Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Avaliação de desempenho da codificação wavelet em canais seletivos em frequência

Wavelet coding has emerged as an alternative coding technique to minimize the fading effects of wireless channels. This work evaluates the performance of wavelet coding, in terms of bit error probability, over time-varying, frequency-selective multipath Rayleigh fading channels. The adopted propagation model follows the COST207 norm, main international standards reference for GSM, UMTS, and EDGE applications. The results show the wavelet coding s efficiency against the inter symbolic interference which characterizes these communication scenarios. This robustness of the presented technique enables its usage in different environments, bringing it one step closer to be applied in practical wireless communication systems

Adaptação de um sistema automatizado para medição de microdureza

The hardness test is thoroughly used in research and evaluation of materials for quality control. However, this test results are subject to uncertainties caused by the process operator in the moment of the mensuration impression diagonals make by the indenter in the sample. With this mind, an automated equipment of hardness mensuration was developed. The hardness value was obtained starting from the mensuration of plastic deformation suffered by the material to a well-known load. The material deformation was calculated through the mensuration of the difference between the progress and retreat of a diamond indenter on the used sample. It was not necessary, therefore, the manual mensuration of the diagonals, decreasing the mistake source caused by the operator. Tension graphs of versus deformation could be analyzed from data obtained by the accomplished analysis, as well as you became possible a complete observation of the whole process. Following, the hardness results calculated by the experimental apparatus were compared with the results calculated by a commercial microhardness machine with the intention of testing its efficiency. All things considered, it became possible the materials hardness mensuration through an automated method, which minimized the mistakes caused by the operator and increased the analysis reliability

Previsão do módulo de elasticidade transversal de compósitos unidirecionais através de redes neurais mistas

The aim of this study is to create an artificial neural network (ANN) capable of modeling the transverse elasticity modulus (E2) of unidirectional composites. To that end, we used a dataset divided into two parts, one for training and the other for ANN testing. Three types of architectures from different networks were developed, one with only two inputs, one with three inputs and the third with mixed architecture combining an ANN with a model developed by Halpin-Tsai. After algorithm training, the results demonstrate that the use of ANNs is quite promising, given that when they were compared with those of the Halpín-Tsai mathematical model, higher correlation coefficient values and lower root mean square values were observed

Desenvolvimento de perfis aerodinâmicos a partir de suas características utilizando redes neurais artificiais

One of the current major concerns in engineering is the development of aircrafts that have low power consumption and high performance. So, airfoils that have a high value of Lift Coefficient and a low value for the Drag Coefficient, generating a High-Efficiency airfoil are studied and designed. When the value of the Efficiency increases, the aircraft s fuel consumption decreases, thus improving its performance. Therefore, this work aims to develop a tool for designing of airfoils from desired characteristics, as Lift and Drag coefficients and the maximum Efficiency, using an algorithm based on an Artificial Neural Network (ANN). For this, it was initially collected an aerodynamic characteristics database, with a total of 300 airfoils, from the software XFoil. Then, through the software MATLAB, several network architectures were trained, between modular and hierarchical, using the Back-propagation algorithm and the Momentum rule. For data analysis, was used the technique of cross- validation, evaluating the network that has the lowest value of Root Mean Square (RMS). In this case, the best result was obtained for a hierarchical architecture with two modules and one layer of hidden neurons. The airfoils developed for that network, in the regions of lower RMS, were compared with the same airfoils imported into the software XFoil

Controle por modos deslizantes com compensação difusa aplicado a sistemas com descontinuidade

The development of non-linear controllers gained space in the theoretical ambit and of practical applications on the moment that the arising of digital computers enabled the implementation of these methodologies. In comparison with the linear controllers more utilized, the non -linear controllers present the advantage of not requiring the linearity of the system to determine the parameters of control, which permits a more efficient control especially when the system presents a high level of non-linearity. Another additional advantage is the reduction of costs, since to obtain the efficient control through linear controllers it is necessary the utilization of sensors and more refined actuators than when it is utilized a non-linear controller. Among the non-linear theories of control, the method of control by gliding ways is detached for being a method that presents more robustness, before uncertainties. It is already confirmed that the adoption of compensation on the region of residual error permits to improve better the performance of these controllers. So, in this work it is described the development of a non-linear controller that looks for an association of strategy of control by gliding ways, with the fuzzy compensation technique. Through the implementation of some strategies of fuzzy compensation, it was searched the one which provided the biggest efficiency before a system with high level of nonlinearities and uncertainties. The electrohydraulic actuator was utilized as an example of research, and the results appoint to two configurations of compensation that permit a bigger reduction of the residual error

