Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Estudo do efeito de dipolos em arranjos de antenas adaptativas de sistemas de comunicação DS-CDMA

This master dissertation introduces a study about some aspects that determine the aplication of adaptative arrays in DS-CDMA cellular systems. Some basics concepts and your evolution in the time about celular systems was detailed here, meanly the CDMA tecnique, specialy about spread-codes and funtionaly principies. Since this, the mobile radio enviroment, with your own caracteristcs, and the basics concepts about adaptive arrays, as powerfull spacial filter was aborded. Some adaptative algorithms was introduced too, these are integrants of the signals processing, and are answerable for weights update that influency directly in the radiation pattern of array. This study is based in a numerical analysis of adaptative array system behaviors related to the used antenna and array geometry types. All the simulations was done by Mathematica 4.0 software. The results for weights convergency, square mean error, gain, array pattern and supression capacity based the analisis made here, using RLS (supervisioned) and LSDRMTA (blind) algorithms.

Análise de antenas de microfita com patches circulares sobre substratos anisotrópicos usando o método dos potenciais de Hertz

This work consists on the theoretical and numerical analysis of some properties of circular microstrip patch antennas on isotropic and uniaxial anisotropic substrates. For this purpose, a full wave analysis is performed, using Hertz Vector Potentials method in the Hankel Transform domain. In the numerical analysis, the moment method is also used in order to determine some characteristics of the antenna, such as: resonant frequency and radiation pattern. The definition of Hertz potentials in the Hankel domain is used in association with Maxwell´s equations and the boundary conditions of the structures to obtain the Green´s functions, relating the components of the current density on the patch and the tangential electric field components. Then, the Galerkin method is used to generate a matrix equation whose nontrivial solution is the complex resonant frequency of the structure. In the analysis, a microstrip antenna with only one isotropic dielectric layer is initially considered. For this structure, the effect of using superconductor patches is also analyzed. An analysis of a circular microstrip antenna on an uniaxial anisotropic dielectric layer is performed, using the Hertz vector potentials oriented along the optical axis of the material, that is perpendicular to the microstrip ground plane. Afterwards, the circular microstrip antenna using two uniaxial anisotropic dielectric layers is investigated, considering the particular case in which the inferior layer is filled by air. In this study, numerical results for resonant frequency and radiation pattern for circular microstrip antennas on isotropic and uniaxial anisotropic substrates are presented and compared with measured and calculated results found in the literature

Sistema especialista para detecção de falhas em comandos elétricos

This work consists of the creation of a Specialist System which utilizes production rules to detect inadequacies in the command circuits of an operation system and commands of electric engines known as Direct Start. Jointly, three other modules are developed: one for the simulation of the commands diagram, one for the simulation of faults and another one for the correction of defects in the diagram, with the objective of making it possible to train the professionals aiming a better qualification for the operation and maintenance. The development is carried through in such a way that the structure of the task allows the extending of the system and a succeeding promotion of other bigger and more complex typical systems. The computational environment LabView is employed to enable the system

