Controlador de temperatura para célula de medição de propriedades de líquidos por ultrassom

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Localização de descargas parciais em transformadores de potência por meio de sensores piezelétricos de baixo custo e sistemas inteligentes

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Membranas de biocelulose como substrato para o crescimento de nanofios de ZnO: síntese e aplicação

Pós-graduação em Química - IQ

DESIGN AND ANALYSIS OF MULTIFUNCTIONAL ROBOT FOR NOTES

The elimination of all external incisions is an important step in reducing the invasiveness of surgical procedures. Natural Orifice Translumenal Endoscopic Surgery (NOTES) is an incision-less surgery and provides explicit benefits such as reducing patient trauma and shortening recovery time. However, technological difficulties impede the widespread utilization of the NOTES method. A novel robotic tool has been developed, which makes NOTES procedures feasible by using multiple interchangeable tool tips. The robotic tool has the capability of entering the body cavity through an orifice or a single incision using a flexible articulated positioning mechanism and once inserted is not constrained by incisions, allowing for visualization and manipulations throughout the cavity. Multiple interchangeable tool tips of the robotic device initially consist of three end effectors: a grasper, scissors, and an atraumatic Babcock clamp. The tool changer is capable of selecting and switching between the three tools depending on the surgical task using a miniature mechanism driven by micro-motors. The robotic tool is remotely controlled through a joystick and computer interface. In this thesis, the following aspects of this robotic tool will be detailed. The first-generation robot is designed as a conceptual model for implementing a novel mechanism of switching, advancing, and controlling the tool tips using two micro-motors. It is believed that this mechanism achieves a reduction in cumbersome instrument exchanges and can reduce overall procedure time and the risk of inadvertent tissue trauma during exchanges with a natural orifice approach. Also, placing actuators directly at the surgical site enables the robot to generate sufficient force to operate effectively. Mounting the multifunctional robot on the distal end of an articulating tube provides freedom from restriction on the robot kinematics and helps solve some of the difficulties otherwise faced during surgery using NOTES or related approaches. The second-generation multifunctional robot is then introduced in which the overall size is reduced and two arms provide 2 additional degrees of freedom, resulting in feasibility of insertion through the esophagus and increased dexterity. Improvements are necessary in future iterations of the multifunctional robot; however, the work presented is a proof of concept for NOTES robots capable of abdominal surgical interventions.

Localização de descargas parciais em transformadores de potência por meio de sensores piezelétricos de baixo custo e sistemas inteligentes

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Membranas de biocelulose como substrato para o crescimento de nanofios de ZnO: síntese e aplicação

Pós-graduação em Química - IQ

Measuring Aeolian Saltation: A Comparison of Sensors

SHERMAN, D.J.; LI, B.; FERRELL E.J.; ELLIS, J.T.; COX, W.D.; MAIA, L.P., and SOUSA, P.H.G.O., 2011. Measuring Aeolian Saltation: A Comparison of Sensors. In: Roberts, T.M., Rosati, J.D., and Wang, P. (eds.), Proceedings, Symposium to Honor Dr. Nicholas C. Kraus, Journal of Coastal Research, Special Issue, No. 59, pp. 280-290. West Palm Beach (Florida), ISSN 0749-0208. We report the results of field experiments designed to compare four types of aeolian saltation sensors: the Safire; the Wenglor (R) Particle Counter; the Miniphone; and the Buzzer Disc. Sets of sensors were deployed in tight spatial arrays and sampled at rates as fast as 20 kHz. In two of the three trials, the data from the sensors are compared to data obtained from sand traps. The Miniphone and the Buzzer Disc, based on microphone and piezoelectric technologies, respectively, produced grain impact counts comparable to those derived from the trap data. The Satire and the Wenglor (R) Particle Counter produce count rates that were an order of magnitude too slow. Satires undercount because of their large momentum threshold and because its signal is saturated at relatively slow transport rates. We conclude that the Miniphone and the Buzzer Disc are appropriate for deployment as grain counters because their small size allows them to be installed in closely-spaced sets.

PD controller synthesis from open-loop response measurements of rotating system

In this work, a method of computing PD stabilising gains for rotating systems is presented based on the D-decomposition technique, which requires the sole knowledge of frequency response functions. By applying this method to a rotating system with electromagnetic actuators, it is demonstrated that the stability boundary locus in the plane of feedback gains can be easily plotted, and the most suitable gains can be found to minimise the resonant peak of the system. Experimental results for a Laval rotor show the feasibility of not only controlling lateral shaft vibration and assuring stability, but also helps in predicting the final vibration level achieved by the closed-loop system. These results are obtained based solely on the input-output response information of the system as a whole.

Effective Properties Evaluation for Smart Composite Materials

The purpose of this article is to present a method which consists in the development of unit cell numerical models for smart composite materials with piezoelectric fibers made of PZT embedded in a non-piezoelectric matrix (epoxy resin). This method evaluates a globally homogeneous medium equivalent to the original composite, using a representative volume element (RVE). The suitable boundary conditions allow the simulation of all modes of the overall deformation arising from any arbitrary combination of mechanical and electrical loading. In the first instance, the unit cell is applied to predict the effective material coefficients of the transversely isotropic piezoelectric composite with circular cross section fibers. The numerical results are compared to other methods reported in the literature and also to results previously published, in order to evaluate the method proposal. In the second step, the method is applied to calculate the equivalent properties for smart composite materials with square cross section fibers. Results of comparison between different combinations of circular and square fiber geometries, observing the influence of the boundary conditions and arrangements are presented.

