Modelling, simulation and control of rotary-wing aircraft in multi-agent scenario

The topic of this thesis is the design and the implementation of mathematical models and control system algorithms for rotary-wing unmanned aerial vehicles to be used in cooperative scenarios. The use of rotorcrafts has many attractive advantages, since these vehicles have the capability to take-off and land vertically, to hover and to move backward and laterally. Rotary-wing aircraft missions require precise control characteristics due to their unstable and heavy coupling aspects. As a matter of fact, flight test is the most accurate way to evaluate flying qualities and to test control systems. However, it may be very expensive and/or not feasible in case of early stage design and prototyping. A good compromise is made by a preliminary assessment performed by means of simulations and a reduced flight testing campaign. Consequently, having an analytical framework represents an important stage for simulations and control algorithm design. In this work mathematical models for various helicopter configurations are implemented. Different flight control techniques for helicopters are presented with theoretical background and tested via simulations and experimental flight tests on a small-scale unmanned helicopter. The same platform is used also in a cooperative scenario with a rover. Control strategies, algorithms and their implementation to perform missions are presented for two main scenarios. One of the main contributions of this thesis is to propose a suitable control system made by a classical PID baseline controller augmented with L1 adaptive contribution. In addition a complete analytical framework and the study of the dynamics and the stability of a synch-rotor are provided. At last, the implementation of cooperative control strategies for two main scenarios that include a small-scale unmanned helicopter and a rover.

Design and testing of innovative, artificial intelligence-based techniques to model and control the combustion process and to reduce the Co2 emissions in modern, high-performance, gasoline direct injection engines

This work deals with the development of calibration procedures and control systems to improve the performance and efficiency of modern spark ignition turbocharged engines. The algorithms developed are used to optimize and manage the spark advance and the air-to-fuel ratio to control the knock and the exhaust gas temperature at the turbine inlet. The described work falls within the activity that the research group started in the previous years with the industrial partner Ferrari S.p.a. . The first chapter deals with the development of a control-oriented engine simulator based on a neural network approach, with which the main combustion indexes can be simulated. The second chapter deals with the development of a procedure to calibrate offline the spark advance and the air-to-fuel ratio to run the engine under knock-limited conditions and with the maximum admissible exhaust gas temperature at the turbine inlet. This procedure is then converted into a model-based control system and validated with a Software in the Loop approach using the engine simulator developed in the first chapter. Finally, it is implemented in a rapid control prototyping hardware to manage the combustion in steady-state and transient operating conditions at the test bench. The third chapter deals with the study of an innovative and cheap sensor for the in-cylinder pressure measurement, which is a piezoelectric washer that can be installed between the spark plug and the engine head. The signal generated by this kind of sensor is studied, developing a specific algorithm to adjust the value of the knock index in real-time. Finally, with the engine simulator developed in the first chapter, it is demonstrated that the innovative sensor can be coupled with the control system described in the second chapter and that the performance obtained could be the same reachable with the standard in-cylinder pressure sensors.

New knowledge, diagnostic and control tools to limit the impact of viral nervous necrosis (VNN) in the Mediterranean aquaculture sector

The role of aquaculture in satisfying the global seafood demand is essential. The expansion of the aquaculture sector and the intensification of its activities have enhanced the circulation of infectious agents. Among these, the nervous necrosis virus (NNV) represents the most widespread in the Mediterranean basin. The NNV is responsible for a severe neuropathological condition named viral nervous necrosis (VNN), impacting hugely on fish farms due to the serious disease-associated losses. Therefore, it is fundamental to develop new strategies to limit the impact of VNN in this area, interconnecting several aspects of disease management, diagnosis and prevention. This PhD thesis project, focusing on aquatic animals’ health, deals with these topics. The first two chapters expand the knowledge on VNN epidemiology and distribution, showing the possibility of interspecies transmission, persistent infections and a potential carrier role for invertebrates. The third study expands the horizon of VNN diagnosis, by developing a quick and affordable multiplex RT-PCR able to detect and simultaneously discriminate between NNV variants, reducing considerably the time and costs of genotyping. The fourth study, with the development of a fluorescent in situ hybridization technique and its application to aquatic vertebrates and invertebrates’ tissues, contributes to expand the knowledge on NNV distribution at cellular level, localizing also the replication site of the virus. Finally, the last study dealing with an in vitro evaluation of the NNV susceptibility to a commercial biocide, stress the importance to implement proper disinfectant procedures in fish farms to prevent virus spread and disease outbreaks.

