S-Educ: Um Simulador de Ambiente de Robótica Educacional em Plataforma Virtual

We propose a robotics simulation platform, named S-Educ, developed specifically for application in educational robotics, which can be used as an alternative or in association with robotics kits in classes involving the use of robotics. In the usually known approach, educational robotics uses robotics kits for classes which generally include interdisciplinary themes. The idea of this work is not to replace these kits, but to use the developed simulator as an alternative, where, for some reason, the traditional kits cannot be used, or even to use the platform in association with these kits. To develop the simulator, initially, we conducted research in the literature on the use of robotic simulators and robotic kits, facing the education sector, from which it was possible to define a set of features considered important for creating such a tool. Then, on the software development phase, the simulator S-Educ was implemented, taking into account the requirements and features defined in the design phase. Finally, to validate the platform, several tests were conducted with teachers, students and lay adults, in which it was used the simulator S-Educ, to evaluate its use in educational robotics classes. The results show that robotic simulator allows a reduction of financial costs, facilitate testing and reduce robot damage inherent to its use, in addition to other advantages. Furthermore, as a contribution to the community, the proposed tool can be used to increase adhesion of Brazilian schools to the methodologies of educational robotics or to robotics competitions

Ciclo biológico e predação de três espécies de coccinelídeos (Coleoptera, Coccinellidae) sobre o pulgão-gigante-do-pinus Cinara atlantica (Wilson) (Hemiptera, Aphididae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Avaliação por pig de perfilagem de danos superfciais nos materiais das paredes de dutos de petróleo

The modern technology of materials and structural integrity of pipelines requests the use of inspection tools named inspection pigs to detect, localize and measure the length, width and depth dimensions of the thickness losses of walls of buried and underwater pipelines in service. These tools run them internally, performing and recording measurements, with performance that varies according to the pig s technology. It has been developed recently an instrumented pig technology, called feller pig. This work aims to indicate factors that influence the feller pig technology performance in the detection and in the accuracy of measurement of the length, width and depth dimensions of the thickness losses on the internal surface of an oil pipeline wall under normal conditions of oil pipe inspection with pig. In this work, is made a collection of factors and an analyses of the technology based on the available literature, as well as an experiment to observe the technology and the factors operating. In the experiment, a feeler pig is used in a pipeline built in carbon steel and in operation that flows petroleum, in witch are observed areas with internal thickness losses occurred naturally. Some of these areas and their dimensions taken by automated ultra-sound scanner are compared with the ones indicated by the feller pig. Based on the data collection, on the analysis and on the experiment, the influence of factors object of this research is discussed. It is concluded that, among these, there are factors related to pipe fabrication tolerances, to wear of pig components, to internal adhesive wear of pipeline, to other pipeline damages and to technology characteristics. Finally, actions are suggested to know better, improve and define the applicability of this technology

Obtenção de pós de Nb a partir da redução aluminotérmica com ignição por plasma

The aluminothermic reduction consists in an exothermic reaction between a metallic oxide and aluminum to produce the metal and the scum. The extracted melted metal of that reaction usually comes mixed with particles of Al2O3 resulting of the reduction, needing of subsequent refine to eliminate the residual impure as well as to eliminate porosities. Seeking to obtain a product in powder form with nanometric size or even submicrometric, the conventional heat source of the reaction aluminothermic , where a resistor is used (ignitor) as ignition source was substituted, for the plasma, that acts more efficient way in each particle of the sample. In that work it was used as metallic oxide the niobium pentoxide (Nb2O5) for the exothermal reaction Nb2O5 + Al. Amounts stoichiometric, substoichiometric and superestoichiometric of aluminum were used. The Nb2O5 powder was mixed with aluminum powder and milled in planetarium of high energy for a period of 6 hours. Those powders were immerged in plasm that acts in a punctual way in each particle, transfering heat, so that the reaction can be initiate and spread integrally for the whole volume of the particle. The mixture of Nb2O5 + Al was characterized through the particle size analysis by laser and X-ray diffraction (DRX) and the obtained product of reaction was characterized using the electronic microscopy of sweeping (MEV) and the formed phases were analyzed by DRX. Niobium powders with inferior sizes to 1 mm were obtained by that method. It is noticed, through the analysis of the obtained results, that is possible to accomplish the aluminothermic reduction process by plasma ignition with final particles with inferior sizes to the original oxide

