Projeto e concepção de um quadcopter utilizando o controle PID

The present work refers to the design, conception and development of a quadcopter based on PID controllers, a widespread microcontroller on the market was being implemented, the Arduino. Also made use of LabVIEW programming tool from National Instruments company for the quadcopter control and telemetry. For the control, LabVIEW software acquired the joystick commands, making the necessary adjustments to the perfect interpretation by microcontroller on the quadcopter and adjusts the parameters of PID controllers. For telemetry, data relating to quadcopter behavior are received, interpreted and presented in an intuitive user interface. In the first part of this graduate work presents the theoretical background on the subject, with a brief history about the quadcopters, followed by the main projects in the academic and commercial matters. Also are presented the theories of communications used in the design and PID control. Then an overview of the dynamic and mathematical model is demonstrated. Having done this, the physical and computer components required to complete the project are showed and the results are achieved consequently. Finally, a conclusion is made taking into account the results obtained. In this work will be presented the PID control of quadcopter translational movements only to roll and pitch movements

Sistema di controllo PID di temperatura con LabVIEW e scheda Arduino

Lo scopo del lavoro svolto e quello di realizzare un sistema di controllo Proporzionale-Integrativo-Derivativo (PID) della temperatura all'interno di un fornetto in una camera a vuoto. Il sistema deve essere in grado di eseguire rampe di temperatura con differenti rapidita di variazione, in vista di un suo futuro impiego nello studio del Desorbimento Termico di diversi materiali. Nella prima parte della tesi, si esaminano le premesse teoriche ai controlli Proporzionali-Integrativi-Derivativi, e sono esposti i metodi di Ziegler-Nichols e di Tyreus-Luyben per ricavare le costanti del PID. Nella seconda parte si descrivono il sistema fisico in esame e l'hardware messo a punto per il sistema di controllo, gestito interfacciandolo con una scheda Arduino. Nella terza parte viene invece trattato il software realizzato con LabVIEW per gestire e controllare l'apparato. Nella quarta parte sono infine mostrati i risultati sperimentali ottenuti, e le conclusioni tratte al termine del lavoro.

Control of recycle processes using neural networks combined with PID controller

This thesis is focused on the control of a system with recycle. A new control strategy using neural network combined with PID controller was proposed. The combined controller was studied and tested on the pressure control of a vaporizer inside a para-xylene production process. The major problems are the negative effects of recycle and the delays on instability and performance. The neural network was designed to move the process close to the set points while the PID accomplishes the finer level of disturbance rejection and offset reductions. Our simulation results show that during control, the neural network was able to determine the nonlinear relationship between steady state and manipulated variables. The results also show the disturbance rejection was handled by PID controller effectively.

Self-Tuning PID controller for autonomous car tracking in urban traffic

In this paper an on line self-tuned PID controller is proposed for the control of a car whose goal is to follow another one, at distances and speeds typical in urban traffic. The bestknown tuning mechanism is perhaps the MIT rule, due to its ease of implementation. However, as it is well known, this method does not guarantee the stability of the system, providing good results only for constant or slowly varying reference signals and in the absence of noise, which are unrealistic conditions. When the reference input varies with an appreciable rate or in presence of noise, eventually it could result in system instability. In this paper an alternative method is proposed that significantly improves the robustness of the system for varying inputs or in the presence of noise, as demonstrated by simulation.

Diseño e implementación de un controlador de velocidad PID multivariable para un robot con configuración de triciclo

La robótica móvil constituye un área de desarrollo y explotación de interés creciente. Existen ejemplos de robótica móvil de relevancia destacada en el ámbito industrial y se estima un fuerte crecimiento en el terreno de la robótica de servicios. En la arquitectura software de todos los robots móviles suelen aparecer con frecuencia componentes que tienen asignadas competencias de gobierno, navegación, percepción, etcétera, todos ellos de importancia destacada. Sin embargo, existe un elemento, difícilmente prescindible en este tipo de robots, el cual se encarga del control de velocidad del dispositivo en sus desplazamientos. En el presente proyecto se propone desarrollar un controlador PID basado en el modelo y otro no basado en el modelo. Dichos controladores deberán operar en un robot con configuración de triciclo disponible en el Departamento de Sistemas Informáticos y deberán por tanto ser programados en lenguaje C para ejecutar en el procesador digital de señal destinado para esa actividad en el mencionado robot (dsPIC33FJ128MC802). ABSTRACT Mobile robotics constitutes an area of development and exploitation of increasing interest. There are examples of mobile robotics of outstanding importance in industry and strong growth is expected in the field of service robotics. In the software architecture of all mobile robots usually appear components which have assigned competences of government, navigation, perceptionetc., all of them of major importance. However, there is an essential element in this type of robots, which takes care of the speed control. The present project aims to develop a model-based and other non-model-based PID controller. These controllers must operate in a robot with tricycle settings, available from the Department of Computing Systems, and should therefore be programmed in C language to run on the digital signal processor dedicated to that activity in the robot (dsPIC33FJ128MC802).