Estudo das propriedades físico-químicas de biocombustíveis microemulsionados

The development of new fuels is an important field of scientific and technological activities, since much of the energy consumed in the world is obtained from oil, coal and natural gas, and these sources are limited and not renewable. Recently it has assessed the employment of microemulsions as an alternative for obtaining fuel isotropic between phases originally not miscible. Among many advantages, emphasizes the application of substances that provide the reduction of levels of emissions compared to fossil fuels. Thus, this work was a study of various microemulsified systems, aiming to check the performance of the winsor regions front of the use of surfactants: RENEX 18 → 150, UNITOL L-60 → L-100 and AMIDA 60, together with structure of esters from soybean and castor bean oils. From the results it were chosen four systems to physico-chemical analyzes: System I RENEX 60, Soil bean oil, methylic ester (EMOS) and water; System II RENEX 60/AMIDA 60, EMOS and water; System III RENEX 70, mamona oil methylic ester (EMOM) and water and System IV RENEX 95, EMOM and water. The tests of physico-chemical characterization and study of temperature increase were done with nine points with different compositions in a way to include the interest area (microemulsion W/O). After this study, was conducted a modeling to predict the viscosity, the property is more varied as function of compositions systems changes. The best results were the systems II and IV with a temperature stability above 60°C. The system I had its physico-chemical characterization very similar to a fossil fuel. The system II was the best one due to its corrosivity be stable. In the modeling the four systems had shown good, with an error that varied between 5 and 18%, showing to be possible the viscosity prediction from the composition of the system. The effects the microemulsion and the engine´s performance with the microemulsion were also avaliated. The tests were performed in a cycle-diesel engine. The potency and consumption were analysed. Results show a slight increase the rendiment fuel compared with the conventional as well as a decrease in specific consumption

Planejamento experimental aplicada a um novo separador líquido-líquido utilizado no tratamento de águas residuais contaminadas com petróleo

The present work had as objective to apply an experimental planning aiming at to improve the efficiency of separation of a new type of mixer-settler applied to treat waste water contaminated with oil. An unity in scale of laboratory, was installed in the Post-graduation Program of Chemical Engineering of UFRN. It was constructed in partnership with Petrobras S.A. This called device Misturador-Decantador a Inversão de Fases (MDIF) , possess features of conventional mixer-settler and spray column type. The equipment is composed of three main parts: mixing chamber; chamber of decantation and chamber of separation. The efficiency of separation is evaluated analyzing the oil concentrations in water in the feed and the output of the device. For the analysis one used the gravimetric method of oil and greases analysis (TOG). The system in study is a water of formation emulsified with oil. The used extractant is a mixture of Turpentine spirit hydro-carbons, supplied for Petrobras. It was applied, for otimization of the efficiency of separation of the equipment, an experimental planning of the composite central type, having as factorial portion fractionary factorial planning 2 5-2, with the magnifying of the type star and five replications in the central point. In this work, the following independents variables were studied: contents of oil in the feed of the device; volumetric ratio (O/A); total flowrate ; agitation in the mixing chamber and height of the organic bed. Minimum and maximum limits for the studied variables had been fixed according previous works. The analysis of variance for the equation of the empirical model, revealed statistically significant and useful results for predictions ends. The variance analysis also presented the distribution of the error as a normal distribution and was observed that as the dispersions do not depend on the levels of the factors, the independence assumption can be verified. The variation around the average is explained by 98.98%, or either, equal to the maximum value, being the smoothing of the model in relation to the experimental points of 0,98981. The results present a strong interaction between the variable oil contents in the feed and agitation in the mixing chamber, having great and positive influence in the separation efficiency. Another variable that presented a great positive influence was the height of the organic bed. The best results of separation efficiency had been obtained for high flowrates when associates the high oil concentrations and high agitation. The results of the present work had shown excellent agreement with the results carried out through previous works with the mixer-settler of phase inversion

Estimativa da radiação global incidente em superfícies inclinadas por modelos isotrópicos e índice de claridade

