Controle adaptativo com desacoplamento aplicado a um sistema de tanques acoplados MIMO

O controle de sistemas MIMO (Multiple Input Multiple Output) é muitas vezes realizado por várias malhas de controladores clássicos que operam com restrições e apresentam baixo desempenho. Técnicas de controle adaptativo são uma alternativa interessante para aumentar o rendimento desses sistemas, como por exemplo os controladores MRAC (Model Reference Adaptive Control), que quando bem projetados, permitem que a dinâmica da planta seja escolhida de maneira a seguir um modelo de referência. O presente trabalho apresenta uma estratégia de desacoplamento para um sistema MIMO de três tanques acoplados e o projeto de um controlador MRAC para o mesmo.

Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Análise experimental do consumo de um veículo flex operando com diferentes misturas de gasolina/etanol em tráfego urbano

This study is an analysis, on a trial basis, the fuel consumption of a Flex vehicle, operating with different mixtures of gasoline and ethanol in urban traffic, allowing more consistent results with the reality of the driver. Considering that most owners unaware of the possibility of mixing the fuel at the time of supply, thus enabling the choice of the most economically viable mixing gasoline / ethanol, resulting in lower costs and possibly a decrease in pollutant emission rates. Currently, there is a myth created by the people that supply ethanol only becomes viable if the value of not more than 70% of regular gasoline. However vehicles with this technology make it possible to operate with any percentage of mixture in the fuel tank, but today many of the owners of these vehicles do not use this feature effectively, because they ignore the possibility of mixing or the reason there is a deeper study regarding the optimal percentage of the mixture to provide a higher yield with a lower cost than proposed by the manufacturers.

Análise experimental do consumo de um veículo flex operando com diferentes misturas de gasolina/etanol em tráfego urbano

This study is an analysis, on a trial basis, the fuel consumption of a Flex vehicle, operating with different mixtures of gasoline and ethanol in urban traffic, allowing more consistent results with the reality of the driver. Considering that most owners unaware of the possibility of mixing the fuel at the time of supply, thus enabling the choice of the most economically viable mixing gasoline / ethanol, resulting in lower costs and possibly a decrease in pollutant emission rates. Currently, there is a myth created by the people that supply ethanol only becomes viable if the value of not more than 70% of regular gasoline. However vehicles with this technology make it possible to operate with any percentage of mixture in the fuel tank, but today many of the owners of these vehicles do not use this feature effectively, because they ignore the possibility of mixing or the reason there is a deeper study regarding the optimal percentage of the mixture to provide a higher yield with a lower cost than proposed by the manufacturers.

Desenvolvimento e caracterização de biocompósito de látex (borracha natural) e fibra de carnaúba

The development of composite materials encompasses many different application areas. Among the composites, it is had, especially, the materials of organic origin, which have the greatest potential for biodegradability and so, have been bringing relevance and prominence in the contemporary setting of environmental preservation and sustainable development. Following this perspective of ecological appeal, it was developed a biocomposite material with natural inputs typically brazilian. This composite was made from latex (natural rubber) and carnauba fiber in different mass proportions. Formulations had varied by 5%, 10%, 15% and 20% of fiber in relation the matrix. This material has been designed aiming at application in thermal insulation systems, which requirethermal protection surfaces and/or reduction of thermal energy loss. Therefore, the composite was characterized by thermal conductivity testing, specific heat, thermal diffusivity and thermogravimetry. As has also been characterized for their physical-mechanical, by testing density, moisture content, tensile strength, hardness and scanning electron microscopy (SEM). The characterization of the material revealed that the composite presents a potential of thermal insulation higher than the natural rubber, that was used as reference. And the formulation at 15% fiber in relation the matrix showed the best performance. Thus, the composite material in question presents itself as a viable and effective alternative for new thermal insulation material design.