Fractional Order Modeling and Control of a Flexible Satellite

Researchers have engrossed fractional-order modeling because of its ability to capture phenomena that are nearly impossible to describe owing to its long-term memory and inherited properties. Motivated by the research in fractional modeling, a fractional-order prototype for a flexible satellite whose dynamics are governed by fractional differential equations is proposed for the first time. These relations are derived using fractional attitude dynamic description of rigid body simultaneously coupled with the fractional Lagrange equation that governs the vibration of the appendages. Two attitude controls are designed in the presence of the faults and uncertainties of the system. The first is the fractional-order feedback linearization controller, in which the stability of the internal dynamics of the system is proved. The second is the fractional-order sliding mode control, whose asymptotic stability is demonstrated using the quadratic Lyapunov function. Several nonlinear simulations are implemented to analyze the performance of the proposed controllers.

Modeling, simulation, and control of a formation of multirotor aircraft for cooperative transportation of suspended loads

The work presented in this thesis aims to contribute to innovation in the Urban Air Mobility and Delivery sector and represents a solid starting point for air logistics and its future scenarios. The dissertation focuses on modeling, simulation, and control of a formation of multirotor aircraft for cooperative load transportation, with particular attention to environmental sustainability. First, a simulation and test environment is developed to assess technologies for suspended load stabilization. Starting from the mathematical model of two identical multirotors, formation-flight-keeping and collision-avoidance algorithms are analyzed. This approach guarantees both the safety of the vehicles within the formation and that of the payload, which may be made of people in the very near future. Afterwards, a mathematical model for the suspended load is implemented, as well as an active controller for its stabilization. The key focus of this part is represented by both analysis and control of payload oscillatory motion, by thoroughly investigating load kinetic energy decay. At this point, several test cases were introduced, in order to understand which strategy is the most effective and safe in terms of future applications in the field of air logistics.

Sistemas de supervisão e controlo de autómatos: soluções baseadas em OPC E IEC 60870-5-104

Atualmente, no segmento metro-ferroviário, há uma tendência para que todos os equipamentos que constituem os sistemas auxiliares de uma estação (escadas mecânicas, elevadores, bloqueadores, validadores de bilhética, ventiladores, bombas, entre outros) sejam dotados de inteligência. Tipicamente, um conjunto de equipamentos são ligados a um autómato que permite o controlo local e remoto e é vulgar que, sendo de fabricantes diferentes, suportem tecnologias distintas. Um sistema de supervisão que permita o acesso à informação disponibilizada por cada um dos autómatos, ou à atuação sobre um deles, terá por isso que implementar e suportar diversos protocolos de comunicação de forma a não ficar limitado a um tipo de tecnologia. De forma a diminuir os custos de desenvolvimento e operação de um sistema de supervisão e controlo e facilitar a integração de novos equipamentos, com diferentes características, têm sido procuradas soluções que garantam uma mais fácil comunicação entre os diversos módulos intervenientes. Nesta dissertação são implementadas soluções baseadas em clientes OPC-DA e OPC-AE e no protocolo IEC 60870-5-104, permitindo que os sistemas de supervisão e de controlo comuniquem com os equipamentos através destes três módulos. Os principais aspectos inovadores estão associados à implementação de uma arquitetura multiprotocolo usando as novas tendências de supervisão e controlo baseadas em soluções distribuídas.

Relatório de estágio curricular

The purpose of the current internship report is to share the opportunity I have had to learn during my stay in CMVM as an intern, specifically in relation to the exercise of private equity supervision in Portugal, in order to contribute to the study of private equity legal framework. Private equity is the activity to finance or acquire enterprises with growth potential (normally consider as genuine industry), for a limited period of time, in order to support the enterprise’s development to benefit from future profit sales of participations. By observing and studying the registration procedures, as well as the specific legislation and reality of other jurisdictions, it is concluded that supervision specifically related to private equity is one of the most important aspects in this industry, as it is the best way to know and control it. To improve the performance of supervisory functions, and the very development of private equity, it is essential to have a legislative review in order to simplify the rules enforcement necessary for the proper running of the industry as well as for more efficient supervision and control of this activity, thus developing it and making it more attractive in a national and international basis.

