Simulação do tempo de descarga de caminhões graneleiros em uma estação de transbordo de carga em Porto Murtinho, MS

In the current decade, inter modal transport is widely discussed. In Brazil road transport is used in excess whereas there could be more focus and investment towards water transport. Water transport presents many benefits like being low cost and low maintenance. Sea and river ports today aren't capable of supporting Brazil's transport needs. Therefore, with this obstacle, this paper consists of an attempt of modeling and simulation of the process of unloading grain cargo from trucks, through simulation with ProModel software, to verify the necessity of installing more tumblers at the cargo unloading station in Porto Murtinho, MS

Aplicando Métodos de Mineração Visual de Texto em conteúdo de Fórum de Discussão

We are included in a society where the use of the Internet became very important to our everyday life. The relationships nowadays usually happen through technological devices instead of face to face contact, for instance, Internet forums where people can discuss online. However, the global analysis is a big challenge, due to the large amount of data. This work investigates the use of visual representations to support an exploratory analysis of contents in messages from discussions forums. This analysis considers the thematic and the chronology. The target forums refer to the educational area and the analysis happens manually, i.e. by direct reading message-by-message. The proprieties of perception and cognition of the human visual system allow a person the capacity to conduct high-level tasks in information extraction from a graphical or visual representation of data. Therefore, this work was based on Visual Analytics, an area that aims create techniques that amplify these human abilities. For that reason we used software that creates a visualization of data from a forum. This software allows a forum content analysis. But, during the work, we identified the necessity to create a new tool to clean the data, because the data had a lot of unnecessary information. After cleaning the data we created a new visualization and held an analysis seeking a new knowledge. In the end we compared the new visualization with the manual analysis that had been made. Analyzing the results, it was evident the potential of visualization use, it provides a better correlation between the information, enabling the acquisition of new knowledge that was not identified in the initial analysis, providing a better use of the forum content

Diretrizes básicas para projetos de vasos de pressão segundo a ASME Trabalho

In this work it was made analysis of a simple pressure vessel, using the analytical development studied in Mechanics of Materials disciplines, and then using the standard required by ASME. Following the simulation was realized using Autodesk Mechanical Simulation software to calculate the principal stresses in a pressure vessel. The simulation was done in a single vessel without nozzles, compared with the analytic calculation. After that, the simulation of another fictitious pressure vessel was done by adding three nozzles to verify the influence of the nozzles in the principal stresses and compared with the analytical results. After the simulation, it was found that the principal are bigger in the pressure vessel with nozzles, but they decrease at a small distance from the nozzle becoming equal to the stresses in the vessel without nozzles. The analytical results calculated according to the ASME agree with simulated results

Métodos híbridos de pontos interiores/exteriores e de aproximantes de funções em problemas multiobjetivo de despacho econômico e ambiental

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Farmacocinética pré-clínica e avaliação toxicológica do novo composto α2-adrenérgico 3-(2-cloro-6-fluorobenzil)-imidazolidina-2,4-diona - PT-31 GIRSUPAN

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Samaja, Juan. Epistemología y metodología. Elementos para una teoría de la investigación científica. 3ª edición, 6ª reimpresión. Buenos Aires, EUDEBA, 2005, 414 p.

Fil: Fischetti, Natalia.

