Robust Control of Systems Subjected to Uncertain Disturbances and Actuator Dynamics

Esta tesis está enfocada al diseño y validación de controladores robustos que pueden reducir de una manera efectiva las vibraciones structurales producidas por perturbaciones externas tales como terremotos, fuertes vientos o cargas pesadas. Los controladores están diseñados basados en teorías de control tradicionalamente usadas en esta area: Teoría de estabilidad de Lyapunov, control en modo deslizante y control clipped-optimal, una técnica reciente mente introducida : Control Backstepping y una que no había sido usada antes: Quantitative Feedback Theory. La principal contribución al usar las anteriores técnicas, es la solución de problemas de control estructural abiertos tales como dinámicas de actuador, perturbaciones desconocidas, parametros inciertos y acoplamientos dinámicos. Se utilizan estructuras típicas para validar numéricamente los controladores propuestos. Especificamente las estructuras son un edificio de base aislada, una plataforma estructural puente-camión y un puente de 2 tramos, cuya configuración de control es tal que uno o mas problemas abiertos están presentes. Se utilizan tres prototipos experimentales para implementar los controladores robustos propuestos, con el fin de validar experimentalmente su efectividad y viabilidad. El principal resultado obtenido con la presente tesis es el diseño e implementación de controladores estructurales robustos que resultan efectivos para resolver problemas abiertos en control estructural tales como dinámicas de actuador, parámetros inciertos, acoplamientos dinámicos, limitación de medidas y perturbaciones desconocidas.

Instantaneous threat detection based on a semantic representation of activities, zones and trajectories

Threat detection is a challenging problem, because threats appear in many variations and differences to normal behaviour can be very subtle. In this paper, we consider threats on a parking lot, where theft of a truck’s cargo occurs. The threats range from explicit, e.g. a person attacking the truck driver, to implicit, e.g. somebody loitering and then fiddling with the exterior of the truck in order to open it. Our goal is a system that is able to recognize a threat instantaneously as they develop. Typical observables of the threats are a person’s activity, presence in a particular zone and the trajectory. The novelty of this paper is an encoding of these threat observables in a semantic, intermediate-level representation, based on low-level visual features that have no intrinsic semantic meaning themselves. The aim of this representation was to bridge the semantic gap between the low-level tracks and motion and the higher-level notion of threats. In our experiments, we demonstrate that our semantic representation is more descriptive for threat detection than directly using low-level features. We find that a person’s activities are the most important elements of this semantic representation, followed by the person’s trajectory. The proposed threat detection system is very accurate: 96.6 % of the tracks are correctly interpreted, when considering the temporal context.

Solving the Vehicle Routing Problem with Genetic ALgorithm and Simulated Annealing

This Thesis Work will concentrate on a very interesting problem, the Vehicle Routing Problem (VRP). In this problem, customers or cities have to be visited and packages have to be transported to each of them, starting from a basis point on the map. The goal is to solve the transportation problem, to be able to deliver the packages-on time for the customers,-enough package for each Customer,-using the available resources- and – of course - to be so effective as it is possible.Although this problem seems to be very easy to solve with a small number of cities or customers, it is not. In this problem the algorithm have to face with several constraints, for example opening hours, package delivery times, truck capacities, etc. This makes this problem a so called Multi Constraint Optimization Problem (MCOP). What’s more, this problem is intractable with current amount of computational power which is available for most of us. As the number of customers grow, the calculations to be done grows exponential fast, because all constraints have to be solved for each customers and it should not be forgotten that the goal is to find a solution, what is best enough, before the time for the calculation is up. This problem is introduced in the first chapter: form its basics, the Traveling Salesman Problem, using some theoretical and mathematical background it is shown, why is it so hard to optimize this problem, and although it is so hard, and there is no best algorithm known for huge number of customers, why is it a worth to deal with it. Just think about a huge transportation company with ten thousands of trucks, millions of customers: how much money could be saved if we would know the optimal path for all our packages.Although there is no best algorithm is known for this kind of optimization problems, we are trying to give an acceptable solution for it in the second and third chapter, where two algorithms are described: the Genetic Algorithm and the Simulated Annealing. Both of them are based on obtaining the processes of nature and material science. These algorithms will hardly ever be able to find the best solution for the problem, but they are able to give a very good solution in special cases within acceptable calculation time.In these chapters (2nd and 3rd) the Genetic Algorithm and Simulated Annealing is described in details, from their basis in the “real world” through their terminology and finally the basic implementation of them. The work will put a stress on the limits of these algorithms, their advantages and disadvantages, and also the comparison of them to each other.Finally, after all of these theories are shown, a simulation will be executed on an artificial environment of the VRP, with both Simulated Annealing and Genetic Algorithm. They will both solve the same problem in the same environment and are going to be compared to each other. The environment and the implementation are also described here, so as the test results obtained.Finally the possible improvements of these algorithms are discussed, and the work will try to answer the “big” question, “Which algorithm is better?”, if this question even exists.

