Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Controlador preditivo não linear aplicado ao controle de golfadas em processos de produção de petróleo

Slugging is a well-known slugging phenomenon in multiphase flow, which may cause problems such as vibration in pipeline and high liquid level in the separator. It can be classified according to the place of its occurrence. The most severe, known as slugging in the riser, occurs in the vertical pipe which feeds the platform. Also known as severe slugging, it is capable of causing severe pressure fluctuations in the flow of the process, excessive vibration, flooding in separator tanks, limited production, nonscheduled stop of production, among other negative aspects that motivated the production of this work . A feasible solution to deal with this problem would be to design an effective method for the removal or reduction of the system, a controller. According to the literature, a conventional PID controller did not produce good results due to the high degree of nonlinearity of the process, fueling the development of advanced control techniques. Among these, the model predictive controller (MPC), where the control action results from the solution of an optimization problem, it is robust, can incorporate physical and /or security constraints. The objective of this work is to apply a non-conventional non-linear model predictive control technique to severe slugging, where the amount of liquid mass in the riser is controlled by the production valve and, indirectly, the oscillation of flow and pressure is suppressed, while looking for environmental and economic benefits. The proposed strategy is based on the use of the model linear approximations and repeatedly solving of a quadratic optimization problem, providing solutions that improve at each iteration. In the event where the convergence of this algorithm is satisfied, the predicted values of the process variables are the same as to those obtained by the original nonlinear model, ensuring that the constraints are satisfied for them along the prediction horizon. A mathematical model recently published in the literature, capable of representing characteristics of severe slugging in a real oil well, is used both for simulation and for the project of the proposed controller, whose performance is compared to a linear MPC

Estratégia de conversor para interligação de sistemas de geração eólica à rede elétrica

Currently, there are several power converter topologies applied to wind power generation. The converters allow the use of wind turbines operating at variable speed, enabling better use of wind forces. The high performance of the converters is being increasingly demanded, mainly because of the increase in the power generation capacity by wind turbines, which gave rise to various converter topologies, such as parallel or multilevel converters. The use of converters allow effective control of the power injected into the grid, either partially, for the case using partial converter, or total control for the case of using full converter. The back-to-back converter is one of the most used topologies in the market today, due to its simple structure, with few components, contributing to robust and reliable performance. In this work, is presented the implementation of a wind cogeneration system using a permanent magnet synchronous generator (PMSG) associated with a back-to-back power converter is proposed, in order to inject active power in an electric power system. The control strategy of the active power delivered to the grid by cogeneration is based on the philosophy of indirect control

Desenvolvimento de um middleware para comunicação via web services e sua aplicação em sistemas de aquisição de dados industriais

The control of industrial processes has become increasingly complex due to variety of factory devices, quality requirement and market competition. Such complexity requires a large amount of data to be treated by the three levels of process control: field devices, control systems and management softwares. To use data effectively in each one of these levels is extremely important to industry. Many of today s industrial computer systems consist of distributed software systems written in a wide variety of programming languages and developed for specific platforms, so, even more companies apply a significant investment to maintain or even re-write their systems for different platforms. Furthermore, it is rare that a software system works in complete isolation. In industrial automation is common that, software had to interact with other systems on different machines and even written in different languages. Thus, interoperability is not just a long-term challenge, but also a current context requirement of industrial software production. This work aims to propose a middleware solution for communication over web service and presents an user case applying the solution developed to an integrated system for industrial data capture , allowing such data to be available simplified and platformindependent across the network

Controle de plantas daninhas em arroz irrigado mediante o momento da admissão e da altura da lâmina de água

