Análise dinâmica de mecanismo articulado de suspensão com não-linearidade na rigidez devido à geometria e à excitação por desbalanceamento rotativo na condição não ideal

Pós-graduação em Engenharia Mecânica - FEB

Comportamento dinâmico de suspensão eletromecânica: análise da resposta devido ao amortecimento e à rigidez não linear

Pós-graduação em Engenharia Elétrica - FEB

Modelo dinâmico bayesiano multivariado para análise espaço-temporal de dados de área

Pós-graduação em Matematica Aplicada e Computacional - FCT

Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Analise do fator dinâmico nas fórmulas de Janbu e Hiley com base em resultados de CAPWAPC

This study aimed to evaluate the dynamic factor applied to the results obtained by dynamic resistance formulas Janbu and Hiley, would lead to the results obtained by static strength analysis CAPWAPC ®. The evaluation was done by backcalculation dynamic loading tests (ECD), taking into consideration the type of soil in which the cutting base precast concrete were settled, and using the information on the effective energy transmitted to the stakes by hammers, obtained by CAPWAPC ®. The results are shown in tables and graphs, and showed that the use of these formulations and their dynamic factors can become an efficient and economical field, assisting the engineer in making decisions regarding the staking of the work

Efeitos de campos elétrico e magnético em um sistema dissipativo pulsante

The main idea of this work is to understand and analyze the dynamical aspects of the motion of a particle moving in the annular billiard, which corresponds to two circles of radius R and r (r

Estudo das propriedades dinâmicas e sincronização no mapa de rede de Zaslavsky

Synchronization in nonlinear dynamical systems, especially in chaotic systems, is field of research in several areas of knowledge, such as Mechanical Engineering and Electrical Engineering, Biology, Physics, among others. In simple terms, two systems are synchronized if after a certain time, they have similar behavior or occurring at the same time. The sound and image in a film is an example of this phenomenon in our daily lives. The studies of synchronization include studies of continuous dynamic systems, governed by differential equations or studies of discrete time dynamical systems, also called maps. Maps correspond, in general, discretizations of differential equations and are widely used to model physical systems, mainly due to its ease of computational. It is enough to make iterations from given initial conditions for knowing the trajectories of system. This completion of course work based on the study of the map called ”Zaslavksy Web Map”. The Zaslavksy Web Map is a result of the combination of the movements of a particle in a constant magnetic field and a wave electrostatic propagating perpendicular to the magnetic field. Apart from interest in the particularities of this map, there was objective the deepening of concepts of nonlinear dynamics, as equilibrium points, linear stability, stability non-linear, bifurcation and chaos

Estudo da tecnologia RFID e sua aplicação na gestão de estoques

Due to the need of more agility, dynamism and reliability in stock management, the market has turned its attention to RFID, which offers a practical solution and live up to the big corporations' expectations. The search for continuous improvement establishes a direct link with RFID, for its technology offers accurate real time information in any monitored given place. RFID is a radio frequency communication technology. A reader communicates to a tag through waves. This tag can be active, with a battery, or passive, in which its power is supplied by currents induced by the field variation it is exposed to. The RFID technology has a well defined basic principle, but there are many constructive ways of implementing it. The adaptability as well as the flexibility regard to the several kinds of stock in industry, reaching their particular needs. RFID can lower maintenance costs in stock by collecting data more accurately, lowering human error and optimizing the item handling at its reception, exit and while it is inside the company. This paper presents an example of RFID technology applied in a company's stock management. It is possible to prove that there are, in fact, great advantages in implementing this technology, as it creates the opportunity for continuous improvement in stock management, with better application of material, labour and quality tools, since the data collected through an automatized process using RFID are more reliable and dynamic

Dinâmica de rotação de exoplanetas tipo terrestre com perturbação de terceiro corpo

