Arquitetura de Software para Barcos Robóticos

We propose in this work a software architecture for robotic boats intended to act in diverse aquatic environments, fully autonomously, performing telemetry to a base station and getting this mission to be accomplished. This proposal aims to apply within the project N-Boat Lab NatalNet DCA, which aims to empower a sailboat navigating autonomously. The constituent components of this architecture are the memory modules, strategy, communication, sensing, actuation, energy, security and surveillance, making these systems the boat and base station. To validate the simulator was developed in C language and implemented using the graphics API OpenGL resources, whose main results were obtained in the implementation of memory, performance and strategy modules, more specifically data sharing, control of sails and rudder and planning short routes based on an algorithm for navigation, respectively. The experimental results, shown in this study indicate the feasibility of the actual use of the software architecture developed and their application in the area of autonomous mobile robotics

Metodologia, Sistema de Codificação e Ferramenta de software para Modelagem de Móveis Modulados

On this research we investigated how new technologies can help the process of design and manufacturing of furniture in such small manufacturers in Rio Grande do Norte state. Google SketchUp, a 3D software tool, was developed in such a way that its internal structures are opened and can be accessed using SketchUp s API for Ruby and programs written in Ruby language (plugins). Using the concepts of the so-called Group Technology and the flexibility that enables adding new functionalities to this software, it was created a Methodology for Modeling of Furniture, a Coding System and a plugin for Google s tool in order to implement the Methodology developed. As resulted, the following facilities are available: the user may create and reuse the library s models over-and-over; reports of the materials manufacturing process costs are provided and, finally, detailed drawings, getting a better integration between the furniture design and manufacturing process

Validação de uma metodologia de ensaio de resistência ao cisalhamento para avaliação da aderência de interfaces revestimento metálico-bainha de cimento aplicada a poços de petróleo

Improving the adherence between oilwell metallic casing and cement sheath potentially decrease the number of corrective actions present/y necessary for Northeastern wells submitted to steam injection. In addition to the direct costs involved in the corrective operations, the economic impact of the failure of the primary cementing aIso includes the loss in the production of the well. The adherence between casing and cement is current/y evaluated by a simple shear tests non standardized by the American Petroleum Institute (API). Therefore, the objective of the present is to propose and evaluate a standardized method to assess the adherence of oilwell metallic casing to cement sheath. To that end, a section of a cemented oilwell was simulated and used to test the effect of different parameters on the shear stress of the system. Surface roughness and different cement compositions submitted or not to thermal cycling were evaluated. The results revealed that the test geometry and parameters proposed yielded different values for the shear stress of the system, corresponding to different adherent conditions between metallic casing and cement sheath

Avaliação, identificação e atividade enzimática de bactérias psicotróficas presentes no leite cru refrigerado