O objetivo deste trabalho foi avaliar o desempenho de modelos isotrópicos de estimativa do total de radiação incidente em superfícies inclinadas e propor estimativas com base nas correlações entre os índices de claridade horizontais e inclinados, em diferentes condições de cobertura de céu, em Botucatu, SP. Foram avaliadas superfícies com inclinação de 12,85º, 22,85º e 32,85º, pelos modelos isotrópicos propostos por Liu & Jordan, Revfeim, Jimenez & Castro, Koronakis, a teoria Circunsolar, e a correlação entre os índices de claridade horizontais e inclinados, para diferentes condições de cobertura de céu. O banco de dados de radiação global utilizado corresponde ao período de 1998 a 2007, com intervalos de 4/1998 a 8/2001 para a inclinação de 22,85º, de 9/2001 a 2/2003 para 12,85º e de 1/2004 a 12/2007 para 32,85º. O desempenho dos modelos foi avaliado pelos indicadores estatísticos erro absoluto médio, raiz quadrada do quadrado médio do erro e índice d de Wilmott. Os modelos de Liu & Jordan, Koronakis e de Revfeim apresentaram os melhores desempenhos em dias nublados, em todas as inclinações. As coberturas de céu parcialmente difuso e parcialmente aberto, nos maiores ângulos de inclinação, apresentaram as maiores dispersões entre valores estimados e medidos, independentemente do modelo. As equações estatísticas apresentaram bons resultados em aplicações com agrupamentos de dados mensais.

Questões objetivas sobre funções das provas de matemática do vestibular da UFRN dos anos de (2001 a 2008): um diagnóstico sobre os erros que os candidatos cometem

La dificultad que los alumnos encuentran en el aprendizaje de matemática viene siendo objeto de investigación por estudiosos en educación matemática, tanto en Brasil como en el exterior. El objetivo de este estudio consiste em investigar las dificuldades en el aprendizado sobre funciones matemáticas y la influencia de las concepciones alternativas a partir de los errores que los candidatos acerca de las cuestiones sobre funciones en la prueba objetiva de matemática del acceso a la universidad de los años de 2001 a 2008. Teniendo como cuestiones de estudio para alcanzar el objetivo propuesto: identificar la relevancia del tema funciones que son contemplados en las pruebas de acceso a la Universidad; asi como cuáles han sido los tipos de funciones más privilegiados y menos privilegiados; analizar si la contextualización de la pregunta y la presencia de elementos no textuales han influenciado en el aumento de tal dificultad; analizar si la representación semiótica agrega mayor exigencia a la pregunta; analizar respecto a la exigencia matemática de la pregunta; analizar lo que se refiere al desempeño de los candidatos para verificar cuál pregunta tuvo mejor desempeño y cuál el peor e identificar los errores más frecuentemente cometidos por los candidatos en esas pruebas. Las reflexiones de los estudiosos como: Radatz (1980), Cury (1994), Socas (1997), Borasi (1997), Franchi e Rincón (2004), Pochulu (2004) presentan las dificultades en el aprendizaje matemático, que aparecen a partir de los errores cometidos por los alumnos, quando estos errores reciben la influencia de las concepciones alternativas. El estudio que se presenta en esta disertación configura un análisis de los errores que los candidatos han cometido en las preguntas objetivas sobre el tema funciones de las pruebas de acceso a la Universidad de los años de 2001 a 2008, a partir de los relatorios de la Comissão Permanente do Vestibular COMPERVE/UFRN. Con la intención de alcanzar los objetivos propuestos para este estudio, fueran sido construidas categorías de análisis. Los resultados encontrados han sido: El tema funciones es el más frecuente entre los demás con (28,1%); el tipo de función priorizada durante esos años ha sido la función logarítmica con (24%); la contextualización de las preguntas exige una mayor comprensión por parte del candidato de lo que las situaciones directas; la caracterización semiótica posee elementos que estructuran esas preguntas que el educando debe saber asociar al texto; la exigencia matemática posibilitó analizar que el procedimiento medio ha sido el más requisitado; el desempeño de los candidatos ha sido en la mayoría bajo (50%); y los principales errores que ellos han cometido han sido de realizar traducciones incorrectas de las expresiones que aparecen en las situaciones-problema; utilizar todos los datos que aparezcan en el problema sin tomar en cuenta si el cálculo realizado responde a la pregunta solicitada; no interpretar coherentemente las informaciones del gráfico; decodificar incorrectamente los valores representados por literales en una recta numérica. Los resultados señalizan la necesidad de una revisión didáctico-metodológicas de la enseñanza de funciones a raíz de las cuales las dificultades en el aprendizaje se han presentado

Fontes primárias da história do vácuo e da pressão atmosférica na sala de aula: cartas e jornais históricos em articulação com o livro-texto do ensino médio