Otimização de forma aplicando B-splines sob critério integral de tensões

This work proposes a computational methodology to solve problems of optimization in structural design. The application develops, implements and integrates methods for structural analysis, geometric modeling, design sensitivity analysis and optimization. So, the optimum design problem is particularized for plane stress case, with the objective to minimize the structural mass subject to a stress criterion. Notice that, these constraints must be evaluated at a series of discrete points, whose distribution should be dense enough in order to minimize the chance of any significant constraint violation between specified points. Therefore, the local stress constraints are transformed into a global stress measure reducing the computational cost in deriving the optimal shape design. The problem is approximated by Finite Element Method using Lagrangian triangular elements with six nodes, and use a automatic mesh generation with a mesh quality criterion of geometric element. The geometric modeling, i.e., the contour is defined by parametric curves of type B-splines, these curves hold suitable characteristics to implement the Shape Optimization Method, that uses the key points like design variables to determine the solution of minimum problem. A reliable tool for design sensitivity analysis is a prerequisite for performing interactive structural design, synthesis and optimization. General expressions for design sensitivity analysis are derived with respect to key points of B-splines. The method of design sensitivity analysis used is the adjoin approach and the analytical method. The formulation of the optimization problem applies the Augmented Lagrangian Method, which convert an optimization problem constrained problem in an unconstrained. The solution of the Augmented Lagrangian function is achieved by determining the analysis of sensitivity. Therefore, the optimization problem reduces to the solution of a sequence of problems with lateral limits constraints, which is solved by the Memoryless Quasi-Newton Method It is demonstrated by several examples that this new approach of analytical design sensitivity analysis of integrated shape design optimization with a global stress criterion purpose is computationally efficient

Efeitos da radiação uv, temperatura e vapor aquecido nos compósitos poliméricos: monitoramento, instabilidade estrutural e fratura

The application of composite materials and in particular the fiber-reinforced plastics (FRP) has gradually conquered space from the so called conventional materials. However, challenges have arisen when their application occurs in equipment and mechanical structures which will be exposed to harsh environmental conditions, especially when there is the influence of environmental degradation due to temperature, UV radiation and moisture in the mechanical performance of these structures, causing irreversible structural damage such as loss of dimensional stability, interfacial degradation, loss of mass, loss of structural properties and changes in the damage mechanism. In this context, the objective of this thesis is the development of a process for monitoring and modeling structural degradation, and the study of the physical and mechanical properties in FRP when in the presence of adverse environmental conditions (ageing). The mechanism of ageing is characterized by controlled environmental conditions of heated steam and ultraviolet radiation. For the research, it was necessary to develop three polymer composites. The first was a lamina of polyester resin reinforced with a short glass-E fiber mat (representing the layer exposed to ageing), and the other two were laminates, both of seven layers of reinforcement, one being made up only of short fibers of glass-E, and the other a hybrid type reinforced with fibers of glass-E/ fibers of curaua. It should be noted that the two laminates have the lamina of short glass-E fibers as a layer of the ageing process incidence. The specimens were removed from the composites mentioned and submitted to environmental ageing accelerated by an ageing chamber. To study the monitoring and modeling of degradation, the ageing cycles to which the lamina was exposed were: alternating cycles of UV radiation and heated steam, a cycle only of UV radiation and a cycle only of heated steam, for a period defined by norm. The laminates have already undergone only the alternating cycle of UV and heated steam. At the end of the exposure period the specimens were subjected to a structural stability assessment by means of the developed measurement of thickness variation technique (MTVT) and the measurement of mass variation technique (MMVT). Then they were subjected to the mechanical tests of uniaxial tension for the lamina and all the laminates, besides the bending test on three points for the laminates. This study was followed by characterization of the fracture and the surface degradation. Finally, a model was developed for the composites called Ageing Zone Diagram (AZD) for monitoring and predicting the tensile strength after the ageing processes. From the results it was observed that the process of degradation occurs Abstract Raimundo Nonato Barbosa Felipe xiv differently for each composite studied, although all were affected in certain way and that the most aggressive ageing process was that of UV radiation, and that the hybrid laminated fibers of glass-E/curaua composite was most affected in its mechanical properties

