Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Estratégia de conversor para interligação de sistemas de geração eólica à rede elétrica

Currently, there are several power converter topologies applied to wind power generation. The converters allow the use of wind turbines operating at variable speed, enabling better use of wind forces. The high performance of the converters is being increasingly demanded, mainly because of the increase in the power generation capacity by wind turbines, which gave rise to various converter topologies, such as parallel or multilevel converters. The use of converters allow effective control of the power injected into the grid, either partially, for the case using partial converter, or total control for the case of using full converter. The back-to-back converter is one of the most used topologies in the market today, due to its simple structure, with few components, contributing to robust and reliable performance. In this work, is presented the implementation of a wind cogeneration system using a permanent magnet synchronous generator (PMSG) associated with a back-to-back power converter is proposed, in order to inject active power in an electric power system. The control strategy of the active power delivered to the grid by cogeneration is based on the philosophy of indirect control

Controle inteligente de sistemas eletroidráulicos utilizando redes neurais artificiais

This work describes the development of a nonlinear control strategy for an electro-hydraulic actuated system. The system to be controlled is represented by a third order ordinary differential equation subject to a dead-zone input. The control strategy is based on a nonlinear control scheme, combined with an artificial intelligence algorithm, namely, the method of feedback linearization and an artificial neural network. It is shown that, when such a hard nonlinearity and modeling inaccuracies are considered, the nonlinear technique alone is not enough to ensure a good performance of the controller. Therefore, a compensation strategy based on artificial neural networks, which have been notoriously used in systems that require the simulation of the process of human inference, is used. The multilayer perceptron network and the radial basis functions network as well are adopted and mathematically implemented within the control law. On this basis, the compensation ability considering both networks is compared. Furthermore, the application of new intelligent control strategies for nonlinear and uncertain mechanical systems are proposed, showing that the combination of a nonlinear control methodology and artificial neural networks improves the overall control system performance. Numerical results are presented to demonstrate the efficacy of the proposed control system

Controle feedback de nível baseado em sensor de imagem aplicado ao equipamento misturador-decantador à inversão de fases (MDIF®)

The treatment of wastewaters contaminated with oil is of great practical interest and it is fundamental in environmental issues. A relevant process, which has been studied on continuous treatment of contaminated water with oil, is the equipment denominated MDIF® (a mixer-settler based on phase inversion). An important variable during the operation of MDIF® is the water-solvent interface level in the separation section. The control of this level is essential both to avoid the dragging of the solvent during the water removal and improve the extraction efficiency of the oil by the solvent. The measurement of oil-water interface level (in line) is still a hard task. There are few sensors able to measure oil-water interface level in a reliable way. In the case of lab scale systems, there are no interface sensors with compatible dimensions. The objective of this work was to implement a level control system to the organic solvent/water interface level on the equipment MDIF®. The detection of the interface level is based on the acquisition and treatment of images obtained dynamically through a standard camera (webcam). The control strategy was developed to operate in feedback mode, where the level measure obtained by image detection is compared to the desired level and an action is taken on a control valve according to an implemented PID law. A control and data acquisition program was developed in Fortran to accomplish the following tasks: image acquisition; water-solvent interface identification; to perform decisions and send control signals; and to record data in files. Some experimental runs in open-loop were carried out using the MDIF® and random pulse disturbances were applied on the input variable (water outlet flow). The responses of interface level permitted the process identification by transfer models. From these models, the parameters for a PID controller were tuned by direct synthesis and tests in closed-loop were performed. Preliminary results for the feedback loop demonstrated that the sensor and the control strategy developed in this work were suitable for the control of organic solvent-water interface level

Automação de um sistema rotatório para secagem do rejeito de maracujá

The rotary dryer is one of the most used equipments in processing industries. Its automatic control mode of operation is important specially to keep the moisture content of the final product in the desired value. The classical control strategies, like PID (proportional integral derivative) control, are largely used in the industrial sector because of its robustness and because they are easy to be implemented. In this work, a data acquisition system was implemented for monitoring the most relevant process variables, like: both inlet and outlet drying air temperature, dryer rotation, outlet air speed and humidity, and mass of the final product. Openloop tests were realized to identify a mathematical model able to represent the drying process for the rotary system. From this model, a PID controller was tuned using a direct synthesis method, assuming a first order trajectory. The PID controller was implemented in the system in order to control the inlet drying air temperature. By the end, closedloop tests (operating in automatic mode) were realized to observe the controller performance, and, after setting the best tune, experiments were realized using passion fruit seeds as raw material. The experiments realized in closedloop showed a satisfactory performance by the implemented control strategy for the drying air temperature of the rotary system

An experimental switchable stiffness device for shock isolation

The development of an experimental switching stiffness device fcr shock isolation is presented. The system uses magnetic forces to exert a restoring force, which results in an effective stiffness that is used to isolate a payload. When the magnetic force is turned on and off, a switchable stiffness is obtained. Characterization of the physical properties of the device is presented. They are estimated in terms of the percentage stiffness change and effective damping ratio when switched between two constant stiffness states. Additionally, the setup is used to implement a control strategy to reduce the shock response and minimize residual vibration. The system was found to be very effective for shock isolation. The response is reduced by around 50 percent compared with passive isolation showing good correlation with theoretical predictions, and the effective damping ratio in the system following the shock was increased from about 4.5 percent to 13 percent. (c) 2012 Elsevier Ltd. All rights reserved.

