Um ambiente computacional para modelagem simbólica de sistemas físicos lineares

Este trabalho propõe um ambiente computacional aplicado ao ensino de sistemas de controle, denominado de ModSym. O software implementa uma interface gráfica para a modelagem de sistemas físicos lineares e mostra, passo a passo, o processamento necessário à obtenção de modelos matemáticos para esses sistemas. Um sistema físico pode ser representado, no software, de três formas diferentes. O sistema pode ser representado por um diagrama gráfico a partir de elementos dos domínios elétrico, mecânico translacional, mecânico rotacional e hidráulico. Pode também ser representado a partir de grafos de ligação ou de diagramas de fluxo de sinal. Uma vez representado o sistema, o ModSym possibilita o cálculo de funções de transferência do sistema na forma simbólica, utilizando a regra de Mason. O software calcula também funções de transferência na forma numérica e funções de sensibilidade paramétrica. O trabalho propõe ainda um algoritmo para obter o diagrama de fluxo de sinal de um sistema físico baseado no seu grafo de ligação. Este algoritmo e a metodologia de análise de sistemas conhecida por Network Method permitiram a utilização da regra de Mason no cálculo de funções de transferência dos sistemas modelados no software

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Desenvolvimento de equipamentos para o mapeamento de áreas infestadas por macrófitas aquáticas imersas

Foi desenvolvido um conjunto de equipamentos com o objetivo de mapear as áreas infestadas por macrófitas aquáticas, auxiliando operações de manejo mecânico, as quais são realizadas por uma colhedora desenvolvida especificamente para essa finalidade. O conjunto de equipamentos foi constituído por um GPS com programa de correção diferencial, acoplado a um palmtop, um sistema com dois teclados ligados em dataloggers e um transdutor de deslocamento linear LT. O GPS, através do palmtop, proporcionava o mapeamento da área de deslocamento, auxiliando o operador na movimentação da máquina, otimizando a operação e evitando, dessa forma, a sobreposição das faixas de coleta na área a ser manejada. Um dos teclados monitorava a movimentação e operação da colhedora, além da presença de obstáculos, como tocos e bancos de areia, enquanto o outro gerava dados sobre a presença de determinada espécie de planta, como E. densa, E. najas e C. demersum, além do nível de infestação destas plantas. O transdutor, instalado na plataforma frontal da colhedora, se movimentava linearmente, gerando informações sobre a profundidade da coleta realizada. Dessa forma, pôde-se observar que o desenvolvimento desse conjunto de equipamentos foi de grande utilidade e auxiliou a operação de controle mecânico de áreas infestadas por macrófitas aquáticas imersas, possibilitando, assim, o planejamento de operações de manejo e controle subseqüentes.

Determinação do módulo de elasticidade da madeira juvenil e adulta de Pinus taeda por ultra-som

A madeira de Pinus sp. tem utilização crescente na indústria madeireira brasileira. O decréscimo constante do suprimento de árvores adultas com grandes diâmetros, provenientes de florestas naturais, tornou comum a produção de madeira em ciclos curtos, com grande proporção de madeira juvenil. Resultados de diversas pesquisas têm reportado que o módulo de elasticidade e a resistência a diferentes solicitações mecânicas são seriamente afetados pela presença de madeira juvenil. Este trabalho teve por objetivo determinar o módulo de elasticidade da madeira juvenil e adulta de Pinus taeda L. a partir da constante dinâmica C LL, obtida em ensaios não-destrutivos de ultra-som. A madeira de P. taeda era originária de plantios da Estação Experimental de Itapeva - SP, sendo amostrados seis indivíduos arbóreos com 34 anos de idade. Os corpos-de-prova (4 cm x 4 cm x 45 cm) foram obtidos separadamente das regiões de madeira juvenil e adulta da prancha central, previamente submetida à secagem industrial (umidade final de 12%), para a determinação da constante dinâmica por meio de ensaios de ultra-som. Para avaliar a sensibilidade do método do ultra-som, os corpos-de-prova foram ensaiados destrutivamente à compressão paralela. Os resultados mostraram boa sensibilidade do método do ultra-som (R² » 0,90) na avaliação desse parâmetro mecânico da madeira juvenil e adulta.

