999 resultados para Efeitos de segunda ordem


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In the last decades the study of integer-valued time series has gained notoriety due to its broad applicability (modeling the number of car accidents in a given highway, or the number of people infected by a virus are two examples). One of the main interests of this area of study is to make forecasts, and for this reason it is very important to propose methods to make such forecasts, which consist of nonnegative integer values, due to the discrete nature of the data. In this work, we focus on the study and proposal of forecasts one, two and h steps ahead for integer-valued second-order autoregressive conditional heteroskedasticity processes [INARCH (2)], and in determining some theoretical properties of this model, such as the ordinary moments of its marginal distribution and the asymptotic distribution of its conditional least squares estimators. In addition, we study, via Monte Carlo simulation, the behavior of the estimators for the parameters of INARCH(2) processes obtained using three di erent methods (Yule- Walker, conditional least squares, and conditional maximum likelihood), in terms of mean squared error, mean absolute error and bias. We present some forecast proposals for INARCH(2) processes, which are compared again via Monte Carlo simulation. As an application of this proposed theory, we model a dataset related to the number of live male births of mothers living at Riachuelo city, in the state of Rio Grande do Norte, Brazil.

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The Middle Devonian-Early Carboniferous sequence of the Parnaíba Basin, lithostratigraphically defined as Canindé Group, has been reinterpreted using the basic model of sequence stratigraphy. Therefore, lithology and gamma ray well-logs and seismic lines of central portion of the basin were analyzed, producing up from there diagrams 1D, isochore maps and stratigraphic sections. As results of this study, were defined two depositional cycles of second order, referred as Depositional Sequence 1 (SEQ1) and the Depositional Sequence 2 (SEQ2). The SEQ1, with interval about 37 Ma, is limited below by Early Devonian Unconformity and is equivalent to the formations Itaim, Pimenteiras and Cabeças. The SEQ2, which follows, comprises a range of about 15 Ma and is equivalent to the Longá Formation The SEQ1 starts with the lowstand systems tract, consisting of progradational parasequence set in the basal part, predominantly pelitic, deposited on a prodelta under influence of storms and the upper part consists in sandstones of deltaic front, with the maximum regressive surface on the upper limit. The transgressive systems tract, deposited above, is characterized by retrogradacional parasequence set composed of shallow shelf mudstones, deposited under storm conditions. The maximum flooding surface, upper limit of this tract, is positioned in a shale level whose radioactivity in gammaray well-log is close to 150 API. The highstand systems tract presents progradational parasequence set, comprising mudstones and sandstones deposited in shelf, fluvial-estuarine or deltaic and periglacial environments, with the upper limit the Late Devonian Unconformity. The SEQ2 was deposited in shelf environment, starting with the lowstand systems tract, that is characterized by a progradational parasequence set, followed by the transgressive systems tract, with retrogradational character. The upper limit of the tract corresponding to the fusion between maximum flooding surface with the upper limit of this sequence, which is the Early Carboniferous Unconformity, where the overlapping section was eroded. This section, which corresponds the highstand systems tract is restricted to portions at which the erosion that generate the Early-Carboniferous Unconformity was less effective, preserving the records of this unit.

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The Middle Devonian-Early Carboniferous sequence of the Parnaíba Basin, lithostratigraphically defined as Canindé Group, has been reinterpreted using the basic model of sequence stratigraphy. Therefore, lithology and gamma ray well-logs and seismic lines of central portion of the basin were analyzed, producing up from there diagrams 1D, isochore maps and stratigraphic sections. As results of this study, were defined two depositional cycles of second order, referred as Depositional Sequence 1 (SEQ1) and the Depositional Sequence 2 (SEQ2). The SEQ1, with interval about 37 Ma, is limited below by Early Devonian Unconformity and is equivalent to the formations Itaim, Pimenteiras and Cabeças. The SEQ2, which follows, comprises a range of about 15 Ma and is equivalent to the Longá Formation The SEQ1 starts with the lowstand systems tract, consisting of progradational parasequence set in the basal part, predominantly pelitic, deposited on a prodelta under influence of storms and the upper part consists in sandstones of deltaic front, with the maximum regressive surface on the upper limit. The transgressive systems tract, deposited above, is characterized by retrogradacional parasequence set composed of shallow shelf mudstones, deposited under storm conditions. The maximum flooding surface, upper limit of this tract, is positioned in a shale level whose radioactivity in gammaray well-log is close to 150 API. The highstand systems tract presents progradational parasequence set, comprising mudstones and sandstones deposited in shelf, fluvial-estuarine or deltaic and periglacial environments, with the upper limit the Late Devonian Unconformity. The SEQ2 was deposited in shelf environment, starting with the lowstand systems tract, that is characterized by a progradational parasequence set, followed by the transgressive systems tract, with retrogradational character. The upper limit of the tract corresponding to the fusion between maximum flooding surface with the upper limit of this sequence, which is the Early Carboniferous Unconformity, where the overlapping section was eroded. This section, which corresponds the highstand systems tract is restricted to portions at which the erosion that generate the Early-Carboniferous Unconformity was less effective, preserving the records of this unit.

