Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Um modelo de unidade de medida inercial utilizando três acelerômetros triaxiais

No espaço tridimensional, um corpo rígido qualquer pode efetuar translações e ou rotações em relação a cada um de seus eixos. Identificar com precisão o deslocamento realizado por um corpo é fundamental para alguns tipos de sistemas em engenharia. Em sistemas de navegação inercial tradicionais, utilizam-se acelerômetros para reconhecer a aceleração linear e giroscópios para reconhecer a velocidade angular registrada durante o deslocamento. O giroscópio, entretanto, é um dispositivo de custo mais elevado e com alto consumo de energia quando comparado a um acelerômetro. Essa desvantagem deu origem a pesquisas a respeito de sistemas e unidades de medidas inerciais que não utilizam giroscópios. A ideia de utilizar apenas acelerômetros para calcular o movimento linear e angular surgiu no início da década de 60 e vem se desenvolvendo através de modelos que variam no número de sensores, na maneira como estes são organizados e no modelo matemático que é utilizado para derivar o movimento do corpo. Esse trabalho propõe um esquema de configuração para construção de uma unidade de medida inercial que utiliza três acelerômetros triaxiais. Para identificar o deslocamento de um corpo rígido a partir deste esquema, foi utilizado um modelo matemático que utiliza apenas os nove sinais de aceleração extraídos dos três sensores. A proposta sugere que os sensores sejam montados e distribuídos em formato de L . Essa disposição permite a utilização de um único plano do sistema de coordenadas, facilitando assim a instalação e configuração destes dispositivos e possibilitando a implantação dos sensores em uma única placa de circuito integrado. Os resultados encontrados a partir das simulações iniciais demonstram a viabilidade da utilização do esquema de configuração proposto

Medição da densidade óssea através de ondas eletromagnéticas e classificação por MVS

This work holds the purpose of presenting an auxiliary way of bone density measurement through the attenuation of electromagnetic waves. In order to do so, an arrangement of two microstrip antennas with rectangular configuration has been used, operating in a frequency of 2,49 GHz, and fed by a microstrip line on a substrate of fiberglass with permissiveness of 4.4 and height of 0,9 cm. Simulations were done with silica, bone meal, silica and gypsum blocks samples to prove the variation on the attenuation level of different combinations. Because of their good reproduction of the human beings anomaly aspects, samples of bovine bone were used. They were subjected to weighing, measurement and microwave radiation. The samples had their masses altered after mischaracterization and the process was repeated. The obtained data were inserted in a neural network and its training was proceeded with the best results gathered by correct classification on 100% of the samples. It comes to the conclusion that through only one non-ionizing wave in the 2,49 GHz zone it is possible to evaluate the attenuation level in the bone tissue, and that with the appliance of neural network fed with obtained characteristics in the experiment it is possible to classify a sample as having low or high bone density

Estratégia de conversor para interligação de sistemas de geração eólica à rede elétrica

Currently, there are several power converter topologies applied to wind power generation. The converters allow the use of wind turbines operating at variable speed, enabling better use of wind forces. The high performance of the converters is being increasingly demanded, mainly because of the increase in the power generation capacity by wind turbines, which gave rise to various converter topologies, such as parallel or multilevel converters. The use of converters allow effective control of the power injected into the grid, either partially, for the case using partial converter, or total control for the case of using full converter. The back-to-back converter is one of the most used topologies in the market today, due to its simple structure, with few components, contributing to robust and reliable performance. In this work, is presented the implementation of a wind cogeneration system using a permanent magnet synchronous generator (PMSG) associated with a back-to-back power converter is proposed, in order to inject active power in an electric power system. The control strategy of the active power delivered to the grid by cogeneration is based on the philosophy of indirect control

Viabilidades térmica, econômica e de materiais de um sistema solar de aquecimento de água a baixo custo para fins residenciais

An solar alternative system for water heating is presented. Is composed for one low cost alternative collector and alternative thermal reservoir for hot water storing. The collector of the system has box confectioned in composite material and use absorption coils formed for PVC tubes. The box of hot water storage was confectioned from a plastic polyethylene drum used for storage of water and garbage, coated for a cylinder confectioned in fiber glass. The principle of functioning of the system is the same of the conventionally. Its regimen of work is the thermosiphon for a volume of 250 liters water. The main characteristic of the system in considered study is its low cost, allowing a bigger socialization of the use of solar energy. It will be demonstrated the viabilities thermal, economic and of materials of the system of considered heating, and its competitiveness in relation to the available collectors commercially. Relative aspects will be boarded also the susceptibility the thermal degradation and for UV for the PVC tubes. It will be shown that such system of alternative heating, that has as main characteristic its low cost, presents viabilities thermal, economic and of materials

