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.

Avaliação da soldagem GMAW mecanizada e automatizada para união de dutos utilizando fontes convencional e com controle de curto- circuito

Welding is one of the most employed process for joining steel pipes. Although, manual welding is still the most used one, mechanized version and even automatized one have increased its demand. Thus, this work deals with girth welding of API 5L X65 pipes with 8” of nominal diameter and 8.0 mm thickness, beveled with V-30º narrow gap. Torch is moved by a bug carrier (mechanized welding) and further the parameters are controlled as a function of angular position (automatized welding). Welding parameters are presented for filling the joint with two-passes (root and filling/capping passes). Parameters for the root pass were extracted from previous author´s work with weldments carried out in plates, but validated in this work for pipe welding. GMAW processes were assessed with short-circuit metal transfer in both conventional and derivative modes using different technologies (RMD, STT and CMT). After the parameter determination, mechanical testing was performed for welding qualification (uniaxial tension, face and root bending, nick break, Charpy V-notch impact, microhardness and macrograph). The initially obtained results for RMD and CMT were acceptable for all testing and, in a second moment, also for the STT. However, weld beads carried out by using the conventional process failed and revealed the existence of lack of fusion, which required further parametrization. Thus, a Parameter-Variation System for Girth Welding (SVP) was designed and built to allow varying the welding parameters as a function of angular position by using an inclinometer. The parameters were set for each of the three angular positions (flat, vertical downhill and overhead). By using such equipment and approach, the conventional process with parameter variation allowed reducing the welding time for joint accomplishment of the order of 38% for the root pass and 30% for the filling/capping pass.

Dimensionamento de um edifício destinado a centro de dia para idosos e creche

Trabalho de Projeto para obtenção do grau de Mestre em Engenharia Civil na Área de Especialização em Estruturas

Comparação do controle do inversor trifásico conectado à rede com filtro LCL considerando o amortecimento passivo e ativo

Distributed generation systems must fulfill standards specifications of current harmonics injected to the grid. In order to satisfy these grid requirements, passive filters are connected between inverter and grid. This work compares the characteristic response of the traditional inductive (L) filter with the inductive-capacitive-inductive (LCL) filter. It is shown that increasing the inductance L leads to a good ripple current suppression around the inverter switching frequency. The LCL filter provides better harmonic attenuation and reduces the filter size. The main drawback is the LCL filter impedance, which is characterized by a typical resonance peak, which must be damped to avoid instability. Passive or active techniques can be used to damp the LCL resonance. To address this issue, this dissertation presents a comparison of current control for PV grid-tied inverters with L filter and LCL filter and also discuss the use of active and passive damping for different regions of resonance frequency. From the mathematical models, a design methodology of the controllers was developed and the dynamic behavior of the system operating in closed loop was investigated. To validate the studies developed during this work, experimental results are presented using a three-phase 5kW experimental platform. The main components and their functions are discussed in this work. Experimental results are given to support the theoretical analysis and to illustrate the performance of grid-connected PV inverter system. It is shown that the resonant frequency of the system, and sampling frequency can be associated in order to calculate a critical frequency, below which is essential to perform the damping of the LCL filter. Also, the experimental results show that the active buffer per virtual resistor, although with a simple development, is effective to damp the resonance of the LCL filter and allow the system to operate stable within predetermined parameters.

Controle de uma microrrede ilhada baseada em geração eólica-diesel com alto nível de inserção de geração eólica