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Contamination of groundwater by BTX has been featured in recent decades. This type of contamination is due to small and continuous leaks at gas stations, causing serious problems to public health and the environment. Based on these antecedents, the search for new alternatives for treating contaminated water is shown to be essential. Therefore, this study aimed to evaluate the efficiency of removal of BTX by adsorption processes employing commercial alumina (Al2O3) and alumina supported with iron (Fe/Al2O3) as adsorbents. It was prepared by a in a synthetic gasoline solution and distilled water to simulate an actual sample. Initially, the adsorbents were characterized by techniques XRD, TG / DTG, XRF, FTIR and SEM/EDS, several trials, where he was placed synthetic solution to react in the presence of Al2O3 and Fe/Al2O3 in a closed, mechanical stirring system were performed varying the catalyst concentration 2, 4 and 6 g.L-1 every 0, 10, 30 60, 90 and 120 min, aliquots were taken and brought to analysis by gas chromatography flame ionization with headspace extraction. The results indicated that the absorbent which has higher BTX removal capacity was the Fe/Al2O3 at a concentration of 6 g.L-1, pH = 4 and time of 90 minutes reaction, resulting in an efficiency, resulting in a 86,5% efficiency for benzene removal, for the 95,4% toluene, 90,8% for ɱ,ρ- xylene and 93.7% for the θ-xylenes. Subsequently, we performed a kinetic study of the reactions, the values of experimental adsorption capacity (qe) showed agreement with the values of the theoretical adsorption capacity (qc) to the pseudo-second-order model in the adsorption tests using 2 and 6 gL-1 of Al2O3 and assays using 2, 4 and 6 g.L-1 of Fe/Al2O3. A fact corroborated by the R2 values, thus indicating that the chemical interactions are present in the adsorption mechanisms of BTX.

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In this work a chitosan (CS) ionically crosslinked were manufactured by treatment with sulfuric acid solution for application in the treatment of wastewater from oil industry. Two crosslinking process were developed: homogeneous and heterogeneous. In the homogeneous process the ratio molar of SO42-/ NH3+ (1:6 and 1:4) were the variable analyzed, denominated CS16 and CS14 respectively. In the heterogeneous process the soaking time of the membranes in sulfuric acid solution were the variable studied, being used times of 5 (CS5) and 30 (CS30) minutes. FTIR-ATR results indicated no changes in the characteristics of chitosan after homogeneous crosslinking process, while heterogeneous crosslinking showed formation of ionic bonds between protonated groups from chitosan and the crosslinking agent sulfate ions. TG/DTG and XRD analysis confirmed the formation of these interactions, as also shown the new structure on the surface region of CS5 and CS30 membranes compared to CS, CS16 e CS14. Swelling test in aqueous medium have shown that crosslinking process reduced the membrane sorption capacity. Swelling test in acid medium demonstrated that CS16 and CS14 membranes increasing the adsorption capacity up to a maximum percentage of 140% approximately, whereas the CS5 e CS30 reached a maximum of 60%. The mechanical properties indicated the stiff and ductile behavior of crosslinked membrane. Adsorption experiments of CuCl2 results that CS16 membranes reached the efficiency maximum with 73% of copper removal at pH 5.0 and 87% at pH 4.0. The experiments with CuSO4 also obtained efficiency maximum to the CS16 membrane and 80% to the removal of Cu2+ ions. Also was verified that the increase of concentration and temperature cause a decrease in the adsorption capacity for all membranes. Kinetics study indicated that pseudo-second-order obtained characterized better the membranes. Equilibrium studies demonstrated that the CS, CS16 and CS14 follow the Langmuir model, whereas CS5 and CS30 follows Freundlich model. Filtration experiments results with rejection maximum to the CS16 and CS5 membranes, reaching 92 and 98% respectively.

