during incremental protocol of treadmill running. 10 volunteers participated in this study, athletes, male, aged between 18 and 30 years with no history of injury in lower limbs and similar anthropometry. The protocol consisted of a treadmill test with initial velocity of 10 km.h-¹ and increments of 1 km.h-¹ each three minutes until volitional exhaustion, without rest interval. Synchronized collections were made of electromyographic and kinematic data. The signals were obtained through an acquisition module of biological signals (Telemyo 900 - Noraxon - USA) and software (Myoresearch - Noraxon - USA) calibrated with a sampling frequency of 1000 Hz, gain 2000 times. The raw data were filtered with a 60Hz notch filter, high pass and low pass 20Hz to 500Hz. To capture the image was used a digital video recorder (model NV-GS320, PANASONIC brand), and for image scanning and kinematic data collection was used the software Peak Motus 9.0 (ViconPeak). To obtain the values of RMS and FM analyzed the last ten passes of each speed through a specific routine (Matlab). To obtain these variables AP (m) and FP (stride I min) were analyzed for the last ten past each speed, using specific software (Peak Motus 9.0). After verification of data normality (Shapiro-Wilk) and homogeneity of the data (Levene), the comparison ...(Complete abstract click electronic access below)

Validação dos parâmetros aeróbio e anaeróbio a partir de protocolo não invasivo aplicado ao exercício resistido - supino reto

The purpose of this study was to investigate the validity of critical force test from maximal lactate steady state (MLSS) during resistance test using straight bench press. Five healthy male volunteers aged (22.6 ± 2.88 years), weight (76.3 ± 11.49 kg) e height (182.6 ± 7.54cm), trained in resistance exercise, and performed four diferent test to determine: one maximal effort (1RM), critical force using the critical power model (force vs 1/time limit - 20, 25 and 30% 1RM). The CF was the linear coefficient and the anaerobic impulse capacity (CIA) was the angular. MLSS was determined using loads of 80, 90, 100 and 110% of critical force. Blood lactate samples were abtained at each 300sec between each stage of total 1200sec. Maximal 30s test (M30) was accomplished with load of 25% of body weight in SBP. The results showed that the 1 RM was 79.4 Kgf (± 16.98), CF 10.1N (± 2.25), CIA 1756.82 N.s (± 546.96) and the R² 0.984 (± 0,02). The MLSS occurs at 100% CF load. The lactate concentration at the MLSS was 2.2 mmol/L (± 0.77). Significant correlation was observed between MLSS and CF on SBP (r = 0.88 p = 0.05). In M30 the minimum, mean and peak power were (25.0 ± 4.9, 28.0 ± 4.9, and 30.0 ± 4.6 kgf.rps, respectively). The fatigue index was 18.0% (± 6,8). The M30 was significantly correlated with Ppeak and Pmean (r = 0.98 for both, p = 0.003). The CF means has been validated to predict the resistance training and the CIA show to be a representative anaerobic parameter in straight bench press.

Modelagem e simulação do mecanismo biela manivela e análise estrutural de biela automotiva

Nowadays, the automotive industry is working to optimize the design of engines, in order to reduce the fuel consumption with acceptable efficiency ratio. This undergraduate thesis is aimed at perform a kinematic/dynamic analysis of a slider-crank mechanism that is part of a four stroke internal combustion engine, the same engine that was used in the analysis described by Montazersadhd and Fatemi (2007). Two algorithms were developed based on Kane’s method to calculate velocities and accelerations of the mechanism bodies, and provide the acting forces at connecting rod joints. A SimMechanics model was developed to simulate the engine, and monitoring the same parameters that were calculated with the algorithms. The results obtained with both approaches were satisfactory and showed good agreement with the values provided by Montazersadhd and Fatemi (2007). The obtained results showed that the axial component of the rod joint efforts was caused by the pressure exerted on the piston head,whereas the radial component was related with the action of inertia loads. Besides, this thesis presents a connecting rod assembly mesh that is going to be used for static and fatigue finite element analysis in the future