Reciclagem de material asfáltico fresado utilizando solventes e microemulsões

With the increase of asphalt milling services was also a significant increase in recycling services pavements. The techniques used today are basically physical processes in which the milled material is incorporated into new asphalt mixtures or executed on site, with the addition of virgin asphalt and rejuvenating agent. In this paper seeks to analyze the efficiency of extraction of CAP (Petroleum Asphalt Cement) mixtures from asphalt milling, using commercial solvents and microemulsions. The solvents were evaluated for their ability to solubilize asphalt using an extractor reflux-type apparatus. Pseudoternary diagrams were developed for the preparation of microemulsion O/W surfactant using a low-cost coconut oil saponified (OCS). Microemulsions were used to extract the CAP of asphalt through physicochemical process cold. Analysis was performed concentration of CAP in solution by spectroscopy. The data provided in the analysis of concentration by the absorbance of the solution as the basis for calculating the percentage of extraction and the mass flow of the CAP in the solution. The results showed that microemulsions prepared with low concentration of kerosene and butanol/OCS binary has high extraction power of CAP and its efficiency was higher than pure kerosene, reaching 95% rate of extraction

Análise técnica e econômica do processo de obtenção de espaguetes com adição de farinha de trigo integral e farinha de linhaça

This work studies the fabrication of spaghetti through the process at high temperatures through the use of flour added to flour and flaxseed meal, with the aim of evaluating the final product quality and estimate the cost of production. The values of moisture, ash, protein, wet gluten, gluten index, falling number and grain of flour and mixtures to test to be the possible use in mass manufacturing and technological criteria for compliance with current legislation. Spaghetti noodles type were manufactured by adding 10% and 20% flour and 10% and 20% flaxseed meal with performance of physical-chemical, sensory and rheological properties of the products. Further analysis was performed on the product acceptance and estimation of production cost in order to create subsidies to enable the introduction of products with greater acceptance and economic viability in the market by the food industry. On the rheology of the product test was cooking the pasta, specifying the volume increase, cooking time and percentage of solid waste. In the sensory evaluation was carried out the triangular test of product differentiation with 50 trained judges and acceptance testing by a hedonic scale with evaluation of the aspects color, taste, smell and texture. In defining the sensory profile of the product was performed with ADQ 9 judges recruited and trained at the factory, using unstructured scale of 9 cm, assessing the attributes of flavor of wheat, flax flavor, consistency, texture of raw pasta, raw pasta color and color of cooked pasta. The greater acceptance of product quality was good and the pasta with 20% flour, 10% followed by the full product, 10% and 20% flaxseed characterized the average quality of the criterion of loss analysis of solids, together with mass full commercial testing. In assessing the estimated cost of production, the two products more technologically feasible and acceptable (20% whole and 10% flaxseed) were evaluated in high temperature processes. With total cost of R $ 4,872.5 / 1,000 kg and R $ 5,354.9 / 1,000 kg respectively, the difference was related to the addition of lower inputs and higher added value in the market, flour and flaxseed meal. The comparative analysis of cases was confirmed the reduction in production time (10h), more uniform product to the drying process at high temperature compared to conventional

Estudo do equilíbrio líquido-vapor do sistema água+etanol+líquido iônico visando a separação do álcool anidro

Anhydrous ethanol is used in chemical, pharmaceutical and fuel industries. However, current processes for obtaining it involve high cost, high energy demand and use of toxic and pollutant solvents. This problem occurs due to the formation of an azeotropic mixture of ethanol + water, which does not allow the complete separation by conventional methods such as simple distillation. As an alternative to currently used processes, this study proposes the use of ionic liquids as solvents in extractive distillation. These are organic salts which are liquids at low temperatures (under 373,15 K). They exhibit characteristics such as low volatility (almost zero/ low vapor ), thermal stability and low corrosiveness, which make them interesting for applications such as catalysts and as entrainers. In this work, experimental data for the vapor pressure of pure ethanol and water in the pressure range of 20 to 101 kPa were obtained as well as for vapor-liquid equilibrium (VLE) of the system ethanol + water at atmospheric pressure; and equilibrium data of ethanol + water + 2-HDEAA (2- hydroxydiethanolamine acetate) at strategic points in the diagram. The device used for these experiments was the Fischer ebulliometer, together with density measurements to determine phase compositions. The experimental data were consistent with literature data and presented thermodynamic consistency, thus the methodology was properly validated. The results were favorable, with the increase of ethanol concentration in the vapor phase, but the increase was not shown to be pronounced. The predictive model COSMO-SAC (COnductor-like Screening MOdels Segment Activity Coefficient) proposed by Lin & Sandler (2002) was studied for calculations to predict vapor-liquid equilibrium of systems ethanol + water + ionic liquids at atmospheric pressure. This is an alternative for predicting phase equilibrium, especially for substances of recent interest, such as ionic liquids. This is so because no experimental data nor any parameters of functional groups (as in the UNIFAC method) are needed

