Um algoritmo PSO híbrido para planejamento de caminhos em navegação de veículos utilizando A*

Utilizar robôs autônomos capazes de planejar o seu caminho é um desafio que atrai vários pesquisadores na área de navegação de robôs. Neste contexto, este trabalho tem como objetivo implementar um algoritmo PSO híbrido para o planejamento de caminhos em ambientes estáticos para veículos holonômicos e não holonômicos. O algoritmo proposto possui duas fases: a primeira utiliza o algoritmo A* para encontrar uma trajetória inicial viável que o algoritmo PSO otimiza na segunda fase. Por fim, uma fase de pós planejamento pode ser aplicada no caminho a fim de adaptá-lo às restrições cinemáticas do veículo não holonômico. O modelo Ackerman foi considerado para os experimentos. O ambiente de simulação de robótica CARMEN (Carnegie Mellon Robot Navigation Toolkit) foi utilizado para realização de todos os experimentos computacionais considerando cinco instâncias de mapas geradas artificialmente com obstáculos. O desempenho do algoritmo desenvolvido, A*PSO, foi comparado com os algoritmos A*, PSO convencional e A* Estado Híbrido. A análise dos resultados indicou que o algoritmo A*PSO híbrido desenvolvido superou em qualidade de solução o PSO convencional. Apesar de ter encontrado melhores soluções em 40% das instâncias quando comparado com o A*, o A*PSO apresentou trajetórias com menos pontos de guinada. Investigando os resultados obtidos para o modelo não holonômico, o A*PSO obteve caminhos maiores entretanto mais suaves e seguros.

Modelo de escoamento multifásico para estudo da interação onda/sedimento

Modelos de escoamento multifásico são amplamente usados em diversas áreas de pesquisa ambiental, como leitos fluidizados, dispersão de gás em líquidos e vários outros processos que englobam mais de uma propriedade físico-química do meio. Dessa forma, um modelo multifásico foi desenvolvido e adaptado para o estudo do transporte de sedimentos de fundo devido à ação de ondas de gravidade. Neste trabalho, foi elaborado o acoplamento multifásico de um modelo euleriano não-linear de ondas do tipo Boussinesq, baseado na formulação numérica encontrada em Wei et al. (1995), com um modelo lagrangiano de partículas, fundamentado pelo princípio Newtoniano do movimento com o esquema de colisões do tipo esferas rígidas. O modelo de ondas foi testado quanto à sua fonte geradora, representada por uma função gaussiana, pá-pistão e pá-batedor, e quanto à sua interação com a profundidade, através da não-linearidade e de propriedades dispersivas. Nos testes realizados da fonte geradora, foi observado que a fonte gaussiana, conforme Wei et al. (1999), apresentou melhor consistência e estabilidade na geração das ondas, quando comparada à teoria linear para um kh   . A não-linearidade do modelo de ondas de 2ª ordem para a dispersão apresentou resultados satisfatórios quando confrontados com o experimento de ondas sobre um obstáculo trapezoidal, onde a deformação da onda sobre a estrutura submersa está em concordância com os dados experimentais encontrados na literatura. A partir daí, o modelo granular também foi testado em dois experimentos. O primeiro simula uma quebra de barragem em um tanque contendo água e o segundo, a quebra de barragem é simulada com um obstáculo rígido adicionado ao centro do tanque. Nesses experimentos, o algoritmo de colisão foi eficaz no tratamento da interação entre partícula-partícula e partícula-parede, permitindo a evidência de processos físicos que são complicados de serem simulados por modelos de malhas regulares. Para o acoplamento do modelo de ondas e de sedimentos, o algoritmo foi testado com base de dados da literatura quanto à morfologia do leito. Os resultados foram confrontados com dados analíticos e de modelos numéricos, e se mostraram satisfatórios com relação aos pontos de erosão, de sedimentação e na alteração da forma da barra arenosa

Fiber average size and distribution dependence on the electrospinning parameters of poly(vinylidene fluoride trifluoroethylene)) membranes for biomedical applications

Poly(vinylidene fluoride-trifluoethylene) electrospun membranes were obtained from a blend of dimethylformamide (DMF) and methylethylketone (MEK) solvents. The inclusion of the MEK to the solvent system promotes a faster solvent evaporation allowing complete polymer crystallization during the jet travelling between the tip and the grounded collector. Several processing parameters were systematically changed to study their influence on fiber dimensions. Applied voltage and inner needle diameter do not have large influence on the electrospun fiber average diameter but in the fiber diameter distribution. On the other hand, the increase of the distance between the needle tip to collector results in fibers with larger average diameter. Independently on the processing conditions, all mats are produced in the electroactive phase of the polymer. Further, MC-3T3-E1cell adhesion was not inhibited by the fiber mats preparation, indicating their potential use for biomedical applications.