Análise quali-quantitativa do deslocamento da camada-limite em carrocerias veiculares

Dois dos principais objetivos no estudo da aerodinâmica de veículos é a segurança e o desempenho. Esses objetivos podem ser alcançados através do desenvolvimento de dispositivos que modifiquem o escoamento de ar ao redor do veículo e também através de alterações da forma das superfícies externas. O perfil mais baixo da frente do veículo, por exemplo, tem grande influência sobre o coeficiente de penetração aerodinâmica (Cx) e posteriormente sobre grande parte da distribuição de pressão ao longo da superfície do veículo. O objetivo deste trabalho foi de analisar o comportamento aerodinâmico que incide sobre 2 (dois) tipos de carrocerias de veículos, baseado em experimentação em túnel aerodinâmico, visando determinar a eficiência aerodinâmica de cada uma delas. Foram comparados dois modelos de veículos, sendo um deles com configuração familiar, muito comum nas grandes cidades e outro modelo com configuração esportiva mais voltado para o desempenho, ambos com escala 1:18. Para a realização do experimento foi construído um túnel aerodinâmico do tipo soprador com circuito aberto, onde foram analisadas as distribuições de pressão nas superfícies inferiores e superiores da carroceria dos modelos e o deslocamento da camada-limite. Tomando-se por base toda a teórica deste trabalho, com relação à aerodinâmica de carroceria, considerou-se nesta dissertação que essa filosofia de pesquisa é capaz de gerar reflexos positivos, que podem tornar os veículos cada vez mais eficientes e influenciar positivamente nos níveis de segurança e desempenho

Estudo térmico de um sistema solar de aquecimento de água residencial para duas configurações de superfície absorvedora

It presents a solar collector to be used in a system for heating water for bathing, whose main characteristics are its low cost and easy manufacturing and assembly. The absorbing surface of the collector is formed by an aluminum plate with eight flaps where they lodge PVC pipes. The catchment area of solar radiation corresponds to 1.3 meters. The collector box was made of wood, is covered by transparent glass and thermal insulation of tire chips and expanded polystyrene (EPS). Absorber tubes were connected in parallel through the use of PVC fittings and fixed to the plate by the use of metal poles and rivets. The entire absorber received paint flat black for better absorption of sunlight. The system worked on a thermosiphon assembly and absorber of the collector has been tested in two configurations: with the tubes facing up, directly exposed to the impact of sunlight and facing down, exchanging heat with the plate by conduction. It was determined the most efficient configuration for the correct purpose. The solar collector was connected to a thermal reservoir, also alternative, low-cost forming the system of solar water heating. We evaluated thermal parameters that proved the viability of the heating system studied

Biomecânica e otimização topológica com H-adaptatividade em implantes dentários nitretados a plasma em cátodo oco

In recent years there has been a significant growth in technologies that modify implant surfaces, reducing healing time and allowing their successful use in areas with low bone density. One of the most widely used techniques is plasma nitration, applied with excellent results in titanium and its alloys, with greater frequency in the manufacture of hip, ankle and shoulder implants. However, its use in dental implants is very limited due to high process temperatures (between 700 C o and 800 C o ), resulting in distortions in these geometrically complex and highly precise components. The aim of the present study is to assess osseointegration and mechanical strength of grade II nitrided titanium samples, through configuration of hollow cathode discharge. Moreover, new formulations are proposed to determine the optimum structural topology of the dental implant under study, in order to perfect its shape, make it efficient, competitive and with high definition. In the nitriding process, the samples were treated at a temperature of 450 C o and pressure of 150 Pa , during 1 hour of treatment. This condition was selected because it obtains the best wettability results in previous studies, where different pressure, temperature and time conditions were systematized. The samples were characterized by X-ray diffraction, scanning electron microscope, roughness, microhardness and wettability. Biomechanical fatigue tests were then conducted. Finally, a formulation using the three dimensional structural topology optimization method was proposed, in conjunction with an hadaptive refinement process. The results showed that plasma nitriding, using the hollow cathode discharge technique, caused changes in the surface texture of test specimens, increases surface roughness, wettability and microhardness when compared to the untreated sample. In the biomechanical fatigue test, the treated implant showed no flaws, after five million cycles, at a maximum fatigue load of 84.46 N. The results of the topological optimization process showed well-defined optimized layouts of the dental implant, with a clear distribution of material and a defined edge