Redução carbotérmica de TiO2 por descarga em cátodo oco

In this study we used the plasma as a source of energy in the process of carbothermic reduction of rutile ore (TiO2). The rutile and graphite powders were milled for 15 h and placed in a hollow cathode discharge produced by in order to obtain titanium carbonitride directly from the reaction, was verified the influence of processing parameters of plasma temperature and time in the synthesis of TiCN. The reaction was carried out at 600, 700 and 800˚C for 3 to 4 hours in an atmosphere of nitrogen and argon. During all reactions was monitored by plasma technique of optical emission spectroscopy (EEO) to check the active species present in the process of carbothermal reduction of TiO2. The powder obtained after the reactions were characterized by the techniques of X-ray diffraction (XRD) and scanning electron microscopy (SEM). The technique of EEO were detected in all reactions the spectra CO and NO, and these gas-phase resulting from the reduction of TiO2. The results of X-ray diffraction confirmed the reduction, where for all conditions studied there was evidence of early reduction of TiO2 through the emergence of intermediate oxides. In the samples reduced at 600 and 700˚C, there was only the phase Ti6O11, those reduced to 800˚C appeared Ti5O9 phases, and Ti6O11 Ti7O13, confirming that the carbothermal reduction in plasma, a reduction of the ore rutile (TiO2) in a series of intermediate titanium oxide (TinO2n-1) where n varies between 5 and 10

Tubulações de PRFV com adição de areia quartzosa visando sua aplicação na indústria do petróleo

Fillers are often added in composites to enhance performance and/or to reduce cost. Fiberglass pipes must meet performance requirements and industrial sand is frequently added for the pipe to be cost competitive. The sand is added to increase pipe wall thickness, thus increase pipe stiffness. The main goal of the present work is to conduct an experimental investigation between pipes fabricated with and without de addition of sand, to be used in the petroleum industry. Pipes were built using E-glass fibers, polyester resin and siliceous sand. The fabrication process used hand lay up and filament winding and was divided in two different parts: the liner and the structural wall. All tested pipes had the same liner, but different structural wall composition, which is the layer where siliceous sand may be added or not. The comparative investigation was developed considering the results of longitudinal tensile tests, hoop tensile tests, hydrostatic pressure leak tests and parallel-plate loading stiffness tests. SEM was used to analyze if the sand caused any damage to the glass fibers, during the fabrication process, because of the fiber-sand contact. The procedure was also used to verify the composite conditions after the hydrostatic pressure leak test. The results proved that the addition of siliceous sand reduced the leak pressure in about 17 %. In the other hand, this loss in pressure was compensated by a stiffness increment of more than 380 %. MEV analyses show that it is possible to find damage on the fiber-sand contact, but on a very small amount. On most cases, the contact occurs without damage evidences. In summary, the addition of sand filler represented a 27.8 % of cost reduction, when compared to a pipe designed with glass fiber and resin only. This cost reduction combined to the good mechanical tests results make siliceous sand filler suitable for fiberglass pressure pipes

Eficiência da seleção recorrente para redução da estatura de plantas em mamoneira (Ricinus communis L.)

Realizou-se, o presente trabalho, com o objetivo de avaliar a eficiência da seleção recorrente para a redução da estatura de plantas de mamona da cultivar Guarani (Ricinus communis L.), tornando-a com porte adequado para facilitar a colheita manual e/ou mecânica. Foram realizados quatro ciclos de seleção recorrente com a utilização de progênies autofecundadas na cultivar Guarani para redução da estatura das plantas, nas condições edafoclimáticas dos municípios de São Manuel - SP, Botucatu - SP e Penápolis - SP. As avaliações de estatura das plantas e de produtividade de grãos (kg.ha-1), dos quatro ciclos de seleção e do ciclo original foram realizadas nos municípios de São Manuel - SP, Botucatu - SP e Penápolis - SP na safra 2005/2006, sob um delineamento de blocos casualizados com cinco repetições e parcela útil de 30 m². A análise de variância para as características avaliadas foi feita separadamente para cada local e conjuntamente para os três locais e, posteriormente, realizada a comparação das médias pelo teste de Tukey, a 5%. Foram estimados, para as três localidades, por análise de regressão, os ganhos genéticos dos quatros ciclos de seleção para estatura de plantas. A partir dos resultados obtidos pôde-se concluir que a seleção recorrente foi eficiente para a redução da estatura de plantas e que a cultivar de mamona Guarani apresenta variabilidade genética para essa característica e que a produtividade não foi influenciada pela redução da estatura de plantas.