Desenvolvimento e caracterização de biocompósito de látex (borracha natural) e fibra de carnaúba

The development of composite materials encompasses many different application areas. Among the composites, it is had, especially, the materials of organic origin, which have the greatest potential for biodegradability and so, have been bringing relevance and prominence in the contemporary setting of environmental preservation and sustainable development. Following this perspective of ecological appeal, it was developed a biocomposite material with natural inputs typically brazilian. This composite was made from latex (natural rubber) and carnauba fiber in different mass proportions. Formulations had varied by 5%, 10%, 15% and 20% of fiber in relation the matrix. This material has been designed aiming at application in thermal insulation systems, which requirethermal protection surfaces and/or reduction of thermal energy loss. Therefore, the composite was characterized by thermal conductivity testing, specific heat, thermal diffusivity and thermogravimetry. As has also been characterized for their physical-mechanical, by testing density, moisture content, tensile strength, hardness and scanning electron microscopy (SEM). The characterization of the material revealed that the composite presents a potential of thermal insulation higher than the natural rubber, that was used as reference. And the formulation at 15% fiber in relation the matrix showed the best performance. Thus, the composite material in question presents itself as a viable and effective alternative for new thermal insulation material design.

Estudo da redução de arrasto induzido por polímeros em escoamentos internos turbulentos em dutos

The flows turbulent and laminar are present in various applications of engineering and one of the villain of energy loss big is the surface friction. Currently, there are several research aimed for the study of reducing drag (DR) with the objective of developing effective methods to reduce the friction. Regardless of numerous research carried out until today, the phenomenon DR still remains in study not it is fully understood. This paper studied the drag reduction by polymer induction in turbulent internal flows in ducts. We constructed a testing bench to perform the analysis of drag reduction, the bench has basically two manometers with a 8.5 psi full scale, a peripheral pump 0.5 HP, an acrylic tank, valves and tubes pvc and is situated in the Laboratory Fluid Mechanics UFRN. Were used as polymer additives to polyethylene glycol 4000, the Polyox WSR N60K, Polyox WSR 301 and Polyox WSR 205. The rationale for the choice of these polymers is their wide application in situations requiring greater energy efficiency, such as the addition reducing polymers for the jet used by the fire department to achieve greater distances. The induced drag reduction polymers is investigated from the turbulent flow analysis, with Reynolds number in a range between 2×104

Estudo da redução de arrasto induzido por polímeros em escoamentos internos turbulentos em dutos

The flows turbulent and laminar are present in various applications of engineering and one of the villain of energy loss big is the surface friction. Currently, there are several research aimed for the study of reducing drag (DR) with the objective of developing effective methods to reduce the friction. Regardless of numerous research carried out until today, the phenomenon DR still remains in study not it is fully understood. This paper studied the drag reduction by polymer induction in turbulent internal flows in ducts. We constructed a testing bench to perform the analysis of drag reduction, the bench has basically two manometers with a 8.5 psi full scale, a peripheral pump 0.5 HP, an acrylic tank, valves and tubes pvc and is situated in the Laboratory Fluid Mechanics UFRN. Were used as polymer additives to polyethylene glycol 4000, the Polyox WSR N60K, Polyox WSR 301 and Polyox WSR 205. The rationale for the choice of these polymers is their wide application in situations requiring greater energy efficiency, such as the addition reducing polymers for the jet used by the fire department to achieve greater distances. The induced drag reduction polymers is investigated from the turbulent flow analysis, with Reynolds number in a range between 2×104

Estudo da absorção das espécies pesadas do gás natural em octanol: efeitos da temperatura e vazão