Extended storage of refrigerated milk can lead to reduced quality of raw and processed milk, which is a consequence of the growth and metabolic activities of psychrotrophic bacteria, able to grow under 7oC or lower temperatures. Although most of these microorganisms are destroyed by heat treatment, some have the potential to produce termoresistant proteolytic and lipolytic enzymes that can survive even UHT processing and reduce the processed products quality. Recently, the IN 51 determineds that milk should be refrigerated and stored at the farm what increased the importance of this group of microorganisms. In this work, psychrotrophic bacteria were isolated from 20 communitarian bulk tanks and 23 individual bulk tanks from dairy farms located at Zona da Mata region of Minas Gerais State and from southeastern Rio de Janeiro. Selected milk dilutions were plated on standard agar and after incubation for 10 days at 7oC, five colonies were isolated, firstly using nutrient agar and after using McConkey agar for 24 hours at 21oC. The isolates were identified by morphology, Gram stain method, catalase production, fermentative/oxidative metabolism and by API 20E, API 20NE, API Staph, API Coryne or API 50 CH (BioMerieux). In order to ensure reproductibility, API was repeated for 50% of the isolates. Species identification was considered when APILAB indexes reached 75% or higher. 309 strains were isolated, 250 Gram negative and 59 Gram positive. 250 Gram negative isolates were identified as: Acinetobacter spp. (39), Aeromonas spp. (07), A. Hydrophila (16), A. sobria (1), A. caviae (1), Alcaligenes feacalis (1), Burkholderia cepacia (12), Chryseomonas luteola (3), Enterobacter sp. (1), Ewingella americana(6), Hafnia alvei (7), Klebsiella sp. (1), Klebsiella oxytoca (10), Yersinia spp. (2), Methylobacterium mesophilicum (1), Moraxella spp. (4), Pantoea spp. (16), Pasteurella sp. (1), Pseudomonas spp. (10), P. fluorescens (94), P. putida (3), Serratia spp. (3), Sphigomonas paucomobilis (1). Five isolates kept unidentified. Pseudomonas was the predominant bacteria found (43%) and P. fluorescens the predominant species (37.6%), in accordance with previous reports. Qualitative analysis of proteolytic and lipolytic activity was based on halo formation using caseinate agar and tributirina agar during 72 hours at 21oC and during 10 days at 4°C, 10oC and 7°C. Among 250 Gram negative bacteria found, 104 were identified as Pseudomonas spp. and 60,57% of this group showed proteolytic and lipolytic acitivities over all four studied temperatures. 20% of Acinetobacter, Aeromonas, Alcaligenes, Burkholderia, Chryseomonas, Methylobacterium, Moraxella presented only lipolytic activity. Some isolates presented enzymatic activity in one or more studied temperatures. Among Gram positive bacteria, 30.51% were proteolytic and lipolytic at 10oC, 8.47% were proteolytic at 7oC, 10oC, and 21oC, 8.47% were proteolytic at all studied temperatures (4oC, 7oC, 10oC and 21oC) and 3.38% were proteolytic only at 21oC. At 4oC, only one isolate showed proteolytic activity and six isolates were lipolytic. In relation to Gram negative microorganisms, 4% were proteolytic and lipolytic at 7oC, 10oC and 21oC, 10% were proteolytic at 10oC and 4.4% were lipolytic at 4oC, 7oC, 10oC and 21oC, while 6.4% of all isolates were proteolytic and lipolytic at 10oC and 21oC as well as lipolytic at 4oC and 7oC. These findings are in accordance with previous researches that pointed out Pseudomonas as the predominant psycrotrophic flora in stored refrigerated raw milk

Determinação de dados de equilíbrio líquido-vapor a altas pressões para sistemas de hidrocarbonetos assimétricos

Crude oil is a complex liquid mixture of organic and inorganic compounds that are dominated by hydrocarbons. It is a mixture of alkanes from the simplest to more complex aromatic compounds that are present derivatives such as gasoline, diesel, alcohol, kerosene, naphtha, etc.. These derivatives are extracted from any oil, however, only with a very high quality, in other words, when the content of hydrocarbons of low molecular weight is high means that production of these compounds is feasible. The American Petroleum Institute (API) developed a classification system for the various types of oil. In Brazil, the quality of most of the oil taken from wells is very low, so it is necessary to generate new technology to develop best practices for refining in order to produce petroleum products of higher commercial value. Therefore, it is necessary to study the thermodynamic equilibrium properties of its derivative compounds of interest. This dissertation aims to determine vapor-liquid equilibrium (VLE) data for the systems Phenilcyclohexane - CO2, and Cyclohexane - Phenilcyclohexane - CO2 at high pressure and temperatures between 30 to 70oC. Furthermore, comparisons between measured VLE experimental data from this work and from the literature in relation to the Peng- Robinson molecular thermodynamic model, using a simulation program SPECS IVCSEP v5.60 and two adjustable interaction parameters, have been performed for modeling and simulation purposes. Finally, the developed apparatus for determination of phase equilibrium data at high pressures is presented