Compósitos híbridos: desenvolvimento de configuração e efeitos de umidificação

The advantage in using vegetable fibres in place of synthetic fibres such as glass fibre, for reinforcements in composites are: biodegradability, low cost, low density, good tenacity, good thermal properties, low energy content and reduced use of instruments for its treatment or processing. Even though, problems related to low mechanical performance of some of the natural fibres, has caused difficulty in their direct application in structural elements. The use of alternative materials like hybrid composites has been encouraged, thus trying to better the structural performance of the composites with natural fibres. This work presents a comparative study of the strength and stiffness of hybrid composites with orthopthalic polyester matrix reinforced with E-fibre glass, jute and curauá. The experimental part includes uniaxial tension and three point bending tests to determine the mechanical properties of the final product. The hybrid composite was manufactured in a local industry and was in the form of laminates. All the samples were projected to withstand the possible structural applications as reservoirs and pipes. CH (laminated hybrid composite with glass and curauá fibres). The results obtained show clearly the influence of the hybridization in all the types tested and indicate a good mechanical performance of the composite with glass/curauá fibres in relation to the composite with glass fibres. Aspects in relation to the interfaces glass/curauá composites besides the fracture characteristics for all loading types were also analysed

Efeitos do envelhecimento ambiental acelerado em compósitos poliméricos

The advantages of the use of vegetable fibers on the synthetic fibers, such as glass fibers, in the reinforcements in composites are: low cost, low density, good tenacity, good thermal properties and reduced use of instruments for their treatment or processing. However, problems related to poor performance of some mechanical natural fibers, have hindered its direct use in structural elements. In this sense, the emergence of alternative materials such as hybrids composites, involving natural and synthetic fibers, has been encouraged by seeking to improve the performance of structural composites based only on natural fibers. The differences between the physical, chemical and mechanical properties of these fibers, especially facing the adverse environmental conditions such as the presence of moisture and ultraviolet radiation, is also becoming a concern in the final response of these composites. This piece of research presents a comparative study of the strength and stiffness between two composite, both of ortoftalic polyester matrix, one reinforced with fibers of glass-E (CV) and other hybrid reinforced with natural fibers of curauá and fiberglass-E (CH). All the comparative study is based on the influence of exposure to UV rays and steam heated water in composites, simulating the aging environment. The conditions for the tests are accelerated through the use of the aging chamber. The composites will be evaluated through tests of uniaxial static mechanical traction and bending on three points. The composite of glass fiber and hybrid manufacturing industry are using the rolling manual (hand lay-up) and have been developed in the form of composites. All were designed to meet possible structural applications such as tanks and pipes. The reinforcements used in composites were in the forms of short fiber glass-E quilts (450g/m2 - 5cm) of continuous wires and fuses (whose title was of 0.9 dtex) for the curauá fibers. The results clearly show the influence of aging on the environmental mechanical performance of the composite CV and CH. The issues concerning the final characteristics of the fracture for all types of cargoes studied were also analyzed

