Balance-bot

Research on inverted pendulum has gained momentum over the last decade on a number of robotic laboratories over the world; due to its unstable proprieties is a good example for control engineers to verify a control theory. To verify that the pendulum can balance we can make some simulations using a closed-loop controller method such as the linear quadratic regulator or the proportional–integral–derivative method. Also the idea of robotic teleoperation is gaining ground. Controlling a robot at a distance and doing that precisely. However, designing the tool to takes the best benefit of the human skills while keeping the error minimal is interesting, and due to the fact that the inverted pendulum is an unstable system it makes a compelling test case for exploring dynamic teleoperation. Therefore this thesis focuses on the construction of a two-wheel inverted pendulum robot, which sensor we can use to do that, how they must be integrated in the system and how we can use a human to control an inverted pendulum. The inverted pendulum robot developed employs technology like sensors, actuators and controllers. This Master thesis starts by presenting an introduction to inverted pendulums and some information about related areas such as control theory. It continues by describing related work in this area. Then we describe the mathematical model of a two-wheel inverted pendulum and a simulation made in Matlab. We also focus in the construction of this type of robot and its working theory. Because this is a mobile robot we address the theme of the teleoperation and finally this thesis finishes with a general conclusion and ideas of future work.

Análise de falhas em martelos oscilantes dos desfibradores da indústria sucroalcooleira da Região Norte-Nordeste

The failure of materials is always an unwelcome event for several reasons: human lives are put in danger, economic losses, and interference in the availability of products and services. Although the causes of failures and behaviour of materials can be known, the prevention of such a condition is difficult to be guaranteed. Among the failures, wear abrasion by the low voltage is the kind of failure that occurs in more equipment and parts industry. The Plants Sucroalcooleiras suffer significant losses because of such attrition, this fact that motivated their choice for the development of this work. For both, were considered failures in the swing hammers desfibradores stopped soon after the exchange provided in accordance with tonnage of cane processed, then were analyzed by the level of wear testing of rubber wheel defined by the standard ASTM G65-91.The failures were classified as to the origin of the cause and mechanism, moreover, were prepared with samples of welding procedures according to ASME code, sec. IX as well, using the technique of thermal spraying to analyze the performance of these materials produced in laboratories, and compares them with the solder used in the plant. It was observed that the bodies-of-proof prepared by the procedure described as welding, and the thermal spraying the results of losing weight have been minimized significantly compared to the preparations in the plant. This is because the use of techniques more appropriate and more controlled conditions of the parameters of welding. As for the thermal spraying, this technique has presented a satisfactory result, but requires the use of these coatings in the best condition for real affirmation of the results

Influência na qualidade final de metais retificados através da variação da velocidade de mergulho

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

Influência da lubrirrefrigeração na qualidade superficial de metais retificados

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

O tempo das brincadeiras : memória, turismo e tradição em Barra do Camaratuba PB

Barra do Camaratuba belongs to Mataraca city, nearby the boarder between Paraíba and Rio Grande do Norte states. It was the chosen community to develop this research, objectifying to study the set of practical of the cultural manifestations and the implications of the local tourist activity, considering the cultural dynamics. We tried to reconstruct stories from the narratives of the oldest inhabitants, natives, among others that they had lived, some how, individual and collective experiences related to the popular tricks and the traditional parties, considering what they speak and imagine about their experiences and its culture. The Lapinha, the Pastoril, the viola s songs, the Balls of Concertina, the João Redondo, the Ox of Kings, the wheel of Coconut were common practical perceivable through the communitarian bonds. Among these manifestations, the only one that resisted for a longer time was the wheel coconut. The São Pedro s fest is another popular manifestation that appears on the current scene like the padroeiro party, while others cultural practical compose the spectacle s scenery. These questions cover many of the narratives of the interviewed ones in the interlaced thing between memory, tourism and tradition. Therefore, we tried to build our research from the memory, participant observation, orality, techniques of the life history, personal depositions, among others basic methods for the reconstruction of a collective memory . Speaking about the past of Barra do Camaratuba is to live again the parties, the blood relations, the terço , the work in the roçados , in the flour house, the fishing, the leisure and the habits of the daily life. In this community, there is the presence of conflicts of social and cultural order, caused for the hegemonic classes that sponsor the parties. In the padroeiro party we perceive that the mercantile logic has started, very recently, to transform the religious factor into an excuse to put into motion the local economy. This way, a community originated from artisan fishers and agriculturists, having the fishing practical as a way of subsistence and the tricks as a reference, they had started to compose a new social picture with the arrival of the others and with the presumption and recent tourist development. We perceive social, environmental and cultural impact transformations, exemplified by a non planned activity or a predatory tourism. The changes will always be pointed and compared with other passing in a sphere of relations lived by the natives, local players and fishers