Modelo regulatório híbrido da educação superior privada: possibilidades, limites e desafios

Nos últimos vinte anos observamos a entrada de entidades privadas com fins lucrativos no meio educacional de nível superior, motivada e induzida por decisões de políticas educacionais na busca do ideal do acesso ao ensino combinado com a inclusão social. Assim, instituições privadas estabeleceram um novo modelo “em construção” de Educação Superior focado em Mercado, criando oportunidades para que tal segmento crescesse à margem de um processo regulatório econômico. Atualmente as possibilidades de abordagens regulatórias ampliaram-se, sendo plenamente admitido regulação em setores econômicos, e sob formatos que não sejam, necessariamente, o modelo de agências autônomas, podendo existir entidades similares às agências reguladoras, órgãos ou entidades dotadas de função regulatória, como no caso do Ministério da Educação e suas entidades supervisionadas - autarquias. A chamada regulação social qualitativa - oferta de vagas e autorização de cursos - mostra-se insuficiente para ordenar e articular a ação dos atores, num ambiente regulatório crescente em complexidade social e econômica. O modelo regulatório híbrido da ES privada propõe articular/combinar os já consagrados parâmetros da regulação social com os princípios e parâmetros da regulação econômica, numa nova forma de abordagem regulatória que agregue as seguintes dimensões: fundamentos econômicos; implementação de políticas públicas setorizadas, regionalizadas e indutoras; desenho institucional que priorize novas diretrizes para a entrada e manutenção no Sistema Federal de Ensino - autorizações e credenciamentos; fiscalização e controle; prospecção, avaliação; e accountability - e, acesso das IES às Políticas Públicas Programáticas, de caráter geral, assegurando o interesse público, a efetividade, a competitividade, a qualidade e o valor social no Ensino Superior Privado.

kit educacional para controle e supervisão aplicado a nível

PEREIRA, J. P. ; CASTRO, B. P. S. ; VALENTIM, R. A. M. . Kit Educacional para Controle e Supervisão Aplicado a Nível. Holos, Natal, v. 2, p. 68-72, 2009

Gerenciamento de alarmes em plataformas marítimas de produção de hidrocarbonetos: metodologia e estudo de caso

In the operational context of industrial processes, alarm, by definition, is a warning to the operator that an action with limited time to run is required, while the event is a change of state information, which does not require action by the operator, therefore should not be advertised, and only stored for analysis of maintenance, incidents and used for signaling / monitoring (EEMUA, 2007). However, alarms and events are often confused and improperly configured similarly by developers of automation systems. This practice results in a high amount of pseudo-alarms during the operation of industrial processes. The high number of alarms is a major obstacle to improving operational efficiency, making it difficult to identify problems and increasing the time to respond to abnormalities. The main consequences of this scenario are the increased risk to personal safety, facilities, environment deterioration and loss of production. The aim of this paper is to present a philosophy for setting up a system of supervision and control, developed with the aim of reducing the amount of pseudo-alarms and increase reliability of the information that the system provides. A real case study was conducted in the automation system of the offshore production of hydrocarbons from Petrobras in Rio Grande do Norte, in order to validate the application of this new methodology. The work followed the premises of the tool presented in ISA SP18.2. 2009, called "life cycle alarm . After the implementation of methodology there was a significant reduction in the number of alarms

Utilização de Novas Tecnologias de Telecomunicações em Plataformas Petrolíferas Offshore

This dissertation describes the use of new Technologies of the Areas of Telecommunications, Networks and Industrial Automation for increase of the Operational Safety and obtaining of Operational Improvements in the Platforms Petroliferous Offshore. The presented solution represents the junction of several modules of these areas, making possible the Supervision and Contrai of the Platforms Petroliferous Offshore starting from an Station Onshore, in way similar to a remote contral, by virtue of the visualization possibility and audition of the operational area through cameras and microphones, looking the operator of the system to be "present" in the platform. This way, it diminishes the embarked people's need, increasing the Operational Safety. As consequence, we have the obtaining of Operational Improvements, by virtue of the use of a digital link of large band it releases multi-service. In this link traffic simultaneously digital signs of data (Ethernet Network), telephony (Phone VoIP), image and sound

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

O conselho Municipal de Assistência Social de Campo Grande - MS e a gestão da política de assistência social - uma experiência em debate

Pós-graduação em Serviço Social - FCHS

Sistema de controle de escoamento de gás natural em dutos de distribuição com detecção de vazamentos utilizando redes neurais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sistema de supervisão e controle de irrigação utilizando técnicas de inteligência artificial

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