Lambda_c detection using a weighted Bayesian PID approach

Lo scopo della tesi è di stimare le prestazioni del rivelatore ALICE nella rivelazione del barione Lambda_c nelle collisioni PbPb usando un approccio innovativo per l'identificazione delle particelle. L'idea principale del nuovo approccio è di sostituire l'usuale selezione della particella, basata su tagli applicati ai segnali del rivelatore, con una selezione che usi le probabilità derivate dal teorema di Bayes (per questo è chiamato "pesato Bayesiano"). Per stabilire quale metodo è il più efficiente , viene presentato un confronto con altri approcci standard utilizzati in ALICE. Per fare ciò è stato implementato un software di simulazione Monte Carlo "fast", settato con le abbondanze di particelle che ci si aspetta nel nuovo regime energetico di LHC e con le prestazioni osservate del rivelatore. E' stata quindi ricavata una stima realistica della produzione di Lambda_c, combinando i risultati noti da esperimenti precedenti e ciò è stato usato per stimare la significatività secondo la statistica al RUN2 e RUN3 dell'LHC. Verranno descritti la fisica di ALICE, tra cui modello standard, cromodinamica quantistica e quark gluon plasma. Poi si passerà ad analizzare alcuni risultati sperimentali recenti (RHIC e LHC). Verrà descritto il funzionamento di ALICE e delle sue componenti e infine si passerà all'analisi dei risultati ottenuti. Questi ultimi hanno mostrato che il metodo risulta avere una efficienza superiore a quella degli usuali approcci in ALICE e che, conseguentemente, per quantificare ancora meglio le prestazioni del nuovo metodo si dovrebbe eseguire una simulazione "full", così da verificare i risultati ottenuti in uno scenario totalmente realistico.

Diseño e implementación de un seguidor solar empleando un controlador PID con modo deslizante

Tesis (Ingeniero(a) Eléctrico).--Universidad de La Salle. Facultad de Ingeniería. Programa de Ingeniería Eléctrica, 2014

Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model

Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID) controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.

Sintonia automática de controladores PID: uma abordagem neuro - genética

Dissertação de dout. em Electrónica e Computação, Faculdade de Ciências e Tecnologia, Univ. do Algarve, 2004

Plastias de estenoses de intestino delgado na doença de Crohn: resultados imediatos e tardios

BACKGROUND: Strictureplasty is an alternative surgical procedure for Crohn?s disease, particulary in patients with previous resections or many intestinal stenosis. AIM: To analyze surgical complications and clinical follow-up in patients submitted to strictureplasty secondary to Crohn?s disease. METHODS: Twenty-eight patients (57.1% male, mean age 33.3 years, range 16-54 years) with Crohn?s disease and intestinal stenosis (small bowel, ileocecal region and ileocolic anastomosis) were submitted to strictureplasty, at one institution, between September 1991 and May 2004. Thirteen patients had previous intestinal resections. The mean follow-up was 58.1 months. A total of 116 strictureplasties were done (94 Heineke-Mikulicz - 81%, 15 Finney - 13%, seven side-to-side ileocolic strictureplasty - 6%). Three patients were submitted to strictureplasty at two different surgical procedures and two in three procedures. RESULTS: Regarding to strictureplasty, postoperative complication rate was 25% and mortality was 3.6%. Early local complication rate was 57.1%, with three suture leaks (10.7%) and late complication was present in two patients, both with incisional hernial and enterocutaneous fistulas (28.6%). Patients remained hospitalized during a medium time of 12.4 days. Clinical and surgical recurrence rates were 63% and 41%, respectively. Among the patients submitted to another surgery, two patients had two more operations and one had three. Recurrence rate at strictureplasty site was observed in 3.5%, being Finney technique the commonest one. Presently, 19 patients had been asymptomatic with the majority of them under medical therapy. CONCLUSION: Strictureplasties have low complication rates, in spite of having been done at compromised site, with long term pain relief. Considering the clinical course of Crohn?s disease, with many patients being submitted to intestinal resections, strictureplasties should be considered as an effective surgical treatment to spare long intestinal resections.

