Uma interface para o controle de robôs móveis por intermédio de gestos

The main objective of this work was to enable the recognition of human gestures through the development of a computer program. The program created captures the gestures executed by the user through a camera attached to the computer and sends it to the robot command referring to the gesture. They were interpreted in total ve gestures made by human hand. The software (developed in C ++) widely used the computer vision concepts and open source library OpenCV that directly impact the overall e ciency of the control of mobile robots. The computer vision concepts take into account the use of lters to smooth/blur the image noise reduction, color space to better suit the developer's desktop as well as useful information for manipulating digital images. The OpenCV library was essential in creating the project because it was possible to use various functions/procedures for complete control lters, image borders, image area, the geometric center of borders, exchange of color spaces, convex hull and convexity defect, plus all the necessary means for the characterization of imaged features. During the development of the software was the appearance of several problems, as false positives (noise), underperforming the insertion of various lters with sizes oversized masks, as well as problems arising from the choice of color space for processing human skin tones. However, after the development of seven versions of the control software, it was possible to minimize the occurrence of false positives due to a better use of lters combined with a well-dimensioned mask size (tested at run time) all associated with a programming logic that has been perfected over the construction of the seven versions. After all the development is managed software that met the established requirements. After the completion of the control software, it was observed that the overall e ectiveness of the various programs, highlighting in particular the V programs: 84.75 %, with VI: 93.00 % and VII with: 94.67 % showed that the nal program performed well in interpreting gestures, proving that it was possible the mobile robot control through human gestures without the need for external accessories to give it a better mobility and cost savings for maintain such a system. The great merit of the program was to assist capacity in demystifying the man set/machine therefore uses an easy and intuitive interface for control of mobile robots. Another important feature observed is that to control the mobile robot is not necessary to be close to the same, as to control the equipment is necessary to receive only the address that the Robotino passes to the program via network or Wi-Fi.

Formulação de pasta de cimento flexível utilizando planejamento experimental

Steam injection is an oil recovery method accomplished by introducing steam directly into the oil well to the reservoir. The steam causes dilation of the casing, which, after reduction in temperature, tends to return to the initial dimensions: causing the formation of cracks in the cement and loss of hydraulic isolation.. In this context, the type of the SBR latex is used to improve the flexibility of the cement matrix by reducing the amount of fatigue failure. To prevent these failures, the mechanical resistance parameters should be carefully adjusted to well conditions. This work aims to study the mechanical behavior of cement slurry systems additivated with SBR latex for cementing oil wells subject to steam injection. Through the central composite factorial design was studied the behavior of the compressive strength by varying the density of the paste between 1.75 g /cm³ (14.6 lb/ Gal) and 1.89 g/cm³ (15,8lb / Gal), curing time between 4 days and 28 days and concentration of SBR Latex between 0 L / m³ and 534.722 L / m³ (0 gpc and 4 gpc). The results showed that increasing the concentration of SBR latex, within the given ranges, there was a decreased compression resistance and elastic modulus by increasing the elastic deformability of the slurry. From the results it can determine best slurries formulation conditions in oil well cementing operations subject to steam injection.

Formulação de pasta de cimento flexível utilizando planejamento experimental

Steam injection is an oil recovery method accomplished by introducing steam directly into the oil well to the reservoir. The steam causes dilation of the casing, which, after reduction in temperature, tends to return to the initial dimensions: causing the formation of cracks in the cement and loss of hydraulic isolation.. In this context, the type of the SBR latex is used to improve the flexibility of the cement matrix by reducing the amount of fatigue failure. To prevent these failures, the mechanical resistance parameters should be carefully adjusted to well conditions. This work aims to study the mechanical behavior of cement slurry systems additivated with SBR latex for cementing oil wells subject to steam injection. Through the central composite factorial design was studied the behavior of the compressive strength by varying the density of the paste between 1.75 g /cm³ (14.6 lb/ Gal) and 1.89 g/cm³ (15,8lb / Gal), curing time between 4 days and 28 days and concentration of SBR Latex between 0 L / m³ and 534.722 L / m³ (0 gpc and 4 gpc). The results showed that increasing the concentration of SBR latex, within the given ranges, there was a decreased compression resistance and elastic modulus by increasing the elastic deformability of the slurry. From the results it can determine best slurries formulation conditions in oil well cementing operations subject to steam injection.