Human-robot interaction for telemanipulation in large workspaces

Independientemente de la existencia de técnicas altamente sofisticadas y capacidades de cómputo cada vez más elevadas, los problemas asociados a los robots que interactúan con entornos no estructurados siguen siendo un desafío abierto en robótica. A pesar de los grandes avances de los sistemas robóticos autónomos, hay algunas situaciones en las que una persona en el bucle sigue siendo necesaria. Ejemplos de esto son, tareas en entornos de fusión nuclear, misiones espaciales, operaciones submarinas y cirugía robótica. Esta necesidad se debe a que las tecnologías actuales no pueden realizar de forma fiable y autónoma cualquier tipo de tarea. Esta tesis presenta métodos para la teleoperación de robots abarcando distintos niveles de abstracción que van desde el control supervisado, en el que un operador da instrucciones de alto nivel en la forma de acciones, hasta el control bilateral, donde los comandos toman la forma de señales de control de bajo nivel. En primer lugar, se presenta un enfoque para llevar a cabo la teleoperación supervisada de robots humanoides. El objetivo es controlar robots terrestres capaces de ejecutar tareas complejas en entornos de búsqueda y rescate utilizando enlaces de comunicación limitados. Esta propuesta incorpora comportamientos autónomos que el operador puede utilizar para realizar tareas de navegación y manipulación mientras se permite cubrir grandes áreas de entornos remotos diseñados para el acceso de personas. Los resultados experimentales demuestran la eficacia de los métodos propuestos. En segundo lugar, se investiga el uso de dispositivos rentables para telemanipulación guiada. Se presenta una aplicación que involucra un robot humanoide bimanual y un traje de captura de movimiento basado en sensores inerciales. En esta aplicación, se estudian las capacidades de adaptación introducidas por el factor humano y cómo estas pueden compensar la falta de sistemas robóticos de alta precisión. Este trabajo es el resultado de una colaboración entre investigadores del Biorobotics Laboratory de la Universidad de Harvard y el Centro de Automática y Robótica UPM-CSIC. En tercer lugar, se presenta un nuevo controlador háptico que combina velocidad y posición. Este controlador bilateral híbrido hace frente a los problemas relacionados con la teleoperación de un robot esclavo con un gran espacio de trabajo usando un dispositivo háptico pequeño como maestro. Se pueden cubrir amplias áreas de trabajo al cambiar automáticamente entre los modos de control de velocidad y posición. Este controlador háptico es ideal para sistemas maestro-esclavo con cinemáticas diferentes, donde los comandos se transmiten en el espacio de la tarea del entorno remoto. El método es validado para realizar telemanipulación hábil de objetos con un robot industrial. Por último, se introducen dos contribuciones en el campo de la manipulación robótica. Por un lado, se presenta un nuevo algoritmo de cinemática inversa, llamado método iterativo de desacoplamiento cinemático. Este método se ha desarrollado para resolver el problema cinemático inverso de un tipo de robot de seis grados de libertad donde una solución cerrada no está disponible. La eficacia del método se compara con métodos numéricos convencionales. Además, se ha diseñado una taxonomía robusta de agarres que permite controlar diferentes manos robóticas utilizando una correspondencia, basada en gestos, entre los espacios de trabajo de la mano humana y de la mano robótica. El gesto de la mano humana se identifica mediante la lectura de los movimientos relativos del índice, el pulgar y el dedo medio del usuario durante las primeras etapas del agarre. ABSTRACT Regardless of the availability of highly sophisticated techniques and ever increasing computing capabilities, the problems associated with robots interacting with unstructured environments remains an open challenge. Despite great advances in autonomous robotics, there are some situations where a humanin- the-loop is still required, such as, nuclear, space, subsea and robotic surgery operations. This is because the current technologies cannot reliably perform all kinds of task autonomously. This thesis presents methods for robot teleoperation strategies at different levels of abstraction ranging from supervisory control, where the operator gives high-level task actions, to bilateral teleoperation, where the commands take the form of low-level control inputs. These strategies contribute to improve the current human-robot interfaces specially in the case of slave robots deployed at large workspaces. First, an approach to perform supervisory teleoperation of humanoid robots is presented. The goal is to control ground robots capable of executing complex tasks in disaster relief environments under constrained communication links. This proposal incorporates autonomous behaviors that the operator can use to perform navigation and manipulation tasks which allow covering large human engineered areas of the remote environment. The experimental results demonstrate the efficiency of the proposed methods. Second, the use of cost-effective devices for guided telemanipulation is investigated. A case study involving a bimanual humanoid robot and an Inertial Measurement Unit (IMU) Motion Capture (MoCap) suit is introduced. Herein, it is corroborated how the adaptation capabilities offered by the human-in-the-loop factor can compensate for the lack of high-precision robotic systems. This work is the result of collaboration between researchers from the Harvard Biorobotics Laboratory and the Centre for Automation and Robotics UPM-CSIC. Thirdly, a new haptic rate-position controller is presented. This hybrid bilateral controller copes with the problems related to the teleoperation of a slave robot with large workspace using a small haptic device as master. Large workspaces can be covered by automatically switching between rate and position control modes. This haptic controller is ideal to couple kinematic dissimilar master-slave systems where the commands are transmitted in the task space of the remote environment. The method is validated to perform dexterous telemanipulation of objects with a robotic manipulator. Finally, two contributions for robotic manipulation are introduced. First, a new algorithm, the Iterative Kinematic Decoupling method, is presented. It is a numeric method developed to solve the Inverse Kinematics (IK) problem of a type of six-DoF robotic arms where a close-form solution is not available. The effectiveness of this IK method is compared against conventional numerical methods. Second, a robust grasp mapping has been conceived. It allows to control a wide range of different robotic hands using a gesture based correspondence between the human hand space and the robotic hand space. The human hand gesture is identified by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of grasping.

Comportamento tribo-mecânico e desgaste adesivo de materiais em nanoescala: análises por dinâmica molecular e mecânica do contínuo.

