Uma abordagem comportamental para inserção de robôs em ambientes culturais

In this work, we propose methodologies and computer tools to insert robots in cultural environments. The basic idea is to have a robot in a real context (a cultural space) that can represent an user connected to the system through Internet (visitor avatar in the real space) and that the robot also have its representation in a Mixed Reality space (robot avatar in the virtual space). In this way, robot and avatar are not simply real and virtual objects. They play a more important role in the scenery, interfering in the process and taking decisions. In order to have this service running, we developed a module composed by a robot, communication tools and ways to provide integration of these with the virtual environment. As welI we implemented a set of behaviors with the purpose of controlling the robot in the real space. We studied available software and hardware tools for the robotics platform used in the experiments, as welI we developed test routines to determine their potentialities. Finally, we studied the behavior-based control model, we planned and implemented alI the necessary behaviors for the robot integration to the real and virtual cultural spaces. Several experiments were conducted, in order to validate the developed methodologies and tools

Uma nova proposta de antenas Quasi-Yagi banda larga para comunicação sem fio

ln this work, planar quasi- Y agi antennas are investigated based on the concept of the classic Y agi_Uda antennas. These antennas represent improvements on the topologies of the antennas existing printed because they present characteristics of broad bandwidth, excellent radiation diagrams and simple construction. New configurations are adapted for the driver of the antennas, introducing patches elements into the driver. These new configurations are named Patches Elements Anteonas (PEA). This adaptation is obtained from simulations that are executed usiog the software C8T Microwave 8tudio 5. After doing the optimizations, procedures for construction and measurement ofthe prototypes are executed in order to improve the performance of the antennas in such way that they could be used in wireless communication applications, such as Bluetooth, WLAN' s and Wi-Fi. Next, the quasi- Y agi antennas are studied in order to implement them in arrangements. The arrangements construction is based 00 the best driver configuration of the antenna developed in this work. First, a linear arrangement composed by two elements of quasi¬Yagi antennas is constructed in such way that the radiation characteristics and the mutual coupling effects could be analyzed. After that, a 90° angle arrangement composed by two elements is studied to observe the effect of circular polarization. Experiments are executed in order to evaluate the arrangements performance. The experimental results show that the analysis made in this work is efficient and accurate. The numerical values obtained for the analyzed parameters of each structure developed are compared with the experimental values. 80, it is possible to observe a good concordance between them. Finally, some future works proposals are presented

Um estudo de estruturas com PBG e fotônica

One of the objectives of this work is the ana1ysis of planar structures using the PBG (photonic Bandgap), a new method of controlling propagation of electromagnetic waves in devices with dielectrics. Here the basic theory of these structures will be presented, as well as applications and determination of certain parameters. In this work the analysis will be performed concerning PBG structures, including the basic theory and applications in planar structures. Considerations are made related to the implementation of devices. Here the TTL (Transverse Transmission Line) method is employed, characterized by the simplicity in the treatment of the equations that govern the propagation of electromagnetic waves in the structure. In this method, the fields in x and z are expressed in function of the fields in the traverse direction y in FTD (Fourier Transform Domain). This method is useful in the determination of the complex propagation constant with application in high frequency and photonics. In this work structures will be approached in micrometric scale operating in frequencies in the range of T erahertz, a first step for operation in the visible spectra. The mathematical basis are approached for the determination of the electromagnetic fields in the structure, based on the method L TT taking into account the dimensions approached in this work. Calculations for the determination of the constant of complex propagation are also carried out. The computational implementation is presented for high frequencies. at the first time the analysis is done with base in open microstrip lines with semiconductor substrate. Finally, considerations are made regarding applications ofthese devices in the area of telecommunications, and suggestions for future