The insertion of distributed generation units in the electric power systems have contributed to the popularization of microgrid concepts. With the microgrids, several potential benefits can be achieved in regard to power quality and supply reliability. However, several technical challenges related to the control and operation of microgrids, which are associated with high insertion of generation systems based on static converters, must be overcame. Among the opportunities in the context of microgrids, there is the islanded operation of microgrids temporarily disconnected from the electric power systems and also the autonomous operation of geographically isolated microgrids. The frequency in large power systems is traditionally controlled by the generation units based on traditional synchronous generator. The insertion of distributed generation units based on static power converters may bring difficulties to the frequency control in microgrids, due to the reduction of the equivalent inertia of conventional synchronous generators present in islanded and isolated microgrids. In this context, it becomes necessary the proposition of new operational and control strategies for microgrids control, taking into account the presence of distributed generation units based on full-rated converter. This paper proposes an operational and control strategy for the islanded operation of a winddiesel microgrid with high insertion level of wind generation. The microgrid adopted in this study comprises of a wind energy conversion system with synchronous generator based on full rated converter, a diesel generator (DIG) and a dump load. Due to the high insertion level of wind generation, the wind unit operates in Vf mode and the diesel generator operates in PQ mode. The diesel generator and the dump load are used to regulate the DC-link voltage of the wind generation unit. The proposed control allows the islanded operation of the microgrid only with wind generation, wind-only mode (WO), and with wind-diesel generation, wind-diesel mode (WD). For the wind-only mode, with 100% of penetration level of wind generation, it is proposed a DC-link voltage control loop based on the use of a DC dump load. For the winddiesel mode, it is proposed a DC-link voltage control loop added to the diesel generator, which is connected to the AC side of the microgrid, in coordinated action with the dump load. The proposed operational and control strategy does not require the use of batteries and aims to maximize the energy production from wind generation, ensuring the uninterrupted operation of the microgrid. The results have showed that the operational and control strategy allowed the stable operation of the islanded microgrid and that the DC-link voltage control loop added to the diesel generator and the dump load proved to be effective during the typical variations of wind speed and load.

Análise e proposição de estratégias de estimação e controle de velocidade para motores de indução trifásicos

This study presents a proposal of speed servomechanisms without the use of mechanical sensors (sensorless) using induction motors. A comparison is performed and propose techniques for pet rotor speed, analyzing performance in different conditions of speed and load. For the determination of control technique, initially, is performed an analysis of the technical literature of the main control and speed estimation used, with their characteristics and limitations. The proposed technique for servo sensorless speed induction motor uses indirect field-oriented control (IFOC), composed of four controllers of the proportional-integral type (PI): rotor flux controller, speed controller and current controllers in the direct and quadrature shaft. As the main focus of the work is in the speed control loop was implemented in Matlab the recursive least squares algorithm (RLS) for identification of mechanical parameters, such as moment of inertia and friction coefficient. Thus, the speed of outer loop controller gains can be self adjusted to compensate for any changes in the mechanical parameters. For speed estimation techniques are analyzed: MRAS by rotóricos fluxes MRAS by counter EMF, MRAS by instantaneous reactive power, slip, locked loop phase (PLL) and sliding mode. A proposition of estimation in sliding mode based on speed, which is performed a change in rotor flux observer structure is displayed. To evaluate the techniques are performed theoretical analyzes in Matlab simulation environment and experimental platform in electrical machinery drives. The DSP TMS320F28069 was used for experimental implementation of speed estimation techniques and check the performance of the same in a wide speed range, including load insertion. From this analysis is carried out to implement closed-loop control of sensorless speed IFOC structure. The results demonstrated the real possibility of replacing mechanical sensors for estimation techniques proposed and analyzed. Among these, the estimator based on PLL demonstrated the best performance in various conditions, while the technique based on sliding mode has good capacity estimation in steady state and robustness to parametric variations.