Complicações imediatas e tardias após cirurgia de reservatório ileal na polipose adenomatosa familiar

BACKGROUND: Restorative proctocolectomy is the procedure of choice to treat familial adenomatous polyposis, however it can be associated to short-term and long-term postoperative complications. AIM: To evaluate the occurrence of complications related to the surgical treatment of familial adenomatous polyposis with ileal pouch technique. METHODS: Retrospective study of 69 patients with familial adenomatous polyposis after rectocolectomy with ileal reservoir between 1984 and 2006, operated on Coloproctology Group, Medical Sciences Faculty, State University of Campinas, Campinas, SP, Brazil. The median follow-up period was 82 (2-280) months. Data obtained were surgical techniques and postoperative complications. RESULTS: The morbidity and mortality were 63.8% and 2.9%, respectively. The most frequent complications were small-bowel obstruction (17.4%), anastomotic stricture (15.9%) and pelvic sepsis (10.1%). Acute ischemia of the ileal pouch (4.3%), pouchitis (2.9%) and ileal pouch-related fistula (2.9%) had poorer frequency than others. CONCLUSIONS: The morbid-mortality was similar to the literature?s data and it is acceptable for a complex surgery in two terms like the ileal reservoir-anal anastomosis. The small-bowel obstruction was the most frequent complication. However, ischemia of the reservoir, pouchitis and pelvic sepsis were important complications and was related to the failure of the ileal reservoir.

Resultados da cirurgia de reservatórios ileais em pacientes com doença de Crohn

BACKGROUND: Total rectocolectomy and ileal pouch-anal anastomosis is the choice surgical procedure for patients with ulcerative colitis. In cases of Crohn's disease post-operative diagnosis, it can be followed by pouch failure. AIM: To evaluate ileal pouch-anal anastomosis long-term outcome in patients with Crohn's disease. METHODS: Between February 1983 and March 2007, 151 patients were submitted to ileal pouch-anal anastomosis by Campinas State University Colorectal Unit, Campinas, SP, Brazil, 76 had pre-operative ulcerative colitis diagnosis and 11 had post-operative Crohn's disease diagnosis. Crohn's disease diagnosis was made by histopathological biopsies in nine cases, being one in surgical specimen, two cases in rectal stump, small bowel in two cases, ileal pouch in three and in perianal abscess in one of them. The median age was 30.6 years and eight (72.7%) were female. RESULTS: All patients had previous ulcerative colitis diagnosis and in five cases emergency colectomy was done by toxic megacolon. The mean time until of Crohn's disease diagnosis was 30.6 (6-80) months after ileal pouch-anal anastomosis. Ileostomy closure was possible in 10 cases except in one that had ileal pouch fistula, perianal disease and small bowel involvement. In the long-term follow-up, three patients had perineal fistulas and one had also a pouch-vaginal fistula. All of them were submitted to a new ileostomy and one had the pouch excised. Another patient presented pouch-vaginal fistula which was successfully treated by mucosal flap. Three patients had small bowel involvement and three others, pouch involvement. All improved with medical treatment. Presently, the mean follow-up is 76.5 months and all patients are in clinical remission, and four have fecal diversion. The remaining patients have good functional results with 6-10 bowel movements/day. CONCLUSION: Crohn's disease diagnosis after ileal pouch-anal anastomosis for ulcerative colitis may be usual and later complications such fistulas and stenosis are common. However, when left in situ ileal pouch is associated with good function.