Este trabalho, desenvolvido ao nível de campo, na Fazenda Experimental Edgárdia, da Faculdade de Ciências Agronômicas da UNESP, Botucatu, no ano agrícola 1990/91, objetivou avaliar os efeitos do momento de admissão da água e da altura da lâmina de água sobre o desenvolvimento das plantas daninhas e os reflexos sobre as de arroz. O delineamento experimental usado foi de blocos ao acaso com parcelas subsubdivididas. Às parcelas, corresponderam os momentos de admissão de água M1, M2 e M3, respectivamente, 15, 42 e 74 dias após a emergência das plantas de arroz. As subparcelas corresponderam às alturas das lâminas de água L5, L10 e L15, respectivamente, 5, 10 e 15 cm e as subsubparcelas, a dois sistemas de condução: com capina (cc) e sem capina (sc). Verificou-se que o desenvolvimento das plantas daninhas foi afetado tanto pelo momento de admissão de água como pela altura da lâmina de água sendo a produção de grãos reduzida 61,5% devido à competição das plantas daninhas com a cultura.

Simulação do caminhamento da água da chuva e herbicidas em palhadas utilizadas em sistemas de plantio direto

Um experimento foi conduzido no NuPAM/FCA/UNESP, Botucatu-SP, objetivando avaliar a dinâmica de retenção de água e o caminhamento de um traçante (simulando um herbicida) em diferentes coberturas mortas. Os tratamentos foram constituídos pelo monitoramento do traçante FD&C-1 pulverizado sobre coberturas mortas de cevada, trigo, aveia-preta colhida, aveia-preta rolada, azevém, milheto e capim-braquiária, nas quantidades de 3.000, 6.000 e 9.000 kg ha-1, antes e após simulação de chuvas. As repetições constituíram-se de oito conjuntos de PVC + funil + béquer com palha, onde, através da chuva lixiviada pelas palhadas e do peso dos suportes de PVC, foram estimadas a retenção e transposição da água, assim como quantificado o traçante extraído, através de procedimentos espectrofotométricos. Os diferentes tipos de resíduos culturais mostraram-se similares quanto à retenção da água da chuva, ocorrendo uniformização entre os primeiros 7,5 e 15 mm de precipitação. A formação de pontos secos associados a canais preferenciais de escorrimento induziu menor capacidade de embebição e retenção da água das chuvas pelas palhadas. As máximas capacidades médias de retenção da chuva pelas coberturas foram de 1,22, 1,99 e 2,59 mm para 3.000, 6.000 e 9.000 kg de matéria seca ha-1, respectivamente. As precipitações iniciais entre 10 e 20 mm foram fundamentais para o molhamento uniforme das palhadas e carregamento do traçante até o solo, independentemente do tipo e da quantidade de palha. Esse comportamento indica ser viável a utilização de programas similares de controle de plantas daninhas para diferentes tipos e quantidades de palha em sistemas de plantio direto.

Sistemas de produção de grãos e incidência de plantas daninhas

O sistema de semeadura direta e os diferentes sistemas de produção nele adotados podem contribuir para a supressão de plantas infestantes. em razão disso, o objetivo do presente trabalho foi avaliar o controle de plantas daninhas em função de diferentes sistemas de produção de grãos. Os tratamentos utilizados foram: I. Sistema safra-pousio - soja/ pousio/milho/pousio/arroz/pousio/soja; II. Sistema safra-adubo verde - soja/milheto/ milho/guandu/arroz/crotalária/soja; III. Sistema safra-safrinha - soja/aveia-branca/milho/ feijão-da-seca/arroz/mamona/soja; IV. Sistema safra - forrageira- soja + braquiária/milho + braquiária/arroz + braquiária/soja. em novembro de 2009 (após três safras agrícolas), foi realizado o levantamento de plantas daninhas infestantes. Para isso, foi utilizado um quadro (0,3 x 0,3 m), lançado aleatoriamente quatro vezes dentro de cada parcela. As plantas foram identificadas, bem como feita a determinação do número total das espécies invasoras, da massa seca e da porcentagem de controle das espécies de acordo com o sistema de produção. Foi realizada ainda a análise fitossociológica da comunidade de plantas daninhas infestantes. Os sistemas safra-adubo verde, safra-safrinha e safra-forrageira apresentaram bom controle de plantas infestantes quando comparados ao sistema safra-pousio. Portanto, a presença de algum tipo de cobertura é importante para manter as características do solo favorável e um bom controle de plantas invasoras.