Avaliação da remoção de sulfeto de hidrogênio do gás natural em uma coluna de absorção

Natural gas, although basically composed by light hydrocarbons, also presents in its composition gaseous contaminants such as CO2 (carbon dioxide) and H2S (hydrogen sulfide). Hydrogen sulfide, which commonly occurs in oil and gas exploration and production activities, besides being among the gases that are responsible by the acid rain and greenhouse effect, can also cause serious harm to health, leading even to death, and damages to oil and natural gas pipelines. Therefore, the removal of hydrogen sulfide will significantly reduce operational costs and will result in oil with best quality to be sent to refinery, thereby resulting in economical, environmental, and social benefits. These factors highlight the need for the development and improvement of hydrogen sulfide sequestrating agents to be used in the oil industry. Nowadays there are several procedures for hydrogen sulfide removal from natural gas used by the petroleum industry. However, they produce derivatives of amines that are harmful to the distillation towers, form insoluble precipitates that cause pipe clogging and produce wastes of high environmental impact. Therefore, the obtaining of a stable system, in inorganic or organic reaction media, that is able to remove hydrogen sulfide without forming by-products that affect the quality and costs of natural gas processing, transport and distribution is of great importance. In this context, the evaluation of the kinetics of H2S removal is a valuable procedure for the treatment of natural gas and disposal of the byproducts generated by the process. This evaluation was made in an absorption column packed with Raschig ring, where natural gas with H2S passes through a stagnant solution, being the contaminant absorbed by it. The content of H2S in natural gas in column output was monitored by an H2S analyzer. The comparison between the obtained curves and the study of the involved reactions have not only allowed to determine the efficiency and mass transfer controlling step of the involved processes but also make possible to effect a more detailed kinetic study and evaluate the commercial potential of each reagent

Integração dos processos de flotação e foto-fenton para redução de óleos e graxas de água produzida em campos de petróleo

During production of oil and gas, there is also the production of an aqueous effluent called produced water. This byproduct has in its composition salts, organic compounds, gases and heavy metals. This research aimed to evaluate the integration of processes Induced Air Flotation (IAF) and photo-Fenton for reducing the Total Oils and Greases (TOG) present in produced water. Experiments were performed with synthetic wastewater prepared from the dispersion of crude oil in saline solution. The system was stirred for 25 min at 33,000 rpm and then allowed to stand for 50 min to allow free oil separation. The initial oil concentration in synthetic wastewater was 300 ppm and 35 ppm for the flotation and the photo-Fenton steps, respectively. These values of initial oil concentration were established based on average values of primary processing units in Potiguar Basin. The processes were studied individually and then the integration was performed considering the best experimental conditions found in each individual step. The separation by flotation showed high removal rate of oil with first-order kinetic behavior. The flotation kinetics was dependent on both the concentration and the hydrophilic-lipophilic balance (HLB) of the surfactant. The best result was obtained for the concentration of 4.06.10-3 mM (k = 0.7719 min-1) of surfactant EO 2, which represents 86% of reduction in TOG after 4 min. For series of surfactants evaluated, the separation efficiency was found to be improved by the use of surfactants with low HLB. Regarding the TOG reduction step by photo-Fenton, the largest oil removal reached was 84% after 45 min of reaction, using 0.44 mM and 10 mM of ferrous ions and hydrogen peroxide, respectively. The best experimental conditions encountered in the integrated process was 10 min of flotation followed by 45 min of photo-Fenton with overall TOG reduction of 99%, which represents 5 ppm of TOG in the treated effluent. The integration of processes flotation and photo-Fenton proved to be highly effective in reducing TOG of produced water in oilfields

Essa marca de suor numa canção: o processo de redução estrutural na poesia de Zila Mamede

Die Beziehung zwischen Literatur und Gesellschaft wurden, im Laufe der Jahrhunderte, aus unterschiedlichen Perspektiven analysiert. Die Wissenschaftler analysieren manchmal die Aspekten der sozialen Realität, sie betonen manchmal die Natur der literarischen Werk. Wir glauben, dass Antonio Candido einen Gleichgewichtszustand erreicht, als er das Konzept der strukturellen Reduktion oder Formalisierung entwickelt. Nämlich, der Prozess, bei dem die menschliche und soziale Leben zu einem Bestandteil der literarischen Struktur wird. Der Autor tritt eine Einbahnstraße und er kann Daten aus der sozialen Ordnung aufholen, ohne dabei die Materialität des Textes den Augen verlieren. Und das sind die theoretische Annahmen, die die Entwicklung dieser Arbeit leiten. Wir wollen zu zeigen, dass die Struktur der mamediana Lyrik aufdeckt, signifikante Daten der Gesellschaft, in der der Autore eingefügt wurde enthüllt. Folglich, wir analysieren soziale Thema, das sein Werk durchzieht. Zuerst, wir untersuchen, wie Zila Mamede den Alltag der Gesellschaft vertreten. Von der strukturellen Organisation der Gedichte, wir erkennen, das die Episode aus kleiner Städte ein Akt des Widerstands gegen die fragmentierte Profil der kapitalistischen Gesellschaf sind. Das ist, warum sie doch eng mit der Idee der Tradition erscheinen. Die dichotome Beziehung zwischen den regionalen Daten und der Element der Modernisierung etabliert, sie wird durch die Organisation des Raumes verstärkt. Während die Stadt bei konkrete gesellschaftliche Ordnung Spitzenbeträge verweist, hat die Landschaft eine harmonische und warme Form. Allgemeinen, die moderne Stadt von Zila Mamede geformt, ist eine Abbild der Industriegesellschaft. Die Bilder die Landschaft sind ein Gegenmittel gegen die Feindseligkeiten Merkmale der neuen urbanen Zustand. So, die Landschaft hat die Funktion von Umstrukturierung der Persönlichkeit des Einzelnen durch die Erfahrung der großen Städte betroffen verdinglichenden. Der Konflikt, der durch das lyrische mamediana läuft, sind Reflexionen des Prozesses der Modernisierung der Stadt Natal, ihres eigenen Landes die politische Instabilität, sie durch verschiedene staatliche Programme ging, während Der Autor seine literarische Tätigkeit verfolgt