Painéis compósitos de betão leve: comportamento estrutural

Os sucessivos avanços tecnológicos permitem a criação de novos materiais de construção com características otimizadas ao uso que lhes é designado. Nesta categoria enquadram-se os materiais compósitos e mais concretamente os painéis compósitos de betão aligeirado de EPS com revestimento superficial de placas Megapan® estudados neste documento. Neste documento faz-se uma abordagem aos conceitos de material compósito e uma breve análise histórica do seu uso. Descreve-se também sucintamente as características gerais dos painéis em estudo e exemplifica-se algumas aplicações do material até à presente data. São analisados testes de resistência efetuados ao material estudado e efetua-se a caracterização mecânica do mesmo. Verifica-se neste estudo que os painéis de betão aligeirado de EPS com revestimento superficial de placas Megapan® possuem resistências mecânicas que permitem a sua utilização como parte integrante de um sistema estrutural. Sugere-se uma solução construtiva para uma estrutura que utilize os painéis estudados como elemento estrutural e os respetivos pormenores construtivos. É também sugerida uma metodologia de cálculo para dimensionar a estrutura analisada.

Desenvolvimento e caracterização de micropartículas de amido reticuladas com agente fosfatado e avaliação da adsorção do azul de metileno

Starch has properties that make it one of the most studied biopolymers today. It is biodegradable, biocompatible, stable and non-toxic. This work has synthesis of starch and tapioca microparticles, through chemical modification by crosslinking with sodium tripolyphosphate agent in concentrations 7.5 and 15% (m / m). The amylose content was measured for starch and commercial cassava starch at 21.8% and 28.6%, respectively. According to the solubility index, processing in basic medium does not change the solubility of the material, but the addition of crosslinking agent increases this index, which changed from 12.8% for the control unprocessed, to 22.4% for the A5R15 sample. Soluble starch-based materials had a significant increase in the crosslinking density by increasing the concentration of crosslinker, from 1.4 in A5R7,5 sample, to 1.9 in A5R15. The cassava starch-based materials exhibited an opposite behavior: to increase the concentration of crosslinker crosslinking density decreased significantly in F5R7.5 from 2.9, to 1.9 in F5R15 sample. The point of zero charge (PZC) shows that below pH 4 the surface is positively charged. The surface area data is between 3,04 and 1,15 m2.g-1. The pore volume between 2.94 and 1.33 cm3.g-1 and pore size around 1.5 nm. The SEM indicates uneven distribution of microparticles, which are smooth, with no ridges. The maximum adsorption capacity of the materials were tested at pH 7.7 and for A5R15 and CA sample, at pH 2, 5, 6 and 9. It is noted that the processing in basic medium reduces the adsorption capacity of CA and CF in respect fo A and F. The adsorption in A5R15 sample has great dependency on the pH, reaching a value of 587 μg.g-1 in pH 7.7. The samples A5R15 and F5R7,5 adsorbed similar amounts, according to the statistical analysis, and significantly higher than their respective controls and showed lower desorption, indicating that the modification process was effective to control the release of methylene blue. The infrared spectra not show the characteristic bands of the phosphate bonds to the material formed, however, developments in hydroxyl characteristic band suggest modification in the way this group was linked after the reaction. After adsorption, the infrared spectra show different format in the band of hydroxyl. PCA analysis shows that the greatest changes observed in the IR spectra are observed in the region of 3500 cm-1. Thermal analysis showed three thermal events related to dehydration and material degradation. It is observed that the processing increases the temperature to the first mass loss, fixed at 12%, but not observed increased stability due to the presence of crosslinker or process.

Avaliação do potencial de Tillandsia recurvata (L.) L., Bromeliaceae, como bioindicadora da poluição atmosférica urbana

