Análise dinâmica de mecanismo articulado de suspensão com não-linearidade na rigidez devido à geometria e à excitação por desbalanceamento rotativo na condição não ideal

Pós-graduação em Engenharia Mecânica - FEB

Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Estudo da fluidodinâmica de uma mistura de sólidos em um leito fluidizado gás-sólido

Fluidization consists in a bed of solid particles acquire fluid behavior by using a fluid (in this case air) flowing through the solid particles. Because of this, it can be a good mix of these materials, as well as to show increased rates of heat and mass transport. The fluid flowing through the spaces between the particles gives an interstitial velocity, that if is too low does not cause movement of the particulates. The gradual increase in speed will generate small vibrations between the particles promotes its fluidization. Our study focus in the fluid state of solid bed , when the fluid velocity reaches a state where the drag forces are sufficient to support the weight of the solid particles making these solids behave like fluids . Knowledge of the minimum velocity required to fluidize that particles is of great importance since below this speed there is no fluidization, and far above it, the solids are carried out of the bed. The fluidized bed reactor is widely used in physics and engineering, particularly in gas-solid fluidization, with emphasis on thermochemical processes

Biotecnologias aplicadas à reprodução de éguas velhas

The acceptance of biotechnology for the most equine breeders association had a significant effect in the horse industry, gaining popularity around the world, because the increasing on the genetic gain, allowing the use of sub fertile mares and stallions with high genetics value on reproduction. The embryos in vitro production of human and cattle has been used with success, however in vitro embryo production is not efficient in the horse, as oocyte transfer (OT) and intracytoplasmatic sperm injection (ICSI). The oocyte transfer has been used especially in subfertile old mares presenting reproductive pathologies as: endometrite, cervical and uterine adhesions, blocked oviduct, perineal laceration and ovulation failures. During oocyte recovery process, the oocytes must be collected from immature follicles that need be matured in vitro or in vivo matured oocytes from pre-ovulatory follicles through the transvaginal aspiration guided by ultrasound. The recovered oocyte is transferred to a previously inseminated recipient mare, through the flank laparotomy. The intracytoplasmatic sperm injection (ICSI) is a procedure of in vitro fertilization that needs only one sperm that is aspirated and injected inside the oocyte. The oocytes used, can be from mature and immature follicles. Fresh, cooled and frozen semen can be used, because the procedure not requires a functional sperm. The use of Piezo drill resulted in a breakthrough the pellucid zone, allowing the vibration per minute provided in the sperm injection pipette, a major result of cleaved oocytes, due to a better sperm injection in the oocyte. The embryo transfer can be straight inside the oviduct, as also transcervical transferred after embryo culture produced in vitro. In conclusion both procedures (OT and ICSI) are effective to be used on equine assisted reproduction, getting results even lower than expected, but satisfactory from animal genetically superior

Estudo comparativo de dois tipos de painéis de MDP: com adição de papel impregnado e lâminas de bambu

This work is the production of two types of particle boards reconstructed MDP (Medium Density Particleboard), the first with the addition, in the inner layer of particles of impregnated paper, the ratios of 0%, 1%, 5% and 20 %. In the second type of panel MDP was inserted with blades of bamboo species Dendrocalumus giganteus as coatings and structural reinforcement. The MDP panel, used as a basis for both cases has the composition of three layers, two external particles with smaller particle size and an inner layer composed of particles of larger particle sizes. Assays were performed based on physical and mechanical NBR 14.810/2006 for the determination of the board density, thickness swelling, water absorption, moisture content, bending, tension parallel and perpendicular, and testing of particle sizes of the particles did not exists in standard references. The results were analyzed and compared the results of the commercial boards made from 100% eucalyptus, based on the limits specified by the ABNT NBR 14.810/2006. The values of the tests showed similar results indicating normative specifications in a positive way, the possibility of production of MDP with the use of waste paper impregnated. As for the panel with bamboo blades, the tests showed a mechanical performance far superior to MDP market, explaining the study and possible implementation of the bamboo for use where the MDP will suffer greater mechanical stress, such as doors, tops and benches tables