Simulation of Sawmill Yard Operations Using Software Agents

Bergkvist insjön AB is a sawmill yard which is capable of producing 350,000 cubic meter of timber every year this requires lot of internal resources. Sawmill operations can be classified as unloading, sorting, storage and production of timber. In the company we have trucks arriving at random they have to be unloaded and sent back at the earliest to avoid queuing up of trucks creating a problem for truck owners. The sawmill yard has to operate with two log stackers that does several tasks including transporting the logs from trucks to measurement station where the logs will be sorted into classes and dropped into pockets from pockets to the sorted timber yard where they are stored and finally from there to sawmill for final processing. The main issue that needs to be answered here is the lining up trucks that are waiting to be unload, creating a problem for both sawmill as well as the truck owners and given huge production volume, it is certain that handling of resources is top priority. A key challenge in handling of resources would be unloading of trucks and finding a way to optimize internal resources.To address this problem i have experimented on different ways of using internal resources, i have designed different cases, in case 1 we have both the log stackers working on sawmill and measurement station. The main objective of having this case is to make sawmill and measurement station to work all the time. Then in case 2, i have divided the work between both the log stackers, one log stacker will be working on sawmill and pocket_control and second log stacker will be working on measurement station and truck. Then in case 3 we have only one log stacker working on all the agents, this case was designed to reduce cost of production, as the experiment cannot be done in real-time due to operational cost, for this purpose simulation is used, preliminary investigation into simulation results suggested that case 2 is the best option has it reduced waiting time of trucks considerably when compared with other cases and it showed 50% increase in optimizing internal resources.

Nytt fordon för transport av bränsleflis : Slutrapport (STEM-projekt 22127-1)

Högskolan Dalarna har i samarbete med Naturbränsle i Mellansverige AB genomfört studier på ett nytt fordon för transport av skogsflis. Fordonet är försett med egen lastningsutrustning (kran och skopa), vilket innebär att flisskördaren kan tippa flisen direkt på marken eller på en i förväg utlagd duk (minskar risken för föroreningar i samband med lastning). Studier har också genomförts på transport av flis med lastväxlarfordon och container (traditionell metod) för att jämförelser skall kunna göras mellan de olika fordonstyperna. Studierna har finansie¬rats via anslag från Statens Energimyndighet och via ”naturabidrag” från deltagande företag.Studierna visar att det nya transportfordonet är ett bättre alternativ än de traditionella last¬växlarfordonen på större objekt med långa transportavstånd. Dessutom pekar studien på att det är sannolikt är bättre även på små objekt under förutsättning att flisningskostnaden kan hållas på en rimlig nivå. Studierna visar också att det bör finnas en viss utvecklingspotential på det nya fordonet (teknik- och metodutveckling), varför det bedöms kunna konkurrera med lastväxlarfordonen även på andra typer av objekt.Jämfört med de traditionella lastväxlarfordonen har det nya fordonet bl.a. följande fördelar:•Transportarbetet blir lättare att planera i och med att beroendeförhållandet mellan in¬blandade maskiner och fordon för flisproduktion och transport upphör.••Risken för störningar i transportflödet minskar.•Miljövinsterna blir större jämfört med lastväxlarfordon som måste ställa ut tomma con¬tainrar innan flisningen kan påbörjas.•Det finns inget behov av lastmaskiner på terminalerna.•Flis kan mellanlagras i skogen.Till nackdelarna med det nya fordonet hör bl.a. följande:•Framkomligheten är något sämre än för lastväxlarfordon på mycket smala och kurviga skogsbilvägar.•Det finns en viss risk för att föroreningar följer med vid lastning av fordonet. Studies were carried out on a new vehicle for transport of fuel chips from the forest. The vehicle was equipped with a crane and a bucket meaning that the chipper may tip the fuel chips right on the ground or on a mat (vira from wood processing industry) to prevent from dirt such as sand and stones when loading. Studies were also carried out on traditional main hauling with transport bins. Transport speed was the same for all vehicles except for the new self-loader on forest roads with lower quality.The studies show that the new system probably is a better alternative on large sites with long transport distances and on sites with only little parking place for transport bins. It is also likely that the new vehicle may be used on very small sites if they are close to each other and if moving cost for the chipper is low.The studies show that the new vehicle has the following advantages:•Transport and other work may be planned in a better way leading to that stress de¬creases.•Dependence between chipper operators and truck drivers decreases.•The risk for disturbances in transport flow decreases.•Environment benefits compared to traditional system with higher traffic intensity (less exhaust gases and lower stress on roads and bridges).•No need for loading machines on terminals.•Easier to store fuel chips on landing.