Desenvolvimento de tensoativos e sistemas microemulsionados para recuperação de petróleo

The high concentration of residual oil is one of the greatest problems found in petroleum mature fields. In these reservoirs, different enhanced oil recovery methods (EOR) can be used, highlighting the microemulsion injection. The microemulsion has showed to be efficient in petroleum recovery due to its ability to promote an efficient displacement of the petroleum, acting directly in the residual oil. In this way, this research has as objective the study of microemulsion systems obtained using a commercial surfactant (TP), determining microemulsion thermal stabilities and selecting points inside the pseudoternary phases diagram, evaluating its efficiencies and choosing the best system, that has the following composition: TP as surfactant (S), isopropyl alcohol as co-surfactant (C), kerosene as oil phase, water as aqueous phase, C/S ratio = 1, and 5% sodium p-toluenesulfonate as hydrotope; being observed the following parameters for the selection of the best pseudoternary phases diagram: C/S ratio, co-surfactant nature and addition of hydrotope to the system. The efficiency in petroleum recovery was obtained using two sandstone formation systems: Assu and Botucatu. The study of thermal stabilities showed that as the concentration of active matter in the system increased, the thermal stability also increased. The best thermal stability was obtained using point F (79.56 0C). The system that presented the best recovery percentile between the three selected (3) was composed by: 70% C/S, 2% kerosene and 28% water, with 94% of total recovery efficiency and 60% with microemulsion injection, using the Botucatu formation, that in a general way presented greater efficiencies as compared with the Assu one (81.3% of total recovery efficiency and 38.3% with microemulsion injection)

Índices geométricos de variabilidade da frequência cardíaca na doença pulmonar obstrutiva crônica

Background: It was already evidenced decreased heart rate variability (HRV) in chronic obstructive pulmonary disease (COPD) patients at rest.Objective: In order to insert new elements in the literature regarding this issue, we evaluated geometric index of HRV in COPD subjects.Method: We analyzed data from 34 volunteers, divided into two groups according to spirometric values: COPD (17 volunteers, FEV1/FVC = 47.3 +/- 10.2; FEV1 = 50.8 +/- 15.7) and control (17 volunteers, FEV1/FVC = 78.8 +/- 10.8; FEV1 = 100.1 +/- 14.7). For analysis of HRV indexes the volunteers remained in the supine position for 30 minutes. We analyzed the following indexes: triangular index (RRtri), triangular interpolation of RR intervals (TINN) and Poincare plot (SD1, SD2 and SD1/SD2). Student t test for unpaired samples and Mann-Whitney test were used for data analysis.Results: We observed statistically significant reductions in geometric indexes in the COPD group: RRtri (0.043 +/- 0.01 vs. 0.059 +/- 0.02; p = 0.018), TINN (105.88 +/- 51.82 vs. 151.47 +/- 49.9; p=0.014), SD1 (9.76 +/- 4.66 vs. 14.55 +/- 6.04; p = 0.014) and SD2 (34.86 +/- 17.02 vs. 51.51 +/- 18.38; p = 0.010). SD1/5D2 (0.30 +/- 0.11 vs. 0.28 +/- 0.07; p = 0.605) were not significantly different between groups. Patients with COPD presented a visual analysis of Poincare plot of lower dispersion of RR intervals both beat to beat and the long term.Conclusion: Subjects with COPD present reduction of geometric indexes of HRV, indicating reduced heart rate variability. (C) 2010 Sociedade Portuguesa de Pneumologia. Published by Elsevier Espana, S.L. All rights reserved.