In the oil industry, natural gas is a vital component of the world energy supply and an important source of hydrocarbons. It is one of the cleanest, safest and most relevant of all energy sources, and helps to meet the world's growing demand for clean energy in the future. With the growing share of natural gas in the Brazil energy matrix, the main purpose of its use has been the supply of electricity by thermal power generation. In the current production process, as in a Natural Gas Processing Unit (NGPU), natural gas undergoes various separation units aimed at producing liquefied natural gas and fuel gas. The latter should be specified to meet the thermal machines specifications. In the case of remote wells, the process of absorption of heavy components aims the match of fuel gas application and thereby is an alternative to increase the energy matrix. Currently, due to the high demand for this raw gas, research and development techniques aimed at adjusting natural gas are studied. Conventional methods employed today, such as physical absorption, show good results. The objective of this dissertation is to evaluate the removal of heavy components of natural gas by absorption. In this research it was used as the absorbent octyl alcohol (1-octanol). The influence of temperature (5 and 40 °C) and flowrate (25 and 50 ml/min) on the absorption process was studied. Absorption capacity expressed by the amount absorbed and kinetic parameters, expressed by the mass transfer coefficient, were evaluated. As expected from the literature, it was observed that the absorption of heavy hydrocarbon fraction is favored by lowering the temperature. Moreover, both temperature and flowrate favors mass transfer (kinetic effect). The absorption kinetics for removal of heavy components was monitored by chromatographic analysis and the experimental results demonstrated a high percentage of recovery of heavy components. Furthermore, it was observed that the use of octyl alcohol as absorbent was feasible for the requested separation process.

Estudo da absorção das espécies pesadas do gás natural em octanol: efeitos da temperatura e vazão

In the oil industry, natural gas is a vital component of the world energy supply and an important source of hydrocarbons. It is one of the cleanest, safest and most relevant of all energy sources, and helps to meet the world's growing demand for clean energy in the future. With the growing share of natural gas in the Brazil energy matrix, the main purpose of its use has been the supply of electricity by thermal power generation. In the current production process, as in a Natural Gas Processing Unit (NGPU), natural gas undergoes various separation units aimed at producing liquefied natural gas and fuel gas. The latter should be specified to meet the thermal machines specifications. In the case of remote wells, the process of absorption of heavy components aims the match of fuel gas application and thereby is an alternative to increase the energy matrix. Currently, due to the high demand for this raw gas, research and development techniques aimed at adjusting natural gas are studied. Conventional methods employed today, such as physical absorption, show good results. The objective of this dissertation is to evaluate the removal of heavy components of natural gas by absorption. In this research it was used as the absorbent octyl alcohol (1-octanol). The influence of temperature (5 and 40 °C) and flowrate (25 and 50 ml/min) on the absorption process was studied. Absorption capacity expressed by the amount absorbed and kinetic parameters, expressed by the mass transfer coefficient, were evaluated. As expected from the literature, it was observed that the absorption of heavy hydrocarbon fraction is favored by lowering the temperature. Moreover, both temperature and flowrate favors mass transfer (kinetic effect). The absorption kinetics for removal of heavy components was monitored by chromatographic analysis and the experimental results demonstrated a high percentage of recovery of heavy components. Furthermore, it was observed that the use of octyl alcohol as absorbent was feasible for the requested separation process.

Avaliação do desempenho da paligorsquita modificada e do carvão da pirólise do lodo de esgoto no processo de degradação fotocatalítica do fenol

The uncontrolled disposal of wastewaters containing phenolic compounds by the industry has caused irreversible damage to the environment. Because of this, it is now mandatory to develop new methods to treat these effluents before they are disposed of. One of the most promising and low cost approaches is the degradation of phenolic compounds via photocatalysis. This work, in particular, has as the main goal, the customization of a bench scale photoreactor and the preparation of catalysts via utilization of char originated from the fast pyrolysis of sewage sludge. The experiments were carried out at constant temperature (50°C) under oxygen (410, 515, 650 and 750 ml min-1). The reaction took place in the liquid phase (3.4 liters), where the catalyst concentration was 1g L-1 and the initial concentration of phenol was 500 mg L-1 and the reaction time was set to 3 hours. A 400 W lamp was adapted to the reactor. The flow of oxygen was optimized to 650 ml min-1. The pH of the liquid and the nature of the catalyst (acidified and calcined palygorskite, palygorskite impregnated with 3.8% Fe and the pyrolysis char) were investigated. The catalytic materials were characterized by XRD, XRF, and BET. In the process of photocatalytic degradation of phenol, the results showed that the pH has a significant influence on the phenol conversion, with best results for pH equal to 5.5. The phenol conversion ranged from 51.78% for the char sewage sludge to 58.02% (for palygorskite acidified calcined). Liquid samples analyzed by liquid chromatography and the following compounds were identified: hydroquinone, catechol and maleic acid. A mechanism of the reaction was proposed, whereas the phenol is transformed into the homogeneous phase and the others react on the catalyst surface. For the latter, the Langmuir-Hinshelwood model was applied, whose mass balances led to a system of differential equations and these were solved using numerical methods in order to get estimates for the kinetic and adsorption parameters. The model was adjusted satisfactorily to the experimental results. From the proposed mechanism and the operating conditions used in this study, the most favored step, regardless of the catalyst, was the acid group (originated from quinone compounds), being transformed into CO2 and water, whose rate constant k4 presented value of 0.578 mol L-1 min-1 for acidified calcined palygorskite, 0.472 mol L-1 min-1 for Fe2O3/palygorskite and 1.276 mol L-1 min-1 for the sludge to char, the latter being the best catalyst for mineralization of acid to CO2 and water. The quinones were adsorbed to the acidic sites of the calcined palygorskite and Fe2O3/palygorskite whose adsorption constants were similar (~ 4.45 L mol-1) and higher than that of the sewage sludge char (3.77 L mol-1).