The use of the History and the Philosophy of Science (HPS) for the teaching of science and scientific subjects has been advocated in recent decades. It has been pointed out that the History of Science could make for a deeper learning of scientific concepts, since it would promote a contact with the problems which that knowledge has set out to solve. Furthermore, historical episodes would serve to put the discussions about the nature of scientific knowledge into context. With a view to explore those potentialities, the literature in the field has sought to identify the challenges and obstacles for the didactic transposition of subjects from the History of Science. Amongst many aspects, the deficiencies in the training of teachers, so that they can work with the insertion of HPS in the classroom have been highlighted. Another aspect that has been mentioned to be a challenge has to do with the didactic transposition of the Primary Sources, that is, of the original texts on the History of Science. The Primary Sources have significant potentialities: making a connection possible between scientists and concepts, showing the difficulties faced during scientific endeavors, perceiving the role of mistakes as obstacles to be surpassed, not as defeat, etc. On the other hand, there has been little exploration of these concepts in an educational context, due to their own peculiarities. The original texts are often hard to understand and their interpretation demands knowledge of the historical and scientific context in which they were written, as well as skills pertaining to the conduction of research in the field of the History of Science. With this scenario in mind, the research towards this Professional MSc degree starts from the challenge of elaborating and discussing proposals which could enable the didactical transposition of the Primary Sources. We have worked specifically with Primary Sources on the History of the Vacuum and of the Atmospheric Pressure, because of the insertion of these subjects in the Brazilian High School curriculum, in connection with the didactical textbooks. "Historic Journals" were made up from clippings of the original historical texts, as was a Didactical Unit, which takes the usual textbooks as a basis and contemplates using the Journals and the entire Primary Sources in High School. At last, we have elaborated and implemented a course designed for the preparation of teachers and for being an opportunity for the discussion of the feasibility of putting these kinds of proposal into practice

Resolução espacial da Grade Ionosférica e do Give

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

Assimilação do IWV-GPS no Brasil: otimização das estimativas do atraso zenital troposférico em tempo real

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

Influência da fadiga no comportamento neuromuscular do quadríceps femoral, após reconstrução do ligamento cruzado anterior

Muscle fatigue is a phenomenon that promotes physiological and biomechanical disorders and their changes in healthy subjects have been widely studied and have significant importance for care in preventing injuries, but we do not have many information about its effects in patients after ACL reconstruction. Thus, this study is to analyze the effects of fatigue on neuromuscular behavior of quadriceps after ACL reconstruction. To reach this objective, participants were forty men, twenty healthy (26,90 ± 6,29 years) and twenty after ACL reconstruction (29,75 ± 7,01 years) with a graft of semitendinosus and gracilis tendons, between four to six months after surgery. At first, there was an assessment of joint position sense (JPS) at the isokinetic dynamometer at a speed of 5°/s and target angle of 45° to analyze the absolute error of JPS. Next, we applied the a muscle fatigue protocol, running 100 repetitions of isokinetic knee flexion-extension at 90°/s. Concurrently with this protocol, there was the assessment of muscle performance, as the peak torque (PT) and fatigue index, and electromyographic activity (RMS and median frequency). Finally, we repeated the assessment of JPS. The statistical analysis showed that patients after ACL reconstruction have, even under normal conditions, the amended JPS compared with healthy subjects and that after fatigue, both have disturbances in the JPS, but this alteration is significantly exacerbated in patients after ACL reconstruction. About muscle performance, we could notice that these patients have a lower PT, although there are no differences between the dynamometric and EMG fatigue index. These findings show the necessity about the cares of pacients with ACL reconstruction in respect of the risks of articulate instability and overload in ligamentar graft

Investigação da influência do cochilo na aprendizagem escolar

There is a known positive effect of nocturnal sleep for brain plasticity and the consolidation of declarative and procedural memories, as well as for the facilitation of insight in problem solving. However, a possible pro-mnemonic effect of daytime naps after learning is yet to be properly characterized. The goal of this project was to evaluate the influence of daytime naps on learning among elementary and middleschool students, measuring the one-day (acute), and semester-long (chronic) effects of post-learning naps on performance. In the Acute Day-Nap condition, the elementary students were exposed to a class and then randomly divided into three groups: Nap (N), Game-based English Class (GBEC) and Traditional English Class (TEC). There were 2 multiple-choice follow-up tests to evaluate students performance in the short and long runs. In the short run, the N group outperformed the other two groups; and such tendency was maintained in the long run. In the chronic condition, the middle-school students were randomly separated into two groups: Nap (N) and Class (C) and were observed during one academic term. The N group had increased school performance in relation to the C group. In the statistical analyses, independent t-tests were applied considering the scores significant when p<0,05, expressed in terms of average ± average standard error. Results can be interpreted as an indication that a single daytime nap opportunity is not enough to ensure learning benefits. Therefore, more research is needed in order to advocate in favor of a daytime nap as a pedagogical means of promoting enhanced school performance