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In this work a chitosan (CS) ionically crosslinked were manufactured by treatment with sulfuric acid solution for application in the treatment of wastewater from oil industry. Two crosslinking process were developed: homogeneous and heterogeneous. In the homogeneous process the ratio molar of SO42-/ NH3+ (1:6 and 1:4) were the variable analyzed, denominated CS16 and CS14 respectively. In the heterogeneous process the soaking time of the membranes in sulfuric acid solution were the variable studied, being used times of 5 (CS5) and 30 (CS30) minutes. FTIR-ATR results indicated no changes in the characteristics of chitosan after homogeneous crosslinking process, while heterogeneous crosslinking showed formation of ionic bonds between protonated groups from chitosan and the crosslinking agent sulfate ions. TG/DTG and XRD analysis confirmed the formation of these interactions, as also shown the new structure on the surface region of CS5 and CS30 membranes compared to CS, CS16 e CS14. Swelling test in aqueous medium have shown that crosslinking process reduced the membrane sorption capacity. Swelling test in acid medium demonstrated that CS16 and CS14 membranes increasing the adsorption capacity up to a maximum percentage of 140% approximately, whereas the CS5 e CS30 reached a maximum of 60%. The mechanical properties indicated the stiff and ductile behavior of crosslinked membrane. Adsorption experiments of CuCl2 results that CS16 membranes reached the efficiency maximum with 73% of copper removal at pH 5.0 and 87% at pH 4.0. The experiments with CuSO4 also obtained efficiency maximum to the CS16 membrane and 80% to the removal of Cu2+ ions. Also was verified that the increase of concentration and temperature cause a decrease in the adsorption capacity for all membranes. Kinetics study indicated that pseudo-second-order obtained characterized better the membranes. Equilibrium studies demonstrated that the CS, CS16 and CS14 follow the Langmuir model, whereas CS5 and CS30 follows Freundlich model. Filtration experiments results with rejection maximum to the CS16 and CS5 membranes, reaching 92 and 98% respectively.

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This Thesis comprises a theoretical study about the influence of the magnetocrystalline anisotropy on the static and dynamic magnetic properties of nanofilms: monolayers and trilayers coupled through the bilinear and biquadratic exchange fields, for situations in which the systems are grown in unusual [hkl] asymmetric directions. Using a theory based on a realistic phenomenological model for description of nanometric systems, we consider the total free magnetic energy including the Zeeman interaction, cubic and uniaxial anisotropies, demagnetizing and surface anysotropy energies, as well as the exchange terms. Numerical calculations are conducted by minimizing the total magnetic energy from the determination of equilibrium static configurations. We consider experimental parameters found in the literature to illustrate our results for Fe/Cr/Fe trilayer systems. In particular, a total of six different magnetic scenarios are analyzed for three regimens of exchange fields and the [211] and [321] asymmetric growth directions. After numerically minimize the total energy, we use the equilibrium configurations to calculate magnetization and magnetoresistance curves with the respective magnetic phases and corresponding critical fields. These results are also used to establish the boundary for occurrence of saturated states. Within the context of the spin waves, we solve the equation of motion for these systems in order to find the respective associated dispersion relations. The results show similar magnetization and magnetoresistance curves for both [211] and [321] growth scenarios, including an equivalent magnetic transition behavior. However, the combination of those peculiar symmetries and influence of the exchange energies results in attractive properties, including the generation of magnetic states as a function of the asymmetric degree imposed in the [hkl] growth orientations. There is also an increasing incompatibility between the values of saturation fields of magnetization and magnetoresistance for the cases in which a magnetic field acts along intermediate cubic anisotropic axes, particularly in the situations where the bilinear and biquadratic exchange fields are comparable. The dispersion relations and static results are consistent, the corresponding magnetic states are also present in both acoustic and optical modes. Furthermore, Goldstone excitations are also observed for that particular cases of a magnetic field acting in the intermediate axes, an effect related to transitions of second order and to the spontaneous symmetry breaking imposed by the combination of the biquadratic energy with the cubic and uniaxial anisotropies.

