Conception d’un mécanisme déployable à grand ratio d’expansion et de son système d’actionnement par roues d’inertie pour applications spatiales

Cette thèse propose de développer des mécanismes déployables pour applications spatiales ainsi que des modes d’actionnement permettant leur déploiement et le contrôle de l’orientation en orbite de l’engin spatial les supportant. L’objectif étant de permettre le déploiement de surfaces larges pour des panneaux solaires, coupoles de télécommunication ou sections de station spatiale, une géométrie plane simple en triangle est retenue afin de pouvoir être assemblée en différents types de surfaces. Les configurations à membrures rigides proposées dans la littérature pour le déploiement de solides symétriques sont optimisées et adaptées à l’expansion d’une géométrie ouverte, telle une coupole. L’optimisation permet d’atteindre un ratio d’expansion plan pour une seule unité de plus de 5, mais présente des instabilités lors de l’actionnement d’un prototype. Le principe de transmission du mouvement d’un étage à l’autre du mécanisme est revu afin de diminuer la sensibilité des performances du mécanisme à la géométrie de ses membrures internes. Le nouveau modèle, basé sur des courroies crantées, permet d’atteindre des ratios d’expansion plans supérieurs à 20 dans certaines configurations. L’effet des principaux facteurs géométriques de conception est étudié afin d’obtenir une relation simple d’optimisation du mécanisme plan pour adapter ce dernier à différents contextes d’applications. La géométrie identique des faces triangulaires de chaque surface déployée permet aussi l’empilement de ces faces pour augmenter la compacité du mécanisme. Une articulation spécialisée est conçue afin de permettre le dépliage des faces puis leur déploiement successivement. Le déploiement de grandes surfaces ne se fait pas sans influencer lourdement l’orientation et potentiellement la trajectoire de l’engin spatial, aussi, différentes stratégies de contrôle de l’orientation novatrices sont proposées. Afin de tirer profit d’une grande surface, l’actionnement par masses ponctuelles en périphérie du mécanisme est présentée, ses équations dynamiques sont dérivées et simulées pour en observer les performances. Celles-ci démontrent le potentiel de cette stratégie de réorientation, sans obstruction de l’espace central du satellite de base, mais les performances restent en deçà de l’effet d’une roue d’inertie de masse équivalente. Une stratégie d’actionnement redondant par roue d’inertie est alors présentée pour différents niveaux de complexité de mécanismes dont toutes les articulations sont passives, c’est-à-dire non actionnées. Un mécanisme à quatre barres plan est simulé en boucle fermée avec un contrôleur simple pour valider le contrôle d’un mécanisme ciseau commun. Ces résultats sont étendus à la dérivation des équations dynamiques d’un mécanisme sphérique à quatre barres, qui démontre le potentiel de l’actionnement par roue d’inertie pour le contrôle de la configuration et de l’orientation spatiale d’un tel mécanisme. Un prototype à deux corps ayant chacun une roue d’inertie et une seule articulation passive les reliant est réalisé et contrôlé grâce à un suivi par caméra des modules. Le banc d’essai est détaillé, ainsi que les défis que l’élimination des forces externes ont représenté dans sa conception. Les résultats montrent que le système est contrôlable en orientation et en configuration. La thèse se termine par une étude de cas pour l’application des principaux systèmes développés dans cette recherche. La collecte de débris orbitaux de petite et moyenne taille est présentée comme un problème n’ayant pas encore eu de solution adéquate et posant un réel danger aux missions spatiales à venir. L’unité déployable triangulaire entraînée par courroies est dupliquée de manière à former une coupole de plusieurs centaines de mètres de diamètre et est proposée comme solution pour capturer et ralentir ces catégories de débris. Les paramètres d’une mission à cette fin sont détaillés, ainsi que le potentiel de réorientation que les roues d’inertie permettent en plus du contrôle de son déploiement. Près de 2000 débris pourraient être retirés en moins d’un an en orbite basse à 819 km d’altitude.