As formulações baseadas na mecânica do contínuo, embora precisas até certo ponto, por vezes não podem ser utilizadas, ou não são conceitualmente corretas para o entendimento de fenômenos em escalas reduzidas. Estas limitações podem aparecer no estudo dos fenômenos tribológicos em escala nanométrica, que passam a necessitar de novos métodos experimentais, teóricos e computacionais que permitam explorar estes fenômenos com a resolução necessária. Simulações atomísticas são capazes de descrever fenômenos em pequena escala, porém, o número necessário de átomos modelados e, portanto, o custo computacional - geralmente torna-se bastante elevado. Por outro lado, os métodos de simulação associados à mecânica do contínuo são mais interessantes em relação ao custo computacional, mas não são precisos na escala atômica. A combinação entre essas duas abordagens pode, então, permitir uma compreensão mais realista dos fenômenos da tribologia. Neste trabalho, discutem-se os conceitos básicos e modelos de atrito em escala atômica e apresentam-se estudos, por meio de simulação numérica, para a análise e compreensão dos mecanismos de atrito e desgaste no contato entre materiais. O problema é abordado em diferentes escalas, e propõe-se uma abordagem conjunta entre a Mecânica do Contínuo e a Dinâmica Molecular. Para tanto, foram executadas simulações numéricas, com complexidade crescente, do contato entre superfícies, partindo-se de um primeiro modelo que simula o efeito de defeitos cristalinos no fenômeno de escorregamento puro, considerando a Dinâmica Molecular. Posteriormente, inseriu-se, nos modelos da mecânica do contínuo, considerações sobre o fenômeno de adesão. A validação dos resultados é feita pela comparação entre as duas abordagens e com a literatura.

Avaliação da evapotranspiração na microrregião do Seridó: uma contribuição metodológica

Conselho Nacional de Desenvolvimento Científico e Tecnológico - CNPq

Algorithms for super-resolution of images based on Sparse Representation and Manifolds

lmage super-resolution is defined as a class of techniques that enhance the spatial resolution of images. Super-resolution methods can be subdivided in single and multi image methods. This thesis focuses on developing algorithms based on mathematical theories for single image super­ resolution problems. lndeed, in arder to estimate an output image, we adopta mixed approach: i.e., we use both a dictionary of patches with sparsity constraints (typical of learning-based methods) and regularization terms (typical of reconstruction-based methods). Although the existing methods already per- form well, they do not take into account the geometry of the data to: regularize the solution, cluster data samples (samples are often clustered using algorithms with the Euclidean distance as a dissimilarity metric), learn dictionaries (they are often learned using PCA or K-SVD). Thus, state-of-the-art methods still suffer from shortcomings. In this work, we proposed three new methods to overcome these deficiencies. First, we developed SE-ASDS (a structure tensor based regularization term) in arder to improve the sharpness of edges. SE-ASDS achieves much better results than many state-of-the- art algorithms. Then, we proposed AGNN and GOC algorithms for determining a local subset of training samples from which a good local model can be computed for recon- structing a given input test sample, where we take into account the underlying geometry of the data. AGNN and GOC methods outperform spectral clustering, soft clustering, and geodesic distance based subset selection in most settings. Next, we proposed aSOB strategy which takes into account the geometry of the data and the dictionary size. The aSOB strategy outperforms both PCA and PGA methods. Finally, we combine all our methods in a unique algorithm, named G2SR. Our proposed G2SR algorithm shows better visual and quantitative results when compared to the results of state-of-the-art methods.

Uma janela tropical: análise do desempenho luminoso de ambientes com aberturas sombreadas para o clima de Natal/RN

This master thesis introduces assessment procedures of daylighting performance in office rooms with shaded opening, recommendations for Natal-RN (Latitude 05,47' S, Longitude 35,11' W). The studies assume the need of window exterior shading in hot and humid climate buildings. The daylighting performance analyses are based on simulated results for three levels of illuminance (300,500 e 1000 lux) between 08h00 e 16h00, in rooms with 2,80 m height, 6 m large and 4 m, 6 m e 8 m depths, with a centered single opening, window wall ratio (20%, 40% e 60%), four orientations (North, East, South and West), and two types of sky (clear and partially cloudy). The sky characteristics were statistically determined based on hourly data from INPE-CRN solar and daylighting weather station. The lighting performance is resulted from dynamic computer simulation of 72 models using Troplux 3.12. The simulation results were assessed using a new parameter to quantify the use of interior daylighting, the useful percentage of daylight (PULN), which corresponds to the time fraction with satisfactory light, in accordance with the illuminance design. The passive zone depths are defined based on the PULN. Despite the failures of illuminance data from the weather station, the analyses ratified the high potential of daylighting for shaded rooms. The most influential variables on the lighting performance are the opening size and the illuminance of design, while the orientation is a little influential

Diagnóstico ecotoxicológico dos efluentes lançados no complexo estuarino do Jundiaí/Potengi, Natal/RN