New York Trade School Graduates David J. Stevens and Ernest Fitzgerald

David J. Stevens and Ernest Fitzgerald were 1948 graduates of the Plumbing Department at the New York Trade School and are pictured with a truck from their successful D.H. Stevens Company in Washington, DC. Original caption reads, "David J. Stevens - Plumbing 1948, is shown here with Ernest Fitzgerald - Plumbing 1948, with two of their thirteen pieces of equipment necessary to satisfy 650 calls per month. David Stevens is the third generation to have graduated from Plumbing." Black and white photograph with caption adhered to reverse.

Impacto da servitização no modelo de negócio de empresas manufatureiras : o caso Scania

Muitas empresas manufatureiras buscam aumentar a participação dos serviços em seus negócios. Essa estratégia é conhecida como servitização e significa aumentar a oferta de pacotes combinados de produtos e serviços com foco nos clientes e seus negócios. Porém, a servitização constitui um grande desafio para essas empresas, pois seus modelos de negócio tradicionais tem foco no desenvolvimento, produção e venda de produtos. Esta pesquisa investiga como uma empresa manufatureira modifica seu modelo de negócio para aumentar sua servitização. A pesquisa também analisa quais são as motivações para que uma empresa busque isso e quais são os desafios que ela enfrenta nessa busca. Com esses objetivos, realizou-se um estudo de caso de uma montadora de veículos pesados com operações globais e presença consolidada no Brasil. Conduziu-se entrevistas com 8 executivos da empresa, responsáveis por Vendas, Serviços, Marketing e Produção no Brasil e América Latina. As entrevistas foram combinadas com análise de documentos da empresa entre os anos de 1996 e 2011. Utilizou-se o conceito de modelo de negócio como unidade básica de análise, já que este conceito explica como uma empresa cria, entrega e captura valor. Os resultados mostram que o modelo de negócio da empresa está em transição, de seu foco tradicional em produto, para maior centralidade do cliente e suas operações. A proposta de valor da empresa passou a enfatizar o desempenho de seus pacotes de produtos e serviços nas operações dos clientes, ao invés do foco tradicional na qualidade dos produtos. A empresa também criou novas organizações, processos e métricas com foco nos clientes e novos modelos de receitas, baseados em contratos de risco e na venda de desempenho e disponibilidade. Os resultados mostram que a empresa possui motivações estratégicas, financeiras e de marketing para buscar a servitização. Eles também mostram que o alinhamento das diversas áreas da empresa e de sua rede de parceiros, para maior foco nos clientes e em serviços, ao invés do seu foco tradicional no produto, ainda representa um importante desafio empresarial.

Head, tail, rail: imagens periféricas ou o obtuso das imagens fílmicas

Tendo como ponto de partida um conjunto de trailers cinematográficos, provenientes de salas de cinemas em declínio, este trabalho de investigação artística explora uma série de códigos, imagens gráficas e informações industriais, encontradas na periferia dessas bobinas fílmicas, que servem de orientação aos técnicos laboratoriais e aos projeccionistas. Sustentado nos conceitos de esconderijo (Bazin), intervalo (Vertov) e obtuso (Barthes), Head, Tail, Rail procura reflectir sobre o que está para além daquilo que os filmes, normalmente, mostram. Com recurso ao found footage e a várias técnicas de montagem, este trabalho pretende transformar as matérias fílmicas (película, imagem e som) em novas e regeneradas composições audiovisuais, sem qualquer referencial, extraindo daí o obtuso das imagens fílmicas.

Segurança do trabalhador em aplicações de herbicidas com pulverizadores de barra em cana-de-açúcar