Aplicação do escore MELD em pacientes submetidos a transplante de fígado: análise retrospectiva da sobrevida e dos fatores preditivos a curto e longo prazo

BACKGROUND: The model for end-stage liver disease (MELD) was developed to predict short-term mortality in patients with cirrhosis. There are few reports studying the correlation between MELD and long-term posttransplantation survival. AIM: To assess the value of pretransplant MELD in the prediction of posttransplant survival. METHODS: The adult patients (age >18 years) who underwent liver transplantation were examined in a retrospective longitudinal cohort of patients, through the prospective data base. We excluded acute liver failure, retransplantation and reduced or split-livers. The liver donors were evaluated according to: age, sex, weight, creatinine, bilirubin, sodium, aspartate aminotransferase, personal antecedents, brain death cause, steatosis, expanded criteria donor number and index donor risk. The recipients' data were: sex, age, weight, chronic hepatic disease, Child-Turcotte-Pugh points, pretransplant and initial MELD score, pretransplant creatinine clearance, sodium, cold and warm ischemia times, hospital length of stay, blood requirements, and alanine aminotransferase (ALT >1,000 UI/L = liver dysfunction). The Kaplan-Meier method with the log-rank test was used for the univariable analyses of posttransplant patient survival. For the multivariable analyses the Cox proportional hazard regression method with the stepwise procedure was used with stratifying sodium and MELD as variables. ROC curve was used to define area under the curve for MELD and Child-Turcotte-Pugh. RESULTS: A total of 232 patients with 10 years follow up were available. The MELD cutoff was 20 and Child-Turcotte-Pugh cutoff was 11.5. For MELD score > 20, the risk factors for death were: red cell requirements, liver dysfunction and donor's sodium. For the patients with hyponatremia the risk factors were: negative delta-MELD score, red cell requirements, liver dysfunction and donor's sodium. The regression univariated analyses came up with the following risk factors for death: score MELD > 25, blood requirements, recipient creatinine clearance pretransplant and age donor >50. After stepwise analyses, only red cell requirement was predictive. Patients with MELD score < 25 had a 68.86%, 50,44% and 41,50% chance for 1, 5 and 10-year survival and > 25 were 39.13%, 29.81% and 22.36% respectively. Patients without hyponatremia were 65.16%, 50.28% and 41,98% and with hyponatremia 44.44%, 34.28% and 28.57% respectively. Patients with IDR > 1.7 showed 53.7%, 27.71% and 13.85% and index donor risk <1.7 was 63.62%, 51.4% and 44.08%, respectively. Age donor > 50 years showed 38.4%, 26.21% and 13.1% and age donor <50 years showed 65.58%, 26.21% and 13.1%. Association with delta-MELD score did not show any significant difference. Expanded criteria donors were associated with primary non-function and severe liver dysfunction. Predictive factors for death were blood requirements, hyponatremia, liver dysfunction and donor's sodium. CONCLUSION: In conclusion MELD over 25, recipient's hyponatremia, blood requirements, donor's sodium were associated with poor survival.

Desmoid tumor in patients with familial adenomatous polyposis

CONTEXT: Desmoid tumors constitute one of the most important extraintestinal manifestations of familial adenomatous polyposis. The development of desmoids is responsible for increasing morbidity and mortality rates in cases of familial adenomatous polyposis. OBJECTIVES: To evaluate the occurrence of desmoid tumors in familial adenomatous polyposis cases following prophylactic colectomy and to present patient outcome. METHODS: Between 1984 and 2008, 68 patients underwent colectomy for familial adenomatous polyposis at the School of Medical Sciences Teaching Hospital, University of Campinas, SP, Brazil. Desmoid tumors were found in nine (13.2%) of these patients, who were studied retrospectively by consulting their medical charts with respect to clinical and surgical data. RESULTS: Of nine patients, seven (77.8%) were submitted to laparotomy for tumor resection. Median age at the time of surgery was 33.9 years (range 22-51 years). Desmoid tumors were found in the abdominal wall in 3/9 cases (33.3%) and in an intra-abdominal site in the remaining six cases (66.7%). Median time elapsed between ileal pouch-anal anastomosis and diagnosis of desmoid tumor was 37.5 months (range 14-60 months), while the median time between colectomy with ileorectal anastomosis and diagnosis was 63.7 months (range 25-116 months). In 6/9 (66.7%) patients with desmoid tumors, the disease was either under control or there was no evidence of tumor recurrence at a follow-up visit made a mean of 63.1 months later (range 12-240 months). CONCLUSIONS: Desmoid tumors were found in 13.2% of cases of familial adenomatous polyposis following colectomy; therefore, familial adenomatous polyposis patients should be followed-up and surveillance should include abdominal examination to detect signs and symptoms. Treatment options include surgery and clinical management with antiestrogens, antiinflammatory drugs or chemotherapy.