Fibras de licuri: um reforço vegetal alternativo de compósitos poliméricos

This research is based, at first, on the seeking of alternatives naturals reinforced in place of polymeric composites, also named reinforced plastics. Therein, this work starts with a whole licuri fiber micro structural characterization, as alternative proposal to polymeric composites. Licuri fiber is abundant on the Bahia state flora, native from a palm tree called Syagrus Coronata (Martius) Beccari. After, it was done only licuri fiber laminar composite developing studies, in order to know its behavior when impregnated with thermofix resin. The composite was developed in laminar structure shape (plate with a single layer of reinforcement) and produced industrially. The layer of reinforcement is a fabric-fiber unidirectional of licuri up in a manual loom. Their structure was made of polyester resin ortofitálica (unsaturated) only reinforced with licuri fibers. Fiber characterization studies were based on physical chemistry properties and their constitution. It was made by tension, scanning electron microscopy (SEM), x-ray diffraction (RDX) and thermal analyses (TG and DTA) tests, besides fiber chemistry analyses. Relating their mechanical properties of strength and hardness testing, they were determined through unit axial tension test and flexion in three points. A study in order to know fiber/matrix interface effects, in the final composites results, was required. To better understand the mechanical behavior of the composite, macroscopic and microscopic optical analysis of the fracture was performed

Desenvolvimento de métodos construtivos e de novos materiais empregados na confecção de cartuchos de próteses de membros inferiores

The manufacture of prostheses for lower limb amputees (transfemural and transtibial) requires the preparation of a cartridge with appropriate and custom fit to the profile of each patient. The traditional process to the patients, mainly in public hospitals in Brazil, begins with the completion of a form where types of equipment, plugins, measures, levels of amputation etc. are identified. Currently, such work is carried out manually using a common metric tape and caliper of wood to take the measures of the stump, featuring a very rudimentary, and with a high degree of uncertainty geometry of the final product. To address this problem, it was necessary to act in two simultaneously and correlated directions. Originally, it was developed an integrated tool for viewing 3D CAD for transfemoral types of prostheses and transtibial called OrtoCAD I. At the same time, it was necessary to design and build a reader Mechanical equipment (sort of three-dimensional scanner simplified) able to obtain, automatically and with accuracy, the geometric information of either of the stump or the healthy leg. The methodology includes the application of concepts of reverse engineering to computationally generate the representation of the stump and/or the reverse image of the healthy member. The materials used in the manufacturing of prostheses nor always obey to a technical scientific criteria, because, if by one way it meets the criteria of resistance, by the other, it brings serious problems mainly due to excess of weight. This causes to the user various disorders due to lack of conformity. That problem was addressed with the creation of a hybrid composite material for the manufacture of cartridges of prostheses. Using the Reader Fitter and OrtoCAD, the new composite material, which aggregates the mechanical properties of strength and rigidity on important parameters such as low weight and low cost, it can be defined in its better way. Besides, it brings a reduction of up steps in the current processes of manufacturing or even the feasibility of using new processes, in the industries, in order to obtain the prostheses. In this sense, the hybridization of the composite with the combination of natural and synthetic fibers can be a viable solution to the challenges offered above

Efeito da introdução de resíduo de cinza de forno cerâmico em massa para cerâmica estrutural

The red ceramics and structural ceramics, as they are known, include ceramic materials made by blocks of seals and structures, bricks, tiles, smail flagstones manacles, rustic floors and ornamental materials. Their fabrication uses raw material such as clay and clay sites, with some content of impurity. It has good durability and mechanical strength to compression, low cost, making it one of the mainly used materials in civil engineering. The incorporation of many industrial activities residue to ceramic products is a technological alternative for reducing the environmental impact caused by its carefree disposal. This incorporation can promote chemical change and inertness of metals from residue, by fixation in the glassy phase of ceramic during the burning stage. The main aim of this project is to study the technical feasibility of the addition of ceramic oven ash into formulations of mass for structural ceramics. In this project two kinds of clay (plastic and non-plastic) were used, as well as the ash from firewood used in the process of burning of structural ceramics. A group of experiments was outlined, which permitted the evaluation of the influence of the burning cycle in different temperatures of the ash content in formulations for ceramic blocks through technological properties, mechanical behavior and microstructure. Five samples were processed of each one of the masses of plastic and non-plastic clay without addition of ash and with addition of ash on the percentages of 10 % and 20 %, for temperatures of 850 °C, 950 °C, 1050 °C and 1150 °C, obtained through sinterization process. Among the studied compositions, the one which presented best performance was the mass of clay with 10 % of ash, at temperature of 1150 °C, with the smallest absorption of water, the smallest apparent porosity, specific apparent mass a bit over the others and greatest mechanical resistance to flexion. The composition made confirmed the technical feasibility of the use of ash in the mass for structural ceramics with maintenance of its necessary characteristics for its purposes

