Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Simulador computacional do comportamento em regime de poços de petróleo equipados com gas-lift contínuo

Amongst the results of the AutPoc Project - Automation of Wells, established between UFRN and Petrobras with the support of the CNPq, FINEP, CTPETRO, FUNPEC, was developed a simulator for equipped wells of oil with the method of rise for continuous gas-lift. The gas-lift is a method of rise sufficiently used in production offshore (sea production), and its basic concept is to inject gas in the deep one of the producing well of oil transform it less dense in order to facilitate its displacement since the reservoir until the surface. Based in the use of tables and equations that condense the biggest number of information on characteristics of the reservoir, the well and the valves of gas injection, it is allowed, through successive interpolations, to simulate representative curves of the physical behavior of the existing characteristic variable. With a simulator that approaches a computer of real the physical conditions of an oil well is possible to analyze peculiar behaviors with very bigger speeds, since the constants of time of the system in question well are raised e, moreover, to optimize costs with assays in field. The simulator presents great versatility, with prominance the analysis of the influence of parameters, as the static pressure, relation gas-liquid, pressure in the head of the well, BSW (Relation Basic Sediments and Water) in curves of request in deep of the well and the attainment of the curve of performance of the well where it can be simulated rules of control and otimization. In moving the rules of control, the simulator allows the use in two ways of simulation: the application of the control saw software simulated enclosed in the proper simulator, as well as the use of external controllers. This implies that the simulator can be used as tool of validation of control algorithms. Through the potentialities above cited, of course one another powerful application for the simulator appears: the didactic use of the tool. It will be possible to use it in formation courses and recycling of engineers

Contribuições ao método de rastreamento de máxima potência para sistemas fotovoltaicos

The scarcity of natural resources and the search for alternative energy sources promote a rapid change in the energy world. Among the renewable energy sources, solar energy is the most promising, presenting technology of greatest growth rate nowadays. Researchers around the world are seeking ways to facilitate their progress, developing technologies with higher efficiency and lower cost. As a contribution to global progress, this master thesis proposes the development of a strategy of maximum power tracking based on perturbation and observation method for photovoltaic systems. The proposed control strategy is based on active power balance of the system, with a reduced number of sensors. It also allows the PV system to act as a regulator of the power quality at the point of commom coupling (PCC), compensating the harmonic distortion and power factor of the current netw

Air-assisted boom sprayer and spray deposition on bean plants

A possibilidade do desenvolvimento de técnicas de aplicação de produtos fitossanitários mais seguras, com menores volumes de calda, número de aplicações e deriva, aliados à necessidade de se obter melhores níveis de controle dos agentes nocivos às plantas cultivadas, justificam o uso da assistência de ar junto à barra de pulverização. Com o objetivo de avaliar a deposição da pulverização na cultura do feijoeiro (Phaseolus vulgaris), em presença e ausência da assistência de ar junto à barra de pulverização, com diferentes pontas de pulverização e volumes de calda, foi conduzido um experimento em delineamento inteiramente casualizado, utilizando-se como traçador o óxido cuproso. Alvos artificiais (papel filtro com 3 x 3 cm) foram afixados nas superfícies adaxial e abaxial de folíolos posicionados nos terços superior e inferior de plantas, selecionadas ao acaso, distribuídas perpendicularmente ao deslocamento do pulverizador. Após a aplicação do traçador os coletores foram lavados individualmente em solução extratora de ácido nítrico a 1,0 mol L-1. A determinação quantitativa dos depósitos foi realizada com o uso da espectrofotometria de absorção atômica. A assistência de ar junto à barra de pulverização não aumentou a deposição do traçador em folíolos de feijoeiro, aos 48 dias após a emergência da cultura.

