Simulação e controle de um quadcopter utilizando lógica fuzzy

The present work develops a model to simulate the dynamics of a quadcopter being controlled by a PD fuzzy controller. Initially is presented a brief history of quadcopters an introduction to fuzzy logic and fuzzy control systems. Afterwards is presented an overview of the quadcopter dynamics and the mathematical modelling development applying Newton-Euler method. Then the modelling are implemented in a Simulink model in addition to a PD fuzzy controller. A prototype proposition is made, by describing each necessary component to build up a quadcopter. In the end the results from the simulators are discussed and compared due to the discrepancy between the model using ideal sensor and the model using non-ideal sensors

Desenvolvimento de experiências de acionamento e controle do movimento angular de motores de indução trifásico

This paper aims to show practical and effectiveexperiencesfor lessons Industrial Automation Laboratory taught inundergraduate degreein ElectricalEngineering from the University Júlio MesquitaFilho - UNESP, Guaratinguetá. Experiments carriedsimulatecontrol and drive systems of electric three phase induction motors (MIT)widely usedinindustries. The experiments simulate a manufacturing environment where there isa need to control the activation and continuous operation ofelectricmotors. Seven experimentsthat simulatethe firing of electrical motors through a controlsystem, a driver along with asimulator loads coupled to the electric motor was developed. Experiments usinga Programmable Logic Controller (PLC) as acontroller,an inverter frequencyasdriver, and MagneticBrake, as simulatorengine loads . The experiments were divided accordingto the speed reference signal used fordrivingand operating the electric motor: digital and analog. The first five experiments performing the drive control and operation of the electric motor via digital signals. The sixth and seventh experiments using an analog signal as a reference speed for the electric motor

Avaliação quali-quantitativa das parcelas escoadas, percoladas e armazenadas em instalação experimental piloto de telhado verde extensivo com diferentes inclinações

This study investigated the effect of slope and antecedent soil moisture on the water depth stored and percolated on extensive green roofs built in pilot scale. For this purpose, slopes of 10, 20 and 30% were investigated. Moisture was measured before and after each test to determine the differential moisture (ΔU). A rainfall simulator was designed and tested; the best arrangement presents a Christiansen Uniformity Coefficient of 56%. The results yielded that the slopes of 10% presented the highest values of water depth stored (59,88%), water depth percolated (77,15%), the slope of 30% presented the highest water depth drained (48,22%.) and there was no correlation between slope, water depth stored, water depth percolated and ΔU. It was verified the effect of dilution on the modules i10% between water depth percolated and apparent color (0.71%) in i20% between water depth drained and apparent color (-0.748%) and in the module i30% between water depth drained and turbidity (-0.76%) and water depth drained and apparent color (-0.93%). In i10% there was high correlation between pH and water depth percolated (0.94%) and between water depth drained and pH (0.71%). The data indicate that the module i10% had a greater reduction of runoff

Classificação e quantificação de tecidos Biológicos para construção de fantomas pediátricos

Paediatric diagnostic radiology can be considered as a separate specialty and with distinct characteristics of the radiology applied in adult patients. This in reason of the variability in the anatomical structures size and bigger sensitivity of tissues. The literature present in its majority methodologies for segmentation and tissue classification in adult patients, and works on tissue quantification are rare. This work had for objective the development of a biological tissue classifier and quantifier algorithm, from histograms, and that converts the quantified average thickness of these tissues for its respective simulator materials. The results will be used in the optimization process of paediatrics images, in future works, since these patients are frequently over exposed to the radiation in the repeated attempts of if getting considered good quality radiographic images. The developed algorithm was capable to read and store the name of all the archives, in the operational system, to filter artifacs, to count and quantify each biological tissues from the histogram of the examination, to obtain the biological tissues average thicknesses and to convert this value into its respective simulator material. The results show that it is possible to distinguish bone, soft, fat and pulmonary tissues from histograms of tomographic examinations of thorax. The quantification of the constituent materials of anthropomorphic phantom made by the algorithm, compared with the data of literature shows that the biggest difference was of 21,6% for bone. However, the literature shows that variations of up to 30% in bone thickness do not influence of significant form in the radiographic image quality. The average thicknesses of biological tissues, quantified for paediatrics patients, show that one phantom can simulate patients with distinct DAP ranges, since variations... (Complete abstract click electronic access below)