Avaliação da influência de surfactantes químico e biológico na hidrólise enzimática de casca de coco verde após pré-tratamento ácido/alcalino e com peróxido de hidrogênio alcalino

In Brazil many types of bioproducts and agroindustrial waste are generated currently, such as cacashew apple bagasse and coconut husk, for example. The final disposal of these wastes causes serious environmental issues. In this sense, waste lignocellulosic content, as the shell of the coconut is a renewable and abundant raw material in which its use has an increased interest mainly for the 2nd generation ethanol production. The hydrolysis of cellulose to reducing sugars such as glucose and xylose is catalysed by a group of enzymes called cellulases. However, the main bottleneck in the enzymatic hydrolysis of cellulose is the significant deactivation of the enzyme that shows irreversible adsorption mechanism leading to reduction of the cellulose adsorption onto cellulose. Studies have shown that the use of surfactants can modify the surface property of the cellulose therefore minimizing the irreversible binding. The main objective of the present study was to evaluate the influence of chemical and biological surfactants during the hydrolysis of coconut husk which was subjected to two pre-treatment in order to improve the accessibility of the enzymes to the cellulose, removing this way, part of the lignin and hemicellulose present in the structure of the material. The pre-treatments applied to coconut bagasse were: Acid/Alkaline using 0.6M H2SO4 followed by 1M NaOH, and the one with Alkaline Hydrogen Peroxide at a concentration of 7.35% (v/v) and pH 11.5. Both the material no treatment and pretreated were characterized using analysis of diffraction X-ray (XRD), Scanning Electron Microscopy (SEM) and methods established by NREL. The influence of both surfactants, chemical and biological, was used at concentrations below the critical micelle concentration (CMC), and the concentrations equal to the CMC. The application of pre-treatment with coconut residue was efficient for the conversion to glucose, as well as for the production of total reducing sugars, it was possible to observe that the pretreatment fragmented the structure as well as disordered the fibers. Regarding XRD analysis, a significant increase in crystallinity index was observed for pretreated bagasse acid/alkali (51.1%) compared to the no treatment (31.7%), while that for that treated with PHA, the crystallinity index was slightly lower, around 29%. In terms of total reducing sugars it was not possible to observe a significant difference between the hydrolysis carried out without the use of surfactant compared to the addition of Triton and rhamnolipid. However, by observing the conversions achieved during the hydrolysis, it was noted that the best conversion was using the rhamnolipíd for the husk pretreated with acid/alkali, reaching a value of 33%, whereas using Triton the higher conversion was 23.8%. The coconut husk is a residue which can present a high potential to the 2nd generation ethanol production, being the rhamonolipid a very efficient biosurfactant for use as an adjuvant in the enzymatic process in order to act on the material structure reducing its recalcitrance and therefore improving the conditions of access for enzymes to the substrate increasing thus the conversion of cellulose to glucose.

Avaliação da influência de surfactantes químico e biológico na hidrólise enzimática de casca de coco verde após pré-tratamento ácido/alcalino e com peróxido de hidrogênio alcalino