Análise de antenas de microfita em rampa com múltiplas camadas dielétricas

The present work deals with the ana1ysis of microstrip patch antennas printed on tapered dielectric substrates. We investigate the influence ofthe substrate height variations on the properties of configurations such as microstrip patch antennas, microstrip patch antennas with overlay and suspendeô microstrip patch antennas. The dielectric substrates can be isotropic or anisotropic ones. This accurate analysis is based on the full-wave formulation. It is carried out initially for the determination of the impedance matrix, through the use of the spectral¬domain immitance approach. We use a model based on a segmentation of the considered line into uniform microstrip line subsections. Normalized phase constants and characteristic impedances are obtained by means of the Galerkin numerical technique. Then, the cascaded combination of the uniform microstrip subsections are analyzed through an interactive procedure. Numerical results are presented for the input reflection coefficient, voltage standing wave ratio, resonant frequency, and radiation pattems ofthe E_plane and H-plane diagrams. It is found that the variations in the substrate height profile produce a great influence on the bandwidth of microstrip antennas. This procedure gives bandwidth improvements without altering considerably the resonant frequency. Furthermore, the tapered microstrip antenna can be used as a lightweight altemative for bandwidth control and to eXtend the use of microstiip antenna technology to a wider variety of applications. Finally, suggestions for the continuity of this work are presented

Análise de linhas de fita não-homogêneas com camadas dielétricas anisotrópicas

Abstract

Antenas planares multicamadas com materiais supercondutores e fotônico para comunicações móveis

Recently, planar antennas have been studied due to their characteristics as well as the advantages that they offers when compared with another types of antennas. In the mobile communications area, the need for this kind of antennas have became each time bigger due to the intense increase of the mobile communications this sector. That needs of antennas which operate in multifrequency and wide bandwidth. The microstrip antennas presents narrow bandwidth due the loss in the dielectric generated by radiation. Another limitation is the radiation pattern degradation due the generation of surface waves in the substrate. In this work some used techniques to minimize the disadvantages (previously mentioned) of the use of microstrip antennas are presented, those are: substrates with PBG material - Photonic Bandgap, multilayer antennas and with stacked patches. The developed analysis in this work used the TTL - Transverse Transmission Line method in the domain of Fourier transform, that uses a component of propagation in the y direction (transverse to the direction real of propagation z), treating the general equations of electric and magnetic field as functions of Ey and Hy. One of the advantages of this method is the simplification of the field equations. therefore the amount of equations lesser must the fields in directions x and z be in function of components Ey and Hy. It will be presented an brief study of the main theories that explain the superconductivity phenomenon. The BCS theory. London Equations and Two Fluids model will be the theories that will give support the application of the superconductors in the microfita antennas. The inclusion of the superconductor patch is made using the resistive complex contour condition. This work has as objective the application of the TTL method to microstrip structures with single and multilayers of rectangular patches, to obtaining the resonance frequency and radiation pattern of each structure

Controle preditivo bilinear aplicado a um motor de indução

The present work is based on the applied bilinear predictive control applied to an induction motor. As in particular case of the technique based on predictive control in nonlinem systems, these have desperted great interest, a time that present the advantage of being simpler than the non linear in general and most representative one than the linear one. One of the methods, adopted here, uses the linear model "quasi linear for step of time" based in Generalized Predictive Control. The modeling of the induction motor is made by the Vectorial control with orientation given for the indirect rotor. The system is formed by an induction motor of 3 cv with rotor in squirregate, set in motion for a group of benches of tests developed for this work, presented resulted for a variation of +5% in the value of set-point and for a variation of +10% and -10% in the value of the applied nominal load to the motor. The results prove a good efficiency of the predictive bilinear controllers, then compared with the linear cases

Técnicas de computação natural para segmentação de imagens médicas

Image segmentation is one of the image processing problems that deserves special attention from the scientific community. This work studies unsupervised methods to clustering and pattern recognition applicable to medical image segmentation. Natural Computing based methods have shown very attractive in such tasks and are studied here as a way to verify it's applicability in medical image segmentation. This work treats to implement the following methods: GKA (Genetic K-means Algorithm), GFCMA (Genetic FCM Algorithm), PSOKA (PSO and K-means based Clustering Algorithm) and PSOFCM (PSO and FCM based Clustering Algorithm). Besides, as a way to evaluate the results given by the algorithms, clustering validity indexes are used as quantitative measure. Visual and qualitative evaluations are realized also, mainly using data given by the BrainWeb brain simulator as ground truth