Objetivou-se com este trabalho avaliar a eficiência da cabina do trator, de dois tipos de ponta de pulverização e de duas posições da barra do pulverizador montado em trator em aplicações de herbicidas na cultura de cana-de-açúcar, como medidas de proteção coletiva para a atividade de tratorista, separadamente ou combinadas; e classificar a segurança dessas condições de trabalho com as 46 recomendações de herbicidas registradas. As exposições dérmica e respiratória do tratorista foram quantificadas em aplicações com o pulverizador equipado com barra traseira ou central, associadas com pontas com indução de ar, modelo Turbo TeeJet Air Induction® (TTI-11004VP), e sem indução de ar, modelo Turbo Floodjet® (TF-VP3), e o trator sem e com cabina. Foram calculadas as margens de segurança (MS) para 46 recomendações de aplicação de herbicidas nessas condições de trabalho. Pelos valores de MS calculados, as condições de trabalho foram classificadas como seguras (MS > 1) ou inseguras (MS < 1). A condição de trabalho mais segura para o tratorista é a associação de pulverizador de barra central, trator com cabina e pontas TTI. Nas aplicações com o pulverizador de barra central sem a cabina, das 46 recomendações de herbicidas, são seguras para o tratorista as de imazapyr, trifloxysulfuron-sodium, imazapic, glyphosate, amicarbazone, hexazinone, sulfentrazone, clomazone, oxadiazon, isoxaflutole, pendimethalin, flazasulfuron, tebuthiuron, ethoxysulfuron e acetoclor. Com o uso da cabina, também são seguras as de metribuzin e s-metalochlor. Nas aplicações com o pulverizador de barra traseira sem a cabina, das 46 recomendações de herbicidas, são seguras as de imazapyr, trifloxysulfuron-sodium, imazapic, glyphosate, amicarbazone, hexazinone, sulfentrazone, clomazone, oxadiazon, isoxaflutole, pendimethalin, flazasulfuron e tebuthiuron. Com a associação da cabina, também são seguras para o tratorista a aplicação do ethoxysulfuron com as pontas TF e a do metribuzin e s-metalochlor com as pontas TTI.

Caracterização dos resíduos esgotados de sistemas de tratamento individual de esgotos de Natal

In Natal still dominates the use of individual disposal systems for domestic sewage, once only 29% of the city has a sewarage system. Wastes that are accumulated in these individual treatment systems should be exhausted periodically, service provided by collector entrepreneurs. Some of these companies causing major damage to the environment. In Natal, only two companies have their own septage (RESTI) treatment system, which were designed with parameters from domestic sewage generating strain and inefficient systems. Therefore, the characterization becomes essential as a source of parameters for their design. Thus, this work presents the physical-chemical and microbiological characterization of waste pumped from individual sewage treatment systems. Samples collections were made weekly from 5 different trucks at the reception point on the treatment plant on the point of the preliminary treatment. From each truck it was taken 5 samples during the discharge in order to make a composite sample. Afterwards, samples were carried out to laboratory and analyses for determination of temperature, pH, conductivity, BOD, COD, nitrogen (ammonia e organic), alkalinity, oils, phosphorus, solids, faecal coliforms and helminth egg. The results were treated as a single database, and ranked according to its generating source (multi and single house, lodging, health, services and / or food), area of origin (metropolitan, south and north) and type of system (cesspits, septic tank and / or sink). Through these data it was possible to verify that the type of system adopted by most in Natal and the metropolitan region is cesspit, besides to confirm the difference between the septage of areas with a population have different social and economical characteristics. It was found that the septage have higher concentrations than domestic sewage, except for thermotolerant coliforms that showed concentrations of 1,38E+07. Among the parameters studied, is the median values identified for COD (3,549 mg / L), BOD (973mg / L) and total solids (3.557mg / L). The volatile fraction constitutes about 70% of the total solids of the septage. For helminths has been a median of 7 eggs/L. In general, the characteristics of the waste followed the variability found in the literature reviewed for all variables, showing high amplitudes

Avaliação da fissuração por fadiga em tubos durante transporte marítimo

Tubos de aço são transportados diariamente em todo o mundo, por caminhão, trem ou navio. Conseqüentemente, danos de transporte, podem ocorrer com freqüência e regularidade. O tipo de dano particular selecionado para este estudo foi o de trinca por fadiga, o qual é considerado como um dos mais críticos. Neste trabalho foram estudados tubos de aço fabricados de acordo com os requisitos da norma API 5L [1]. Foram efetuadas caracterizações químicas, mecânicas e metalográficas de um tubo com diâmetro 609,6 mm e espessura 15,87 mm grau X-65. A simulação do transporte por navio de tubos de aço foi feita submetendo-se seções de tubo com comprimento igual a 0,1 metro, a ciclos de fadiga por meio de máquina servo-hidráulica. Foi possível concluir que em tubos soldados, a região adjacente ao cordão de solda é a mais crítica, e que quando o posicionamento do tubo na carga é efetuado de maneira que a solda fique apoiada sobre alguma superfície rígida, a ocorrência de trinca por fadiga torna-se possível principalmente se os procedimentos de manuseio, carregamento e transporte não forem executados da maneira como recomendada pelos fabricantes de tubos e pela norma API [2].