Microrganismos do solo produtores de fosfatases em diferentes sistemas agrícolas

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

Controle feedback de nível baseado em sensor de imagem aplicado ao equipamento misturador-decantador à inversão de fases (MDIF®)

The treatment of wastewaters contaminated with oil is of great practical interest and it is fundamental in environmental issues. A relevant process, which has been studied on continuous treatment of contaminated water with oil, is the equipment denominated MDIF® (a mixer-settler based on phase inversion). An important variable during the operation of MDIF® is the water-solvent interface level in the separation section. The control of this level is essential both to avoid the dragging of the solvent during the water removal and improve the extraction efficiency of the oil by the solvent. The measurement of oil-water interface level (in line) is still a hard task. There are few sensors able to measure oil-water interface level in a reliable way. In the case of lab scale systems, there are no interface sensors with compatible dimensions. The objective of this work was to implement a level control system to the organic solvent/water interface level on the equipment MDIF®. The detection of the interface level is based on the acquisition and treatment of images obtained dynamically through a standard camera (webcam). The control strategy was developed to operate in feedback mode, where the level measure obtained by image detection is compared to the desired level and an action is taken on a control valve according to an implemented PID law. A control and data acquisition program was developed in Fortran to accomplish the following tasks: image acquisition; water-solvent interface identification; to perform decisions and send control signals; and to record data in files. Some experimental runs in open-loop were carried out using the MDIF® and random pulse disturbances were applied on the input variable (water outlet flow). The responses of interface level permitted the process identification by transfer models. From these models, the parameters for a PID controller were tuned by direct synthesis and tests in closed-loop were performed. Preliminary results for the feedback loop demonstrated that the sensor and the control strategy developed in this work were suitable for the control of organic solvent-water interface level

Estudo da secagem do pedúnculo do caju em sistemas convencional e solar: modelagem e simulação do processo

This work aims to study the drying of cashew-nut pulp with different lay-out of dryers using conventional and solar energy. It concerns with the use of exceeding of the regional raw material and the suitable knowledge for the applicability of the drying systems as pathway for food conservation. Besides, it used renewable sources as solar energy to dry these agroindustrial products. Runs were carried out using a conventional tray-dryer with temperature, air velocity control and cashew slice thickness of 55°C, 65°C, 75°C; 3.0; 4.5, 6.0 m s-1; 1.0; 1.5 and 2.0 cm, respectively, in order to compare the studied systems. To evaluate the conventional tray-dryer, it was used a diffusional model of 2nd Fick´s law, where the drying curves were quite well fitted to an infinite flat plate design. For the drying runs where the room temperature had no control, it was developed a phenomenological-mathematical model for the solar dryer with indirect radiation under natural and forced convection based on material and energy balances of the system. Besides, it was carried out assays in the in natura as well as dehydrated, statistic analysis of the experimental drying data, sensorial analysis of the final dry product and a simplified economical analysis of the systems studied

Equilíbrio líquido-líquido de sistemas aquosos com tensoativos polietoxilados: dados experimentais e modelagem

The nonionic surfactants when in aqueous solution, have the property of separating into two phases, one called diluted phase, with low concentration of surfactant, and the other one rich in surfactants called coacervate. The application of this kind of surfactant in extraction processes from aqueous solutions has been increasing over time, which implies the need for knowledge of the thermodynamic properties of these surfactants. In this study were determined the cloud point of polyethoxylated surfactants from nonilphenolpolietoxylated family (9,5 , 10 , 11, 12 and 13), the family from octilphenolpolietoxylated (10 e 11) and polyethoxylated lauryl alcohol (6 , 7, 8 and 9) varying the degree of ethoxylation. The method used to determine the cloud point was the observation of the turbidity of the solution heating to a ramp of 0.1 ° C / minute and for the pressure studies was used a cell high-pressure maximum ( 300 bar). Through the experimental data of the studied surfactants were used to the Flory - Huggins models, UNIQUAC and NRTL to describe the curves of cloud point, and it was studied the influence of NaCl concentration and pressure of the systems in the cloud point. This last parameter is important for the processes of oil recovery in which surfactant in solution are used in high pressures. While the effect of NaCl allows obtaining cloud points for temperatures closer to the room temperature, it is possible to use in processes without temperature control. The numerical method used to adjust the parameters was the Levenberg - Marquardt. For the model Flory- Huggins parameter settings were determined as enthalpy of the mixing, mixing entropy and the number of aggregations. For the UNIQUAC and NRTL models were adjusted interaction parameters aij using a quadratic dependence with temperature. The parameters obtained had good adjust to the experimental data RSMD < 0.3 %. The results showed that both, ethoxylation degree and pressure increase the cloudy points, whereas the NaCl decrease