Avaliação do desempenho da paligorsquita modificada e do carvão da pirólise do lodo de esgoto no processo de degradação fotocatalítica do fenol

The uncontrolled disposal of wastewaters containing phenolic compounds by the industry has caused irreversible damage to the environment. Because of this, it is now mandatory to develop new methods to treat these effluents before they are disposed of. One of the most promising and low cost approaches is the degradation of phenolic compounds via photocatalysis. This work, in particular, has as the main goal, the customization of a bench scale photoreactor and the preparation of catalysts via utilization of char originated from the fast pyrolysis of sewage sludge. The experiments were carried out at constant temperature (50°C) under oxygen (410, 515, 650 and 750 ml min-1). The reaction took place in the liquid phase (3.4 liters), where the catalyst concentration was 1g L-1 and the initial concentration of phenol was 500 mg L-1 and the reaction time was set to 3 hours. A 400 W lamp was adapted to the reactor. The flow of oxygen was optimized to 650 ml min-1. The pH of the liquid and the nature of the catalyst (acidified and calcined palygorskite, palygorskite impregnated with 3.8% Fe and the pyrolysis char) were investigated. The catalytic materials were characterized by XRD, XRF, and BET. In the process of photocatalytic degradation of phenol, the results showed that the pH has a significant influence on the phenol conversion, with best results for pH equal to 5.5. The phenol conversion ranged from 51.78% for the char sewage sludge to 58.02% (for palygorskite acidified calcined). Liquid samples analyzed by liquid chromatography and the following compounds were identified: hydroquinone, catechol and maleic acid. A mechanism of the reaction was proposed, whereas the phenol is transformed into the homogeneous phase and the others react on the catalyst surface. For the latter, the Langmuir-Hinshelwood model was applied, whose mass balances led to a system of differential equations and these were solved using numerical methods in order to get estimates for the kinetic and adsorption parameters. The model was adjusted satisfactorily to the experimental results. From the proposed mechanism and the operating conditions used in this study, the most favored step, regardless of the catalyst, was the acid group (originated from quinone compounds), being transformed into CO2 and water, whose rate constant k4 presented value of 0.578 mol L-1 min-1 for acidified calcined palygorskite, 0.472 mol L-1 min-1 for Fe2O3/palygorskite and 1.276 mol L-1 min-1 for the sludge to char, the latter being the best catalyst for mineralization of acid to CO2 and water. The quinones were adsorbed to the acidic sites of the calcined palygorskite and Fe2O3/palygorskite whose adsorption constants were similar (~ 4.45 L mol-1) and higher than that of the sewage sludge char (3.77 L mol-1).