Empreendedorismo tecnológico: modelo de negócios de package point

Mestrado em Gestão e Empreendedorismo

Uma nova abordagem do método Level Set baseada em conhecimento a e priori da forma

The analysis of fluid behavior in multiphase flow is very relevant to guarantee system safety. The use of equipment to describe such behavior is subjected to factors such as the high level of investments and of specialized labor. The application of image processing techniques to flow analysis can be a good alternative, however, very little research has been developed. In this subject, this study aims at developing a new approach to image segmentation based on Level Set method that connects the active contours and prior knowledge. In order to do that, a model shape of the targeted object is trained and defined through a model of point distribution and later this model is inserted as one of the extension velocity functions for the curve evolution at zero level of level set method. The proposed approach creates a framework that consists in three terms of energy and an extension velocity function λLg(θ)+vAg(θ)+muP(0)+θf. The first three terms of the equation are the same ones introduced in (LI CHENYANG XU; FOX, 2005) and the last part of the equation θf is based on the representation of object shape proposed in this work. Two method variations are used: one restricted (Restrict Level Set - RLS) and the other with no restriction (Free Level Set - FLS). The first one is used in image segmentation that contains targets with little variation in shape and pose. The second will be used to correctly identify the shape of the bubbles in the liquid gas two phase flows. The efficiency and robustness of the approach RLS and FLS are presented in the images of the liquid gas two phase flows and in the image dataset HTZ (FERRARI et al., 2009). The results confirm the good performance of the proposed algorithm (RLS and FLS) and indicate that the approach may be used as an efficient method to validate and/or calibrate the various existing equipment used as meters for two phase flow properties, as well as in other image segmentation problems.

Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach

In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry. The minimization problem is solved in a coarse-to-fine scheme to cope with large displacements, and a smooth filter based on the covariance of the estimate is employed to handle uncertainty in unconstraint scenarios (e.g. corridors). Simulated and real experiments have been performed to compare our approach with two prominent scan matchers and with wheel odometry. Quantitative and qualitative results demonstrate the superior performance of our approach which, along with its very low computational cost (0.9 milliseconds on a single CPU core), makes it suitable for those robotic applications that require planar odometry. For this purpose, we also provide the code so that the robotics community can benefit from it.

Packaging and Deployment of Large Planar Spacecraft Structures

This thesis presents a set of novel methods to biaxially package planar structures by folding and wrapping. The structure is divided into strips connected by folds that can slip during wrapping to accommodate material thickness. These packaging schemes are highly efficient, with theoretical packaging efficiencies approaching 100%. Packaging tests on meter-scale physical models have demonstrated packaging efficiencies of up to 83%. These methods avoid permanent deformation of the structure, allowing an initially flat structure to be deployed to a flat state.

Also presented are structural architectures and deployment schemes that are compatible with these packaging methods. These structural architectures use either in-plane pretension -- suitable for membrane structures -- or out-of-plane bending stiffness to resist loading. Physical models are constructed to realize these structural architectures. The deployment of these types of structures is shown to be controllable and repeatable by conducting experiments on lab-scale models.

These packaging methods, structural architectures, and deployment schemes are applicable to a variety of spacecraft structures such as solar power arrays, solar sails, antenna arrays, and drag sails; they have the potential to enable larger variants of these structures while reducing the packaging volume required. In this thesis, these methods are applied to the preliminary structural design of a space solar power satellite. This deployable spacecraft, measuring 60 m x 60 m, can be packaged into a cylinder measuring 1.5 m in height and 1 m in diameter. It can be deployed to a flat configuration, where it acts as a stiff lightweight support framework for multifunctional tiles that collect sunlight, generate electric power, and transmit it to a ground station on Earth.

Development and validation of a computationally efficient pseudo 3D model for planar SOFC integrated with a heating furnace

Efficient numerical models facilitate the study and design of solid oxide fuel cells (SOFCs), stacks, and systems. Whilst the accuracy and reliability of the computed results are usually sought by researchers, the corresponding modelling complexities could result in practical difficulties regarding the implementation flexibility and computational costs. The main objective of this article is to adapt a simple but viable numerical tool for evaluation of our experimental rig. Accordingly, a model for a multi-layer SOFC surrounded by a constant temperature furnace is presented, trained and validated against experimental data. The model consists of a four-layer structure including stand, two interconnects, and PEN (Positive electrode-Electrolyte-Negative electrode); each being approximated by a lumped parameter model. The heating process through the surrounding chamber is also considered. We used a set of V-I characteristics data for parameter adjustment followed by model verification against two independent sets of data. The model results show a good agreement with practical data, offering a significant improvement compared to reduced models in which the impact of external heat loss is neglected. Furthermore, thermal analysis for adiabatic and non-adiabatic process is carried out to capture the thermal behaviour of a single cell followed by a polarisation loss assessment. Finally, model-based design of experiment is demonstrated for a case study.