In Brazil many types of bioproducts and agroindustrial waste are generated currently, such as cacashew apple bagasse and coconut husk, for example. The final disposal of these wastes causes serious environmental issues. In this sense, waste lignocellulosic content, as the shell of the coconut is a renewable and abundant raw material in which its use has an increased interest mainly for the 2nd generation ethanol production. The hydrolysis of cellulose to reducing sugars such as glucose and xylose is catalysed by a group of enzymes called cellulases. However, the main bottleneck in the enzymatic hydrolysis of cellulose is the significant deactivation of the enzyme that shows irreversible adsorption mechanism leading to reduction of the cellulose adsorption onto cellulose. Studies have shown that the use of surfactants can modify the surface property of the cellulose therefore minimizing the irreversible binding. The main objective of the present study was to evaluate the influence of chemical and biological surfactants during the hydrolysis of coconut husk which was subjected to two pre-treatment in order to improve the accessibility of the enzymes to the cellulose, removing this way, part of the lignin and hemicellulose present in the structure of the material. The pre-treatments applied to coconut bagasse were: Acid/Alkaline using 0.6M H2SO4 followed by 1M NaOH, and the one with Alkaline Hydrogen Peroxide at a concentration of 7.35% (v/v) and pH 11.5. Both the material no treatment and pretreated were characterized using analysis of diffraction X-ray (XRD), Scanning Electron Microscopy (SEM) and methods established by NREL. The influence of both surfactants, chemical and biological, was used at concentrations below the critical micelle concentration (CMC), and the concentrations equal to the CMC. The application of pre-treatment with coconut residue was efficient for the conversion to glucose, as well as for the production of total reducing sugars, it was possible to observe that the pretreatment fragmented the structure as well as disordered the fibers. Regarding XRD analysis, a significant increase in crystallinity index was observed for pretreated bagasse acid/alkali (51.1%) compared to the no treatment (31.7%), while that for that treated with PHA, the crystallinity index was slightly lower, around 29%. In terms of total reducing sugars it was not possible to observe a significant difference between the hydrolysis carried out without the use of surfactant compared to the addition of Triton and rhamnolipid. However, by observing the conversions achieved during the hydrolysis, it was noted that the best conversion was using the rhamnolipíd for the husk pretreated with acid/alkali, reaching a value of 33%, whereas using Triton the higher conversion was 23.8%. The coconut husk is a residue which can present a high potential to the 2nd generation ethanol production, being the rhamonolipid a very efficient biosurfactant for use as an adjuvant in the enzymatic process in order to act on the material structure reducing its recalcitrance and therefore improving the conditions of access for enzymes to the substrate increasing thus the conversion of cellulose to glucose.

Crescimento urbano e seus impactos no sistema de drenagem de uma bacia em Natal/RN

The uncontrolled growth of most Brazilian cities is not accompanied by the development of urban infrastructure. With increasing soil sealing, runoff and decreased infiltration volume, impacts on water resources and on population of the areas affected by urban growth are inevitable. This study aims to evaluate the use and occupation of a watershed and analyze the drainage system in order to control the impact using tools to integrate urban development with the drainage of rainwater in an important watershed in the Natal City, Rio Grande do Norte State. The study involved the characterization of the basin XII.4 on the land use and occupation, for the years 2005 and 2014. With the application of SWMM model was possible to analyze the impacts caused by the urbanization process in the existing drainage system, showing the two years analyzed have their areas very close to percentage saturation of impervious areas. Although the region is still predominantly single family residential, suffers increasing verticalization of mainly commercial buildings. The drainage system is inefficient for the area's needs by the year 2005. The drainage system was also tested for four variations of land use by developing scenarios. Scenario 1 is related to the year 2014, considered current. Scenario 2 was adopted the maximum rate of 80% for land use, allowed for the Natal City. Scenario 3 gives the critical condition of land use, with the area 100% impervious. Scenario 4 is applied to the existence of LID (Low Impact Device). The scenarios analysis showed that all indicate deficiency at some point of the drainage system as a result of the high degree of occupation of the area that generate higher flows than the initial drainage system capacity. With the study it became clear that the adoption of non-structural tools are effective in reducing flooding and improving the drainage system capacity.

