Biodiesel etílico filtrado de óleo residual de soja: desempenho de um trator agrícola na operação de gradagem

Filtered ethyl ester biodiesel from residual soybean oil: performance of an agricultural tractor in the disk harrow operation. This test was conducted to evaluate the performance of an agricultural tractor using a mixture of biodiesel and petroleum diesel. The experiment was conducted at FCAV-Unesp, Jaboticabal, using a 4x2 AFWD tractor with 73.6 kW (100 hp @ 2,300 rpm) of power in the motor, pulling a disk harrow. The biodiesel used was of the ethyl type, filtered, and produced from residual soybean oil. The experimental design was completed randomized in factorial scheme (4x5), with 20 treatments and 4 repetitions, in which 5 ratios of biodiesel and petroleum diesel mixtures were combined (0 and 100%, 25 and 75%, 50 and 50%, 75 and 25% and 100 and 0%), with 4 displacement runs. The analyzed variables were traction bar power, engine rotation and displacement speed. The results evidenced that the mixture ratio (biodiesel and petroleum diesel) did not compromise tractor performance until the limit of 50%.

Colheita mecanizada e perdas quantitativas de sementes de crotalária

In mechanized harvesting of seeds can occur losses, which reduce productivity, decrease the profitability and can do serious damage to the producer. The objective of this work was to evaluate the quantitative seed losses of Crotalaria juncea depending on the harvester speed and the rotation of the threshing cylinder. The experiment was conducted in the area of Education, Research and Production Unesp/Jaboticabal, using a entirely casualized design on factorial away 2x3, with two-speed displacement of the machine (1.8 and 3.2 km h(-1)) and three rotations of threshing cylinder (750, 800 and 850 rpm), with 4 repetitions. It was concluded that the measures relating to the development of the plants showed homogeneous behavior, indicating little dispersion of the data. It was observed that the rate of displacement of the harvester and rotation of the drum track not affected the losses in the plataform of cutting. The largest losses of crotalaria seeds occurred on the plataform of cutting the harvester machine, in the form of pods not harvested. It was observed that the total losses in the harvest of crotalaria seed were high, and the losses in pods on the soil, responsible for almost all the losses encountered.

Avaliação dos desenvolvimento da caltura da soja (Glycine max (L.) Merrill) sob diferentes sistemas de preparo

Atualmente na agricultura, a soja ocupa lugar de destaque garantido pela alta produtividade e excelente rentabilidade no mercado nacional, principalmente na exportação de grãos. Sabe-se que para uma boa produtividade é necessário um bom planejamento, além de técnicas de preparo do solo adequadas a cada região do País. Este trabalho, desenvolvido na Universidade Estadual Paulista, Faculdade de Ciências Agrárias e Veterinárias, Campus de Jaboticabal, SP, teve por objetivo, analisar o efeito de diferentes sistemas de preparo no solo e na cultura da soja (Glycine max (L.) Merrill) em Latossolo Vermelho Eutroférrico. Os tratamentos foram 3 preparos convencionais (arado de discos + duas passadas de grade leve, arado de aivecas + duas passadas de grade leve, grade pesada + grade leve), 2 preparos reduzidos (escarificador com rolo destorroador + grade leve, escarificador com rolo destorroador) e semeadura direta, resultando em 6 tratamentos com 4 repetições, totalizando 24 observações. O teor de água no solo não difere entre tratamentos. Na camada superficial (0-5 cm) a semeadura direta apresenta maior resistência à penetração em relação ao arado de aivecas com duas gradagens leves e escarificador com uma gradagem leve. As características agronômicas da cultura da soja não são influenciadas pelos tratamentos estudados.