Um modelo de unidade de medida inercial utilizando três acelerômetros triaxiais

No espaço tridimensional, um corpo rígido qualquer pode efetuar translações e ou rotações em relação a cada um de seus eixos. Identificar com precisão o deslocamento realizado por um corpo é fundamental para alguns tipos de sistemas em engenharia. Em sistemas de navegação inercial tradicionais, utilizam-se acelerômetros para reconhecer a aceleração linear e giroscópios para reconhecer a velocidade angular registrada durante o deslocamento. O giroscópio, entretanto, é um dispositivo de custo mais elevado e com alto consumo de energia quando comparado a um acelerômetro. Essa desvantagem deu origem a pesquisas a respeito de sistemas e unidades de medidas inerciais que não utilizam giroscópios. A ideia de utilizar apenas acelerômetros para calcular o movimento linear e angular surgiu no início da década de 60 e vem se desenvolvendo através de modelos que variam no número de sensores, na maneira como estes são organizados e no modelo matemático que é utilizado para derivar o movimento do corpo. Esse trabalho propõe um esquema de configuração para construção de uma unidade de medida inercial que utiliza três acelerômetros triaxiais. Para identificar o deslocamento de um corpo rígido a partir deste esquema, foi utilizado um modelo matemático que utiliza apenas os nove sinais de aceleração extraídos dos três sensores. A proposta sugere que os sensores sejam montados e distribuídos em formato de L . Essa disposição permite a utilização de um único plano do sistema de coordenadas, facilitando assim a instalação e configuração destes dispositivos e possibilitando a implantação dos sensores em uma única placa de circuito integrado. Os resultados encontrados a partir das simulações iniciais demonstram a viabilidade da utilização do esquema de configuração proposto

Controle automático para injeção otimizada de gás em poços de petróleo equipados para funcionamento com gás lift contínuo

The continuous gas lift method is the main artificial lifting method used in the oil industry for submarine wells, due to its robustness and the large range of flow rate that the well might operate. Nowadays, there is a huge amount of wells producing under this mechanism. This method of elevation has a slow dynamics due to the transients and a correlation between the injected gas rate and the of produced oil rate. Electronics controllers have been used to adjust many parameters of the oil wells and also to improve the efficiency of the gas lift injection system. This paper presents a intelligent control system applied to continuous gas injection in wells, based in production s rules, that has the target of keeping the wells producing during the maximum period of time, in its best operational condition, and doing automatically all necessary adjustments when occurs some disturbance in the system. The author also describes the application of the intelligent control system as a tool to control the flow pressure in the botton of the well (Pwf). In this case, the control system actuates in the surface control valve

Desgaste de polímeros estruturais de engenharia em contato de deslizamento com cilindro metálico

Present work proposed to map and features the wear mechanisms of structural polymers of engineering derived of the sliding contact with a metallic cylindrical spindle submitted to eccentricity due to fluctuations in it is mass and geometric centers. For this it was projected and makes an experimental apparatus from balancing machine where the cylindrical counterbody was supported in two bearings and the polymeric coupon was situated in a holder with freedom of displacement along counterbody. Thus, the experimental tests were standardized using two position of the two bearings (Fixed or Free) and seven different positions along the counterbody, that permit print different conditions to the stiffness from system. Others parameters as applied normal load, sliding velocity and distance were fixed. In this investigation it was used as coupon two structural polymers of wide quotidian use, PTFE (polytetrafluroethylene) and PEEK (poly-ether-ether-ketone) and the AISI 4140 alloy steel as counterbody. Polymeric materials were characterized by thermal analysis (thermogravimetric, differential scanning calorimetry and dynamic-mechanical), hardness and rays-X diffractometry. While the metallic material was submitted at hardness, mechanical resistance tests and metallographic analysis. During the tribological tests were recorded the heating response with thermometers, yonder overall velocity vibration (VGV) and the acceleration using accelerometers. After tests the wear surface of the coupons were analyzed using a Scanning Electronic Microscopy (SEM) to morphological analysis and spectroscopy EDS to microanalysis. Moreover the roughness of the counterbody was characterized before and after the tribological tests. It was observed that the tribological response of the polymers were different in function of their distinct molecular structure. It were identified the predominant wear mechanisms in each polymer. The VGV of the PTFE was smaller than PEEK, in the condition of minimum stiffness, in function of the higher loss coefficient of that polymer. Wear rate of the PTFE was more of a magnitude order higher than PEEK. With the results was possible developed a correlation between the wear rate and parameter (E/ρ)1/2 (Young modulus, E, density, ρ), proportional at longitudinal elastic wave velocity in the material.

