889 resultados para Robotics design framework


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This paper presents an important improvement of the MS2SV tool. The MS2SV performs the translation of mixed systems developed in MATLAB / Simulink for a structural or behavioral description in VHDL-AMS. Previously, the MS2SV translated only models of the LIB MS2SV library. This improvement allows designer to create your own library to translation. As case study was used a rudder controller employed in an unmanned aerial vehicle. For comparison with the original model the VHDL-AMS code obtained by the translation was simulated in SystemVision environment. The results proved the efficiency of the tool using the translation improvement proposed in this paper.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

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Esta tese apresenta uma metodologia flexível orientada a objetos (OO) para a aplicação no projeto e implementação de sistemas de software utilizados na realização de estudos dinâmicos de sistemas elétricos de grande porte. A metodologia OO proposta objetiva tornar mais simples o desenvolvimento, a atualização e a manutenção de complexos sistemas de software para estudos de transitórios eletromecânicos em sistemas elétricos de potência. Os requisitos de usuário são mapeados para um conjunto de classes básicas, as quais são usadas para efetuar a modelagem de dispositivos dinâmicos tais como geradores elétricos. Para avaliação da metodologia foram realizados dois estudos de casos. No primeiro estudo caso o Framework foi aplicado na simulação das unidades geradoras da Usina Hidrelétrica de Tucuruí. Os resultados da simulação foram comparados com medições obtidos em ensaios no campo e mostrou a boa performance do Framework na reprodução dos fenômenos eletromecânicos desta usina de grande porte. No segundo estudo de caso, por outro lado, o Framework foi aplicado na modelagem de um sistema de geração fotovoltaico (PV) com seu sistema de Rastreamento da Potência Máxima (MPPT). O controle MPPT foi implementado usando técnicas digitais. Os resultados das simulações demonstram a performance do Framework na modelagem do sistema de controle de corrente, assim como no controle MPPT, dos sistemas de geração PV.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

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Teaching Operating Systems (OS) is a rather hard task, since being an OS designer is not a desired goal for most students and the subject demands a large amount of knowledge over system's details. To reduce the difficulty many courses are planned with laboratory practices, differing in how the practices are designed. Some try to implement next-to-real kernels, others use simulators, and even others use synthetic kernels. In this paper an approach based on synthetic kernels is described. It uses thread programming in order to establish control over the operating system components. T his approach allows the kernel to grow following the materials presented in the course. It has been successfully applied in two different courses at our University, the first one being a basic OS course and the second one an upper level course. Results from these applications are presented.

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Pós-graduação em Design - FAAC

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

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Purpose: To evaluate the influence of the geometry and design of prosthetic crown preparations on stress distribution in compression tests, using finite element analysis (FEA). Materials and Methods: Six combinations of 3D drawings of all-ceramic crowns (yttria-stabilized zirconia framework and porcelain veneer) were evaluated: F, flat preparation and simplified crown; FC, flat preparation and crown with contact point; FCM, flat preparation and modified crown; A, anatomical preparation and simplified anatomical crown framework; AC, anatomical preparation and crown with contact point; and ACM, anatomical preparation and modified crown. Bonded contact types at all interfaces with the mesh were assigned, and the material properties used were according to the literature. A 200 N vertical load was applied at the center of each model. The maximum principal stresses were quantitatively and qualitatively analyzed. Results: The highest values of tensile stress were observed at the interface between the ceramics in the region under the load application for the simplified models (F and A). Reductions in stress values were observed for the model with the anatomical preparation and modified infrastructure (ACM). The stress distribution in the flat models was similar to that of their respective anatomical models. Conclusions: The modified design of the zirconia coping reduces the stress concentration at the interface with the veneer ceramic, and the simplified preparation can exert a stress distribution similar to that of the anatomical preparation at and near the load point, when load is applied to the center of the crown.

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This paper describes a case of a rehabilitation involving Computer Aided Design/Computer Aided Manufacturing (CAD-CAM) system in implant supported and dental supported prostheses using zirconia as framework. The CAD-CAM technology has developed considerably over last few years, becoming a reality in dental practice. Among the widely used systems are the systems based on zirconia which demonstrate important physical and mechanical properties of high strength, adequate fracture toughness, biocompatibility and esthetics, and are indicated for unitary prosthetic restorations and posterior and anterior framework. All the modeling was performed by using CAD-CAM system and prostheses were cemented using resin cement best suited for each situation. The rehabilitation of the maxillary arch using zirconia framework demonstrated satisfactory esthetic and functional results after a 12-month control and revealed no biological and technical complications. This article shows the important of use technology CAD/CAM in the manufacture of dental prosthesis and implant-supported.