Aspectos morfológicos do saco vitelino em roedores da subordem Hystricomorpha: paca (Agouti paca) e cutia (Dasyprocta aguti)

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Correlações genotípicas, fenotípicas e ambientais entre caracteres de mamoneira

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Critérios na tomada de decisão estratégica em projetos de co-geração a gás natural: um estudo em hospitais

This thesis deals with analyzing the actual perception of the brazilian hospital managers about natural gas fired cogeneration. An study of case is developed to obtain information about the viability of the investments in cogeneration technolgies in four hospitals. These studies are made using a questionnaire, to know and to obtain necessaries data of the managers. The main results shows that the investors have a bad feeling about to invest in a different activity. In other hand, the results show that the investors have a good impression about the configuration of the project that uses the project finance like way of financing

Metodologia para modelagem, validação e programação de controladores lógicos industriais usando statecharts básicos

Due of industrial informatics several attempts have been done to develop notations and semantics, which are used for classifying and describing different kind of system behavior, particularly in the modeling phase. Such attempts provide the infrastructure to resolve some real problems of engineering and construct practical systems that aim at, mainly, to increase the productivity, quality, and security of the process. Despite the many studies that have attempted to develop friendly methods for industrial controller programming, they are still programmed by conventional trial-and-error methods and, in practice, there is little written documentation on these systems. The ideal solution would be to use a computational environment that allows industrial engineers to implement the system using high-level language and that follows international standards. Accordingly, this work proposes a methodology for plant and control modelling of the discrete event systems that include sequential, parallel and timed operations, using a formalism based on Statecharts, denominated Basic Statechart (BSC). The methodology also permits automatic procedures to validate and implement these systems. To validate our methodology, we presented two case studies with typical examples of the manufacturing sector. The first example shows a sequential control for a tagged machine, which is used to illustrated dependences between the devices of the plant. In the second example, we discuss more than one strategy for controlling a manufacturing cell. The model with no control has 72 states (distinct configurations) and, the model with sequential control generated 20 different states, but they only act in 8 distinct configurations. The model with parallel control generated 210 different states, but these 210 configurations act only in 26 distinct configurations, therefore, one strategy control less restrictive than previous. Lastly, we presented one example for highlight the modular characteristic of our methodology, which it is very important to maintenance of applications. In this example, the sensors for identifying pieces in the plant were removed. So, changes in the control model are needed to transmit the information of the input buffer sensor to the others positions of the cell

Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Sistemas de automação e supervisão do laboratório de avaliação dos processos de medição de vazão e BSW

During a petroleum well production process, It is common the slmultaneous oil and water production, in proportion that can vary from 0% up to values close to 100% of water. Moreover, the production flows can vary a lot, depending on the charaeteristies of eaeh reservoir. Thus being, the meters used in field for the flow and BSW (water in the oil) measurement must work well in wide bands of operation. For the evaluation of the operation of these meters, in the different operation conditions, a Laboratory will be built in UFRN, that has for objective to evaluate in an automatic way the processes of flow and BSW petroleum measurement, considering different operation conditions. The good acting of these meters is fundamental for the accuracy of the measures of the volumes of production liquid and rude of petroleum. For the measurement of this production, the petroleum companies use meters that should indicate the values with tha largast possible accuracy and to respect a series of conditions and minimum requirements, estabelished by the united Entrance ANP/INMETRO 19106/2000. The laboratory of Evafuation of the Processes of Measurement of Flow and BSW to be built will possess an oil tank basically, a tank of water, besides a mixer, a tank auditor, a tank for separation and a tank of residues for discard of fluids, fundamental for the evaluation of the flow metars and BSW. The whole process will be automated through the use of a Programmable Logicat Controller (CLP) and of a supervisory system.This laboratory besides allowing the evaluation of flow meters and BSW used by petroleum companies, it will make possible the development of researches related to the automation. Besides, it will be a collaborating element to the development of the Computer Engineering and Automation Department, that it will propitiate the evolution of the faculty and discente, qualifying them for a job market in continuous growth. The present work describes the project of automation of the laboratory that will be built at of UFRN. The system will be automated using a Programmable Logical Controller and a supervisory system. The programming of PLC and the screens of the supervisory system were developed in this work

Desenvolvimento e avaliação de controladores preditivos baseados em modelos biliares

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Especificação de um bloco funcional implementando rede neural para redes industriais foundations fieldbus