Local piezoelectric response of single poly(vinylidene fluoride) electrospun fibers

It is shown that electrospun poly(vynilidene fluoride) nanofibers are fully poled right after preparation and show b-phase contents of 70%, therefore being able to be implemented into electroactive devices without further processing steps. Further,the local piezoelectric properties of individual electrospun fibers have been studied by piezoresponse force microscopy. Piezoelectric response, polarization switching, and nanoscale patterning of the fibers have been demonstrated.

Osteoblast, fibroblast and in vivo biological response to poly(vinylidene fluoride) based composite materials

Electroactivematerials can be taken to advantage for the development of sensors and actuators as well as for novel tissue engineering strategies. Composites based on poly(vinylidenefluoride),PVDF,have been evaluated with respect to their biological response. Cell viability and proliferation were performed in vitro both with Mesenchymal Stem Cells differentiated to osteoblasts and Human Fibroblast Foreskin 1. In vivo tests were also performed using 6-week-old C57Bl/6 mice. It was concluded that zeolite and clay composites are biocompatible materials promoting cell response and not showing in vivo pro-inflammatory effects which renders both of them attractive for biological applications and tissue engineering, opening interesting perspectives to development of scaffolds from these composites. Ferrite and silver nanoparticle composites decrease osteoblast cell viability and carbon nanotubes decrease fibroblast viability. Further, carbon nanotube composites result in a significant increase in local vascularization accompanied an increase of inflammatory markers after implantation.

Thermal and hydrolytic degradation of electrospun fish gelatin membranes

The thermal and hydrolytic degradation of electrospun gelatin membranes cross-linked with glutaraldehyde in vapor phase has been studied. In vitro degradation of gelatin membranes was evaluated in phosphate buffer saline solution at 37 ºC. After 15 days under these conditions, a weight loss of 68 % was observed, attributed to solvation and depolymerization of the main polymeric chains. Thermal degradation kinetics of the gelatin raw material and as-spun electrospun membranes showed that the electrospinning processing conditions do not influence polymer degradation. However, for cross-linked samples a decrease in the activation energy was observed, associated with the effect of glutaraldehyde cross-linking reaction in the inter- and intra-molecular hydrogen bonds of the protein. It is also shown that the electrospinning process does not affect the formation of the helical structure of gelatin chains.

Influence of electrospinning parameters on Poly(hydroxybutyrate) electrospun membranes fiber size and distribution

Poly(hydroxybutyrate) (PHB) obtained from sugar cane was dissolved in a blend of chloroform and dimethylformamide (DMF) and electrospun at 40 ºC. By adding DMF to the solution, the electrospinning process for the PHB polymer becomes more stable, allowing complete polymer crystallization during the jet travelling between the tip and the grounded collector. The influence of processing parameters on fiber size and distribution was systematically studied. It was observed that an increase of tip inner diameter promotes a decrease of the fiber average size and a broader distribution. On the other hand, an increase of the electric field and flow rate produces an increase of fiber diameter until a maximum of ~2.0 m, but for electric fields higher than 1.5 kV.cm-1, a decrease of the fiber diameter was observed. Polymer crystalline phase seems to be independent of the processing conditions and a crystallinity degree of 53 % was found. Moreover, thermal degradation of the as-spun membrane occurs in single step degradation with activation energy of 91 kJ/mol. Furthermore, MC-3T3-E1 cell adhesion was not inhibited by the fiber mats preparation, indicating their potential use for biomedical applications.

Processing and characterization of alpha-elastin electrospun membranes

Elastin isolated from fresh bovine ligaments was dissolved in a mixture of 1,1,1,3,3,3-Hexafluoro-2-propanol and water and electrospun into fiber membranes under different processing conditions. Fiber mats of randomly and aligned fibers were obtained with fixed and rotating ground collectors and fibrils were composed by thin ribbons whose width depends on electrospinning conditions; fibrils with 721 nm up to 2.12 m width were achieved. After cross-linking with glutaraldehyde, -elastin can uptake as much as 1700 % of PBS solution and a slight increase on fiber thickness was observed. The glass transition temperature of electrospun fiber mats was found to occur at ~ 80 ºC. Moreover, -Elastin showed to be a perfect elastomeric material, and no mechanical hysteresis was found in cycle mechanical measurements. The elastic modulus obtained for oriented and random fibers mats in a PBS solution was 330 ± 10 kPa and 732 ± 165 kPa, respectively. Finally, the electrospinning and cross-linking process does not inhibit MC-3T3-E1 cell adhesion. Cell culture results showed good cell adhesion and proliferation in the cross-linked elastin fiber mats.