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Chemical modification of polymer matrices is an alternative way to change its surface properties. The introduction of sulfonic acid groups in polymer matrices alter properties such as adhesion, wettability, biocampatibility, catalytic activity, among others. This paper describes the preparation of polymeric solid acid based on the chemical modification of poly (1-fenietileno) (PS) and Poly (1-chloroethylene) (PVC) by the introduction of sulfonic acid groups and the application of these polymers as catalysts in the esterification reaction of oleic acid with methanol. The modified materials were characterized by Infrared Spectroscopy, Elemental Analysis and titration acid-base of the acid groups. All techniques confirmed the chemical changes and the presence of sulfur associated with sulfonic acid groups or sulfates. The modified polymers excellent performance in the esterification reaction of oleic acid with methanol a degree of conversion higher than 90% for all investigated polymers (modified PS and PVC (5% w / w)), with a mass ratio of oleic acid: methanol 1:10 to 100 ° C. The best performance was observed for the modified PVC catalyst (PVCS) which showed low degree of swelling during the reactions is recovered by filtration different from that observed for polystyrene sulfonate (PSS). Given these facts, the PVCS was employed as a catalyst in the esterification reaction of oleic acid in different times and different temperatures to obtain the kinetic parameters of the reaction. Experimental data show a great fit for pseudo-homogeneous model of second order and activation energy value of 41.12 kJ mol -1, below that found in the literature for the uncatalyzed reaction, 68.65 kJ mol -1 .The PVCS exhibits good catalytic activity for 3 times of reuse, with a slight decrease in the third cycle, but with a conversion of about 78%. The results show that solid polymeric acid has good chemical stability for the application in esterification reaction of commercial importance with possible application in the biodiesel production. The advantages in use of this system are the increased reaction rate at about 150 times, at these test conditions, the replacement of sulfuric acid as a catalyst for this being the most corrosive and the possibility of reuse of the polymer for several cycles.

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Os estudos de adsorção de corantes alimentícios de soluções aquosas geralmente estão voltados para a remoção de um corante específico, porém, as misturas binárias são mais realistas para simular efluentes industriais. A adsorção de corantes com quitosana é considerada uma tecnologia alternativa eco amigável, e quando a estrutura da quitosana é modificada quimicamente, resulta em um adsorvente mais adequado. A reticulação da quitosana com cianoguanidina apresenta vantagens, como melhoria na estabilidade em soluções ácidas e diminuição do custo do adsorvente. Nesta pesquisa, o objetivo do trabalho foi modificar a quitosana com cianoguanidina para remoção de corantes alimentícios em sistema aquoso binário. A fim de verificar o comportamento dos adsorventes na operação de adsorção, foram preparadas amostras de quitosana com diferentes graus de desacetilação (75%, 85% e 95%), e após, foram realizadas modificações destas amostras com cianoguanidina. Os adsorventes foram caracterizados e aplicados para a adsorção de azul indigotina e amarelo tatrazina em sistema aquoso binário e em sistema simples. O efeito do pH e do grau de desacetilação foram verificados para a remoção dos corantes por quitosana com e sem modificação em sistema simples e binário. Curvas de equilíbrio foram obtidas em diferentes temperaturas e o modelo estendido de Langmuir foi ajustado aos dados experimentais. O comportamento cinético foi avaliado através dos modelos pseudo-primeira ordem, pseudo-segunda ordem e Avrami. Os parâmetros termodinâmicos foram determinados e estudos de dessorção do adsorvente foram realizados. O pH mais adequado foi 3, e o melhor grau de desacetilação foi 95% para ambos os sistemas aquosos e adsorbatos. As capacidades de adsorção da quitosana sem e com modificação não apresentaram diferença significativa. O modelo de Langmuir estendido apresentou ajuste adequado às curvas de equilíbrio e as máximas capacidades de adsorção foram 595,3 e 680,0 mg g-1, obtidas à 25ºC, para o os corantes azul indigotina e amarelo tatrazina, respectivamente. O modelo de Avrami foi o que melhor se ajustou aos dados cinéticos de adsorção. A dessorção do adsorvente foi possível por dois ciclos, mantendo sua capacidade de adsorção em 209,7 mg g-1 no primeiro ciclo e 200,2 mg g-1 no segundo ciclo. A quitosana modificada com cianoguanidina apresentou-se como um adsorvente promissor para a remoção de corantes alimentícios em sistema binário.