Avaliação da fissuração por fadiga em tubos durante transporte marítimo

Tubos de aço são transportados diariamente em todo o mundo, por caminhão, trem ou navio. Conseqüentemente, danos de transporte, podem ocorrer com freqüência e regularidade. O tipo de dano particular selecionado para este estudo foi o de trinca por fadiga, o qual é considerado como um dos mais críticos. Neste trabalho foram estudados tubos de aço fabricados de acordo com os requisitos da norma API 5L [1]. Foram efetuadas caracterizações químicas, mecânicas e metalográficas de um tubo com diâmetro 609,6 mm e espessura 15,87 mm grau X-65. A simulação do transporte por navio de tubos de aço foi feita submetendo-se seções de tubo com comprimento igual a 0,1 metro, a ciclos de fadiga por meio de máquina servo-hidráulica. Foi possível concluir que em tubos soldados, a região adjacente ao cordão de solda é a mais crítica, e que quando o posicionamento do tubo na carga é efetuado de maneira que a solda fique apoiada sobre alguma superfície rígida, a ocorrência de trinca por fadiga torna-se possível principalmente se os procedimentos de manuseio, carregamento e transporte não forem executados da maneira como recomendada pelos fabricantes de tubos e pela norma API [2].

Radiografia digital para inspeção de soldas de dutos - melhor sensibilidade

The conventional radiographic technique using industrial radiographic films is with the days finishing. The Digital Radiography is taking place in several sectors, e.g., the medical, aerospace, security, automotive, etc. In addition to representing a technological trend, it has been demonstrated that digital radiography offers a series of benefits in terms of productivity, sensitivity, environmental aspects, image treatment tools, cost reduction, etc. If one weld seam to be inspected is from a serried product, as example a pipe, the best option to be implemented is the Flat Panel Detector with this equipment is possible to reduce the obtaining digital radiographic images in place of films and reducing the inspection cycle time due to its high degree of automation. In the experiments described in this paper this new technique was tested and the results were compared with those obtained by the conventional radiography. The welded specimens were prepared using the submerged-arc welding process and small artificial cracks of the most varied dimensions, present in the specimens, were used to establish a comparison of the sensitivities presented by the techniques employed After conducting several experiments, the digital method presented the highest sensitivity to the wire-type Image Quality Indicator (IQI) and in the detection of small defects, leading to the conclusion that the use of digital radiography using the flat-panel detector offers advantages over the conventional technique [1, 2]. This work was carried out based on the API 5L Edition 2004 [3] and ISO 3183 Edition 2007 [4] specifications.

Tratamento de borra de petróleo com sistemas microemulsionados

During the storage of oil, sludge is formed in the bottoms of tanks, due to decantation, since the sludge is composed of a large quantity of oil (heavy petroleum fractions), water and solids. The oil sludge is a complex viscous mixture which is considered as a hazardous waste. It is then necessary to develop methods and technologies that optimize the cleaning process, oil extraction and applications in industry. Therefore, this study aimed to determine the composition of the oil sludge, to obtain and characterize microemulsion systems (MES), and to study their applications in the treatment of sludge. In this context, the Soxhlet extraction of crude oil sludge and aged sludge was carried out, and allowing to quantify the oil (43.9 % and 84.7 % - 13 ºAPI), water (38.7 % and 9.15 %) and solid (17.3 % and 6.15 %) contents, respectively. The residues were characterized using the techniques of X-ray fluorescence (XRF), Xray diffraction (XRD) and transmission Infrared (FT-IR). The XRF technique determined the presence of iron and sulfur in higher proportions, confirming by XRD the presence of the following minerals: Pyrite (FeS2), Pyrrhotite (FeS) and Magnetite (Fe3O4). The FT-IR showed the presence of heavy oil fractions. In parallel, twelve MES were prepared, combining the following constituents: two nonionic surfactants (Unitol L90 and Renex 110 - S), three cosurfactants (butanol, sec-butanol and isoamyl alcohol - C), three aqueous phase (tap water - ADT, acidic solution 6 % HCl, and saline solution - 3.5 % NaCl - AP) and an oil phase (kerosene - OP). From the obtained systems, a common point was chosen belonging to the microemulsion region (25 % [C+S] 5 % OP and AP 70 %), which was characterized at room temperature (25°C) by viscosity (Haake Rheometer Mars), particle diameter (Zeta Plus) and thermal stability. Mixtures with this composition were applied to oil sludge solubilization under agitation at a ratio of 1:4, by varying time and temperature. The efficiencies of solubilization were obtained excluding the solids, which ranged between 73.5 % and 95 %. Thus, two particular systems were selected for use in storage tanks, with efficiencies of oil sludge solubilization over 90 %, which proved the effectiveness of the MES. The factorial design delimited within the domain showed how the MES constituents affect the solubilization of aged oil sludge, as predictive models. The MES A was chosen as the best system, which solubilized a high amount of aged crude oil sludge (~ 151.7 g / L per MES)