Estudo comparativo de estratégias de controle aplicadas a um gerador síncrono

The robustness and performance of the Variable Structure Adaptive Pole Placement Controller are evaluated in this work, where this controller is applied to control a synchronous generator connected to an infinite bus. The evaluation of the robustness of this controller will be accomplished through simulations, where the control algorithm was subjected to adverse conditions, such as: disturbances, parametric variations and unmodeled dynamic. It was also made a comparison of this control strategy with another one, using classic controllers. In the simulations, it is used a coupled model of the synchronous generator which variables have a high degree of coupling, in other words, if there is a change in the input variables of the generator, it will change all outputs simultaneously. The simulation results show which control strategy performs better and is more robust to disturbances, parametric variations and unmodeled dynamics for the control of Synchronous Generator

Interceptive Approach to Treatment of Impacted Maxillary Canines

Impaction of maxillary canines can be prevented by early intervention in the mixed dentition phase after the correct diagnosis of malocclusion, reducing the complexity of the treatment. This article reports the case of a 10-year-old patient who possessed impacted maxillary canines and, after early extraction of primary canines, had reestablished favorable permanent successors' eruption axis. This 5-year radiographic follow-up study with panoramic radiography shows that this can be used in practice and that an effective control strategy ensures the accuracy in the inclination of the impacted canines. Treatment success is related to early diagnosis and strategic interceptive treatment choice.

ASSESSING THE SUITABILITY of STERILE INSECT TECHNIQUE APPLIED TO AEDES AEGYPTI

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

On energy transfer phenomena, in a nonlinear ideal and nonideal essential vibrating systems, coupled to a (MR) magneto-rheological damper

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

Common vampire bat attacks on humans in a village of the Amazon region of Brazil

Agressões de morcegos a pessoas vêm sendo notificadas em várias comunidades amazônicas nesta última década. Isto constitui um risco potencial para a raiva humana transmitida por morcegos. O objetivo deste estudo foi de analisar fatores associados a estas agressões em uma destas comunidades. Foi realizado um estudo transversal em um povoado de garimpeiros na Região Amazônica brasileira (160 habitantes). Foi realizada a captura de morcegos junto às casas e foram enviadas amostras para o laboratório. Das 129 pessoas entrevistas, 41% foram agredidas por morcegos pelo menos uma vez, com 92% das mordidas localizadas nos dedos dos pés. Por meio de regressão logística, encontrou-se que adultos eram agredidos ao redor de quatro vezes mais do que crianças (OR = 3,75, IC: 1,46-9,62, p = 0,036). Homens foram agredidos com maior freqüência do que mulheres (OR = 2,08, IC: 0,90-4,76, p = 0,067). Nove Desmodus rotundus e três morcegos frugívoros foram capturados e resultaram negativos para a raiva. O estudo sugere que, em áreas de garimpo, adultos do sexo masculino têm maior probabilidade de serem agredidos por morcegos. As ações de controle para a raiva humana a serem desenvolvidas nestes lugares devem dar ênfase especial a adultos homens. Recomendam-se mais investigações sobre o modo como o garimpo na Região Amazônica está colocando em risco as pessoas e o ambiente.

A 12 kW three-phase low THD rectifier with high-frequency isolation and regulated DC output

A robust 12 kW rectifier with low THD in the line currents, based on an 18-pulse transformer arrangement with reduced kVA capacities followed by a high-frequency isolation stage is presented in this work. Three full-bridge (buck-based) converters are used to allow galvanic isolation and to balance the dc-link currents, without current sensing or current controller. The topology provides a regulated dc output with a very simple and well-known control strategy and natural three-phase power factor correction. The phase-shift PWM technique, with zero-voltage switching is used for the high-frequency dc-dc stage. Analytical results from Fourier analysis of winding currents and the vector diagram of winding voltages are presented. Experimental results from a 12 kW prototype are shown in the paper to verify the efficiency, robustness and simplicity of the command circuitry to the proposed concept.

Dog culling and replacement in an area endemic for visceral leishmaniasis in Brazil

Measures employed to control visceral leishmaniasis in Brazil have focused on vector control by residual insecticide spraying and diagnosis of infection with elimination of positive dogs. We describe dog culling and replacement in a Brazilian endemic area (the Alvorada District, Aracatuba, SP) in order to better understand dog population dynamics when elimination of the dog reservoir is adopted as the main control measure. From August 2002 to July 2004, 60.9% of the estimated dog population for the area was culled with a mean age of 34 months old. The presence of anti-Leishmania sp. antibodies was recorded for only 26.7% of the euthanized canines. Replacement was observed in 38.8% of the cases, some of them by 2 or more dogs and in a mean time of 4 months. Dogs were replaced mostly by puppies of both sexes with a mean age of 6.8 months. From August 2002 to April 2005 we were able to follow-up 116 of these dogs, during a mean time of 8.7 months. Canine visceral leishmaniasis seropositivity by ELISA was observed in 42.2% of the followed dogs, 30.6% of which were already positive at the first evaluation. By the end of the follow-up period 37% of the dogs were submitted to euthanasia, with a mean age of 18.3 months. In the studied CVL endemic area of Brazil, euthanasia and the subsequent replacement ratio were high, increasing the dog population turnover and leading to a younger population that might be more susceptible to a variety of other infectious diseases in addition to CVL. Dog culling as a control strategy for VL should be reassessed. (C) 2008 Elsevier B.V. All rights reserved.

Single-phase high power factor hybrid rectifier suitable for high-power applications

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A new three-phase low THD power supply with high-frequency isolation and 60V/200A regulated DC output

This work proposes a new isolated high power factor 12kW power supply based on an 18-pulse transformer arrangement. Three full-bridge converters are used for isolation and to balance the DC-link currents, without current sensing or a current controller. The topology provides a regulated DC output with a very simple control strategy. Simulation and experimental results are presented in this paper.