Mechanical, electrical and electro-mechanical properties of thermoplastic elastomer styrene–butadiene–styrene/multiwal carbon nanotubes composites

Composites of styrene–butadiene–styrene (SBS) block copolymer with multiwall carbon nanotubes were processed by solution casting to investigate the influence of filler content, the different ratios of styrene/butadiene in the copolymer and the architecture of the SBS matrix on the electrical, mechanical and electro-mechanical properties of the composites. It was found that filler content and elastomer matrix architecture influence the percolation threshold and consequently the overall composite electrical conductivity. Themechanical properties aremainly affected by the styrene and filler content. Hopping between nearest fillers is proposed as the main mechanism for the composite conduction. The variation of the electrical resistivity is linear with the deformation. This fact, together with the gauge factor values in the range of 2–18, results in appropriate composites to be used as (large) deformation sensors.

Mechanical, electrical and electro-mechanical properties of thermoplastic elastomer styrene–butadiene–styrene/multiwall carbon nanotubes composites

Composites of styrene–butadiene–styrene (SBS) block copolymer with multiwall carbon nanotubes were processed by solution casting to investigate the influence of filler content, the different ratios of styrene/butadiene in the copolymer and the architecture of the SBS matrix on the electrical, mechanical and electro-mechanical properties of the composites. It was found that filler content and elastomer matrix architecture influence the percolation threshold and consequently the overall composite electrical conductivity. The mechanical properties are mainly affected by the styrene and filler content. Hopping between nearest fillers is proposed as the main mechanism for the composite conduction. The variation of the electrical resistivity is linear with the deformation. This fact, together with the gauge factor values in the range of 2–18, results in appropriate composites to be used as (large) deformation sensors.

On the origin of the electrical response of vapor grown carbon nanofiber + epoxy composites

The origin of the electrical response of vapor grown carbon nanofiber (VGCNF) + epoxy composites is investigated by studying the electrical behavior of VGCNF with resin, VGCNF with hardener and cured composites, separately. It is demonstrated that the onset of the conductivity is associated to the emergence of a weak disorder regime. It is also shown that the weak disorder regime is related to a hopping depending on the physical properties of the polymer matrix.

Temperature dependence of the electrical conductivity of vapor grown carbon nanofiber/epoxy composites with different filler dispersion levels

The influence of the dispersion of vapor grown carbon nanofibers (VGCNF) on the electrical properties of VGCNF/epoxy composites has been studied. A homogeneous dispersion of the VGCNF does not imply better electrical properties. The presence of well distributed clusters appears to be a key factor for increasing composite conductivity. It is also shown that the main conduction mechanism has an ionic nature for concentrations below the percolation threshold, while above the percolation threshold it is dominated by hopping between the fillers. Finally, using the granular system theory it is possible to explain the origin of conduction at low temperatures.

Critical behavior of a three-dimensional hardcore-cylinder composite system

In this work the critical indices β, γ , and ν for a three-dimensional (3D) hardcore cylinder composite system with short-range interaction have been obtained. In contrast to the 2D stick system and the 3D hardcore cylinder system, the determined critical exponents do not belong to the same universality class as the lattice percolation,although they obey the common hyperscaling relation for a 3D system. It is observed that the value of the correlation length exponent is compatible with the predictions of the mean field theory. It is also shown that, by using the Alexander-Orbach conjuncture, the relation between the conductivity and the correlation length critical exponents has a typical value for a 3D lattice system.

The role of disorder on the AC and DC electrical conductivity of vapour grown carbon nanofibre/epoxy composites

Four dispersion methods were used for the preparation of vapour grown carbon nanofibre (VGCNF)/epoxy composites. It is shown that each method induces certain levels of VGCNF dispersion and distribution within the matrix, and that these have a strong influence on the composite electrical properties. A homogenous VGCNF dispersion does not necessarily imply higher electrical conductivity. In fact, it is concluded that the presence of well distributed clusters, rather than a fine dispersion, is more important for achieving larger conductivities for a given VGCNF concentration. It is also found that the conductivity can be described by a weak disorder regime.

Modeling Carbon Nanotube Electrical Properties in CNT/Polymer Composites

In this work it is demonstrated that the capacitance between two cylinders increases with the rotation angle and it has a fundamental influence on the composite dielectric constant. The dielectric constant is lower for nematic materials than for isotropic ones and this can be attributed to the effect of the filler alignment in the capacitance. The effect of aspect ratio in the conductivity is also studied in this work. Finally, based on previous work and by comparing to results from the literature it is found that the electrical conductivity in this type of composites is due to hopping between nearest fillers resulting in a weak disorder regime that is similar to the single junction expression.