Estudo cinético da degradação térmica e catalítica de petróleo pesado usando Al-MCM-41

The mesoporous nanostructured materials have been studied for application in the oil industry, in particular Al-MCM-41, due to the surface area around 800 to 1.000 m2 g-1 and, pore diameters ranging from 2 to 10 nm, suitable for catalysis to large molecules such as heavy oil. The MCM-41 has been synthesized by hydrothermal method, on which aluminum was added, in the ratio Si/Al equal to 50, to increase the generation of active acid sites in the nanotubes. The catalyst was characterized by X-ray diffraction (XRD), surface area by the BET method and, the average pore volume BJH method using the N2 adsorption, absorption spectroscopy in the infrared Fourier Transform (FT-IR) and determination of surface acidity with application of a probe molecule - n-butylamine. The catalyst showed well-defined structural properties and consistent with the literature. The overall objective was to test the Al-MCM-41 as catalyst and thermogravimetric perform tests, using two samples of heavy oil with API º equal to 14.0 and 18.5. Assays were performed using a temperature range of 30-900 ° C and heating ratios (β) ranging from 5, 10 and 20 °C min-1.The aim was to verify the thermogravimetric profiles of these oils when subjected to the action of the catalyst Al- MCM-41. Therefore, the percentage ranged catalyst applied 1, 3, 5, 10 and 20 wt%, and from the TG data were applied two different kinetic models: Ozawa-Flynn-Wall (OFW) and Kissinger-Akahrira-Sunose (KAS).The apparent activation energies found for both models had similar values and were lower for the second event of mass loss known as cracking zone, indicating a more effective performance of Al-MCM-41 in that area. Furthermore, there was a more pronounced reduction in the value of activation energy for between 10 and 20% by weight of the oil-catalyst mixture. It was concluded that the Al-MCM-41 catalyst has applicability in heavy oils to reduce the apparent activation energy of a catalyst-oil system, and the best result with 20% by weight of Al-MCM-41

Desenvolvimento formal de aplicações para smartcards

Smart card applications represent a growing market. Usually this kind of application manipulate and store critical information that requires some level of security, such as financial or confidential information. The quality and trustworthiness of smart card software can be improved through a rigorous development process that embraces formal techniques of software engineering. In this work we propose the BSmart method, a specialization of the B formal method dedicated to the development of smart card Java Card applications. The method describes how a Java Card application can be generated from a B refinement process of its formal abstract specification. The development is supported by a set of tools, which automates the generation of some required refinements and the translation to Java Card client (host) and server (applet) applications. With respect to verification, the method development process was formalized and verified in the B method, using the Atelier B tool [Cle12a]. We emphasize that the Java Card application is translated from the last stage of refinement, named implementation. This translation process was specified in ASF+SDF [BKV08], describing the grammar of both languages (SDF) and the code transformations through rewrite rules (ASF). This specification was an important support during the translator development and contributes to the tool documentation. We also emphasize the KitSmart library [Dut06, San12], an essential component of BSmart, containing models of all 93 classes/interfaces of Java Card API 2:2:2, of Java/Java Card data types and machines that can be useful for the specifier, but are not part of the standard Java Card library. In other to validate the method, its tool support and the KitSmart, we developed an electronic passport application following the BSmart method. We believe that the results reached in this work contribute to Java Card development, allowing the generation of complete (client and server components), and less subject to errors, Java Card applications.