ANÁLISE DESCRITIVA QUANTITATIVA da AGUARDENTE DE CANA DURANTE O ENVELHECIMENTO em TONEL DE CARVALHO (Quercus alba L.)

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

Filosofar em tempos de informação

This thesis reflects upon the question of how does philosophy think a particular today, which is not only a legitimate philosophical task but a determinative characteristic of philosophy in general. Today's thought follows two paths: first, an hermeneutical-phenomenological analysis of Martin Heidegger's thought with regards to his own contemporaneity; and secondly, through the analysis of the contemporary phenomenon of Information Technology which in the present work is to be considered a privileged sign of our times and distinctive of the mindfulness of philosophy. Therefore, the starting point is an investigation of Heidegger's thinking on his own era to whom facticity is a way of accessing the fundamental question of philosophy. This thesis is led by three guiding words which hold onto a perspective of unity in Heidegger s lifetime of work: 1. Technicity, 2. History, 3. Language, to thereby develop a characterization of human existence as 1. Technopolitical, 2. Technoscientific, and 3. Technological. Finally, in keeping with this triangular characterization of the human, a philosophical comprehension of our times will be established and drawn by Information Technology illustrating three of its' factual signs that are understood to be the 'Remains of Being' today: The Emptying of Speech (Language); The Emptying of Science (History); The Emptying of The Object (Technicity). Through these nowadays phenomenon, it is possible to maintain a grip on the fundamental question, precisely when the task of philosophy seems to have peremptorily lost its meaning and come to its logical end and to show how philosophizing in the information era is as possible as it is necessary.

Microemulsões e fases líquidas cristalinas como sistemas de liberação de fármacos

A mistura de tensoativos com água, em determinadas proporções, na ausência ou na presença de substâncias lipofílicas pode formar diferentes tipos de agregados, entre os quais agregados polimorfos representados pelas microemulsões (ME) e mesofases liotrópicas - os cristais líquidos (LC), que estão intimamente ligados com a proporção e a natureza dos componentes da mistura. Nesse trabalho, foi discutido o papel desses sistemas na incorporação de fármacos com diferentes propriedades físico-químicas, influenciando fortemente a liberação, assim como a biodisponibilidade dos fármacos. Aspectos sobre a formação e a caracterização de microemulsões e cristais líquidos também foram discutidos. A análise da literatura indicou que, dependendo da polaridade do fármaco, o efeito da ME ou LC pode ser usado para otimizar o efeito terapêutico por meio do controle da velocidade ou do mecanismo de liberação do fármaco.

Uma análise teórica da evolução da rotação estelar

In the past 50 years, large efforts have been made toward the understanding of the stellar evolution. In the observational context, large sets of precise measurements of projected rotational velocity were produced, in particular by the Natal and Geneva groups. From these data, it is now possible to establish the behavior of stellar rotation from the turnoff to the red giant branch. In addition, these data have shown the role of tidal effects on stellar rotation in close binary systems. Nevertheless, relatively little attention has been paid to theoretical studies on the evolution of rotation along the HR Diagram, a topic itself directly associated to the evolution of the stars. Basically, there are two reasons for such a fact, (i) spherical symmetry is not assumed, what leads to a substantial increase in the numerical complexity of equations and (ii) non rotating models have been very successful in explaining relevant observational data, including the mass-luminosity relation and chemical abundances. In spite of these facts, it is clear that considerable work remains to be done on the role of rotation in the later stages of the evolution, where clear disagreements arise from confrontations between theoretical predictions and observations. In the present work we study the evolutionary behavior of stellar rotation along the HR Diagram, taking into account constraint conditions issued from recent observational survey of rotational velocity carried out with high precision procedures and new evolutionary codes