Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Metodologia para rastreamento com modificação dos zeros e rejeição de distúrbio aplicada a sistemas incertos

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

An Intelligent Controller Design for Magnetorheological Damper Based on a Quarter-car Model

This paper presents the control strategies of nonlinear vehicle suspension using a magnetorheological (MR) damper. We used two different approaches for modeling and control of the mechanical and electrical parts of the suspension systems with the MR damper. First, we have formulated and resolved the control problem in order to design the linear feedback dumping force controller for a nonlinear suspension system. Then the values of the control dumping force functions were transformed into electrical control signals by the application of a fuzzy logic control method. The numerical simulations were provided in order to show the effectiveness of this method for the semi-active control of the quarter-car suspension.

Coincidence points of fiber maps on S-n-bundles

In this note we study coincidence of pairs of fiber-preserving maps f, g : E-1 -> E-2 where E-1, E-2 are S-n-bundles over a space B. We will show that for each homotopy class vertical bar f vertical bar of fiber-preserving maps over B, there is only one homotopy class vertical bar g vertical bar such that the pair (f, g), where vertical bar g vertical bar = vertical bar tau circle f vertical bar can be deformed to a coincidence free pair. Here tau : E-2 -> E-2 is a fiber-preserving map which is fixed point free. In the case where the base is S-1 we classify the bundles, the homotopy classes of maps over S-1 and the pairs which can be deformed to coincidence free. At the end we discuss the self-coincidence problem. (C) 2010 Elsevier B.V. All rights reserved.

Traços de personalidade e habilidades sociais em universitários

O presente estudo teve como objetivo analisar as relações entre habilidades sociais e traços de personalidade englobados por socialização, no modelo dos Cinco Grandes Fatores. O Inventário de Habilidades Sociais (IHS) foi utilizado para a mensuração de habilidades sociais, e para avaliação do nível de socialização foi escolhida a Escala Fatorial de Socialização (EFS). A amostra foi composta por 126 estudantes universitários com média de idade de 21 anos (DP=3,37), e 53,5% eram homens. Os resultados da IHS e EFS foram comparados para os sexos, encontrando-se diferenças estatisticamente significativas para seis das dez medidas realizadas no estudo. Foram encontradas correlações significativas entre amabilidade, auto-afirmação e o total do IHS. Pró-sociabilidade correlacionou-se com auto-afirmação e autocontrole. Confiança nas pessoas apresentou correlações significativas com enfrentamento, auto-afirmação e autocontrole. Os resultados indicam que, efetivamente, a personalidade pode influenciar diferentes aspectos da habilidade social.

Macro mineral requirements by grazing zebu bovines

The objective of this study was to determine requirements of calcium (Ca), phosphorus (P), magnesium (Mg), potassium (K) and sodium (Na) for grazing zebu bovines. The experiment area was composed of Brachiaria decumbens paddocks. Twenty-seven non-castrated animals, with initial live weight of 311.0 kg and at an average age of 14 months were used. Three animals were slaughtered, after adaptation period, so they were used as control for estimates of empty body weight and initial body composition of animals in the experiment. Out of the 24 remaining animals, four were sent to the maintenance group with restrict grazing time to limit energy intake close to the maintenance level. The other 20 animals were distributed in four treatments: mineral mixture, self-control intake and three-times-a-week-offer frequency (offered on Mondays, Wednesdays and Fridays) and daily. Concentrations of all studied macro elements in empty body and empty body gain decreased as live weight increased. The ratios obtained for g Ca/100 g of retained protein and g P/100 g of retained protein were 9.18 and 4.72, respectively. Total dietary requirement of calcium was lower than the one recommended by NRC (2000), but P requirement was very close to that.

Intelligent alarm processing

This paper presents the analysis that have been carried out in the alarm system of the DCRanger EMS. The intention of this study is to present the problem of alarm processing in electric energy control centers, its various aspects and operational difficulties due to operator needs. Some tests are produced in order to identify the desirable features an alarm system should possess in order to be of effective help in the operative duty. © 2006 IEEE.

Controle ótimo H 'INFINITO' com modificação de zeros para o problema de rastreamento em sistemas discretos usando LMI

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Uma abordagem para problemas e controle ótimo via métodos de Runge-Kutta e análise de erro

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise não-diferenciável e condições necessárias de otimalidade para problema de controle ótimo com restrições mistas

Pós-graduação em Matemática - IBILCE

Cálculo variacional: aspectos teóricos e aplicações

Pós-graduação em Matemática Universitária - IGCE

O desenvolvimento psíquico na idade de transição e a formação da individualidade para-si: aportes teóricos para a educação escolar de adolescentes

Pós-graduação em Educação Escolar - FCLAR

Manejo de stress, coping e resiliência em motoristas de ônibus urbano

Pós-graduação em Psicologia do Desenvolvimento e Aprendizagem - FC

Um modelo semiótico dos processos nutricionais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)