Crescimento urbano e seus impactos no sistema de drenagem de uma bacia em Natal/RN

The uncontrolled growth of most Brazilian cities is not accompanied by the development of urban infrastructure. With increasing soil sealing, runoff and decreased infiltration volume, impacts on water resources and on population of the areas affected by urban growth are inevitable. This study aims to evaluate the use and occupation of a watershed and analyze the drainage system in order to control the impact using tools to integrate urban development with the drainage of rainwater in an important watershed in the Natal City, Rio Grande do Norte State. The study involved the characterization of the basin XII.4 on the land use and occupation, for the years 2005 and 2014. With the application of SWMM model was possible to analyze the impacts caused by the urbanization process in the existing drainage system, showing the two years analyzed have their areas very close to percentage saturation of impervious areas. Although the region is still predominantly single family residential, suffers increasing verticalization of mainly commercial buildings. The drainage system is inefficient for the area's needs by the year 2005. The drainage system was also tested for four variations of land use by developing scenarios. Scenario 1 is related to the year 2014, considered current. Scenario 2 was adopted the maximum rate of 80% for land use, allowed for the Natal City. Scenario 3 gives the critical condition of land use, with the area 100% impervious. Scenario 4 is applied to the existence of LID (Low Impact Device). The scenarios analysis showed that all indicate deficiency at some point of the drainage system as a result of the high degree of occupation of the area that generate higher flows than the initial drainage system capacity. With the study it became clear that the adoption of non-structural tools are effective in reducing flooding and improving the drainage system capacity.

Alteração do estado trófico durante um evento de seca prolongada e seus impactos na biomassa algal de um manancial tropical da região semiárida

The main consequence of eutrophication is an increase in algal biomass, mainly cyanobacterial blooms. The high evaporation and low precipitation, characteristics of semiarid regions, contribute to the nutrients availability increase in drought periods and consequent aggravation of eutrophic condition in reservoirs. Climate changes tend to intensify eutrophication symptoms, mostly in a semiarid region. Therefore, the aim of this study was to evaluate the impact of an extended drought in algal biomass in Parelhas’s Boqueirão, a mesotrophic reservoir located in a semiarid tropical region. The low volume was associated to water quality degradation and to the high nutrients concentrations and low water transparency. The increase in nutrients availability in the water column, consequence of reduced precipitation and low reservoir’s volume, provided the necessary resources for algal growth and allowed a change in trophic state in Boqueirão reservoir. This study showed how an extended drought decreases water quality. The effect of drought in Boqueirão was late detected due to the reservoir´s low initial nutrients concentration. The reservoir´s volume reduction increased the nutrient availability along with the algal biomass increase and the reservoir´s trophic state change of mesotrophic to eutrophic.

Contribuição ao estudo de treliças não lineares considerando efeitos térmicos

This work presents the numerical analysis of nonlinear trusses summited to thermomechanical actions with Finite Element Method (FEM). The proposed formulation is so-called positional FEM and it is based on the minimum potential energy theorem written according to nodal positions, instead of displacements. The study herein presented considers the effects of geometric and material nonlinearities. Related to dynamic problems, a comparison between different time integration algorithms is performed. The formulation is extended to impact problems between trusses and rigid wall, where the nodal positions are constrained considering nullpenetration condition. In addition, it is presented a thermodynamically consistent formulation, based on the first and second law of thermodynamics and the Helmholtz free-energy for analyzing dynamic problems of truss structures with thermoelastic and thermoplastic behavior. The numerical results of the proposed formulation are compared with examples found in the literature.