Análise de microestrutura e de características geotécnicas de misturas de resíduo de polimento de porcelanato e solo

Brazil is a country in development, rich in natural resources. In order to grow sustainably, it is necessary to Brazil to preserve its environment, which is an expressive challenge, especially to industries, such as those producing ceramic materials. This study was developed using Porcelain Tile Polishing Residue (RPP) in blends with soil to build compacted fills. This residue is a slurry generated during the polishing process of porcelain tiles and contains powdery material from the polished tile, the abrasives used during the process and cooling water. The RPP was collected from a private company located in Conde/PB and it was mixed with a sandy-clayey soil, to build the fills. Laboratorial tests were conducted with pure soil, pure RPP and blends in proportions of 5%, 10%, 15% and 20% of RPP in addition to the dry mass of pure soil. The Chemical and Physical Characterization tests performed were: specific solid weight, grain size distribution, laser analysis of grain size distribution, Atterberg limits, X ray fluorescence, X ray diffraction, scanning electron microscopy and soil compaction,. The materials and blends were also compacted and direct shear tests and plate load tests were performed. Plate load tests were conducted using a circular plate with 30 cm diameter, on specimens of pure soil and 5% blend, compacted in a metallic box inside the Soil Mechanics Laboratory of the Federal University of Rio Grande do Norte, Brazil. Both mechanical tests performed were conducted under inundated conditions, willing to reduce the influence of soil suction. An evaluation of the results of the tests performed shows that RPP is a fine material, with grain size distribution smaller than 0,015mm, composed mainly of silica and alumina, and particles in angular shape. The soil was characterized as a clayey sand, geologically known as a lateritic soil, with high percentages of alumina and iron oxide, and particles with rounded shape. Both the Soil and the blends presented low plasticity, while the residue showed a medium plasticity. Direct shear tests showed that the addition of RPP did not cause major changes into blends’ friction angle data, however, it was possible to note that, for the proportions studied, that is a tendency of obtain lower shear stresses for higher percentages of RPP in the blends. Both pure soil and 5% mixture showed a punching disruption for the Plate load test. For this same test, the allowable stress for 5% mixture was 44% higher than the pure soil, and smaller vertical settlement results for all stresses.

Análise de microestrutura e de características geotécnicas de misturas de resíduo de polimento de porcelanato e solo

Brazil is a country in development, rich in natural resources. In order to grow sustainably, it is necessary to Brazil to preserve its environment, which is an expressive challenge, especially to industries, such as those producing ceramic materials. This study was developed using Porcelain Tile Polishing Residue (RPP) in blends with soil to build compacted fills. This residue is a slurry generated during the polishing process of porcelain tiles and contains powdery material from the polished tile, the abrasives used during the process and cooling water. The RPP was collected from a private company located in Conde/PB and it was mixed with a sandy-clayey soil, to build the fills. Laboratorial tests were conducted with pure soil, pure RPP and blends in proportions of 5%, 10%, 15% and 20% of RPP in addition to the dry mass of pure soil. The Chemical and Physical Characterization tests performed were: specific solid weight, grain size distribution, laser analysis of grain size distribution, Atterberg limits, X ray fluorescence, X ray diffraction, scanning electron microscopy and soil compaction,. The materials and blends were also compacted and direct shear tests and plate load tests were performed. Plate load tests were conducted using a circular plate with 30 cm diameter, on specimens of pure soil and 5% blend, compacted in a metallic box inside the Soil Mechanics Laboratory of the Federal University of Rio Grande do Norte, Brazil. Both mechanical tests performed were conducted under inundated conditions, willing to reduce the influence of soil suction. An evaluation of the results of the tests performed shows that RPP is a fine material, with grain size distribution smaller than 0,015mm, composed mainly of silica and alumina, and particles in angular shape. The soil was characterized as a clayey sand, geologically known as a lateritic soil, with high percentages of alumina and iron oxide, and particles with rounded shape. Both the Soil and the blends presented low plasticity, while the residue showed a medium plasticity. Direct shear tests showed that the addition of RPP did not cause major changes into blends’ friction angle data, however, it was possible to note that, for the proportions studied, that is a tendency of obtain lower shear stresses for higher percentages of RPP in the blends. Both pure soil and 5% mixture showed a punching disruption for the Plate load test. For this same test, the allowable stress for 5% mixture was 44% higher than the pure soil, and smaller vertical settlement results for all stresses.