A aprendizagem de inglês mediada por jogos eletrônicos do tipo MMORPG

Massively Multiplayer Online Role-Playing Games (MMORPGs) are role-playing games that, through the Internet, can integrate thousands of players interacting at the same time in at least one virtual world. This way, these games can provide, further than fun, a greater familiarity with the additional language and opportunity to improve the linguistic proficiency in a real context. Hence, what is proposed in this study is extended knowledge about the learning of an additional language mediated by MMORPGs for teachers to know how, if relevant, to present, use or encourage this practice to their students. Based on this major purpose, we seek to answer the following research questions: (a) what distinguishes the learning profile of the gamers and non-gamers; (b) if MMORPGs can, through a hybrid and systematic approach, assist the development of proficiency of the additional language and (c) what the think-aloud protocols show about the learning mediated by the MMORPG Allods Online. Following an experimental method (NUNAN, 1997), 16 students of the curricular component Reading and Writing Practices in English Language have comprised the control group and 17 students of the same class formed the experimental group and were submitted to a pre and post-test adapted from the Key English Test (KET) by the Cambridge University (2008). The tests were conducted before and after a period of 5 weeks of 3 hours of practice with Allods Online a week (experimental group), and classes of the curricular component (both groups). A quantitative analysis of the questionnaires about the exposure to English profiles of the participants, a quantitative analysis of the tests scores and a qualitative analysis of the thinkaloud protocols collected during the experiment were conducted based on the theories of (a) motivation (GARDNER, 1985, WILLIAMS & BURDEN, 1997, BROWN, 2007, HERCULANO-HOUZEL, 2005); (b) active learning (GASS, 1997, GEE, 2008, MATTAR, 2010); (c) interaction and collaborative learning (KRASHEN, 1991, GASS, 1997, VYGOTSKY, 1978); (d) situated learning (DAMASIO, 1994; 1999; 2003, BROWN, 2007, GEE, 2003) and (e), tangential learning (PORTNOW, 2008; MATTAR, 2010). The results indicate that the participants of the experimental group (gamers) seem to be more engaged in tangential English learning activities, such as playing games, listening to music in English, communicating with foreigners and reading in English. We also deduced that the period of experiment possibly generated positive results on the gamers proficiency scores, mainly in the parts related to orthographic development, reading and comprehension, writing with focus on content and orthographic accuracy. Lastly, the think-aloud protocols presented evidences that the gamers have engaged in active English language learning, they have interacted in English with other players, and learned linguistic aspects through the experience with the MMORPG Allods Online

Microemulsões e fases líquidas cristalinas como sistemas de liberação de fármacos

A mistura de tensoativos com água, em determinadas proporções, na ausência ou na presença de substâncias lipofílicas pode formar diferentes tipos de agregados, entre os quais agregados polimorfos representados pelas microemulsões (ME) e mesofases liotrópicas - os cristais líquidos (LC), que estão intimamente ligados com a proporção e a natureza dos componentes da mistura. Nesse trabalho, foi discutido o papel desses sistemas na incorporação de fármacos com diferentes propriedades físico-químicas, influenciando fortemente a liberação, assim como a biodisponibilidade dos fármacos. Aspectos sobre a formação e a caracterização de microemulsões e cristais líquidos também foram discutidos. A análise da literatura indicou que, dependendo da polaridade do fármaco, o efeito da ME ou LC pode ser usado para otimizar o efeito terapêutico por meio do controle da velocidade ou do mecanismo de liberação do fármaco.

