Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Análise experimental do consumo de um veículo flex operando com diferentes misturas de gasolina/etanol em tráfego urbano

This study is an analysis, on a trial basis, the fuel consumption of a Flex vehicle, operating with different mixtures of gasoline and ethanol in urban traffic, allowing more consistent results with the reality of the driver. Considering that most owners unaware of the possibility of mixing the fuel at the time of supply, thus enabling the choice of the most economically viable mixing gasoline / ethanol, resulting in lower costs and possibly a decrease in pollutant emission rates. Currently, there is a myth created by the people that supply ethanol only becomes viable if the value of not more than 70% of regular gasoline. However vehicles with this technology make it possible to operate with any percentage of mixture in the fuel tank, but today many of the owners of these vehicles do not use this feature effectively, because they ignore the possibility of mixing or the reason there is a deeper study regarding the optimal percentage of the mixture to provide a higher yield with a lower cost than proposed by the manufacturers.

Análise experimental do consumo de um veículo flex operando com diferentes misturas de gasolina/etanol em tráfego urbano

This study is an analysis, on a trial basis, the fuel consumption of a Flex vehicle, operating with different mixtures of gasoline and ethanol in urban traffic, allowing more consistent results with the reality of the driver. Considering that most owners unaware of the possibility of mixing the fuel at the time of supply, thus enabling the choice of the most economically viable mixing gasoline / ethanol, resulting in lower costs and possibly a decrease in pollutant emission rates. Currently, there is a myth created by the people that supply ethanol only becomes viable if the value of not more than 70% of regular gasoline. However vehicles with this technology make it possible to operate with any percentage of mixture in the fuel tank, but today many of the owners of these vehicles do not use this feature effectively, because they ignore the possibility of mixing or the reason there is a deeper study regarding the optimal percentage of the mixture to provide a higher yield with a lower cost than proposed by the manufacturers.

Desenvolvimento e caracterização de biocompósito de látex (borracha natural) e fibra de carnaúba

The development of composite materials encompasses many different application areas. Among the composites, it is had, especially, the materials of organic origin, which have the greatest potential for biodegradability and so, have been bringing relevance and prominence in the contemporary setting of environmental preservation and sustainable development. Following this perspective of ecological appeal, it was developed a biocomposite material with natural inputs typically brazilian. This composite was made from latex (natural rubber) and carnauba fiber in different mass proportions. Formulations had varied by 5%, 10%, 15% and 20% of fiber in relation the matrix. This material has been designed aiming at application in thermal insulation systems, which requirethermal protection surfaces and/or reduction of thermal energy loss. Therefore, the composite was characterized by thermal conductivity testing, specific heat, thermal diffusivity and thermogravimetry. As has also been characterized for their physical-mechanical, by testing density, moisture content, tensile strength, hardness and scanning electron microscopy (SEM). The characterization of the material revealed that the composite presents a potential of thermal insulation higher than the natural rubber, that was used as reference. And the formulation at 15% fiber in relation the matrix showed the best performance. Thus, the composite material in question presents itself as a viable and effective alternative for new thermal insulation material design.

Desenvolvimento e caracterização de biocompósito de látex (borracha natural) e fibra de carnaúba

The development of composite materials encompasses many different application areas. Among the composites, it is had, especially, the materials of organic origin, which have the greatest potential for biodegradability and so, have been bringing relevance and prominence in the contemporary setting of environmental preservation and sustainable development. Following this perspective of ecological appeal, it was developed a biocomposite material with natural inputs typically brazilian. This composite was made from latex (natural rubber) and carnauba fiber in different mass proportions. Formulations had varied by 5%, 10%, 15% and 20% of fiber in relation the matrix. This material has been designed aiming at application in thermal insulation systems, which requirethermal protection surfaces and/or reduction of thermal energy loss. Therefore, the composite was characterized by thermal conductivity testing, specific heat, thermal diffusivity and thermogravimetry. As has also been characterized for their physical-mechanical, by testing density, moisture content, tensile strength, hardness and scanning electron microscopy (SEM). The characterization of the material revealed that the composite presents a potential of thermal insulation higher than the natural rubber, that was used as reference. And the formulation at 15% fiber in relation the matrix showed the best performance. Thus, the composite material in question presents itself as a viable and effective alternative for new thermal insulation material design.