Análise tribológica de um sistema de acionamento alternativo de pigs para a indústria do petróleo

It is analyzed through the concepts of tribology and mechanical contact and damage the suggestion of implementing a backup system for traction and passage of Pipeline Inspection Gauge (Pig) from the inside of pipelines. In order to verify the integrity of the pipelines, it is suggested the possibility of displacement of such equipment by pulling wires with steel wires. The physical and mechanical characteristics of this method were verified by accelerated tests in the laboratory in a tribological pair, wire versus a curve 90. It also considered the main mechanisms of wear of a sliding system with and without lubricant, in the absence and presence of contaminants. To try this, It was constructed a test bench able to reproduce a slip system, work on mode back-and-forth ("reciprocation"). It was used two kinds of wires, a galvanized steel and other stainless steel and the results achieved using the two kinds of steel cables were compared. For result comparative means, it was used steel cables with and without coating of Poly Vinyl Chloride (PVC). The wires and the curves of the products were characterized using metallographic analysis, microhardness Vickers tests, X-ray diffraction (XRD), X-Ray Refraction (XRF) and tensile tests. After the experiments were analyzed some parameters that have been measurable, it demonstrates to the impracticality of this proposed method, since the friction force and the concept of alternating request at the contact between the strands of wire and the inner curves that are part ducts caused severe wear. These types of wear are likely to cause possible failures in future products and cause fluid leaks

Análise aerodinâmica de perfis de asa para aeronaves experimentais tipo jn-1

The great importance in selecting the profile of an aircraft wing concerns the fact that its relevance in the performance thereof; influencing this displacement costs (fuel consumption, flight level, for example), the conditions of flight safety (response in critical condition) of the plane. The aim of this study was to examine the aerodynamic parameters that affect some types of wing profile, based on wind tunnel testing, to determine the aerodynamic efficiency of each one of them. We compared three types of planforms, chosen from considerations about the characteristics of the aircraft model. One of them has a common setup, and very common in laboratory classes to be a sort of standard aerodynamic, it is a symmetrical profile. The second profile shows a conFiguration of the concave-convex type, the third is also a concave-convex profile, but with different implementation of the second, and finally, the fourth airfoil profile has a plano-convex. Thus, three different categories are covered in profile, showing the main points of relevance to their employment. To perform the experiment used a wind tunnel-type open circuit, where we analyzed the pressure distribution across the surface of each profile. Possession of the drag polar of each wing profile can be, from the theoretical basis of this work, the aerodynamic characteristics relate to the expected performance of the experimental aircraft, thus creating a selection model with guaranteed performance aerodynamics. It is believed that the philosophy used in this dissertation research validates the results, resulting in an experimental alternative for reliable implementation of aerodynamic testing in models of planforms

Otimização topológica de estruturas termoelásticas tridimensionais

This work presents an optimization technique based on structural topology optimization methods, TOM, designed to solve problems of thermoelasticity 3D. The presented approach is based on the adjoint method of sensitivity analysis unified design and is intended to loosely coupled thermomechanical problems. The technique makes use of analytical expressions of sensitivities, enabling a reduction in the computational cost through the use of a coupled field adjoint equation, defined in terms the of temperature and displacement fields. The TOM used is based on the material aproach. Thus, to make the domain is composed of a continuous distribution of material, enabling the use of classical models in nonlinear programming optimization problem, the microstructure is considered as a porous medium and its constitutive equation is a function only of the homogenized relative density of the material. In this approach, the actual properties of materials with intermediate densities are penalized based on an artificial microstructure model based on the SIMP (Solid Isotropic Material with Penalty). To circumvent problems chessboard and reduce dependence on layout in relation to the final optimal initial mesh, caused by problems of numerical instability, restrictions on components of the gradient of relative densities were applied. The optimization problem is solved by applying the augmented Lagrangian method, the solution being obtained by applying the finite element method of Galerkin, the process of approximation using the finite element Tetra4. This element has the ability to interpolate both the relative density and the displacement components and temperature. As for the definition of the problem, the heat load is assumed in steady state, i.e., the effects of conduction and convection of heat does not vary with time. The mechanical load is assumed static and distributed