Fases magnéticas de sistemas nanoestruturados de terras-raras

There is presently a worldwide interest in artificial magnetic systems which guide research activities in universities and companies. Thin films and multilayers have a central role, revealing new magnetic phases which often lead to breakthroughs and new technology standards, never thought otherwise. Surface and confinement effects cause large impact in the magnetic phases of magnetic materials with bulk spatially periodic patterns. New magnetic phases are expected to form in thin film thicknesses comparable to the length of the intrinsic bulk magnetic unit cell. Helimagnetic materials are prototypes in this respect, since the bulk magnetic phases consist in periodic patterns with the length of the helical pitch. In this thesis we study the magnetic phases of thin rare-earth films, with surfaces oriented along the (002) direction. The thesis includes the investigation of the magnetic phases of thin Dy and Ho films, as well as the thermal hysteresis cycles of Dy thin films. The investigation of the thermal hysteresis cycles of thin Dy films has been done in collaboration with the Laboratory of Magnetic Materials of the University of Texas, at Arlington. The theoretical modeling is based on a self-consistent theory developed by the Group of Magnetism of UFRN. Contributions from the first and second neighbors exchange energy, from the anisotropy energy and the Zeeman energy are calculated in a set of nonequivalent magnetic ions, and the equilibrium magnetic phases, from the Curie temperature up to the Nèel temperature, are determined in a self-consistent manner, resulting in a vanishing torque in the magnetic ions at all planes across the thin film. Our results reproduce the known isothermal and iso-field curves of bulk Dy and Ho, and the known spin-slip phases of Ho, and indicate that: (i) the confinement in thin films leads to a new magnetic phase, with alternate helicity, which leads to the measured thermal hysteresis of Dy ultrathin films, with thicknesses ranging from 4 nm to 16 nm; (ii) thin Dy films have anisotropy dominated surface lock-in phases, with alignment of surface spins along the anisotropy easy axis directions, similar to the known spin-slip phases of Ho ( which form in the bulk and are commensurate to the crystal lattice); and (iii) the confinement in thin films change considerably the spin-slip patterns of Ho.

Propriedades magnéticas quase-estáticas de filmes ferromagnéticos amorfos de FeCuNbSiB

Today, one of the topics that attracts interest of the scientific community is the understanding of magnetic properties of magnetic systems with reduced dimensions, in particular, ferromagnetic thin films. In this case, the comprehension and control of these properties, as well as the development of routes to obtain them, are crucial issues in many aspects of current and future technologies for storage and transmission of information in the electro-electronic industry. There are several materials that exhibit soft magnetic properties, and we highlight the amorphous alloys and that ones obtained by partial crystallization, so-called nanocrystalline materials. The production of these alloys as magnetic ribbons is very common in scientific and technological area, but there are just a few works related to the production of these alloys as thin films. In this work, we studied the quasi-static magnetic properties of ferromagnetic thin films based on FeCuNbSiB in a wide range of thicknesses, from 20 to 500 nm, produced by sputtering. In particular, after the structural characterization performed via X-ray diffraction, the magnetic properties of the sets of samples were investigated using experimental magnetization curve, obtained using a vibrating sample magnetometer, as well as through theoretical curves obtained by theoretical modeling and numerical computation. The modeling process is based on the Stoner Wohlfarth model applied to three dimensions, and adds some energy terms, using as reference experimental results of magnetization. In this case, from the comparison between theoretical and experimental results and the analysis of the constant anisotropy behavior as a function of film thickness, we aim to obtain further information on the magnetization process of the samples, to identify routes for the production of thin films and develop a theoretical to films to use it, in the future, in the obtainment of the theoretical curves of some magnetic measurements, such as magnetoimpedance and magnetoresistance