Avaliação das doses de cães submetidos a exames radiográficos de pulmão

This study aims to determine surface skin doses in dogs (with suspected pulmonary metastasis) submitted to chest X-rays using the technique of thermoluminescence dosimetry. Twenty seven exams from different dogs were performed at the Faculdade de Medicina Veterinária e Zootecnia da Universidade Estadual Paulista (FMVZ-UNESP/Botucatu). The doses were evaluated using thermoluminescent dosimeters of calcium sulphate doped with dysprosium (CaSO4:Dy) produced by the Instituto de Pesquisas Energéticas e Nucleares (IPEN-CNEN). The pulmonary metastasis exams are carried out in three projections, one dorsal-ventral and two lateral-lateral. During the procedures the projection thicknesses and source-skin surface distances were registered. To simulate the dog phantom the dosimeters were positioned in a cubic simulator (30x30x30 cm) of polymethylmethacrylate (PMMA) filled with water and irradiated according to the parameters of projections with the X-ray energies ranging from 45 to 70 kV. To estimate the surface skin dose the dose-response curves were obtained for X-ray energies of 50 and 70 kV using the diagnostic X-ray beam machine of the Instruments Calibration Laboratory of IPEN for doses of 1.5, 2.0, 2.5, 3.5 and 4.0 mGy. The main difficulty of this work was the dog immobilization that is reflected in poor-quality diagnostic imaging and, consequently, demands the repetition of the exams, which contributes to the increase of the doses received by the animals being studied and the clinical staff. The doses evaluated in this type of procedure are between 0.43 and 4.22 mGy. This research has shown to be extremely important for the assessment of doses involved in veterinary diagnostic radiology procedures, and as a parameter in the individual monitoring of pet’s owners who assist the animal positioning and occupationally exposed workers of the Department of Veterinary Radiology

Desenvolvimento de um equipamento para análise de desgastes em prótese de articulação total de quadril

Pós-graduação em Engenharia Mecânica - FEG

Biblioteca de escalonamento de tarefas em grid computacional - LIBTS

The use of computational grid simulators is particularly important for studying the algorithms of task scheduling. Through the simulators it’s possible to assess and compare the performance of different algorithms in various scenarios. Despite the simulation tools provide basic features for simulation in distributed environments, they don’t offer internal policies of task scheduling, so that the implementation of the algorithms must be realized by the user himself. Therefore, this study aims to present the library of task scheduling LIBTS (LIBrary Tasks Scheduling) which is developed and adapted to the SimGrid simulator to provide the users with a tool to analyze the algorithms of task scheduling in the computational grid.

Controle fuzzy de um motor dc utilizando sistema de aquisição de dados e o matlab

The present work develops a fuzzy inference system to control the rotation speed of a DC motor available in Degem Kit. Therefore, it should use the fuzzy toolbox of Matlab in conjunction with the data acquisition board NI - USB - 6009, a National Instrument’s board. An introduction to fuzzy logic, the mathematical model of a DC motor and the operation of data acquisition board is presented first. Followed by the controller fuzzy model implemented using Simulink which is described in detail. Finally, the prototype is shown and the simulator results are presented

De autor a personagem: Jorge Luis Borges na mira de romancistas latino-americanos

Pós-graduação em Letras - FCLAS

Desenvolvimento de um sistema de gerenciamento de energia (EMS - Energy Management System) para a rede elétrica inteligente (Smart Grid)

Pós-graduação em Engenharia Elétrica - FEIS

Caracterização radiográfica ex vivo de biomateriais utilizados para regeneração óssea em mandíbulas de porcos

Introduction: The radiographic characteristics of a biomaterial, such as its density, may influence the evaluation of the results obtained following its clinical use. Objective: The aim of this study was to evaluate the radiographic density of biomaterials used as bone substitutes, inserted into dental sockets and bone defects in created in the jaws of pigs. The influence of a soft tissue simulator on the results was also evaluated. Material and method: Two and three-millimeter-deep bone defects were created in the pigs mandible and the right first molar extraction socket were used. Commercial samples of five biomaterials were tested: Hydroxyapatite, Lyophilized Bovine Bone, 45S5 bioglass (generic), PerioGlass and β-Tri-Calcium Phosphate, and compared to a positive (mandibular bone) and negative (empty alveolar bone defects) controls. Radiographic images were acquired with and without a 10 mm thick soft-tissue simulator. Result: The results for the extraction sockets showed no differences between the biomaterials and the negative control. For the bone defects, the depth of the defect density influenced the density, both in the negative control (p < 0.01) and biomaterials (p < 0.05) groups. The soft- tissue simulator did not alter the results. Conclusion: The type of the evaluated defect can interfere in the radiographic features presented by each biomaterial, while the simulation of soft tissues was not statistically significant.

Influência do gênero na demanda visual por mapas em escalas diferentes em sistema de navegação e guia de rota

This work investigates the gender effect on visual demand of drivers for dynamic maps at different cartographic scales presented In-Vehicle Route Guidance and Navigation System (RGNS). A group of 52 subjects (26 males and 26 females) took part in an experiment performed in a low-cost driving simulator. the driver's task consisted of navigating in an unknown route using a RGNS prototype which presents maps at two different cartographic scales. This paper replicates the known phenomenon of significant relationships between gender and performance at visual-spatial tasks issue. Our results show that drivers of different genders present distinct levels of visual demand both due to the cartographic scales and maneuver complexity variation. These discussed results are based upon individual differences in terms of spatial ability and spatial anxiety.

Desenvolvimento da ferramenta MS2PSOC: Tradução de modelos descritos no matlab/simulink para o ambiente psoc creator

Pós-graduação em Engenharia Elétrica - FEIS

Sistema de geração e armazenamento de energia elétrica utilizando transdutor piezelétrico na forma pulsada

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estudo de materiais supercondutores em forma de SQUID com uma constrição usando métodos de paralelização computacional

Pós-graduação em Ciência e Tecnologia de Materiais - FC