Método de Otimização Topológica em Estruturas Tridimensionais

The topology optimization problem characterize and determine the optimum distribution of material into the domain. In other words, after the definition of the boundary conditions in a pre-established domain, the problem is how to distribute the material to solve the minimization problem. The objective of this work is to propose a competitive formulation for optimum structural topologies determination in 3D problems and able to provide high-resolution layouts. The procedure combines the Galerkin Finite Elements Method with the optimization method, looking for the best material distribution along the fixed domain of project. The layout topology optimization method is based on the material approach, proposed by Bendsoe & Kikuchi (1988), and considers a homogenized constitutive equation that depends only on the relative density of the material. The finite element used for the approach is a four nodes tetrahedron with a selective integration scheme, which interpolate not only the components of the displacement field but also the relative density field. The proposed procedure consists in the solution of a sequence of layout optimization problems applied to compliance minimization problems and mass minimization problems under local stress constraint. The microstructure used in this procedure was the SIMP (Solid Isotropic Material with Penalty). The approach reduces considerably the computational cost, showing to be efficient and robust. The results provided a well defined structural layout, with a sharpness distribution of the material and a boundary condition definition. The layout quality was proporcional to the medium size of the element and a considerable reduction of the project variables was observed due to the tetrahedrycal element

Utilização da lógica difusa no controle inteligente de sistemas eletro-hidráulicos

Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time and compact size. However, precise control of electro-hydraulic systems, due to their inherent nonlinear characteristics, cannot be easily obtained with conventional linear controllers. Most flow control valves can also exhibit some hard nonlinearities such as deadzone due to valve spool overlap on the passage´s orifice of the fluid. This work describes the development of a nonlinear controller based on the feedback linearization method and including a fuzzy compensation scheme for an electro-hydraulic actuated system with unknown dead-band. Numerical results are presented in order to demonstrate the control system performance

Velocidade do ar em barra de pulverização na deposição da calda fungicida, severidade da ferrugem asiática e produtividade da soja

O trabalho objetivou comparar a deposição da pulverização e o controle da ferrugem asiática após o tratamento com fungicidas sob quatro velocidades da assistência de ar junto à barra de pulverização na cultura da soja. Dois experimentos foram conduzidos na FCA/UNESP - Campus de Botucatu, safra 2006/07. Alvos artificiais foram fixados na superfície adaxial e abaxial de folíolos posicionados nas partes superior e inferior das plantas selecionadas e distribuídas perpendicularmente ao deslocamento do pulverizador. O oxicloreto de cobre (50% de cobre metálico) foi o marcador utilizado em pulverização e a determinação quantitativa dos depósitos feita com o uso de espectrofotometria de absorção atômica. Após a aplicação do fungicida piraclostrobina + epoxiconazole sob diferentes velocidades da assistência de ar junto à barra de pulverização (0, 9, 11 e 29 km h-1) procedeu-se a avaliação da severidade da doença e produtividade da soja. Na parte superior das plantas os maiores níveis de depósitos foram encontrados na pulverização sem assistência de ar. Já na parte inferior da planta foram encontrados os maiores níveis de deposição quando foram utilizadas as maiores velocidades da assistência de ar. No geral, a severidade da doença foi mais acentuada nos tratamentos sem o uso da assistência de ar. em relação à produtividade não houve diferenças entre os tratamentos com aplicação de fungicidas, porém houve incremento na produtividade para os tratamentos com assistência de ar.