Estudo da redução de arrasto induzido por polímeros em escoamentos internos turbulentos em dutos

The flows turbulent and laminar are present in various applications of engineering and one of the villain of energy loss big is the surface friction. Currently, there are several research aimed for the study of reducing drag (DR) with the objective of developing effective methods to reduce the friction. Regardless of numerous research carried out until today, the phenomenon DR still remains in study not it is fully understood. This paper studied the drag reduction by polymer induction in turbulent internal flows in ducts. We constructed a testing bench to perform the analysis of drag reduction, the bench has basically two manometers with a 8.5 psi full scale, a peripheral pump 0.5 HP, an acrylic tank, valves and tubes pvc and is situated in the Laboratory Fluid Mechanics UFRN. Were used as polymer additives to polyethylene glycol 4000, the Polyox WSR N60K, Polyox WSR 301 and Polyox WSR 205. The rationale for the choice of these polymers is their wide application in situations requiring greater energy efficiency, such as the addition reducing polymers for the jet used by the fire department to achieve greater distances. The induced drag reduction polymers is investigated from the turbulent flow analysis, with Reynolds number in a range between 2×104

Estudo da redução de arrasto induzido por polímeros em escoamentos internos turbulentos em dutos

The flows turbulent and laminar are present in various applications of engineering and one of the villain of energy loss big is the surface friction. Currently, there are several research aimed for the study of reducing drag (DR) with the objective of developing effective methods to reduce the friction. Regardless of numerous research carried out until today, the phenomenon DR still remains in study not it is fully understood. This paper studied the drag reduction by polymer induction in turbulent internal flows in ducts. We constructed a testing bench to perform the analysis of drag reduction, the bench has basically two manometers with a 8.5 psi full scale, a peripheral pump 0.5 HP, an acrylic tank, valves and tubes pvc and is situated in the Laboratory Fluid Mechanics UFRN. Were used as polymer additives to polyethylene glycol 4000, the Polyox WSR N60K, Polyox WSR 301 and Polyox WSR 205. The rationale for the choice of these polymers is their wide application in situations requiring greater energy efficiency, such as the addition reducing polymers for the jet used by the fire department to achieve greater distances. The induced drag reduction polymers is investigated from the turbulent flow analysis, with Reynolds number in a range between 2×104

Obtenção e caracterização de um compósito polimérico de matriz poliéster e reforço/carga de tecido plano de algodão

He was obtained and studied the feasibility of using TPA (Tissue Cotton Plan) screen type, for bagging, with a weight of 207.9 g / m2 in a composite of orthophthalic crystal polyester resin matrix. The process for obtaining the composite was tested against the maximum number of layers that could be used without compromising the processability and manufacturing of CPs in compression mold. Five configurations / formulations were selected and tested at 1, 4, 8, 10 and 12 layers of cotton tissue - TPA. TPA was not subjected to chemical treatment, only by passing a mechanical washing process. The composite in its various configurations / formulations was characterized to determine its physical properties. The properties of the composite were higher viability resistance to bending, approaching the matrix and impact resistance, superiority in relation to the polyester resin. Another property that has shown good result compared to other composite has water absorption. Analyzing all the properties set the settings / formulations with higher viability were TA8 and TA10, by combining good processability and higher mechanical strength, with lower loss compared to polyester resin matrix. The composite showed lower mechanical behavior of the resin matrix for all the formulations studied except the impact resistance. The SEM showed a good adhesion between the layers of TPA and polyester resin matrix, without the presence of micro voids in the matrix confirming the efficient manufacturing process of the samples for characterization. The composite proposed proved to be viable for the fabrication of structures with low requests from mechanical stresses, and as demonstrated for the manufacture of solar and wind prototypes, and packaging, shelving, decorative items, crafts and shelves, with good visual appearance.

Obtenção e caracterização de um compósito polimérico de matriz poliéster e reforço/carga de tecido plano de algodão