Colheita de energia usando dispositivos baseados em materiais piezoelétrico

Recently, research on energy harvesting has increased substantially. Many researchers have concentrated their efforts to find the best configuration for these systems and to optimize their output power. In the process of energy harvesting, the electric energy is obtained by converting mechanics energy created by an environment vibration source by a transducer, for example, a thin piezoceramic film. That vibration source is, for example, a beam suffering some mechanic force able to generate a vibration in it, an oscillating beam is the best properly used example. Different mechanisms of electromechanical coupling have been developed to harvesting devices, and a particular interest has been given to the use of models that transform the mechanical vibration into electrical current using a piezoelectric element. In this paper we propose a model to energy harvesting from vibrations, from an oscillating beam, including non-linearities in the piezoelectric coupling and a non-ideal excitation in the material. From this model, it was developed a system to obtain some results about the harvested power by the material. It was demonstrated that the power captured was influenced by the effect of the nonlinearities of the piezoelectric coupling, modifying the system dynamic behavior

Estudo do comportamento em fadiga de um tubo de aço API 5CT soldado por resistência elétrica

The oil extraction in deep waters sparked new areas of knowledge, the creation of engineering courses dedicated just to these processes and a wide field of analysisvoiding multiple impacts in case of faults, mainly the economic and environmental. This paper aims to show on the effects and causes of fatigue failure in steel tubes used for oil and gastransportation (linepipe), mainly caused by vortex induced vibrations, or VIV. To make this, through laboratory tests, it found trough the curve Stress versus Number of Cycles, and thus estimating that with a stress value of 350 MPa or less, the fatigue life cycle of the API 5CT T95 (1% Cr) pipe is estimated infinite. It could conclude that the analyzed material has good fatigue failure resistance for offshore use, taking into account only the influence of VIV's, since there are no stress concentrators

Controlador PID utilizando microcontrolador PIC

This monograph proposes the implementation of a low cost PID controller utilizing a PIC microcontroller, and its application in a positioning system previously controlled by a dedicated integrated circuit for a positioning system. Applying the closed-loop PID control, the system instability was reduced, and its response was smoother, eliminating vibrations and mechanical wear compared to its response with the dedicated integrated circuit, which has a very limited control action. The actuator of the system is a DC motor, whose speed is controlled by the Pulse Width Modulation (PWM) technique, using a Full-Bridge circuit, allowing the shift of direction of rotation. The utilized microcontroller was the PIC16F684, which has an enhanced PWM module, with its analog converters used as reference and position feedback. The positioning sensor is a multiturn potentiometer coupled to the motor axis by gears. The possibility of programming the PID coefficients in the microcontroller, as well as the adjustment of the sampling rate, allows the implemented system achieving high level of versatility

Análise de geradores piezelétricos acoplados com circuitos retificadores operando em regime caótico

Pós-graduação em Engenharia Mecânica - FEIS

Controle ativo de estruturas reticuladas utilizando atuadores de pilha de pzt

Pós-graduação em Engenharia Mecânica - FEIS

Controle robusto de sistemas não lineares e chaveado de sistemas lineares usando realimentação derivativa

Pós-graduação em Engenharia Elétrica - FEIS

Dinâmica não linear e projeto de controle em sistemas de transporte vertical: comportamentos periódicos e caóticos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estratos

This paper presents a diagram that was produced in the dissertation “Vibrations: Art/Education in Practice and Discourse within Mental Health” which was developed within the Arts Graduate Program at Unesp. From the archaeological perspective proposed by Foucault, it was sought to excavate strata or layers of knowledge built around the concepts of madness, subjectivity and art, in order to emphasize the historical transformations that these conceptions have undergone over time, through words and images.

Estudo comparativo de filmes de corantes fenotiazínicos na superfície de eletrodo de carbono vítreo e adsorvidos em titânio fosfatado e suas aplicações eletroanalíticas

Pós-graduação em Ciência dos Materiais - FEIS

Effects of railway track vibration induced by passing trains on an energy harvesting device

Pós-graduação em Engenharia Mecânica - FEIS