Experimental characterization of a planar jet by hot-wire anemometry

The study of turbulence is also nowadays a problem that does not have solution from the mathematical point of view due to the lack of solution to link the mean part of the flow with the fluctuating one. To solve this problem, in the CICLoPE laboratory of Predappio, experiments on different type of jets are performed in order to derive a closure model able to close our mathematical model. One of the most interesting type of jet that could be studied is the planar turbulent free jet which is a two dimensional canonical jet characterized by the self-similarity condition of the velocity profiles. To study this particular jet, a new facility was built. The aim of this project is to characterize the jet at different distances from the nozzle exit, for different values of Reynolds number, to demonstrate that the self-similarity condition is respected. To do that, the evaluation of quantities such as spreading rate, centerline velocity decay and relation between fluctuations and mean part of the flow has to be obtain. All these parameters could be detected thanks to the use of single and X hot-wire anemometry with which it is possible to analyzed the fluctuating behaviour of the flow by associating to an electric signal a physical variable expressed in terms of velocity. To justify the data obtain by the measures, a comparison with results coming from the literature has to be shown.

Creatina quinase e dor muscular tardia na musculação : estudo experimental em adultos e jovens com o "circuit weight training" e o "multiple set system"

Universidade Estadual de Campinas . Faculdade de Educação Física

Ginastica de Grande Area : uma realidade possivel no contexto escolar

Universidade Estadual de Campinas. Faculdade de Educação Física

Inter-relações de turistas e moradores : um olhar atraves das manifestações corporais no Carnaval de Ouro Preto

Universidade Estadual de Campinas. Faculdade de Educação Física

Effect of repeated disinfections by microwave energy on the physical and mechanical properties of denture base acrylic resins

The present study evaluated the effect of repeated simulated microwave disinfection on physical and mechanical properties of Clássico, Onda-Cryl and QC-20 denture base acrylic resins. Aluminum patterns were included in metallic or plastic flasks with dental stone following the traditional packing method. The powder/liquid mixing ratio was established according to the manufacturer's instructions. After water-bath polymerization at 74ºC for 9 h, boiling water for 20 min or microwave energy at 900 W for 10 min, the specimens were deflasked after flask cooling and finished. Each specimen was immersed in 150 mL of distilled water and underwent 5 disinfection cycles in a microwave oven set at 650 W for 3 min. Non-disinfected and disinfected specimens were subjected to the following tets: Knoop hardness test was performed with 25 g load for 10 s, impact strength test was done using the Charpy system with 40 kpcm, and 3-point bending test (flexural strength) was performed at a crosshead speed of 0.5 mm/min until fracture. Data were analyzed statistically by ANOVA and Tukey's test (α= 0.05%). Repeated simulated microwave disinfections decreased the Knoop hardness of Clássico and Onda-Cryl resins and had no effect on the impact strength of QC-20. The flexural strength was similar for all tested resins.

Universo moral de jovens internos da Febem

Neste estudo, apresentamos elementos do universo moral de jovens internos da Fundação do Bem-Estar do Menor do Estado de São Paulo. Entrevistamos 14 sujeitos sobre o tema do 'Seguro', uma forma de organização criada pelos próprios jovens internos, que está baseada em regras precisas cuja desobediência implica a exclusão do transgressor. Procuramos verificar as formas de legitimação da referida organização, e os valores morais que a sustentam. As categorias de análise dos dados foram: autonomia/heteronomia, virtudes e personalidade moral. Os dados apontam para o predomínio de formas heteronômicas de legitimação das regras, para a valorização de certos traços de caráter (virtudes) como a 'firmeza', a 'virilidade', a 'coragem' e para a franca desvalorização de seus contrários (fraqueza, homossexualidade, medo). Os dados também apontam para a construção de uma identidade que inclui valores do chamado 'mundo do crime' e que se opõe claramente ao 'mundão', que inclui as pessoas que não são os 'malandros'.