Application of H-infinity Theory to a 6 DOF Flight Simulator Motion Base

The purpose of this study is to apply inverse dynamics control for a six degree of freedom flight simulator motion system. Imperfect compensation of the inverse dynamic control is intentionally introduced in order to simplify the implementation of this approach. The control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation. The control strategy is designed using H-infinity theory. Forward and inverse kinematics and full dynamic model of a six degrees of freedom motion base driven by electromechanical actuators are briefly presented. Describing function, acceleration step response and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers.

Influence of pattern gradation on the design of piezocomposite energy harvesting devices using topology optimization

Piezoelectric materials can be used to convert oscillatory mechanical energy into electrical energy. Energy harvesting devices are designed to capture the ambient energy surrounding the electronics and convert it into usable electrical energy. The design of energy harvesting devices is not obvious, requiring optimization procedures. This paper investigates the influence of pattern gradation using topology optimization on the design of piezocomposite energy harvesting devices based on bending behavior. The objective function consists of maximizing the electric power generated in a load resistor. A projection scheme is employed to compute the element densities from design variables and control the length scale of the material density. Examples of two-dimensional piezocomposite energy harvesting devices are presented and discussed using the proposed method. The numerical results illustrate that pattern gradation constraints help to increase the electric power generated in a load resistor and guides the problem toward a more stable solution. (C) 2012 Elsevier Ltd. All rights reserved.

Modeling and Identification of an Open-frame Underwater Vehicle: The Yaw Motion Dynamics

A semi-autonomous unmanned underwater vehicle (UUV), named LAURS, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions of deep water oil fields. In this work, a method of modeling and identification of yaw motion dynamic system model of an open-frame underwater vehicle is presented. Using an on-board low cost magnetic compass sensor the method is based on the utilization of an uncoupled 1-DOF (degree of freedom) dynamic system equation and the application of the integral method which is the classical least squares algorithm applied to the integral form of the dynamic system equations. Experimental trials with the actual vehicle have been performed in a test tank and diving pool. During these experiments, thrusters responsible for yaw motion are driven by sinusoidal voltage signal profiles. An assessment of the feasibility of the method reveals that estimated dynamic system models are more reliable when considering slow and small sinusoidal voltage signal profiles, i.e. with larger periods and with relatively small amplitude and offset.

In-plane mapping of buried InGaAs quantum rings and hybridization effects on the electronic structure

This work reports the investigation on the structural differences between InAs quantum rings and their precursor quantum dots species as well as on the presence of piezoelectric fields and asymmetries in these nanostructures. The experimental results show significant reduction in the ring dimensions when the sizes of capped and uncapped ring and dot samples are compared. The iso-lattice parameter mapped by grazing-incidence x-ray diffraction has revealed the lateral extent of strained regions in the buried rings. A comparison between strain and composition of dot and ring structures allows inferring on how the ring formation and its final configuration may affect optical response parameters. Based on the experimental observations, a discussion has been introduced on the effective potential profile to emulate theoretically the ring-shape confinement. The effects of confinement and strain field modulation on electron and hole band structures are simulated by a multiband k.p calculation. (C) 2012 American Institute of Physics. [http://dx.doi.org/10.1063/1.4733964]

Development of an enzymeless electroanalytical method for the indirect detection of creatinine in urine samples

The aim of this study is to develop a new enzymeless electroanalytical method for the indirect quantification of creatinine from urine sample. This method is based on the electrochemical monitoring of picrate anion reduction at a glassy carbon electrode in an alkaline medium before and after it has reacted with creatinine (Jaffe's reaction). By using the differential pulse voltammetry technique under the optimum experimental conditions (step potential, amplitude potential, reaction time, and temperature), a linear analytical curve was obtained for concentrations of creatinine ranging from 1 to 80 mu mol L-1, with a detection limit of 380 nmol L-1. This proposed method was used to measure creatinine in human urine without the interference of most common organic species normally present in biological fluids (e.g., uric acid, ascorbic acid, glucose, and phosphocreatinine). The results obtained using urine samples were highly similar to the results obtained using the reference spectrophotometric method (at a 95% confidence level). (C) 2012 Elsevier B.V. All rights reserved.

Performance of an electronic tongue during monitoring 2-rnethylisoborneol and geosmin in water samples

2-Methylisoborneol (MIB) and geosmin (GSM) are sub products from algae decomposition and, depending on their concentration, can be toxic: otherwise, they give unpleasant taste and odor to water. For water treatment companies it is important to constantly monitor their presence in the distributed water and avoid further costumer complaints. Lower-cost and easy-to-read instrumentation would be very promising in this regard. In this study, we evaluate the potentiality of an electronic tongue (ET) system based on non-specific polymeric sensors and impedance measurements in monitoring MIB and GSM in water samples. Principal component analysis (PCA) applied to the generated data matrix indicated that this ET was capable to perform with remarkable reproducibility the discrimination of these two contaminants in either distilled or tap water, in concentrations as low as 25 ng L-1. Nonetheless, this analysis methodology was rather qualitative and laborious, and the outputs it provided were greatly subjective. Also, data analysis based on PCA severely restricts automation of the measuring system or its use by non-specialized operators. To circumvent these drawbacks, a fuzzy controller was designed to quantitatively perform sample classification while providing outputs in simpler data charts. For instance, the ET along with the referred fuzzy controller performed with a 100% hit rate the quantification of MIB and GSM samples in distilled and tap water. The hit rate could be read directly from the plot. The lower cost of these polymeric sensors allied to the especial features of the fuzzy controller (easiness on programming and numerical outputs) provided initial requirements for developing an automated ET system to monitor odorant species in water production and distribution. (C) 2012 Elsevier B.V. All rights reserved.