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Os Hidrocarbonetos Aromáticos Policíclicos (HAPs) são contaminantes persistentes em meio aquoso. Estes compostos são conhecidos pelas suas propriedades carcinogénicas, mutagénicas e genotóxicas. O principal objetivo deste trabalho consistiu na avaliação das potencialidades de subprodutos da indústria corticeira, como adsorventes alternativos para a remoção de cinco HAPs em meio aquoso: benzo(a)pireno, benzo(ghi)perileno, benzo(b)fluoranteno, benzo(k)fluoranteno e indeno(1,2,3-cd)pireno. A metodologia analítica para quantificar os HAPs envolveu a preparação das amostras, através da técnica de extração em fase sólida (SPE), e a quantificação dos compostos analisados por cromatografia líquida com detetor de fluorescência (LC-FLD). O método foi otimizado e validado, obtendo-se limites de quantificação de 0,004 μg/L para todos os HAPs. Os estudos incidiram na utilização de uma amostra de cortiça, pó de aglomerado de cortiça expandida (PACE), obtida por aglutinação de cortiça em condições hidrotérmicas, a qual nos estudos preliminares revelou desempenho semelhante aos carvões ativados. Com exceção do benzo(ghi)perileno, os resultados mostram que o processo de adsorção dos HAPs na amostra PACE segue uma cinética de pseudo-segunda ordem e as isotérmicas ajustam-se ao modelo de Langmuir.

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The environmental pollution caused by industries has increased the concentration of pollutants in the environment, especially in water. Among the most diverse contaminants, there is the metals, who may or may not to be heavy/toxic, causing effluent of difficult treatment when in low concentrations. The search for alternative measures of wastewater effluent treatment has led to studies using phytoremediation technique through the various matrices (plant, fungi, bacteria) as means of polishing treatment to remove contaminants by means of biosorption/bioaccumulation. In order to use the phytoremediation technique for removing metals of the environmental, it have been performed bioassay with the macrophyte Pistia stratiotes. The bioassays were realized with healthy plants of P. stratiotes acclimatized in a greenhouse, at room temperature and lighting conditions during 28 days of cultivate. The cultivations were performed in glass vessels containing 1 L of the hydroponic solution with chromium (VI) in the potassium dichromate form with concentration range 0.10 to 4.90 mg L-1. The experiments were performed by Outlining Central Composite Rotational (OCCR), where the kinetics of bioaccumulation and chlorophyll a fluorescence were monitored in plants of P. stratiotes during cultivation. The collections of the samples and cultive solution were performed according to the OCCR. The chromium levels were measured in samples of P. stratiotes and the remaining solutions by the methodology of atomic absorption spectrometry by flame. The tolerance of P. stratiotes in relation to exposure to chromium (VI) was analyzed by parameters of physiological activity by means of chlorophyll a fluorescence, using the portable fluorometer PAM (Pulse Amplitude Modulation). The development of P. stratiots and their biomass were related to the time factor, while bioaccumulation capacities were strongly influenced by factors of time and chromium concentration (VI). The chlorophyll fluorescence parameters were affected by chromium and the exposure time at the bioassays. It was obtained an higher metal removal from the root in relation to the sheet, reaching a high rate of metal removal in solution. The experimental data removal kinetics were represented by kinetic models Irreversibly Langmuir, Reversible Langmuir, Pseudo-first Order and Pseudo-second Order, and the best fit for the culture solution was the Reversible Langmuir model with R² 0.993 and for the plant the best model was Pseudo-second order with R² 0.760.