Air pollution can threat the environment and public health, and is assess by pollutant ́s concentration measurements in order to verify whether the limits set by environmental agencies are being respected. However, these measures do not indicate immediately the impacts to living beings. To faced this problem, plants are been investigated as potential bioindicators of air pollution and, among them, stand out bromeliads Tillandsia genus which colonize various substrates,. obtaining water and nutrients from the atmosphere directly. In this context, this research assessed the potential of epiphytic bromeliad Tillandsia recurvata (L.) L. found in urbanized areas of the city of Curitiba - PR as a bioindicator of urban air pollution. According to vehicle traffic, five sample points were selected and classified. Points P1 and P2 were classified as high-traffic vehicle due presenting trucks and urban transport; point P3 was classified as moderate traffic due the predominance of private vehicles and urban transport; and points P4 and P5 were classified as low-traffic, presenting circulation of private vehicles only. There were analyzed the abundance of T. recurvata, morphophysiological parameters (leaf area, leaf specific area, sclerophylly index, percentage dry weight / fresh weight, chlorophyll (a + b), analysis of structural mesophyll organization) and the heavy metals accumulation (Fe, Cd, Cr, Cu, Pb and Zn). The abundance analysis and the results obtained for metals analysis were correlated with the intensity of vehicular traffic, directing the sampling points P1 > P2 = P3 > P4 = P5. This result demonstrate that the abundance of T. recurvata is greater in urban air pollution impacted areas, thus indicating that T. recurvata absorbs and accumulates metals and can be used in biomonitoring of urban air pollution in areas impacted by vehicular traffic. Morphophysiological parameters analyzed shows that the internal plant ́s structure is not significantly impacted by urban air pollution due plant ́s adptations. The presence of absorbing scales, the CAM metabolism pathway and it ́s store water ability, among other features, demonstrate their potential as bio-indicator in urban areas, especially regarding heavy metals accumulation .

EFEITOS DE DIFERENTES TIPOS DE CONTROLE DE PLANTAS INFESTANTES SOBRE A MIRMECOFAUNA EM Eucalyptus grandis

Este estudo teve como objetivo avaliar os efeitos de diferentes tipos de controle de plantas infestantes sobre a mirmecofauna em um plantio inicial de Eucalyptus grandis . Para tanto, em março de 2011 foi realizado o início da implantação da cultura, em uma área localizada no município de Santa Maria - RS. Os seis tratamentos constituíram-se em controle químico total de plantas infestantes, na linha e na entrelinha de plantio, com glifosato (T1); controle químico total de plantas infestantes, na linha de plantio, com glifosato (T2); controle químico de monocotiledôneas na linha e entrelinha de plantio, com setoxidim (T3); controle químico de dicotiledôneas na linha e entrelinha de plantio, com bentazona (T4); controle químico total de plantas infestantes em faixa de um metro paralela à linha de plantio, com glifosato, e de um metro na parte central da entrelinha, sem controle (T5); e testemunha, sem controle de plantas infestantes (T6). O levantamento da mirmecofauna foi realizado no período de um ano utilizando-se três métodos de coleta: isca atrativa, armadilha de solo e funil de Berlese, com seis repetições por tratamento, em cada data de coleta. Nesse período foram coletadas 46.675 formigas, distribuídas em 37 espécies, não sendo verificada diferença significativa entre o total de espécimens coletados. Na área do tratamento constituído pelo controle de plantas infestantes somente na linha de plantio verificou-se eficiência amostral de 99,0% e Sobs = 35. Entre os índices de Diversidade de Shannon (H’), destacou-se o valor encontrado para a área do tratamento T2 (H’= 1,34) em detrimento dos valores das áreas nas quais foram instalados os tratamentos T1 (H’= 1,25) e T5 (H’= 1,23). Havendo assim, uma maior coexistência de espécies de formigas entre as áreas com estrutura florística menos alterada e entre as áreas mais simplificadas. Não tendo sido verificada correlação significativa (r = 0,0463) entre a riqueza de espécies de formigas coletadas e o número de plantas infestantes encontradas ao final do experimento. Assim, conclui-se que os efeitos indiretos da ação dos herbicidas afetam mais a composição local de espécies de formigas do que sua riqueza.