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Among the current trends for children’s clothing is clothing that may contribute to the development and children’s learning through interaction with their clothes. For child interaction / clothes from occurring, this dress is appropriate the knowledge of design, which assist in its construction. Thus, this study seeks to investigate design principles that can be adopted for production of clothing that can assist in the development of children, showing how notions of education can be incorporated into costumes, studying the relationships and interactions between design, fashion and education. The study addresses this garment from the perspective of design, so as to provide insights that could contribute to the creation of the pieces. To that end, we developed a theoretical framework that sought to show the infant universe, communication, clothing and design. According to the methodological procedures for the work, there was a case study in ten private schools in Bauru-sp in order to obtain data on experiences with children about their preferences, attitudes and ways of reasoning child’s world.

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The aim of this study was to evaluate the deformation suffered by cantilevered implant-supported fixed prostheses frameworks cast in silver-palladium alloy and coated with two occlusal veneering materials: acrylic resin or porcelain. Material and Methods: Two strain gauges were bonded to the inferior surface of the silver-palladium framework and two other were bonded to the occlusal surface of the prosthesis framework covered with ceramic and acrylic resin on each of its two halves. The framework was fixed to a metallic master model and a 35.2 N compression force was applied to the cantilever at 10, 15 and 20 mm from the most distal implant. The measurements of deformation by compression and tension were obtained. The statistical 2-way ANOVA test was used for individual analysis of the experiment variables and the Tukey test was used for the interrelation between all the variables (material and distance of force application). Results: The results showed that both variables had influence on the studied factors (deformation by compression and tension). Conclusion: The ceramic coating provided greater rigidity to the assembly and therefore less distortion compared with the uncoated framework and with the resin-coated framework. The cantilever arm length also influenced the prosthesis rigidity, causing higher deformation the farther the load was applied from the last implant.

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Usually we observe that Bio-physical systems or Bio-chemical systems are many a time based on nanoscale phenomenon in different host environments, which involve many particles can often not be solved explicitly. Instead a physicist, biologist or a chemist has to rely either on approximate or numerical methods. For a certain type of systems, called integrable in nature, there exist particular mathematical structures and symmetries which facilitate the exact and explicit description. Most integrable systems, we come across are low-dimensional, for instance, a one-dimensional chain of coupled atoms in DNA molecular system with a particular direction or exist as a vector in the environment. This theoretical research paper aims at bringing one of the pioneering ‘Reaction-Diffusion’ aspects of the DNA-plasma material system based on an integrable lattice model approach utilizing quantized functional algebras, to disseminate the new developments, initiate novel computational and design paradigms.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

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Key management is a core mechanism to ensure the security of applications and network services in wireless sensor networks. It includes two aspects: key distribution and key revocation. Many key management protocols have been specifically designed for wireless sensor networks. However, most of the key management protocols focus on the establishment of the required keys or the removal of the compromised keys. The design of these key management protocols does not consider the support of higher level security applications. When the applications are integrated later in sensor networks, new mechanisms must be designed. In this paper, we propose a security framework, uKeying, for wireless sensor networks. This framework can be easily extended to support many security applications. It includes three components: a security mechanism to provide secrecy for communications in sensor networks, an efficient session key distribution scheme, and a centralized key revocation scheme. The proposed framework does not depend on a specific key distribution scheme and can be used to support many security applications, such as secure group communications. Our analysis shows that the framework is secure, efficient, and extensible. The simulation and results also reveal for the first time that a centralized key revocation scheme can also attain a high efficiency.

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Multicommodity flow (MF) problems have a wide variety of applications in areas such as VLSI circuit design, network design, etc., and are therefore very well studied. The fractional MF problems are polynomial time solvable while integer versions are NP-complete. However, exact algorithms to solve the fractional MF problems have high computational complexity. Therefore approximation algorithms to solve the fractional MF problems have been explored in the literature to reduce their computational complexity. Using these approximation algorithms and the randomized rounding technique, polynomial time approximation algorithms have been explored in the literature. In the design of high-speed networks, such as optical wavelength division multiplexing (WDM) networks, providing survivability carries great significance. Survivability is the ability of the network to recover from failures. It further increases the complexity of network design and presents network designers with more formidable challenges. In this work we formulate the survivable versions of the MF problems. We build approximation algorithms for the survivable multicommodity flow (SMF) problems based on the framework of the approximation algorithms for the MF problems presented in [1] and [2]. We discuss applications of the SMF problems to solve survivable routing in capacitated networks.