Ocorrência de lesões em carcaças de bovinos de corte no Pantanal em função do transporte

O trabalho teve como objetivo avaliar a influência do transporte na ocorrência de lesões, em carcaças de bovinos abatidos no Pantanal Sul Matogrossense, por meio da quantificação do número e do tamanho das lesões, assim como a localização da freqüência de ocorrência das lesões nos principais cortes comerciais padronizados para o mercado interno. do total de 121 carcaças avaliadas, foi observado que 102 (84,3%) tiveram uma ou mais lesões, totalizando 270 lesões que resultaram na remoção de 56,1kg de carne, com média geral de 0,5kg por animal ou 0,6kg por animal, considerando-se apenas os animais que tiveram lesões. A freqüência de lesões em carcaças de bovinos evidenciou diferença significativa de acordo com as condições de transporte. As maiores proporções de lesões foram encontradas em animais submetidos ao transporte rodoviário por mais de uma hora e distâncias maiores que 70km, sendo grande parte em estradas não-pavimentadas. Conclui-se que os animais submetidos à série sucessiva de manejo e transportados em estradas não-pavimentadas por longas distâncias apresentaram maior proporção de lesões, sendo que os animais provenientes do lote VI apresentaram maior número de lesões.

Ovarian function in cows submitted to acute stress during proestrus

Studies in which ACTH was administrated in heifers after the occurrence of luteolysis showed a delay in the onset of estrus and the estrus duration was shortened. This study evaluated the effect of acute stress by road transportation on estrous behavior and ovulation, monitored by serum progesterone and cortisol concentrations in cows at the periovulatory period, using a crossover design. Eleven crossbred cows, divided into Control and Transport groups had their estrus cycle synchronized with GnRH, an intravaginal progesterone device, and cloprostenol. Thirty hours after withdrawal of the device, the animals of the Transport group were transported for 60 min by truck and those from the Control group remained at pasture. Ovarian ultrasound examination was performed every 12 h from device withdrawal until ovulation in every cow. From the day after removal of the device until ovulation estrous behavior was monitored 24 h a day. Blood samples for serum cortisol and progesterone concentrations were taken at -90, -60, 0, 30, 60 and 180 min in relation to the end of transportation. Transportation during the estrous period induced stress in cows as reflected by changes in serum concentrations of progesterone and cortisol. However, we did not detect impairment in estrus expression, estrus duration or ovulation (P>0.05). (C) 2010 Elsevier B.V. All rights reserved.

Influences of the load centre of gravity on heavy vehicle acceleration

The aim of this paper is to analyse the influence of the load centre of gravity on heavy vehicle acceleration. This analysis is done through a method in which a vehicle centre of gravity map is used. A model for the driving force is presented for bus, truck and tractor-semi trailer combinations. The proposed model takes into consideration the resistance forces (drag, rolling resistance, translation and rotation acceleration, climbing resistance) and the 4 X 2 traction system. The positions of the vehicle centre of gravity as a function of the position of the load centre of gravity are determined. The vehicle acceleration is calculated based on the position of the load centre of gravity. This study analyses the acceleration of one of the Mercedes-Benz do Brasil tractor-semitrailer vehicle. A comparison of the acceleration for different maximum adhesion coefficients and ramps are presented, showing new results. An example showing the variations of the load centre of gravity position with the acceleration time and distance is provided. The load centre of gravity position is important for vehicle safety and the efficiency and economy in the transportation of the load.

Modelo de carroceria e seu impacto sobre o bem-estar e a qualidade da carne dos suínos

O objetivo deste trabalho foi avaliar o efeito do modelo de carroceria (MC) (metálica dupla ou simples e simples de madeira) sobre a freqüência de diferentes tipos de lesões na carcaça (FLC) e sobre a qualidade da carne dos suínos. Foram utilizadas 360 fêmeas com peso vivo médio de 132,72±11,09kg. Para a análise estatística, considerou-se no modelo os efeitos de bloco (BL), o MC e a interação entre MC x BL. Verificou-se um efeito do MC sobre a freqüência de lesões na carcaça provenientes de briga e a freqüência total de lesões, sobre o pH1 do músculo Semispinalis capitis (SC), sobre o pH U dos músculos SC, Longissimus dorsi (LD) e Semimembranosus (SM) e sobre a cor dos músculos LD e SM. Suínos transportados em carroceria metálica simples apresentaram maiores valores de pH e da cor dos músculos avaliados. Conclui-se que suínos transportados em carroceria simples apresentam maior prevalência de lesões na carcaça e que o transporte dos suínos em carroceria metálica teve efeito positivo sobre os valores de pH e da cor carne.