BSmart: desenvolvimento rigoroso de aplicações Java Card com base no método formal B

Java Card technology allows the development and execution of small applications embedded in smart cards. A Java Card application is composed of an external card client and of an application in the card that implements the services available to the client by means of an Application Programming Interface (API). Usually, these applications manipulate and store important information, such as cash and confidential data of their owners. Thus, it is necessary to adopt rigor on developing a smart card application to improve its quality and trustworthiness. The use of formal methods on the development of these applications is a way to reach these quality requirements. The B method is one of the many formal methods for system specification. The development in B starts with the functional specification of the system, continues with the application of some optional refinements to the specification and, from the last level of refinement, it is possible to generate code for some programming language. The B formalism has a good tool support and its application to Java Card is adequate since the specification and development of APIs is one of the major applications of B. The BSmart method proposed here aims to promote the rigorous development of Java Card applications up to the generation of its code, based on the refinement of its formal specification described in the B notation. This development is supported by the BSmart tool, that is composed of some programs that automate each stage of the method; and by a library of B modules and Java Card classes that model primitive types, essential Java Card API classes and reusable data structures

Sistema especialista fuzzy para dimensionamento de bombeio mecânico

Despite the emergence of other forms of artificial lift, sucker rod pumping systems remains hegemonic because of its flexibility of operation and lower investment cost compared to other lifting techniques developed. A successful rod pumping sizing necessarily passes through the supply of estimated flow and the controlled wear of pumping equipment used in the mounted configuration. However, the mediation of these elements is particularly challenging, especially for most designers dealing with this work, which still lack the experience needed to get good projects pumping in time. Even with the existence of various computer applications on the market in order to facilitate this task, they must face a grueling process of trial and error until you get the most appropriate combination of equipment for installation in the well. This thesis proposes the creation of an expert system in the design of sucker rod pumping systems. Its mission is to guide a petroleum engineer in the task of selecting a range of equipment appropriate to the context provided by the characteristics of the oil that will be raised to the surface. Features such as the level of gas separation, presence of corrosive elements, possibility of production of sand and waxing are taken into account in selecting the pumping unit, sucker-rod strings and subsurface pump and their operation mode. It is able to approximate the inferente process in the way of human reasoning, which leads to results closer to those obtained by a specialist. For this, their production rules were based on the theory of fuzzy sets, able to model vague concepts typically present in human reasoning. The calculations of operating parameters of the pumping system are made by the API RP 11L method. Based on information input, the system is able to return to the user a set of pumping configurations that meet a given design flow, but without subjecting the selected equipment to an effort beyond that which can bear

JCircus 2.0: Uma extensão da ferramenta de tradução de Circus para Java

This dissertation aims at extending the JCircus tool, a translator of formal specifications into code that receives a Circus specification as input, and translates the specification into Java code. Circus is a formal language whose syntax is based on Z s and CSP s syntax. JCircus generated code uses JCSP, which is a Java API that implements CSP primitives. As JCSP does not implement all CSP s primitives, the translation strategy from Circus to Java is not trivial. Some CSP primitives, like parallelism, external choice, communication and multi-synchronization are partially implemented. As an aditional scope, this dissertation will also develop a tool for testing JCSP programs, called JCSPUnit, which will also be included in JCircus new version. The extended version of JCircus will be called JCircus 2.0.