Propagação de danos em sistemas cooperativos: propriedades termodinâmicas

High-precision calculations of the correlation functions and order parameters were performed in order to investigate the critical properties of several two-dimensional ferro- magnetic systems: (i) the q-state Potts model; (ii) the Ashkin-Teller isotropic model; (iii) the spin-1 Ising model. We deduced exact relations connecting specific damages (the difference between two microscopic configurations of a model) and the above mentioned thermodynamic quanti- ties which permit its numerical calculation, by computer simulation and using any ergodic dynamics. The results obtained (critical temperature and exponents) reproduced all the known values, with an agreement up to several significant figures; of particular relevance were the estimates along the Baxter critical line (Ashkin-Teller model) where the exponents have a continuous variation. We also showed that this approach is less sensitive to the finite-size effects than the standard Monte-Carlo method. This analysis shows that the present approach produces equal or more accurate results, as compared to the usual Monte Carlo simulation, and can be useful to investigate these models in circumstances for which their behavior is not yet fully understood

Danos e propriedades termodinâmicas no modelo de Ashkin-Teller de n cores

Conselho Nacional de Desenvolvimento Científico e Tecnológico

Propagação de danos no modelo de ising em redes de bravais e em fractais

In this work we have studied, by Monte Carlo computer simulation, several properties that characterize the damage spreading in the Ising model, defined in Bravais lattices (the square and the triangular lattices) and in the Sierpinski Gasket. First, we investigated the antiferromagnetic model in the triangular lattice with uniform magnetic field, by Glauber dynamics; The chaotic-frozen critical frontier that we obtained coincides , within error bars, with the paramegnetic-ferromagnetic frontier of the static transition. Using heat-bath dynamics, we have studied the ferromagnetic model in the Sierpinski Gasket: We have shown that there are two times that characterize the relaxation of the damage: One of them satisfy the generalized scaling theory proposed by Henley (critical exponent z~A/T for low temperatures). On the other hand, the other time does not obey any of the known scaling theories. Finally, we have used methods of time series analysis to study in Glauber dynamics, the damage in the ferromagnetic Ising model on a square lattice. We have obtained a Hurst exponent with value 0.5 in high temperatures and that grows to 1, close to the temperature TD, that separates the chaotic and the frozen phases

Propagação de danos: importância da atualização dinâmica, efeitos da diluição e propriedades termodinâmicas

Neste trabalho investigamos aspectos da propagação de danos em sistemas cooperativos, descritos por modelos de variáveis discretas (spins), mutuamente interagentes, distribuídas nos sítios de uma rede regular. Os seguintes casos foram examinados: (i) A influência do tipo de atualização (paralela ou sequencial) das configurações microscópicas, durante o processo de simulação computacional de Monte Carlo, no modelo de Ising em uma rede triangular. Observamos que a atualização sequencial produz uma transição de fase dinâmica (Caótica- Congelada) a uma temperatura TD ≈TC (Temperatura de Curie), para acoplamentos ferromagnéticos (TC=3.6409J/Kb) e antiferromagnéticos (TC=0). A atualização paralela, que neste caso é incapaz de diferenciar os dois tipos de acoplamentos, leva a uma transição em TD ≠TC; (ii) Um estudo do modelo de Ising na rede quadrada, com diluição temperada de sítios, mostrou que a técnica de propagação de danos é um eficiente método para o cálculo da fronteira crítica e da dimensão fractal do aglomerado percolante, já que os resultados obtidos (apesar de um esforço computacional relativamente modesto), são comparáveis àqueles resultantes da aplicação de outros métodos analíticos e/ou computacionais de alto empenho; (iii) Finalmente, apresentamos resultados analíticos que mostram como certas combinações especiais de danos podem ser utilizadas para o cálculo de grandezas termodinâmicas (parâmetros de ordem, funções de correlação e susceptibilidades) do modelo Nα x Nβ, o qual contém como casos particulares alguns dos modelos mais estudados em Mecânica Estatística (Ising, Potts, Ashkin Teller e Cúbico)