Calibração do Modelo de TBC para cálculos de espectros de raios-X

As normas nacionais e internacionais prevêem que a manutenção dos níveis de radiação deve estar abaixo do permitido. Sendo assim, a ICRP [1] (International Commission on Radiological Protection) exige métodos de otimização para garantir que o público esteja exposto aos menores níveis de radiação possíveis. Como método de otimização, aproximações teóricas e semi-empiricas podem realizar uma determinação do espectro de raios-X, sendo fundamental para o diagnóstico de energia, estimando a dose de radiações em pacientes e formulando modelos de blindagem. Métodos adequados de radioproteção foram desenvolvidos na física médica como a medicina nuclear, a radioterapia e a radiologia diagnóstica. Um dos métodos semi-empiricos utilizados é o modelo de TBC que é capaz de reproduzir e calcular os espectros gerados pelo anodo de tungstênio. Com o modelo de TBC modificado é possível também obedecer às exigências das barreiras protetoras presentes na radiologia, levando em conta a forma de onda arbitrária e a filtração adicional na geração do espectro não presente no modelo original. Além disso, realiza-se a calibração do espectro gerado para que o modelo de TBC represente a quantidade e comportamento de radiações típicas. Dessa forma, realiza-se uma revisão do modelo de TBC implementando-o ao programa matemático Matlab e comparando-o com os resultados adquiridos pelo Código MCNP-5 no Método de Monte Carlo. Os resultados encontrados são bastante satisfatórios, tanto em termos quantitativos quanto qualitativos dos feixes. Para a calibração, desenvolve-se uma análise dos espectros gerados pelo TBC Modificado aplicado ao programa Mathcad e Matlab sob as mesmas condições. Os espectros gerados apresentam o mesmo comportamento, diferindo em até 12% nos valores encontrados para camadas semi-redutoras, coeficiente de homogeneidade e energia efetiva

Análise de risco em carteiras

The work consists of analyzing the risk management of investments by applying statistical concepts, economic and mathematical models considering the assets on the market on renowned financial institution. The assessment of these risks becomes increasingly interesting in view of minimizing your losses thus maximizing your chances of gains in both markets boom as extreme uncertainty, even with the sudden changes of scenery. Introducing concepts of investment funds, as well as the classification of the types of funds as funds management and equity, its guidelines, the concept of market investment funds. The types of assets comprising the investment funds, their taxation rules beyond the incidents that market widely used by investors and skilled people, both physical and legal, who keep their resources in this modality. With the historical data collected yields of investment funds of the Bank of Brazil, is an accomplished inflation adjustment and calculated the mean and variance for the verification of the model of Markowitz efficient frontier, a method used as investment analysis. This scan is used Matlab to obtain the set (or border) efficient portfolios. Once verified such data, there will be a critique of the Markowitz model as a quadratic programming and more coherent risk measures currently studied as VaR and CVaR minimizing the expected error, approaching our studies of current research. It is found that such studies have much to be explored, since there are many discussions about how effectively measure risk investments such as its characteristic and behavior, using a time series and volatility

Controle ativo de vibrações em vigas utilizando controle feedforward e elementos espectrais

Pós-graduação em Engenharia Mecânica - FEB

Estimação do número de internações por doenças respiratórias utilizando lógica fuzzy tipo-2 intervalar

In this work was developed a fuzzy computational model type-2 predictive interval, using the software of the type-2 fuzzy MATLAB toolbox, the final idea is to estimate the number of hospitalizations of patients with respiratory diseases. The interest in the creation of this model is to assist in decision makeshift hospital environment, where there are no medical or professional equipment available to provide the care that the population need. It began working with the study of fuzzy logic, the fuzzy inference system and fuzzy toolbox. Through a real database provided by the Departamento de Informática do Sistema Único de Saúde (DATASUS) and Companhia de Tecnologia de Saneamento Básico (CETESB), was possible to start the model. The analyzed database is composed of the number of patients admitted with respiratory diseases a day for the public hospital in São José dos Campos, during the year 2009 and by factors such as PM10, SO2, wind and humidity. These factors were analyzed as input variables and, through these, is possible to get the number of admissions a day, which is the output variable of the model. For data analysis we used the fuzzy control method type-2 Mamdani. In the following steps the performance developed in this work was compared with the performance of the same model using fuzzy logic type-1. Finally, the validity of the models was estimated by the ROC curve