Desenvolvimento de um software de comunicação sem fio aplicado à instrumentação de unidade de elevação de petróleo tipo Plunger Lift

This dissertation aims to develop a software applied to a communication system for a wireless sensor network (WSN) for tracking analog and digital variables and control valve of the gas flow in artificial oil s elevation units, Plunger Lift type. The reason for this implementation is due to the fact that, in the studied plant configuration, the sensors communicate with the PLC (Programmable and Logic Controller) by the cables and pipelines, making any changes in that system, such as changing the layout of it, as well as inconveniences that arise from the nature of the site, such as the vicinity s animals presence that tend to destroy the cables for interconnection of sensors to the PLC. For software development, was used communication polling method via SMAC protocol (Simple Medium Access ControlIEEE 802.15.4 standard) in the CodeWarrior environment to which generated a firmware, loaded into the WSN s transceivers, present in the kit MC13193-EVK, (all items described above are owners of Freescale Semiconductors Inc.). The network monitoring and parameterization used in its application, was developed in LabVIEW software from National Instruments. The results were obtained through the observation of the network s behavior of sensors proposal, focusing on aspects such as: indoor and outdoor quantity of packages received and lost, general aspects of reliability in data transmission, coexistence with other types of wireless networks and power consumption under different operating conditions. The results were considered satisfactory, which showed the software efficiency in this communication system

Eosi: um modelo para desenvolvimento de sistemas embarcados tolerantes a falhas

The semiconductor technologies evolutions leads devices to be developed with higher processing capability. Thus, those components have been used widely in more fields. Many industrial environment such as: oils, mines, automotives and hospitals are frequently using those devices on theirs process. Those industries activities are direct related to environment and health safe. So, it is quite important that those systems have extra safe features yield more reliability, safe and availability. The reference model eOSI that will be presented by this work is aimed to allow the development of systems under a new view perspective which can improve and make simpler the choice of strategies for fault tolerant. As a way to validate the model na architecture FPGA-based was developed.

Análise de desempenho de estratégias de retransmissão para o mecanismo HCCA do padrão de redes sem fio IEEE 802.11e

This paper presents the performanee analysis of traffie retransmission algorithms pro¬posed to the HCCA medium aeeess meehanism of IEEE 802.11 e standard applied to industrial environmen1. Due to the nature of this kind of environment, whieh has eleetro¬magnetic interferenee, and the wireless medium of IEEE 802.11 standard, suseeptible to such interferenee, plus the lack of retransmission meehanisms, refers to an impraetieable situation to ensure quality of service for real-time traffic, to whieh the IEEE 802.11 e stan¬dard is proposed and this environment requires. Thus, to solve this problem, this paper proposes a new approach that involves the ereation and evaluation of retransmission al-gorithms in order to ensure a levei of robustness, reliability and quality of serviee to the wireless communication in such environments. Thus, according to this approaeh, if there is a transmission error, the traffie scheduler is able to manage retransmissions to reeo¬ver data 10s1. The evaluation of the proposed approaeh is performed through simulations, where the retransmission algorithms are applied to different seenarios, whieh are abstrae¬tions of an industrial environment, and the results are obtained by using an own-developed network simulator and compared with eaeh other to assess whieh of the algorithms has better performanee in a pre-defined applieation

Antenas e superfícies seletivas de freqüência reconfiguráveis para sistemas de comunicação sem fio