FUNGOS ASSOCIADOS ÀS SEMENTES DE Enterolobium contortisiliquum : ANÁLISE DA INCIDÊNCIA, CONTROLE E EFEITOS NA QUALIDADE FISIOLÓGICA COM O USO DE EXTRATOS VEGETAIS

Os fungos são os principais micro-organismos associados às sementes, podendo causar danos, tanto na fase de campo, como também na pós-colheita e durante o armazenamento. Nesta última fase, a deterioração pode ocorrer pela ação específica de fungos, afetando a qualidade fisiológica das sementes. A utilização de extratos de plantas com propriedades antimicrobianas são alternativas ecológicas e promissoras para substituir a proteção promovida pela aplicação de fungicidas. Objetivou-se nesta pesquisa avaliar a eficiência dos extratos de Allamanda blanchetti e Momordica charantia nas concentrações de 10, 100, 500 e 1000 ppm sobre a micoflora e germinação em sementes de Enterolobium contortisiliquum . As sementes foram coletadas em diferentes municípios do estado da Paraíba (Areia, Arara, Conde e Sobrado). Os lotes foram submetidos a testes de sanidade e de germinação. A avaliação da incidência de fungos foi feita a partir da visualização dos fungos através do método de papel de filtro. Utilizaram-se no teste de sanidade 100 sementes por tratamento, as quais foram imersas em 20 mL dos extratos por cinco minutos, em seguida incubadas em placas de Petri sobre dupla camada de papel de filtro. No teste de germinação utilizaram-se 200 sementes, distribuídas em papel germitest e germinadas à temperatura de 30 ± 2°C. O delineamento experimental utilizado foi o inteiramente casualizado. Constatou-se nas sementes de Enterolobium contortisiliquum os fungos: Aspergillus niger , Aspergillus flavus , Rhizopus stolonifer , Penicillium sp., Curvularia lunata , Nigrospora sp. e Cladosporium sp. Os extratos de Allamanda blanchetti e Momordica charantia nas concentrações de 500 e 1000 ppm causaram redução da frequência dos fungos. O extrato de Momordica charantia nas concentrações de 500 e 1000 ppm proporcionou o aumento na germinação e primeira contagem, além de reduzir o percentual de sementes mortas.

COMPOSIÇÃO FLORÍSTICO-ESTRUTURAL AO LONGO DE UM GRADIENTE DE BORDA EM FRAGMENTO DE FLORESTA OMBRÓFILA MISTA ALTO-MONTANA EM SANTA CATARINA

O objetivo desse estudo foi caracterizar a composição florística e a estrutura do componente arbóreo em fragmento de Floresta Ombrófila Mista Alto-Montana e avaliar a influência do efeito de borda sobre a organização, estrutura, riqueza e diversidade de espécies. Foram alocadas 50 parcelas permanentes de 10 x 20 m, divididas em cinco transeções distanciadas, no mínimo, 100 m entre si, em um fragmento florestal, no município de Bom Jardim da Serra - SC. As árvores com circunferência ≥ 15,7 cm na altura do peito (CAP) foram mensuradas (CAP e altura total), identificadas e classificadas quanto às guildas de regeneração (pioneiras, climácicas exigentes em luz e climácicas tolerantes à sombra). Os dados foram analisados por meio dos índices de valor de importância (IVI), NMDS (Nonmetric Multidimensional Scaling), modelo aditivo generalizado e regressões lineares simples. Foram observados 1.457 indivíduos arbóreos, distribuídos em 29 famílias, 43 gêneros e 55 espécies. A espécie com maior valor de importância foi Dicksonia sellowiana Hook. Não foi observada influência do efeito de borda sobre a organização, a estrutura (diâmetro médio, altura média e densidade) da comunidade e participação relativa das guildas de regeneração. No entanto, ficaram evidenciados maiores valores de diversidade, riqueza e equabilidade nas áreas de borda. Desta forma, concluí-se que parte das variações dos valores relativos à diversidade de espécies arbóreas na Floresta Ombrófila Mista Ato-Montana foi determinada pela distância da borda.