This work proposes the specification of a new function block according to Foundation Fieldbus standards. The new block implements an artificial neural network, which may be useful in process control applications. The specification includes the definition of a main algorithm, that implements a neural network, as well as the description of some accessory functions, which provide safety characteristics to the block operation. Besides, it also describes the block attributes emphasizing its parameters, which constitute the block interfaces. Some experimental results, obtained from an artificial neural network implementation using actual standard functional blocks on a laboratorial FF network, are also shown, in order to demonstrate the possibility and also the convenience of integrating a neural network to Fieldbus devices

Semeadura direta de milho com dois tipos de sulcadores de adubo, em nível e no sentido do declive do terreno

O presente estudo teve como objetivo avaliar parâmetros operacionais de um conjunto mecanizado envolvendo trator e semeadora, assim como o rendimento da cultura do milho semeada nas diferentes configurações das máquinas e combinações com o ambiente de produção. Os tratamentos consistiram de tipos de sulcadores (discos duplos e hastes), os quais foram avaliados em experimentos em que a operação de semeadura direta do milho foi efetuada transversalmente ao declive (em nível) e em aclive e declive. A semeadura contra o declive e o uso de haste sulcadora implicaram maior demanda de esforço de tração, patinagem do trator e consumo de combustível por área trabalhada e não influenciaram o volume de solo mobilizado, a população de plantas e a produtividade de grãos do milho, em relação à operação realizada em declive e uso de sulcador de discos duplos, respectivamente. A utilização de sulcador do tipo haste resultou em menor número de plantas acamadas e quebradas, em relação ao uso de discos duplos, independentemente do sentido da operação. A principal diferença entre semear em nível ou em declive é a formação de sulcos orientados no sentido do terreno, pela ação de sulcadores do tipo haste e elevada patinagem dos rodados do trator, já que o consumo de combustível por área trabalhada e capacidade operacional não foram afetados por aquelas variáveis.

Temperatura do solo em função do preparo do solo e do manejo da cobertura de inverno

Com o objetivo de avaliar o efeito do preparo do solo e do manejo da cobertura de inverno (consórcio aveia-preta + nabo forrageiro) sobre a temperatura do solo, realizou-se um experimento em um Nitossolo em Botucatu-SP no outono/inverno de 2000. Utilizou-se um delineamento em blocos casualizados em esquema fatorial 3 x 3 (três preparos e três manejos). O preparo do solo constou de: preparo convencional, preparo conservacionista com escarificação e plantio direto, e o manejo da cobertura: consórcio dessecado, rolado e triturado. Foram avaliados a temperatura do solo (termopares) a 5 cm de profundidade, de hora em hora, aos 7, 14, 30, 45 e 60 dias após a emergência das plantas do consórcio; o teor de água do solo na profundidade de 10 cm, nas mesmas épocas; e a cobertura do solo (massa seca e índice de cobertura), imediatamente após aplicação dos tratamentos. O sistema plantio direto apresentou temperaturas do solo menores que as do preparo convencional, até o 14º dia após emergência (DAE) das plantas. A partir do 30° DAE das plantas, a temperatura não foi mais influenciada pelos tratamentos, devido à cobertura do consórcio e ocorrência de boa disponibilidade de água no solo. Os manejos da cobertura com rolo-faca, triturador e herbicida não influenciaram a temperatura do solo. A temperatura do solo não interferiu no crescimento e desenvolvimento das culturas de cobertura.

Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados

This work deals with an on-line control strategy based on Robust Model Predictive Control (RMPC) technique applied in a real coupled tanks system. This process consists of two coupled tanks and a pump to feed the liquid to the system. The control objective (regulator problem) is to keep the tanks levels in the considered operation point even in the presence of disturbance. The RMPC is a technique that allows explicit incorporation of the plant uncertainty in the problem formulation. The goal is to design, at each time step, a state-feedback control law that minimizes a 'worst-case' infinite horizon objective function, subject to constraint in the control. The existence of a feedback control law satisfying the input constraints is reduced to a convex optimization over linear matrix inequalities (LMIs) problem. It is shown in this work that for the plant uncertainty described by the polytope, the feasible receding horizon state feedback control design is robustly stabilizing. The software implementation of the RMPC is made using Scilab, and its communication with Coupled Tanks Systems is done through the OLE for Process Control (OPC) industrial protocol