Avaliação da deposição da calda de pulverização em função da densidade populacional de Brachiaria plantaginea, do volume e do ângulo de aplicação

O presente trabalho teve por objetivo avaliar a quantidade de calda de pulverização depositada nas folhas de Brachiaria plantaginea, em aplicações de pós-emergência precoce, em que se variou o volume de calda de pulverização, a densidade de plantas m-2 e o ângulo de posicionamento da ponta de pulverização na barra de aplicação. Para isso, foram conduzidos três experimentos em condições de laboratório. Nestes estudos, o volume de calda de pulverização foi obtido por meio da variação da velocidade de deslocamento de um veículo composto por plataforma e quatro rolamentos tracionados por um motor elétrico. Foi utilizada a ponta de pulverização XR Teejet 8001 EVS, na pressão de 241,4 kPa. O delineamento experimental utilizado foi o inteiramente casualizado, com cinco repetições. No primeiro experimento, os volumes utilizados foram de 1147,57; 860,68; 573,78; 459,02; 344,27; 229,51; 114,75; e 57,37 L ha-1 de calda de pulverização, com densidade de 600 plantas m-2. No segundo experimento foram estudadas as densidades de 300, 600, 900 e 1.200 plantas m-2; neste caso, utilizou-se o volume de 229,51 L ha-1 de calda de pulverização. No terceiro experimento avaliou-se o posicionamento do ângulo da ponta de pulverização na barra de aplicação e utilizou-se a densidade de 600 plantas m-2. Estudaram-se os ângulos de -30º, -15º, 90º, +15º e +30º e os volumes de calda de pulverização de 198,76; 221,69; 229,51; 221,69; e 198,76 L ha-1, respectivamente. Foram adotados sinais negativos para o sentido de deslocamento do veículo e sinais positivos para o sentido contrário ao deslocamento. As avaliações do depósito de calda de pulverização, na planta e no solo, foram feitas utilizando-se condutividade elétrica. A porcentagem de depósito de calda de pulverização nas plantas de B. plantaginea foi incrementada com a redução do volume de calda pulverizada por hectare. O depósito de calda por planta foi maior nas densidades maiores de plantas. O ângulo de posicionamento da ponta de pulverização na barra de aplicação incrementou o depósito de calda nas plantas de B. plantaginea, quando comparado com o ângulo de 90º.

Desenvolvimento de sistemas a base de tensoativos para recuperação avançada de petróleo

Petroleum is a complex combination of various classes of hydrocarbons, with paraffinic, naphtenic and aromatic compounds being those more commonly found in its composition. The recent changes in the world scenario, the large reserves of heavy oils and also the lack of new discoveries of large petroleum fields are indications that, in the near future, the oil recovery by conventional methods will be limited. In order to increase the efficiency of the extraction process, enhanced recovery methods are cited in applications where conventional techniques have proven to be little effective. The injection of surfactant solutions as an enhanced recovery method is advantageous in that surfactants are able to reduce the interfacial tensions between water and oil, thus augmenting the displacement efficiency and, as a consequence, increasing the recovery factor. This work aims to investigate the effects of some parameters that influence the surfactant behavior in solution, namely the type of surfactant, the critical micelle concentration (CMC) and the surface and interface tensions between fluids. Seawater solutions containing the surfactants PAN, PHN and PJN have been prepared for presenting lower interfacial tensions with petroleum and higher stability under increasing temperature and salinity. They were examined in an experimental apparatus designed to assess the recovery factor. Botucatu (Brazil) sandstone plug samples were submitted to assay steps comprising saturation with seawater and petroleum, conventional recovery with seawater and enhanced recovery with surfactant solutions. The plugs had porosity between 29.6 and 32.0%, with average effective permeability to water of 83 mD. The PJN surfactant, at a concentration 1000% above CMC in water, had a higher recovery factor, causing the original oil in place to be recovered by an extra 20.97%, after conventional recovery with seawater