Semeadora-adubadora: exigências em função do preparo do solo, da pressão de inflação do pneu e da velocidade

As semeadoras-adubadoras, responsáveis pela correta adição de semente e adubo ao solo, possuem mecanismos dosadores acionados por suas rodas motrizes, que giram em função do contato com a superfície do solo. Esse contato é influenciado, entre outros fatores, pela pressão de inflação dos pneus. O objetivo do presente trabalho foi estudar o desempenho de uma semeadora-adubadora de precisão em função do preparo do solo (preparo convencional e plantio direto), das velocidades de deslocamento e da pressão de inflação do seu pneu. O trabalho foi realizado na UNESP de Jaboticabal (SP) no ano de 2006. Foram avaliadas as seguintes variáveis: força de tração e potência na barra, consumo de combustível (horário, ponderal, operacional e específico), capacidade de campo operacional, patinagem dos rodados do trator e da semeadora-adubadora, estande inicial e distribuição longitudinal de sementes. O sistema plantio direto demandou maior força (35 %), potência e consumo horário de combustível; o mesmo aconteceu na maior velocidade. A pressão de inflação das rodas da semeadora proporcionou menor patinagem e maior estande inicial de plântulas.

Efeito de rodas compactadoras submetidas a cargas verticais em profundidades de semeadura sobre o desenvolvimento do milho

O sucesso de implantação de uma cultura pode ser garantido por uma semeadura bem realizada, e as rodas compactadoras utilizadas nessa operação devem ser capazes de melhorar o contato solo-semente para promover boa emergência das plântulas. O objetivo deste trabalho foi estudar a influência de três modelos de rodas compactadoras, três profundidades de semeadura e três níveis de carga sobre a roda compactadora na germinação e no desenvolvimento da cultura do milho, em uma pista de ensaios projetada para essa finalidade, no município de Uberaba - MG, em Latossolo Vermelho distrófico, textura média. O delineamento experimental utilizado foi o de parcelas subsubdivididas, com 27 tratamentos e quatro repetições. Os resultados obtidos evidenciaram que a profundidade de semeadura foi o fator que mais afetou o desenvolvimento vegetativo da cultura do milho no estádio 2, enquanto no estádio 4 nenhum dos fatores afetou as medidas de desenvolvimento da cultura.

Operational parameters of soybean seeding in santa fe system

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

Desenvolvimento de equipamento motorizado para aplicação líquida de produtos fitossanitários na cultura do café

O trabalho teve como objetivo desenvolver um protótipo aplicador de líquidos na superfície do solo para cafezais localizados em regiões de topografia acidentada ou cultivados em sistema de plantio adensado. O protótipo do aplicador construído é um trator de rabiças acionado por um motor de dois tempos a gasolina, de 2,61 kW (3,5 cv), com duas rodas motrizes com bitola de 0,60 m e uma terceira roda direcional, equipado com sistema de pulverização dotado de depósito de 40 L, bomba centrífuga, filtros de linha, regulador de pressão, manômetro, mangueiras, válvulas e suporte de bicos. Para avaliar a eficiência do protótipo, foram instalados dois experimentos de campo em São Sebastião do Paraíso - MG (2003 e 2004), onde foram aplicados inseticidas sistêmicos para o controle da cigarra. Os métodos de aplicação avaliados foram: aplicação em faixa, filete, drench contínuo e drench intermitente. O protótipo aplicador de líquidos à superfície do solo atendeu aos objetivos propostos, visto que conseguiu realizar o controle químico de cigarras com destaque para a aplicação em drench contínuo. O protótipo, se equipado para aplicar simultaneamente nos dois lados da planta, apresentará capacidade de campo operacional semelhante à do equipamento tratorizado.

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.