Estimativa da poluição emitida pelos ônibus das linhas troncais da cidade de Uberlândia, MG

The transport of people and goods contributes to the deterioration of the environment in urban areas because of the generation of pollution, such as, air, noise, soil, water or visual degradation. The heavy vehicles that use diesel as fuel are mainly responsible for the emission of nitrogen oxides (NOx) and particulate matter (PM), contributing to participation of the transport sector in air pollution. In addition, there is emission of Greenhouse Gas (GHG) whose main component is carbon dioxide (CO2). In most major cities, public transportation is often considered as a less polluting alternative compared to the private vehicle, in view of the potential to reduce, per passenger, the emissions of GHG and air pollutants. The study area was the city of Uberlândia and the objects of study were the trunk lines of the Sistema Integrado de Transporte (SIT). The emissions of NOx, PM and CO2 were estimated through the bottom-up approach which used the route of each bus line and also fuel consumption obtained through simulation from the TSIS software. The software has some result limitations, there are no report about the emission of pollutants by bus, and it is not able to change specifications for the fuel used by the fleet. The results obtained through calculations of pollutants and GHG emission by the bottom-up approach show that the emission is higher when using fuel comsuption obtained in simulation than using distance. For the results considering fuel and distance there was a reduction in emissions comparing ethanol and diesel.

Retificação plana tangencial dos ferros fundidos nodular, vermicular e cinzento em várias condições de corte

In a scenario of increasing competitiveness of the global industrial sector and with a consumer market increasingly demanding, there is an increased demand for new materials and, consequently, possibilities to explore new research and technological advances towards the development of new manufacturing methods or the improvement of existing technologies. In the case of cast irons, new grades of them have been developed so that their mechanical properties have been improved, making them more competitive with steel, expanding the applications and thus represents great economic gain for metallurgy and manufacturing sectors. This increases the interest and creates new opportunities to study these materials and identify how they respond in terms of the surface integrity, tool wear, cutting forces, among others, when machined by grinding operation. In this context, due to the lack of results from grinding of cast irons and studies comparing grindability among several grades of cast irons found in the literature, this work aims to generate scientific and technological contribution to the metallurgical and metal working sector through roughness results (Ra and Rz parameters) and evaluation and analysis of the subsurface integrity of three cast iron grades (gray, compacted graphite and nodular). The machining trials were performed on a surface grinding machine with silicon carbide grinding wheel at different cutting conditions. The input variables were the radial depth of cut (15 and 30 μm), worktable speed, vw (5 and 10 m/min) and the abrasive grain size of the grinding wheel. The results showed that surface roughness increased with the radial depth of cut for all materials tested; and the lowest values were obtained for gray cast iron. Also, roughness was sensitive to variation of worktable speed and the lowest values were obtained after machining with vw = 5 m/min. With respect to the abrasive grain size, as it decreased the roughness values increased to gray and nodular cast iron grades. Furthermore, grinding burns marks were observed on the surfaces of nodular cast iron and compacted graphite iron grades after grinding the smallest grain size, contrary to what is usually reported in literature. However, no evidence of severe thermal damages below the machined surfaces of all cast iron grades was observed after analyzing the results of hardness and the SEM micrograph images.

Análise do uso de escalas nas simulações de processos de estampagem

The purpose of using software based on numerical approximations for metal forming is given by the need to ensure process efficiency in order to get high quality products at lowest cost and shortest time. This study uses the theory of similitude in order to develop a technique capable of simulating the stamping process of a metal sheet, obtaining results close to the real values, with shorter processing times. The results are obtained through simulations performed in the finite element software STAMPACK®. This software uses the explicit integration method in time, which is usually applied to solve nonlinear problems involving contact, such as the metal forming processes. The technique was developed from a stamping model of a square box, simulated with four different scale factors, two higher and two smaller than the real scale. The technique was validated with a bending model of a welded plate, which had a high simulation time. The application of the technique allowed over 50% of decrease in the time of simulation. The results for the application of the scale technique for forming plates were satisfactory, showing good quantitative results related to the decrease of the total time of simulation. Finally, it is noted that the decrease in simulation time is only possible with the use of two related scales, the geometric and kinematic scale. The kinematic scale factors should be used with caution, because the high speeds can cause dynamic problems and could influence the results of the simulations.