In this work we study some topics of Celestial Mechanics, namely the problem of rigid body rotation and “spin-orbit” resonances. Emphasis is placed on the problem formulation and applications to some exoplanets with physical parameters (e.g. mass and radius) compatible with a terrestrial type constitution (e.g. rock) belonging to multiple planetary systems. The approach is both analytical and numerical. The analytical part consists of: i) the deduction of the equation of motion for the rotation problem of a spherical body with no symmetry, disturbed by a central body; ii) modeling the same problem by including a third-body in the planet-star system; iii) formulation of the concept of “spin-orbit” resonance in which the orbital period of the planet is an integer multiple of the rotation’s period. Topics of dynamical systems (e.g. equilibrium points, chaos, surface sections, etc.) will be included at this stage. In the numerical part simulations are performed with numerical models developed in the previous analytical section. As a first step we consider the orbit of the planet not perturbed by a third-body in the star-planet system. In this case the eccentricity and orbital semi-major axis of the planet are constants. Here the technique of surface sections, widely used in dynamical systems are applied. Next, we consider the action of a third body, developing a more realistic model for planetary rotation. The results in both cases are compared. Since the technique of disturbed surface sections is no longer applicable, we quantitatively evaluate the evolution of the characteristic angles of rotation (e.g. physical libration) by studying the evolution of individual orbits in the dynamically important regions of phase space, the latter obtained in the undisturbed case

Gestão de gastos imprevistos no abastecimento de matéria-prima de uma fábrica

La performance desentreprises ça dépend, engrande partie, deses chaînesd’approvisionnement. Celas peuvent entretrès complexe, car elle implique tout le processus avant, pendant et après l’assemblage duproduit fini. Ce travaila donc comme objectifl’amélioration de lagestion des imprévus qu’arrivent audébutdela chaîne d’approvisionnement et lesimpacts sur l’approvisionnement de la ligne d’assemblage d’une usine. L’approche méthodologique utilisée est la recherche-action. De cette façon, ce travail présente une standardisation des processusquechaque département doit fairedans uncas de rupture dans la chaîne. D’après entretiens, analyses de document, standardisation des organigrammes et graphiques croisés dynamiques, ila été possible proposer un moyen plus critique d’analyser et résoudre certains problèmes. En tant que résultats, viennent un organigramme défini, une divulgation des informations plus précises pour la prise en décision et unes l’analyse critique de l’historique des imprévus. Il s’agit d’un ensemble des processus meilleur pour une bonne prise en décision de court, moyen et long terme pour les dépenses avec des imprévus dans l’approvisionnement de matière-première de l’usine

Modelagem e simulação do mecanismo biela manivela e análise estrutural de biela automotiva

Nowadays, the automotive industry is working to optimize the design of engines, in order to reduce the fuel consumption with acceptable efficiency ratio. This undergraduate thesis is aimed at perform a kinematic/dynamic analysis of a slider-crank mechanism that is part of a four stroke internal combustion engine, the same engine that was used in the analysis described by Montazersadhd and Fatemi (2007). Two algorithms were developed based on Kane’s method to calculate velocities and accelerations of the mechanism bodies, and provide the acting forces at connecting rod joints. A SimMechanics model was developed to simulate the engine, and monitoring the same parameters that were calculated with the algorithms. The results obtained with both approaches were satisfactory and showed good agreement with the values provided by Montazersadhd and Fatemi (2007). The obtained results showed that the axial component of the rod joint efforts was caused by the pressure exerted on the piston head,whereas the radial component was related with the action of inertia loads. Besides, this thesis presents a connecting rod assembly mesh that is going to be used for static and fatigue finite element analysis in the future

Controle ativo de vibrações em vigas utilizando controle feedforward e elementos espectrais

Pós-graduação em Engenharia Mecânica - FEB

Some Results in Stability Analysis of Hybrid Dynamical Systems

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Projeto e análise de um sistema de ancoragem para um motor foguete a combustível líquido

This work aims the design and analysis of a thrust frame system for a liquid fuel rocket engine. The project was developed following the design requirements established by the Division of Space Propulsion of the Institute of Aeronautics and Space. The layout of the structure was developed with the aid of a software of 3D modeling and static and dynamic analysis were performed by using a finite element package. The results of the analyzes helped in defining the layout of the structure which met all design requirements. The safety factor and the mass achieved were comfortably low, which may be useful in the future because the liquid fuel rocket engine is still in development

Transformada de Fourier: teoria como base para aplicações em mecânica celeste

Pós-graduação em Matemática Universitária - IGCE