He was obtained and studied the feasibility of using TPA (Tissue Cotton Plan) screen type, for bagging, with a weight of 207.9 g / m2 in a composite of orthophthalic crystal polyester resin matrix. The process for obtaining the composite was tested against the maximum number of layers that could be used without compromising the processability and manufacturing of CPs in compression mold. Five configurations / formulations were selected and tested at 1, 4, 8, 10 and 12 layers of cotton tissue - TPA. TPA was not subjected to chemical treatment, only by passing a mechanical washing process. The composite in its various configurations / formulations was characterized to determine its physical properties. The properties of the composite were higher viability resistance to bending, approaching the matrix and impact resistance, superiority in relation to the polyester resin. Another property that has shown good result compared to other composite has water absorption. Analyzing all the properties set the settings / formulations with higher viability were TA8 and TA10, by combining good processability and higher mechanical strength, with lower loss compared to polyester resin matrix. The composite showed lower mechanical behavior of the resin matrix for all the formulations studied except the impact resistance. The SEM showed a good adhesion between the layers of TPA and polyester resin matrix, without the presence of micro voids in the matrix confirming the efficient manufacturing process of the samples for characterization. The composite proposed proved to be viable for the fabrication of structures with low requests from mechanical stresses, and as demonstrated for the manufacture of solar and wind prototypes, and packaging, shelving, decorative items, crafts and shelves, with good visual appearance.

Modificação do eletrodo AWS E7018 com adição de filmes finos externos de PVC e Al, para soldagem de aço C-Mn

This paper suggests modifications in coating of electrodes providing an alternative for execution of welding with low hydrogen electrode AWS E7018 without having to dry it, reducing thus the cost and time of manufacturing of high resistance welds. The welds in this research were developed with basic coated electrodes (hygroscopic) – SMAW process – externally painted with aluminum spray paint for high temperatures or wrapped with thin plastic films (PVC) and aluminum foil films used commonly for food protection. The basic premise is that establishing a barrier between the atmosphere and the electrode coating could reduce the effects of high hygroscopicity presented by coatings of low hydrogen, minimizing this way the main source of supply of hydrogen to the fusion pool during welding. It is also expected that the addition of new materials from the electrode coating to the fusion pool would induce metallurgical changes in the deposited metal and, as a consequence, modifications in its mechanical properties. This research dealt with measuring the dissolved hydrogen in the deposited metal after welding with modified electrodes, evaluating the influence of these changes in the produced microstructures and in the mechanical properties of the resulting weld, and comparing the obtained results with the standard welding procedures and with the recently developed waterproof electrodes. The results obtained in most samples welded with modified electrodes showed increased mechanical resistance and increased tenacity due to the increased percentage of acicular ferrite in metal deposited without significant elevation of hardness, when compared with the traditional welding with AWS E7018 electrode and with ELBRÁS BRH4R waterproof electrode. The diffusing hydrogen measured in the modified electrodes was kept inside the parameters defined by international codes.

Modificação do eletrodo AWS E7018 com adição de filmes finos externos de PVC e Al, para soldagem de aço C-Mn

This paper suggests modifications in coating of electrodes providing an alternative for execution of welding with low hydrogen electrode AWS E7018 without having to dry it, reducing thus the cost and time of manufacturing of high resistance welds. The welds in this research were developed with basic coated electrodes (hygroscopic) – SMAW process – externally painted with aluminum spray paint for high temperatures or wrapped with thin plastic films (PVC) and aluminum foil films used commonly for food protection. The basic premise is that establishing a barrier between the atmosphere and the electrode coating could reduce the effects of high hygroscopicity presented by coatings of low hydrogen, minimizing this way the main source of supply of hydrogen to the fusion pool during welding. It is also expected that the addition of new materials from the electrode coating to the fusion pool would induce metallurgical changes in the deposited metal and, as a consequence, modifications in its mechanical properties. This research dealt with measuring the dissolved hydrogen in the deposited metal after welding with modified electrodes, evaluating the influence of these changes in the produced microstructures and in the mechanical properties of the resulting weld, and comparing the obtained results with the standard welding procedures and with the recently developed waterproof electrodes. The results obtained in most samples welded with modified electrodes showed increased mechanical resistance and increased tenacity due to the increased percentage of acicular ferrite in metal deposited without significant elevation of hardness, when compared with the traditional welding with AWS E7018 electrode and with ELBRÁS BRH4R waterproof electrode. The diffusing hydrogen measured in the modified electrodes was kept inside the parameters defined by international codes.