Análise do desempenho térmico de um sistema de aquecimento solar de baixo custo

It presents a solar collector to be used in a system for heating water for bathing, whose main characteristics are low cost and easy manufacturing and assembly. The system operates under natural convection or thermosiphon. The absorbing surface of the collector is formed by twelve PVC pipes of 25 mm outside diameter connected in parallel via connections in T of the same material. The tubes were covered with absorbing fins made with recycled aluminum cans. We studied eight settings between absorber plate, thermal insulating EPS boards and thermal reservoirs 150 and 200 liters. It was determined the most efficient configuration for the correct purpose. We evaluated thermal parameters that proved the viability of the heating system studied

Desenvolvimento de compósito de pu de mamona com carga de resíduo de couro para isolação térmica

The standardization of the bovine skin thickness in the leather industry generates a residue known as wet-blue . At the end of twentieth century, the brazilian industry discarded about 131 thousand tons of this residue in nature, provoking a great environmental liability. In this paper is presented the analyses of the termophysical properties, thermal and volumetric expansion performance of a composite of vegetable resin of castor oil plant (Ricinus communis) with load of industrial residue of leather "wet-blue", for application as thermal isolation material of warm surfaces. There were considered four percentile levels of residue load in the proportions in mass of 0%, 5%, 10% and 15%, added to the expansible resin of castor oil plant in two configurations: sawed leather and crushed leather in a smaller particle (powder) by grinding in a mill of balls. Twenty-one proof bodies were produced for termophysical properties analysis (three for each configuration) and four proof bodies for rehearsals of thermal acting. Analyses of thermal acting were done in test cameras. The results of the rehearsals were compared to those obtained considering the castor oil plant foam without residue addition. A small reduction of the thermal conductivity of the composite was observed in the proportion of 10% of leather residue in both configurations. Regarding thermal conductivity, calorific capacity and diffusivity, it was verified that the proposed composite showed very close values to the commercial insulating materials (glass wool, rock wool, EPS). It was still demonstrated the technical viability of the use of composite as insulating thermal for systems of low potency. The composite presented larger volumetric expansion with 15% of sawed residue of leather.

Projeto, construção e análise de eficiência térmica de um sistema de aquecimento solar de água de baixo custo

We studied the feasibility of using a system of Solar Water Heating (SAS) with low cost, for three configurations. In configurations I and II have the collector grid absorber composed of six PVC tubes placed in parallel on the tile cement. In configuration II, the PVC tubes were transparent cover made of plastic bottles. Configuration III uses a collector composed of 12 black HDPE pipes, supported on four cement tiles 2.44 m x 0.50 m, two by two overlapping and interspersed with a filling of glass wool, comprising an area exposed to the global radiation incident of 2.44 m2, with the top two tiles painted matte black. In this configuration, the HDPE pipes replace conventional PVC pipes painted black. The total cost of SAS for configuration III, the most economical, was around $ 150.00. For the configurations tested the system of operation was thermosyphon collector. The study showed that the proposed systems have good thermal efficiency, are easy to install and handle and have low cost compared to conventional.

Desempenho de um painel fotovoltaico de baixa tensão, acoplado ao protótipo de um conversor dc/dc topologia Booster

Low voltage solar panels increase the reliability of solar panels due to reduction of in series associations the configurations of photovoltaic cells. The low voltage generation requires DCDC converters devices with high efficiency, enabling raise and regulate the output voltage. This study analyzes the performance of a photovoltaic panel of Solarex, MSX model 77, configured to generate an open circuit voltage of 10.5 V, with load voltage of 8.5 V, with short circuit current of 9 A and a power of 77 W. The solar panel was assembled in the isolated photovoltaic system configuration, with and without energy storage as an interface with a DCDC converter, Booster topology. The converter was designed and fabricated using SMD (Surface Mounted Devices) technology IC (integrated circuit) that regulates its output voltage at 14.2 V, with an efficiency of 87% and providing the load a maximum power of 20.88 W. The system was installed and instrumented for measurement and acquisition of the following data: luminosities, average global radiation (data of INPE Instituto Nacional de Pesquisas Espaciais), solar panel and environment temperatures, solar panel and DC-DC converter output voltages, panel, inverter, and battery charge output currents. The photovoltaic system was initially tested in the laboratory (simulating its functioning in ideal conditions of operation) and then subjected to testing in real field conditions. The panel inclination angle was set at 5.5°, consistent with the latitude of Natal city. Factors such as climatic conditions (simultaneous variations of temperature, solar luminosities and ra diation on the panel), values of load resistance, lower limit of the maximum power required by the load (20.88 W) were predominant factors that panel does not operate with energy efficiency levels greater than 5 to 6%. The average converter efficiency designed in the field test reached 95%