This work aims to present how the reconfigurable microstrip antennas and frequency selective surfaces can be used to operate at communication systems that require changing their operation frequency according to system requirements or environmental conditions. The main purpose is to present a reconfigurable circular microstrip antenna using a parasitic ring and a reconfigurable dipole frequency selective surface. Thereupon there are shown fundamental topics like microstrip antennas, PIN diodes and the fundamental theory of reconfigurable antennas and frequency selective surfaces. There are shown the simulations and measurements of the fabricated prototypes and it is done an analysis of some parameters like the bandwidth and radiation pattern, for the antennas, and the transmission characteristics, for the frequency selective surface. Copper strips were used in place of the diodes for proof of the reconfigurability concept

Identificação remota de sistemas operacionais utilizando análise de processos aleatórios e redes neurais artificiais

A new method to perform TCP/IP fingerprinting is proposed. TCP/IP fingerprinting is the process of identify a remote machine through a TCP/IP based computer network. This method has many applications related to network security. Both intrusion and defence procedures may use this process to achieve their objectives. There are many known methods that perform this process in favorable conditions. However, nowadays there are many adversities that reduce the identification performance. This work aims the creation of a new OS fingerprinting tool that bypass these actual problems. The proposed method is based on the use of attractors reconstruction and neural networks to characterize and classify pseudo-random numbers generators

Aplicação de sistemas multi-classificadores no diagnóstico de falhas em motores de indução trifásicos

Equipment maintenance is the major cost factor in industrial plants, it is very important the development of fault predict techniques. Three-phase induction motors are key electrical equipments used in industrial applications mainly because presents low cost and large robustness, however, it isn t protected from other fault types such as shorted winding and broken bars. Several acquisition ways, processing and signal analysis are applied to improve its diagnosis. More efficient techniques use current sensors and its signature analysis. In this dissertation, starting of these sensors, it is to make signal analysis through Park s vector that provides a good visualization capability. Faults data acquisition is an arduous task; in this way, it is developed a methodology for data base construction. Park s transformer is applied into stationary reference for machine modeling of the machine s differential equations solution. Faults detection needs a detailed analysis of variables and its influences that becomes the diagnosis more complex. The tasks of pattern recognition allow that systems are automatically generated, based in patterns and data concepts, in the majority cases undetectable for specialists, helping decision tasks. Classifiers algorithms with diverse learning paradigms: k-Neighborhood, Neural Networks, Decision Trees and Naïves Bayes are used to patterns recognition of machines faults. Multi-classifier systems are used to improve classification errors. It inspected the algorithms homogeneous: Bagging and Boosting and heterogeneous: Vote, Stacking and Stacking C. Results present the effectiveness of constructed model to faults modeling, such as the possibility of using multi-classifiers algorithm on faults classification

Desenvolvimento de monopolos quase-espirais para aplicações em sistemas UWB

This work is the analysis of a structure of the microstrip antenna designed for application in ultra wide band systems (Ultra Wideband - UWB). This is a prospective analytical study where they tested the changes in the geometry of the antenna, observing their suitability to the proposed objectives. It is known that the UWB antenna must operate in a range of at least 500 MHz, and answer a fractional bandwidth greater than or equal to 25%. It is also desirable that the antenna meets the specifications of track determined by FCC - Federal Communication Commission, which regulates the system in 2002 designating the UWB bandwidth of 7.5 GHz, a range that varies from 3.1 GHz to 10, 6 GHz. by setting the maximum power spectral density of operation in -41.3 dB / MHz, and defining the fractional bandwidth by 20%. The study starts of a structure of geometry in the form of stylized @, which evolves through changes in its form, in simulated commercial software CST MICROWAVE STUDIO, version 5.3.1, and then tested using the ANSOFT HFSS, version 9. These variations, based on observations of publications available from literature referring to the microstrip monopole planar antennas. As a result it is proposed an antenna, called Monopole Antenna Planar Spiral Almost Rectangular for applications in UWB systems - AMQEUWB, which presents simulated and measured results satisfactory, consistent with the objectives of the study. Some proposals for future work are mentioned