Plasticidade induzida por treinamento locomotor na medula espinal intacta em ratos: correlatos morfológicos

The locomotion is one of the most important capabilities developed by the animals, whose improvement is dependent on several neural centers, including the spinal cord. This activity promotes a lot of spinal modifications that enable it to adapt and improve their connections. This study aimed to observe the morphological changes occurring in the spinal cord after locomotor training in intact rats. For that we used male Wistar rats, which were submitted to locomotor training in wheel activity in protocols 1, 3 and 7 days (30min/day), and the results were compared to a control group not subjected to exercise. Coronal sections of 40 μm of the lumbosacral spinal cord were subjected to immunohistochemical techniques anti-Egr1, anti-NMDA and anti-SP, to characterize the spinal plasticity related to these substances. Egr1-immunoreactive cells were increased in all laminas, essentially in those more intensely activated by locomotion, laminas IV-X levels L4-S3. All observed sections expressed NMDA-immunoreactivity. Analysis of SP in the spinal dorsal horn resulted no significant variations of this neuropeptide related to locomotion. The results suggest that locomotor training provides synaptic plasticity similar to LTP in all laminas of the lumbosacral spinal cord, in different intensities. However, the SP appears do not participate of this process in the spinal dorsal horn. This work will contribute for consolidating and characterization of synaptic plasticity in the spinal cord

Analysis of the different forms of application and types of cutting fluid used in plunge cylindrical grinding using conventional and superabrasive CBN grinding wheels

The work reported here involved an investigation into the grinding process, one of the last finishing processes carried out on a production line. Although several input parameters are involved in this process, attention today focuses strongly on the form and amount of cutting fluid employed, since these substances may be seriously pernicious to human health and to the environment, and involve high purchasing and maintenance costs when utilized and stored incorrectly. The type and amount of cutting fluid used directly affect some of the main output variables of the grinding process which are analyzed here, such as tangential cutting force, specific grinding energy, acoustic emission, diametrical wear, roughness, residual stress and scanning electron microscopy. To analyze the influence of these variables, an optimised fluid application methodology was developed (involving rounded 5, 4 and 3 turn diameter nozzles and high fluid application pressures) to reduce the amount of fluid used in the grinding process and improve its performance in comparison with the conventional fluid application method (of diffuser nozzles and lower fluid application pressure). To this end, two types of cutting fluid (a 5% synthetic emulsion and neat oil) and two abrasive tools (an aluminium oxide and a superabrasive CBN grinding wheel) were used. The results revealed that, in every situation, the optimised application of cutting fluid significantly improved the efficiency of the process, particularly the combined use of neat oil and CBN grinding wheel. (c) 2005 Elsevier Ltd. All rights reserved.

In-process grinding monitoring by acoustic emission

This work aims to investigate the efficiency of digital signal processing tools of acoustic emission signals in order to detect thermal damages in grinding process. To accomplish such a goal, an experimental work was carried out for 15 runs in a surface grinding machine operating with an aluminum oxide grinding wheel and ABNT 1045. The acoustic emission signals were acquired from a fixed sensor placed on the workpiece holder. A high sampling rate data acquisition system at 2.5 MHz was used to collect the raw acoustic emission instead of root mean square value usually employed. Many statistics have shown effective to detect burn, such as the root mean square (RMS), correlation of the AE, constant false alarm (CFAR), ratio of power (ROP) and mean-value deviance (MVD). However, the CFAR, ROP, Kurtosis and correlation of the AE have been presented more sensitive than the RMS.

Studies on the cooling minimum quantity and conventional cooling at hardened steels in grinding process

The purpose of this work is to explain the concept of cutting fluids reasonable usage through the fluid minimum quantity in grinding processes. on that purpose, the development of a new nozzle and an own and adequate methodology should be required in order to obtain good results and compare them to the conventional methods. The analysis of the grinding wheel/cutting fluid performance was accomplished from the following input parameters: flow rate variation by nozzle diameter changes (three diameters values: 3mm, 4mm and 5mm), besides the conventional round nozzle already within the machine. Integral oil and a synthetic emulsion were used as cutting fluids and a conventional grinding wheel was employed. The workpieces were made of steel VC 131, tempered and quenched with 60HRc. Thus, as the flow rate and the nozzle diameter changes, keeping steady fluid jet velocity (equal to cutting velocity), attempted to find the best machining conditions, with the purpose to obtain a decrease on the cutting fluid volume, taking into consideration the analysis of the process output variables such as cutting strength, cutting specific energy, grinding wheel wear and surface roughness. It was verified that the 3mm diameter optimized nozzle and the integral oil, in general, was the best combination among all proposed.