Análise da influência de superfícies refletivas nas perdas de calor de sistema térmicos

The use of reflective surfaces functioning as thermal insulator has grown significantly over the years. Reflective thermal insulator are materials that have several characteristics such as low emissivity, low absorptivity and high reflectivity in the infrared spectrum. The use of these materials has grown a lot lately, since it contains several important radioactive properties that minimize the heat loss of thermal systems and cooling systems that are used to block the heat on the roof of buildings. A system made of three surfaces of 316 stainless steel mirror was built to analyze the influence of reflective surfaces as a way to reduce the heat loss and thereby conserve the energy of a thermal system. The system was analyzed both with and without the presence of vacuum, and then compared with a system that contained glass wool between the stainless steel mirror walls, since this isolator is considered resistive and also broadly used around the world in thermal systems. The reflectivity and emissivity of the surfaces used were also measured in this experiment. A type K thermocouple was fixed on the wall of the system to obtain the temperature of the stainless steel mirror surfaces and to analyze the thermal behavior of each configuration used. The results showed an efficiency of 13% when the reflective surfaces were used to minimize the heat loss of the thermal system. However, the system with vacuum had the best outcome, a 60% efficiency. Both of these were compared to the system made of glass wool as a thermal insulator

Análise comparativa entre propriedades mecânicas, termofísicas e geométricas de tijolos produzidos pelos fornos caieira e abóbada

In the State of Rio Grande do Norte potteries are distributed in several counties in the four meso, which are: West Potiguar, Center Potiguar, Agreste Potiguar and East Portiguar. The ceramics, mostly, are responsible for products used in construction as bricks, tiles and white brick and wood used as fuel. This paper had a primary focus in the region of Seridó. The furnaces in this region, used to manufacture bricks are configured Caieira and Valt, in most of them using principles rustic, usually operated in an empirical way, using principles of control rather primitive, predominantly visual control. The focus of this study was to analyze the differences in the thermophysical, mechanical and geometric characteristics of bricks produced by Caieira and vault furnaces, using the NBR 15720 and the evaluation of energy efficiency in both furnaces. Thermophysical characteristics were analyzed through tests to determine the water absorption obtained from the difference between dry mass and wet mass of the sample and analysis of the thermal gradient, the mechanical characteristics from determination of the compressive strength of ceramic brick popularly known as bricks and also analyzed the geometrical characteristics of the bricks in order to verify the homogeneity of manufacturing. The tests showed that the energy difference of the two furnaces is not considered responsible for a significant difference in the properties of the products

Desenvolvimento de um laminado compósito híbrido a base de fibras de vidro/licurí

This research work is based, in search of reinforcement s vegetable alternative to polymer composites. The idealization of making a hybrid composite reinforced with vegetable fibers licuri with synthetic fibers is a pioneer in this area. Thus was conceived a hybrid composite laminate consisting of 05 (five) layers being 03 (three) webs of synthetic fibers of glass and E-02 (two) unidirectional fabrics of vegetable fibers licuri. In the configuration of the laminate layers have alternating distribution. The composite laminate was manufactured in Tecniplas Commerce & Industry LTD, in the form of a card through the manufacturing process of hand lay up. Licuri fibers used in making the foil were the City of Mare Island in the state of Bahia. After cooking and the idealization of the hybrid composite laminate, the objective of this research work has focused on evaluating the performance of the mechanical properties (ultimate strength, stiffness and elongation at break) through uniaxial tensile tests and three point bending. Comparative studies of the mechanical properties and as well as among other types of laminated hybrid composites studied previously, were performed. Promising results were found with respect to the mechanical properties of strength and stiffness to the hybridization process idealized here. To complement the entire study were analyzed in terms of macroscopic and microscopic characteristics of the fracture for all tests.