Obtenção e caracterização de um compósito de matriz polimérica com carga de resíduos vegetal proveniente do sabugo de milho

The feasibility of using the corn cob to obtain a polymer matrix composite was studied. To obtain the bran, corncob passed the drying process in a solar dryer, and was subsequently triturated in forage and to obtain the different particle sizes, by sieving. Three different grain sizes were used: fine particles (FP) size between 0,10 and 2mm; sized particles (PM) with sizes between 2,10 and 3,35 mm; large particles (PG) sizes between 3,45 and 4,10 mm. Using 20% of residue relative to the resin, the test samples were constructed for characterization of the composite, taking into account thermal and mechanical parameters. The main advantage of the proposed composite is that it has a low density, below the relative resin, about 1.06 kg / m³ for the PG. The composite showed a mechanical behavior less than of the resin to the grain sizes and for all formulations studied. Showed better results for the bending, reaching 25.3 MPa for the PG. The composite also showed be feasible for thermal applications, with thermal conductivity less than 0.21 W / m, ranking as insulation. In terms of homogeneity of the mixture, the most viable grain size is the PF, which also showed improved aesthetics and better processability. This composite can be used to make structures that do not require significant mechanical strength, such as tables, chairs, planks, and solar and wind prototypes, such as ovens and cookers and turbines blades.

Obtenção e caracterização de um compósito de matriz polimérica com carga de resíduos vegetal proveniente do sabugo de milho

The feasibility of using the corn cob to obtain a polymer matrix composite was studied. To obtain the bran, corncob passed the drying process in a solar dryer, and was subsequently triturated in forage and to obtain the different particle sizes, by sieving. Three different grain sizes were used: fine particles (FP) size between 0,10 and 2mm; sized particles (PM) with sizes between 2,10 and 3,35 mm; large particles (PG) sizes between 3,45 and 4,10 mm. Using 20% of residue relative to the resin, the test samples were constructed for characterization of the composite, taking into account thermal and mechanical parameters. The main advantage of the proposed composite is that it has a low density, below the relative resin, about 1.06 kg / m³ for the PG. The composite showed a mechanical behavior less than of the resin to the grain sizes and for all formulations studied. Showed better results for the bending, reaching 25.3 MPa for the PG. The composite also showed be feasible for thermal applications, with thermal conductivity less than 0.21 W / m, ranking as insulation. In terms of homogeneity of the mixture, the most viable grain size is the PF, which also showed improved aesthetics and better processability. This composite can be used to make structures that do not require significant mechanical strength, such as tables, chairs, planks, and solar and wind prototypes, such as ovens and cookers and turbines blades.

Estudo da incorporação de cinza e chamote gerado pela cerâmica vermelha ao próprio processo industrial

The ceramics industry generates waste at various stages of that process, defective products, waste from burning solid fuels, among others. This waste is dumped in landfills, garbage dumps or directly on roads, which has a negative environmental impact. This paper presents a study to incorporate the waste of algaroba wood and chamote (scrap pieces of ceramic already sintered), in to the ceramic material for making sealing blocks. The methodological procedures consist in the characterization of chemical and mineralogical residues, raw materials, and physical-mechanical of the formulations of mixes with clay, silt and waste. By pressing test pieces were produced using a pressure of 200 kgf/cm², varying compositions in the range of 0%, 5%, 10% and 15% by weight of residue. The sintering was performed in a muffle furnace, with the temperature levels of 850 ° C, 900 ° C, 950 ° C, 1000 ° C and 1050 ° C. The evaluated physical and mechanical properties were: Water Absorption, Linear Shrinkage Burning, Apparent Porosity, Apparent Density and Mechanical Resistance to Flexion. Analysis was carried out by Scanning Electron Microscopy on fracture surfaces of the specimens. Evaluation of linear shrinkage property drying and firing , water absorption and mechanical resistance to compression of the sealing blocks 5% wood ash residue, sintered at 900 °C hold temperature in the laboratory the products manufactured on an industrial scale. The main results, it was found on the viability of using the residues of algaroba wood and to confer refractory properties of the ceramic product. The main results, it was concluded feasibility of using the ash residues algaroba wood to impart refractory properties to the ceramic product and the residue of chamote, being derived from the own ceramic product not interfere with the properties, when used in a percentage of up to 5%.Since the residue of chamote being derived from the ceramic product itself had no effect on the properties. Studies in the laboratory have shown that the incorporation of up to 5% of these residues may be adopted as an alternative technology to reduce the environmental impact caused by the industrial sector, without compromising the final properties of the material, since the results on an industrial scale showed absorption values 11.66 and 11.74 of water and waste products respectively, within the parameters of NBR - 15,270, since the mechanical strength was 1.25 MPa and 0.94 MPa respectively for products with and without residue, lower than the minimum required by the technical standard that is 1.5 MPa.