Estudo da oxidação superficial de ligas odontológicas de Ni-Cr em plasma pulsado para uso em restaurações metalocerâmicas

Metal ceramic restorations matches aesthetic and strength, and in your making occurs an interface oxide layer, wetting resulting and atomic and ionic interactions resulting between metal, oxide and porcelain. However, frequent clinical fails occurs in this restoration type, because lost homogeneous deposition oxide layer and lost interface bond. Thus, in this study, thought depositate homogeneous oxide films above Ni-Cr samples surfaces polite previously, at plasma oxide environment. Six samples was oxided at 300 and 400ºC at one hour, and two samples was oxided in a comum chamber at 900ºC, and then were characterized: optical microscopic, electronic microscopic, micro hardness, and X ray difratometry. Colors stripes were observed at six samples plasma oxided and a grey surface those comum oxided, thus like: hardness increase, and several oxides from basic metals (Ni-Cr)

Caracterização de cerâmicas porosas de alumina reforçada com zircônia produzidas pelo método da réplica

Porous ceramics have many applications: thermal insulation, catalytic support, materials to fire protection, filters, and others. There are many techniques to production of ceramic filters. One technique to obtain ceramic filters is the replication method. This method consists in the impregnation of polymeric foam with ceramic slurry followed by a heating treatment that will burn out the organic elements and sintering of the material, resulting of a replication of the original foam. To perform their functions ceramic filters must satisfy mechanical requirements and permeability parameters (darcian k1 and no-darcian k2). The permeability and the strength of the ceramic material are dependent of the pore size and pore distribution. To the use at high temperatures the evaluation of mechanical properties in these temperatures is necessary. In this work the mechanical behavior of two commercial porous ceramics (10 and 40 poros per inch) was studied these materials were submitted to compression and four-point flexure test (room temperature, at 1000 °C, after thermal shock). Density and porosity measurements, permeability tests and microstructural analysis by scanning electronic microscopy (SEM) were realized. The Results showed that the decrease of mechanical strength of these materials, when submitted to thermal shock, occur for propagation of new cracks from cracks pre-existing and the permeability depends of the pore size

Desenvolvimento de um compósito de espuma rígida de poliuretana de mamona e fibras de sisal para isolação térmica

The search for sustainable technologies that can contribute to reduce energy consumption is a great challenge in the field of insulation materials. In this context, composites manufactured from vegetal sources are an alternative technology. The principal objectives of this work are the development and characterization of a composite composed by the rigid polyurethane foam derived from castor oil (commercially available as RESPAN D40) and sisal fibers. The manufacture of the composite was done with expansion controlled inside a closed mold. The sisal fibers where used in the form of needlepunched nonwoven with a mean density of 1150 g/m2 and 1350 g/m2. The composite characterization was performed through the following tests: thermal conductivity, thermal behavior, thermo gravimetric analysis (TG/DTG), mechanical strength in compression and flexural, apparent density, water absorption in percentile, and the samples morphology was analyzed in a MEV. The density and humidity percentage of the sisal fiber were also determined. The thermal conductivity of the composites was higher than the pure polyurethane foam, the addition of nonwoven sisal fibers will become in a higher level of compact foam, reducing empty spaces (cells) of polyurethane, inducing an increase in k value. The apparent density of the composites was higher than pure polyurethane foam. In the results of water absorption tests, was seen a higher absorption percent of the composites, what is related to the presence of sisal fibers which are hygroscopic. From TG/DTG results, with the addition of sisal fibers reduced the strength to thermal degradation of the composites, a higher loss of mass was observed in the temperature band between 200 and 340 °C, related to urethane bonds decomposition and cellulose degradation and its derivatives. About mechanical behavior in compression and flexural, composites presented a better mechanical behavior than the rigid polyurethane foam. An increase in the amount of sisal fibers induces a higher rigidity of the composites. At the thermal behavior tests, the composites were more mechanically and thermally resistant than some materials commonly used for thermal insulation, they present the same or better results. The density of nonwoven sisal fiber had influence over the insulation grade; this means that, an increaser in sisal fiber density helped to retain the heat