EVOLUÇÃO ESTRUTURAL DE BRACATINGAIS DA REGIÃO METROPOLITANA DE CURITIBA, PARANÁ, BRASIL

O objetivo deste trabalho foi estudar a evolução estrutural de espécies arbóreas em bracatingais, ao longo de vinte anos. A bracatinga ( Mimosa scabrella Benth.) é a espécie pioneira, de vida curta, que caracteriza os bracatingais. Sob as bracatingas forma-se um sub-bosque com outras espécies arbóreas, que vai assumindo o lugar da bracatinga com o passar dos anos e que é tratado como se fosse lenha da própria bracatinga, quando a área é cortada a cada 7 anos e a regeneração da bracatinga é novamente induzida com o uso do fogo. O processo de sucessão em bracatingais ainda não foi estudado e é útil identificar a idade em que as demais espécies passam a dominar o bracatingal. Trabalhou-se com 320 parcelas, distribuídas em bracatingais com idades variando de 3 a 20 anos, medidas entre 1998 e 2011. Foram medidos os DAP (diâmetro a altura do peito) e altura total de todas as espécies com DAP ≥ 5 cm. Observou-se que, aos 11 anos, o conjunto das espécies supera a bracatinga em número de indivíduos e aos 19 anos as espécies arbóreas já apresentam uma distribuição diamétrica semelhante ao de uma floresta em fase mais avançada. De forma geral observou-se que, após os 10 anos de idade, um bracatingal já começa a tomar forma de um capoeirão.

Desenvolvimento de protótipo de aplicativo móvel em Android® para o controle e acompanhamento nutricional da saúde óssea em mulheres menopáusicas

Following a drop in estrogen in the period of menopause some women begin to lose bone mass more than 1% per year reaching the end of five years with loss greater than 25%. In this regard, factors such as older age, low calcium intake and premature menopause favor the onset of osteoporosis. Preventive methods such as nutritional counseling to a proper diet and the support of technology through applications that assess dietary intake are essential. Thus, this study aimed to develop an application for Android® platform focused on the evaluation of nutritional and organic conditions involved in bone health and risks for developing osteoporosis in postmenopausal women. To achieve this goal we proceeded to a study of 72 women aged 46-79 years, from the physical exercise for bone health of the Laboratory for Research in Biochemistry and Densitometry the Federal Technological University of Paraná program. Data were collected in the second half of 2014 through tests Bone Densitometry and Body Composition, Blood Tests, Anthropometric data and Nutrition Assessment. The study included women with a current diagnosis of osteopenia or osteoporosis primary, aged more than 45 years postmenopausal. For the assessment of bone mineral density and body composition used the device Absorptiometry Dual Energy X-ray (DXA) brand Hologic Discovery TM Model A. For anthropometric assessment was included to body mass, height, abdominal circumference, Waist circumference and hip circumference. The instrument for assessing food consumption was used Recall 24 hours a day (24HR). The estimated intake of energy and nutrients was carried from the tabulation of the food eaten in the Software Diet Pro 4®. In a sub sample of 30 women with osteopenia / osteoporosis serum calcium and alkaline phosphatase tests were performed. The results demonstrated a group of women (n = 30) average calcium intake of 570mg / day (± 340). The analysis showed a mean serum calcium within the normal range (10,20mg / dl ± 0.32) and average values and slightly increased alkaline phosphatase (105.40 U / L ± 23.70). Furthermore, there was a significant correlation between the consumption of protein and the optimal daily intake of calcium (0.375 p-value 0.05). Based on these findings, we developed an application early stage in Android® platform operating system Google®, being called OsteoNutri. We chose to use Java Eclipse® where it was executed Android® version of the project; choice of application icons and setting the visual editor for building the application layouts. The DroidDraw® was used for development of the three application GUIs. For practical tests we used a cell compatible with the version that was created (4.4 or higher). The prototype was developed in conjunction with the Group and Instrumentation Applications Development (GDAI) of the Federal Technological University of Paraná. So this application can be considered an important tool in dietary control, allowing closer control consumption of calcium and dietary proteins.