“Memória e sociedade”: ciência poética e referência de humanismo

O artigo apresenta um conjunto articulado de reflexões a respeito do livro Memória e Sociedade: Lembranças de Velhos, de Ecléa Bosi, aqui considerado como obra-prima da psicologia social e das ciências humanas. Procura destacar as originalidades de natureza teórico-metodológica do texto, a começar por uma composição singular que incorpora poesia na construção científica, passando por uma redefinição das relações entre sujeito e objeto do conhecimento, ao desenvolver a perspectiva de alternância da condição entre ambos, no desdobramento da pesquisa. Mostra, também, como o estudo de Ecléa Bosi se fundamenta em estreitos vínculos entre a pesquisadora e os velhos pesquisados, de modo a se formar entre eles uma comunidade de destino.

Lei n.º 11.889/2008: avanço ou retrocesso nas competências do técnico em saúde bucal?

O objetivo deste estudo foi analisar as competências que, desde a aprovação da lei n.º 11.889/08, incumbem ao técnico em saúde bucal (TSB) no Brasil, incluindo os termos definidos para sua supervisão. Foi realizada análise documental, comparando-se as competências definidas no referido instrumento legal com as previstas no parecer n.º 460/75 do Conselho Federal de Educação e na resolução n.º 63/2005 do Conselho Federal de Odontologia. Foram empregadas técnicas de análise temática considerando-se as habilidades em termos de ações diretas e indiretas distribuídas em quatro áreas de competência: planejamento e administração em saúde, promoção da saúde, prevenção de doenças e de assistência individual. Embora as competências aprovadas na lei tenham sido distribuídas em um número menor de itens, comparado aos dois outros documentos, do ponto de vista qualitativo, os resultados da análise permitiram concluir que vários avanços foram obtidos com a regulamentação da profissão, nos termos aprovados, em todas as áreas de competência. Houve impacto positivo para o processo de trabalho em saúde, tanto com relação à cooperação interprofissional quanto à supervisão técnica das atividades, representando uma conquista relevante dos trabalhadores da área e também uma contribuição significativa para avançar na ampliação do acesso aos serviços odontológicos

A Classificação Internacional de Funcionalidade, Incapacidade e Saúde e a AIDS: uma proposta de core set

O advento da terapia anti-retroviral de alta potência (HAART) alterou a história natural da aids, diminuindo sua mortalidade e a incidência de doenças oportunistas e aumentando a esperança de vida das pessoas vivendo com aids.Como uma doença crônica, outras questões passam a ser relevantes, entre elas a adesão ao tratamento, seus efeitos adversos e a qualidade de vida das pessoas nessa condição. A CIF constitui um instrumento adequado para identificar as características da funcionalidade, do ambiente e condições pessoais que interferem na qualidade de vida. Instrumentos para a sua aplicação, core sets, têm sido desenvolvidos para várias condições de saúde. Com o objetivo de propor um core set para aids, foram desenvolvidas duas etapas preliminares do modelo proposto para a construção desses instrumentos. A primeira etapa, de revisão sistemática buscou no MEDLINE artigos com descritores HAART e qualidade de vida, publicados em inglês, de 2000 a 2004. Foram selecionados 31 estudos que resultou em 87 conceitos dos quais 66 puderam ser identificados como categorias da CIF. Estas formaram as perguntas da entrevista aplicada em 42 voluntários, pacientes de um centro de referência para DST e Aids de São Paulo. Entre as condições mais freqüentemente associadas ao tratamento, estão às mudanças na imagem corporal, conseqüência da lipodistrofia, apontada em 84 por cento dos estudos e em 93 por cento das entrevistas. Alterações das funções digestivas, das relações íntimas, e das funções sexuais foram condições importantes identificadas no estudo. As duas etapas definiram 40 categorias da CIF como proposta preliminar de um core set para pacientes com aids