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Na indústria têxtil grandes volumes de efluentes são gerados, os quais são caracterizados por serem coloridos e poluentes , devido à presença de corantes em sua composição. Com a necessidade de descontaminação, diferentes métodos são utilizados no tratamento, sendo um deles, a biossorção. Este consiste na remoção das substâncias tóxicas recorrendo a biossorventes obtidos a partir de resíduos agrícolas e sub-produtos de processos industriais. O objetivo principal deste trabalho foi estudar a remoção do corante Preto Reafix Super 2R em soluções aquosas por meio de biossorção com bagaço de malte. Baseando-se sobretudo no estudo da cinética e equilíbrio entre o biossorvente e o corante. Numa primeira fase foi estudada a influência dos parâmetros operacionais, como a influência do diâmetro médio das partículas do biossorvente, o pH da solução e a velocidade de agitação da solução. Sendo as condições ótimas de biossorção definidas a pH 2, velocidade de agitação de 150 rpm e biomassa sem peneiramento. Posteriormente, ajustaram-se os modelos cinéticos de Pseudo-primeira ordem, Pseudo-segunda ordem e de Difusão intrapartícula aos resultados experimentais obtidos pela cinética de adsorção avaliando também a influência da temperatura no tempo de contato para se alcançar o equilibrio. O modelo de Pseudo-segunda ordem conduziu ao melhor ajuste, com um coeficiente de correlação (R2) de apróximadamente 1. A partir dos testes de equilíbrio realizados com diferentes concentrações de corante, foram ajustadas as isotermas de Langmuir, Freundlich, Tempkin aos resultados experimentais tendo-se obtido parâmetros bastante significativos para o modelo Langmuir, cuja capacidade máxima de remoção (qmax) obtida foi de 40,16 mg.g-1. A análise dos parâmetros termodinâmicos permitiram avaliar que o processo de adsorção ocorre espontaneamente, sendo endotérmico e que ao longo do processo aumenta a aleatoriedade na interface sólido/solução, devido à desorganização do processo em virtude das interações que ocorrem.

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The destructive impact of improper disposal of heavy metals in the environment increases as a direct result of population explosion, urbanization and industrial expansion and technological developments. Argil are potential materials for adsorption of inorganic and the pelletization of it is required for use in adsorptive columns of fixed bed. The low cost and the possibility of regeneration makes these materials attractive for use in the purification process, capable of removing inorganic compounds in contaminated aquatic environments. In this work was made pellets of a mixture of dolomite and montmorillonite by wet agglomeration, in different percentages. The removal of Pb (II) was investigated through experimental studies, and was modeled by kinetic models and isotherms of adsorption. The materials were characterized using the techniques of XRD, TG / DTA, FT-IR, and surface area by BET method. The results showed the adsorption efficiency of the contaminant by the composite material studied in synthetic solution. The study found that the adsorption follows the Langmuir model, and the kinetics of adsorption follows the model of pseudosecond order

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Produced water is the main effluent linked to the activity of extraction of oil and their caring management is necessary due to the large volume involved, to ensure to minimize the negative impacts of discharges of these waters in the environment. This study aimed to analyze the use of retorted shale, which is a reject from the pyrolysis of pirobituminous shale, as adsorbent for the removal of phenols in produced water. The material was characterized by different techniques (grain sized analysis, thermal analysis, BET, FRX, FT-IR, XRD and SEM), showing the heterogeneity in their composition, showing its potential for the removal of varied compounds, as well as the phenols and their derivatives. For the analysis of the efficiency of the oil shale for the adsorption process, assays of adsorption balance were carried through, and also kinetic studies and dynamics adsorption, in the ETE of the UTPF of Petrobras, in Guamaré-RN. The balance assays shown a bigger conformity with the model of Langmuir and the kinetic model more adjusted to describe the adsorption of phenols in retorted shale was of pseudo-second order. The retorted shale presented a low capacity of adsorption of phenols (1,3mg/g), when related to others conventional adsorbents, however it is enough to the removal of these composites in concentrations presented in the produced water of the UTPF of Guamaré. The assays of dynamics adsorption in field had shown that the concentration of phenol in the effluent was null until reaching its rupture (58 hours). The results showed the possibility of use of the reject for removal of phenols in the final operations of the treatment process, removing as well, satisfactorily, the color and turbidity of the produced water, with more than 90% of removal

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Currently the uncertain system has attracted much academic community from the standpoint of scientific research and also practical applications. A series of mathematical approaches emerge in order to troubleshoot the uncertainties of real physical systems. In this context, the work presented here focuses on the application of control theory in a nonlinear dynamical system with parametric variations in order and robustness. We used as the practical application of this work, a system of tanks Quanser associates, in a configuration, whose mathematical model is represented by a second order system with input and output (SISO). The control system is performed by PID controllers, designed by various techniques, aiming to achieve robust performance and stability when subjected to parameter variations. Other controllers are designed with the intention of comparing the performance and robust stability of such systems. The results are obtained and compared from simulations in Matlab-simulink.