Untreated effluents that reach surface water affect the aquatic life and humans. This study aimed to evaluate the wastewater s toxicity (municipal, industrial and shrimp pond effluents) released in the Estuarine Complex of Jundiaí- Potengi, Natal/RN, through chronic quantitative e qualitative toxicity tests using the test organism Mysidopsis Juniae, CRUSTACEA, MYSIDACEA (Silva, 1979). For this, a new methodology for viewing chronic effects on organisms of M. juniae was used (only renewal), based on another existing methodology to another testorganism very similar to M. Juniae, the M. Bahia (daily renewal).Toxicity tests 7 days duration were used for detecting effects on the survival and fecundity in M. juniae. Lethal Concentration 50% (LC50%) was determined by the Trimmed Spearman-Karber; Inhibition Concentration 50% (IC50%) in fecundity was determined by Linear Interpolation. ANOVA (One Way) tests (p = 0.05) were used to determinate the No Observed Effect Concentration (NOEC) and Low Observed Effect Concentration (LOEC). Effluents flows were measured and the toxic load of the effluents was estimated. Multivariate analysis - Principal Component Analysis (PCA) and Correspondence Analysis (CA) - identified the physic-chemical parameters better explain the patterns of toxicity found in survival and fecundity of M. juniae. We verified the feasibility of applying the only renewal system in chronic tests with M. Juniae. Most efluentes proved toxic on the survival and fecundity of M. Juniae, except for some shrimp pond effluents. The most toxic effluent was ETE Lagoa Aerada (LC50, 6.24%; IC50, 4.82%), ETE Quintas (LC50, 5.85%), Giselda Trigueiro Hospital (LC50, 2.05%), CLAN (LC50, 2.14%) and COTEMINAS (LC50, IC50 and 38.51%, 6.94%). The greatest toxic load was originated from ETE inefficient high flow effluents, textile effluents and CLAN. The organic load was related to the toxic effects of wastewater and hospital effluents in survival of M. Juniae, as well as heavy metals, total residual chlorine and phenols. In industrial effluents was found relationship between toxicity and organic load, phenols, oils and greases and benzene. The effects on fertility were related, in turn, with chlorine and heavy metals. Toxicity tests using other organisms of different trophic levels, as well as analysis of sediment toxicity are recommended to confirm the patterns found with M. Juniae. However, the results indicate the necessity for implementation and improvement of sewage treatment systems affluent to the Potengi s estuary

Estudo experimental do escoamento bifásico líquido gás em golfadas com leve mudança de direção

Gas-liquid two-phase flow is very common in industrial applications, especially in the oil and gas, chemical, and nuclear industries. As operating conditions change such as the flow rates of the phases, the pipe diameter and physical properties of the fluids, different configurations called flow patterns take place. In the case of oil production, the most frequent pattern found is slug flow, in which continuous liquid plugs (liquid slugs) and gas-dominated regions (elongated bubbles) alternate. Offshore scenarios where the pipe lies onto the seabed with slight changes of direction are extremely common. With those scenarios and issues in mind, this work presents an experimental study of two-phase gas-liquid slug flows in a duct with a slight change of direction, represented by a horizontal section followed by a downward sloping pipe stretch. The experiments were carried out at NUEM (Núcleo de Escoamentos Multifásicos UTFPR). The flow initiated and developed under controlled conditions and their characteristic parameters were measured with resistive sensors installed at four pipe sections. Two high-speed cameras were also used. With the measured results, it was evaluated the influence of a slight direction change on the slug flow structures and on the transition between slug flow and stratified flow in the downward section.

Adaptação do paradigma orientado a notificações para desenvolvimento de sistemas fuzzy

This work proposes to adjust the Notification Oriented Paradigm (NOP) so that it provides support to fuzzy concepts. NOP is inspired by elements of imperative and declarative paradigms, seeking to solve some of the drawbacks of both. By decomposing an application into a network of smaller computational entities that are executed only when necessary, NOP eliminates the need to perform unnecessary computations and helps to achieve better logical-causal uncoupling, facilitating code reuse and application distribution over multiple processors or machines. In addition, NOP allows to express the logical-causal knowledge at a high level of abstraction, through rules in IF-THEN format. Fuzzy systems, in turn, perform logical inferences on causal knowledge bases (IF-THEN rules) that can deal with problems involving uncertainty. Since PON uses IF-THEN rules in an alternative way, reducing redundant evaluations and providing better decoupling, this research has been carried out to identify, propose and evaluate the necessary changes to be made on NOP allowing to be used in the development of fuzzy systems. After that, two fully usable materializations were created: a C++ framework, and a complete programming language (LingPONFuzzy) that provide support to fuzzy inference systems. From there study cases have been created and several tests cases were conducted, in order to validate the proposed solution. The test results have shown a significant reduction in the number of rules evaluated in comparison to a fuzzy system developed using conventional tools (frameworks), which could represent an improvement in performance of the applications.

Técnicas multivariadas de redução de dados: comparação, aplicabilidade e convergência de resultados

Doutoramento em Matemática e Estatística - Instituto Superior de Agronomia - UL