Desenvolvimento de um exoesqueleto para movimentação/reabilita-ção de paraplégicos

People bedridden by paralysis/motor disability are subject to several problems due to lack of movement. Then, it is necessary to use equipments that enable the people bedridden stand up and walk, so as to reduce the problems due to lack of movement and the time of rehabilitation, impacting directly on its quality of life. The aim of this work is the development of an exoskeleton to make the movement of people with paralysis / motor impairment in the lower limbs, without help of third parties, to be activated by the user. To provide support, stability and security to the deficient, it was decided to use a structure formed by four legs, being each leg consisting of a parallel chain. The gait was obtained by combining the movement of two mechanisms: crank/rocker, responsible for oscillatory motion of the leg, and cam/follower, responsible for the foot motion on the desired trajectory. To achieve the aim of this work was conducted a study about the types of exoskeletons for locomotion/rehabilitation of people with lower limb paralysis and presented a study on the movement of the lower limb joints. It also presented a mathematical model to obtain the desired path to the foot of the exoskeleton, the static model and the design of the structure elements. In the sequence is presented the simulation of movements of a people during the human gait, experimental tests and the comparison with the human gait developed by a people without disabilities.

ToPI - uma abordagem online para identificar locais de interesse utilizando fotografias geo-referenciadas

Due to the growing use of social networks people no longer just consume data, they also produce and share it. Geo-tagged information, i.e., data with geographical location, have been used in many attempts to identify popular places and help tourists that will visit unfamiliar cities. This Master Thesis presents an online strategy that uses geo-tagged photos and their metadata in order to identify places of interest inside a given geographical area and retrieve relevant related information. The whole process runs automatically in real time, returning updated information about places. The proposed strategy takes into account the inherent dynamism of social media, and thus is robust under inconsistencies and/or outdated information, a common issue in solutions that rely on previously stored data. The analysis of the results showed that our approach is very promising, returning places that present high agreement with those from a popular travel website.

Ajustes de coeficientes integrantes de processos físicos e bioquímicos na autedepuração em curso de água de médio porte

The mathematical modeling in the simulation of self-purification capacity in lotic environment is an important tool in the planning and management of hydric resources in hydrographic basin scale. It satisfactorily deals with the self-purification process when the coefficients of physical and biochemical processes are calibrated from monitorated water quality data, which was the main focus of this study. The present study was conducted to simulate the behavior of the parameters OD, BOD5, total phosphorus, E. coli, ammonia, nitrite, nitrate and the total metals cadmium, chromium, copper, lead and zinc in the Uberabinha’s lower course (with an approximate annual growth flow between 4-35 m3/s), in a stretch of 19 km downstream of the treated effluent release by the WWTP of the city. The modelings, on the present study, show the importance of constant water quality parameters monitoration over the water course, based on the comparison of the simulations from calibrated coefficients and coefficients obtained in the literature for the period of June until November 2015. After coefficients calibration, there were good adjustments between simulated and measured data for the parameters OD, BOD, Ptotal, ammonia and nitrate and unsatisfactory adjust for the parameters nitrite and E. coli. About the total metals, the adjustments were not satisfactory on the reservoir’s vicinity of the Small Hydropower Plant Martins, due the considerable increase of the bottom sediment in lentic region. The greatest scientific contribution of this study was to calibrate the decay coefficient K and the quantification of the release by the fund S of total metals in watercourse midsize WWTP pollutant load receptor, justified by the lack of studies in the literature about the subject. For the metals cadmium, chromium, copper, lead and zinc, the borderline for K and S calibrated were: 0.0 to 13.0 day-1 and 0.0 to 1.7 g/m3.day; 0.0 to 0.9 day-1 and 0.0 to 7.3 g/m3.day; 0.0 to 25.0 day-1 and 0.0 to 1.8 g/m3.day; 0.0 to 7.0 day-1 and 0.0 to 40.3 g/m3.day; 0.0 to 30.0 day-1 and 0.0 to 70.1 g/m3.day.