Identificação em tempo real de modelo dinâmico de robô móvel com acionamento diferencial e zona morta

Several mobile robots show non-linear behavior, mainly due friction phenomena between the mechanical parts of the robot or between the robot and the ground. Linear models are efficient in some cases, but it is necessary take the robot non-linearity in consideration when precise displacement and positioning are desired. In this work a parametric model identification procedure for a mobile robot with differential drive that considers the dead-zone in the robot actuators is proposed. The method consists in dividing the system into Hammerstein systems and then uses the key-term separation principle to present the input-output relations which shows the parameters from both linear and non-linear blocks. The parameters are then simultaneously estimated through a recursive least squares algorithm. The results shows that is possible to identify the dead-zone thresholds together with the linear parameters

Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot

Evolução da paisagem do baixo curso do rio de Piranhas-Assu (1988-2024): uso de autômatos celulares em modelo dinâmico espacial para simulação de cenários futuros

The lower course of Piranhas-Assu river, located in the north coast of Rio Grande do Norte, Brazil, arouses a keen interest as a study field, once it concentrates, besides petroleum and gas exploration, activities related to shrimp culture, salt and horticulture, factors that also deserve special attention. Thus, the awareness of the study field environmental stage demands studies from researchers and discernment from society, as a way of understanding the inter-relation between environment and men. Therefore, this work attempts at understanding and studying the dynamics of land use in the lower course of Piranhas-Assu river, through a multitemporal analysis of present and past, accomplishing future projections through simulation models. The work is divided in stages that include the research, analysis, interpretation of results, and the generation of simulation models, to analyze the landscape tendencies, making possible to identify indicators which cause such changes in the lower course of the river. From Geographical Database, the necessary exploratory analyses were accomplished to the following items: land use evolution, natural and environmental vulnerability, multiple geodiversity indexes, and preparation of the data to be used in the simulation model. Later, the construction of the landscape simulation model was conducted. Sequentially, simulations of future sceneries were accomplished through the execution of the model in a specific software environment. Last, the analyses of landscape tendencies in the study field were carried out. The lower course of Piranhas-Assu River didn't show any intense dynamics in landscape changing, once in the period taken into account (from 1988 to 2004) class stability proved to be superior to its transformations. Activities related to agriculture and livestock are the ones that influence, mostly, the landscape dynamics. The production of sea shrimp and petroleum also infers in the landscape, although in smaller proportion. INCRA s public policies excessively determined the dynamics of the landscape in the lower course of Piranhas-Assu River, RN. In respect to its natural vulnerability, the lower course of Piranhas-Assu River, RN, features more vulnerable than stable areas. The landscape simulation, in the first taken period (2004-2009), indicated considerable increases and decreases of antropic activities, if compared to its sequent periods (2009-2014, 2014-2019 and 2019-2024). The simulation, in a wider analysis, showed that the determining factors for the space mobility of antropic activities, in the focused area, are related to the pre-existence of communities with agricultural capability and to the existence of access routes and drainage. Considering the area that features fixed and mobile dunes, located in Porto do Mangue district, we recommend its conversion into a conservation area

Propriedades de tranporte, caos e dissipação num sistema dinâmico não linear

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estudo de um modelo dinâmico para avaliação física do corpo humano

Pós-graduação em Engenharia Mecânica - FEG

Análise bayesiana do modelo fatorial dinâmico para um vetor de séries temporais utilizando a distribuição t multivariada

The multivariate t models are symmetric and with heavier tail than the normal distribution, important feature in financial data. In this theses is presented the Bayesian estimation of a dynamic factor model, where the factors follow a multivariate autoregressive model, using multivariate t distribution. Since the multivariate t distribution is complex, it was represented in this work as a mix between a multivariate normal distribution and a square root of a chi-square distribution. This method allowed to define the posteriors. The inference on the parameters was made taking a sample of the posterior distribution, through the Gibbs Sampler. The convergence was verified through graphical analysis and the convergence tests Geweke (1992) and Raftery & Lewis (1992a). The method was applied in simulated data and in the indexes of the major stock exchanges in the world.

Modelo dinâmico e estatístico aplicado a transição de fase

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Avaliação de biofilme de proteus mirabilis em modelo experimental de fluxo dinâmico

Pós-graduação em Biociências e Biotecnologia Aplicadas à Farmácia - FCFAR

Estudo da síntese de zeólitas tipo A, X e sodalita empregando reatores vítreos: análise dos métodos dinâmico e estático de síntese a partir de caulim residual da Região Amazônica

Empresas beneficiadoras de caulim geram resíduo caulinítico que é armazenado em lagoas de sedimentação, e ocupam grandes áreas físicas. O´aproveitamento deste resíduo é um fator importante do ponto de vista econômico e ambiental. Aqui é apresentado um estudo da síntese de zeólitas A, X e sodalita utilizando como matéria-prima um resíduo de caulim da Região Amazônica. O resíduo foi pré-tratado para a eliminação de matéria orgânica, cominuído e ativado termicamente a 750 °C por 2 horas. Ensaios de pré-zeolitização foram realizados em várias frações granulométricas do caulim ativado (metacaulim) a fim de se determinar a granulometria de síntese. Após esta etapa, empregou-se comparativamente dois métodos hidrotermais de obtenção de zeólitas: dinâmico e estático. Para a mistura reacional, utilizou-se a relação SiO₂/Al₂O₃ de 2/1 e 3/1 para obtenção das zeólitas. Análises de caracterização por Difração de Raios-X (DRX), Microscopia Eletrônica de Varredura (MEV) e Espectrometria de Fluorescência de Raios-X (FRX) mostraram uma boa formação da fase zeolítica NaA para a razão 2/1, em ambos os métodos de síntese e sem envelhecimento da mistura, e boa formação da fase NaX para a razão 3/1, em síntese estática com envelhecimento de 12 horas. A fase sodalita foi obtida na mesma estequiometria da zeólita NaX, porém empregando síntese estática e sem envelhecimento.

Modelo dinâmico da coluna lombar humana, com solicitação de esforço postero-anterior: análise com rigidez viscoelástica não linear

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Modelo dinâmico de um túnel de vento de sopro

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Modelo dinâmico bayesiano multivariado para análise espaço-temporal de dados de área

Pós-graduação em Matematica Aplicada e Computacional - FCT

Considerações e avaliações das solicitações em estruturas de edificações de paredes de concreto pré-moldado utilizando o modelo de pórtico tridimensional: estudo de caso

The present study is in reference to precast concrete (panels) walls as the main structural system. The diversification of the structural systems is a reality due to specific characteristics', as a result there is a lack of study and analysis. Some systems are already established in their applications, for instance: conventional reinforced concrete, structural masonry, metal structures, and wood structure. Apart from this precast concrete elements has had a growth in building sites in Brazil, therefore professionals should be more aware. Affordable house funding initiatives to address the housing shortage has been recurrent throughout the country, additionally precast concrete walls has been an alternative that meets the three basic concepts of engineering, which are: the technique, economy, and security. The objective of this study is to gather concepts from the literature and TOMO (2012) about precast concrete walls and make a didactic synthesis of how they are viewed. The modeling structure method of the system was performed following the concept of assigning bars, using the computer program of calculations SAP2000. Initially will be presented a theoretical part, furthermore a case study to illustrate the sizing of the walls using EXCEL tables programmed with calculation routine. The results will be presented in calculated efforts by the program for further analysis. Finally, will be highlighted important items of modeling and interpretation of the results