Estudo do aproveitamento de resíduo de gesso como carga para compósito com matriz de resina expansiva de mamona

In the execution of civil engineering works, either by wasting during the coating of wall or demolition of gypsum walls, the generation of the gypsum waste involves serious environmental concerns. These concerns are increased by the high demand of this raw material in the sector and by the difficulties of proper disposal byproduct generated. In the search for alternatives to minimize this problem, many research works are being conducted, giving emphasis in using gypsum waste as fillers in composites materials in order to improve the acoustic, thermal and mechanical performances. Through empirical testing, it was observed that the crystallization water contained in the residue (CaSO4.2H2O) could act like primary agent in the expanding of the polyurethane foam. Considering that polyurethane produced from vegetable oils are biodegradable synthetic polymers and that are admittedly to represent an alternative to petrochemical synthetic polyurethane, this research consist an analysis of the thermal behavior of a composite whose matrix obtained from a resin derived from the expansive castor oil seed, with loads of 4%, 8%, 12% and 16% of gypsum waste replacing to the polyol prepolymer blend. Contributors to this analysis: a characterization of the raw material through analysis of spectroscopy by Fourier transform infrared (FTIR), chemical analysis by X-Ray Fluorescence (XRF) and mineralogical analysis by X Ray Diffraction (XRD), complemented by thermo gravimetric analysis (TGA). In order to evaluate the thermo physical properties and thermal behavior of the composites manufactured in die closed with expansion contained, were also carried tests to determine the percentage of open pore volume using a gas pycnometer, scanning electronic microscopy (SEM), in addition to testing of flammability and the resistance to contact with hot surfaces. Through the analysis of the results, it appears that it is possible to produce a new material, which few changes in their thermo physical properties and thermal performance, promotes significant changes and attractive to the environment

Envelhecimento ambiental acelerado em PRF a base de tecidos híbridos kevlar/vidro: propriedades e instabilidade estrutural

There are a number of damaging mechanisms that various materials can suffer in service. However, when working with polymer composite materials, this is something that requires analysis, especially when exposed to adverse environmental conditions. Thus, the objective of the present thesis is the study of the direct influence of environmental aging and the form of hybridization of the reinforcement woven on the structural stability, surfacedegradation and fracture process of polymer composites laminates. For this, the development of two polymer composite laminates was necessary, where one of them was reinforced with a bi-directional woven with hybrid strandsofkevlar-49/glass-Efibers, and the other also with a bi-directionalwoven, however with weft and warpformed of alternating strandsof Kevlar-49 fibers and glass-E fiber The reinforcementwoven are industrially manufactured. Both laminates use a polyester resin as a matrixand are made up of four layers each. All laminates were industrially prepared by the hand lay-up method of manufacturing. To do this, test specimens were manufactured of the respective laminates and submitted to environmental aging accelerated through the aging chamber. They were exposed to alternating cycles of UV radiation and moisture (heated steam) for a standard defined period. At the end of the exposure period the specimens were subjected to mechanical tests of uniaxial tensile and bending in three points and to the characterizationsof the fracture and surface deterioration. In addition, they were submitted to a structural degradation assessment by the measurement of mass variation technique (MMVT) and the measurement of thickness variation technique (MTVT), this last technique being developed in this thesis. At the end of the analysis it was observed that the form of hybridization of the reinforcement woven and the aging process directly influence with losses or gain in mechanical properties, with losses in the structural degradation and in the formation and propagation of damage mechanism of the developedcomposite laminates

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