KitSmart: Uma biblioteca de componentes para o desenvolvimento rigoroso de aplicações Java Card com o método B

The development of smart card applications requires a high level of reliability. Formal methods provide means for this reliability to be achieved. The BSmart method and tool contribute to the development of smart card applications with the support of the B method, generating Java Card code from B specifications. For the development with BSmart to be effectively rigorous without overloading the user it is important to have a library of reusable components built in B. The goal of KitSmart is to provide this support. A first research about the composition of this library was a graduation work from Universidade Federal do Rio Grande do Norte, made by Thiago Dutra in 2006. This first version of the kit resulted in a specification of Java Card primitive types byte, short and boolean in B and the creation of reusable components for application development. This work provides an improvement of KitSmart with the addition of API Java Card specification made in B and a guide for the creation of new components. The API Java Card in B, besides being available to be used for development of applications, is also useful as a documentation of each API class. The reusable components correspond to modules to manipulate specific structures, such as date and time. These structures are not available for B or Java Card. These components for Java Card are generated from specifications formally verified in B. The guide contains quick reference on how to specify some structures and how some situations were adapted from object-orientation to the B Method. This work was evaluated through a case study made through the BSmart tool, that makes use of the KitSmart library. In this case study, it is possible to see the contribution of the components in a B specification. This kit should be useful for B method users and Java Card application developers

Influência de tensoativos não iônicos na destilação molecular de petróleo

The molecular distillation is show as an alternative for separation and purification of various kinds of materials. The process is a special case of evaporation at high vacuum, in the order from 0.001 to 0.0001 mmHg and therefore occurs at relatively lower temperatures, preserves the material to be purified. In Brazil, molecular distillation is very applied in the separation of petroleum fractions. However, most studies evaluated the temperature of the evaporator, condenser temperature and flow such variables of the molecular distillation oil. Then, to increase the degree of recovery of the fraction of the distillate obtained in the process of the molecular distillation was evaluated the use nonionic surfactants of the class of nonylphenol ethoxylate, molecules able to interact in the liquid-liquid and liquid-vapor interface various systems. In this context, the aim of this work was to verify the influence of commercial surfactant (Ultranex-18 an Ultranex-18-50) in the molecular distillation of a crude oil. The physicochemical characterization of the oil was realized and the petroleum shown an API gravity of 42°, a light oil. Initially, studied the molecular distillation without surfactant using star design experimental (2H ± ) evaluated two variables (evaporator temperature and condenser temperature) and answer variable was the percentage in distillate obtained in the process (D%). The best experimental condition to molecular distillation oil (38% distillate) was obtained at evaporator and condenser temperatures of 120 °C and 10 ° C, respectively. Subsequently, to determine the range of surfactant concentration to be applied in the process, was determined the critical micellar concentration by the technique of scattering X-ray small angle (SAXS). The surfactants Ultranex-18 an Ultranex-18-50 shown the critical micelle concentration in the range of 10-2 mol/L in the hydrocarbons studied. Then, was applied in the study of distillation a concentration range from 0.01 to 0.15 mol/L of the surfactants (Ultranex- 18 and 50). The use of the nonionic surfactant increased the percentage of hydrocarbons in the range from 5 to 9 carbons in comparison to the process carried out without surfactant, and in some experimental conditions the fraction of light compounds in the distilled was over 700% compared to the conventional process. The study showed that increasing the degree of ethoxylation of Ultranex18 to Ultranex-50, the compounds in the range of C5 to C9 reduced the percentage in the distilled, since the increase of the hydrophilic part of the surfactant reduces its solubility in the oil. Finally, was obtained an increase in the degree of recovery of light hydrocarbons, comparing processes with and without surfactant, obtained an increase of 10% and 4% with Ultranex-18 and Ultranex-50, respectively. Thus, it is concluded that the Ultranex- 18 surfactant showed a higher capacity to distillation compared with Ultranex-50 and the application of surfactant on the molecular distillation from petroleum allowed for a greater recovery of light compounds in distillate