Estudo de geração de campo uniforme para modelagem eletromagnética

Para estudar os problemas de prospecção geofísica eletromagnética através de modelagem analógica, as condições em escala natural são representadas, no laboratório, em escala reduzida de acordo com a teoria da similitude. Portanto, para investigar os problemas de técnicas VLF, AFMAG e MT, frequentemente é necessário criar campo uniforme no arranjo experimental. Vários sistemas físicos para geração de campos uniformes são analisados teoricamente nesta tese. Os sistemas estudados aqui são a bobina circular, bobina de Helmholtz, solenóide, um plano de corrente e dois planos paralelos de correntes. As equações analíticas foram obtidas para campo magnético num ponto do espaço e subsequentemente as condições de campo uniforme. Nos casos em que as condições para o campo uniforme não puderam ser obtidas analiticamente, a porcentagem de desvio do campo em relação a um ponto pré-selecionado foi calculada. Contudo, os mapas de campo magnético, assim como o mapa de porcentagem de desvio, estão presentes para todos os sistemas estudados aqui. Também, foram calculados as áreas e os volumes espaciais de vários desvios de porcentagem do campo uniforme. Um estudo comparativo desses sistemas mostra que o solenóide é a maneira mais eficiente para criar um campo uniforme, seguido pelo sistema de bobinas de Helmholtz. Porém, o campo criado em um solenóide está em um espaço fechado onde é difícil colocar modelos e substituí-los para executar experimentos. Portanto, recomenda-se o uso de bobinas de Helmholtz para criar um campo uniforme. Este último sistema fornece campo uniforme com espaço aberto suficiente, o que facilita o experimento.

Modelamento analógico de polarização induzida para corpos cilíndricos e tabulares

O método de polarização induzida, consagrado como ferramenta de prospecção de sulfetos metálicos e indiretamente, do ouro em associações polimetálicas, vem crescendo em outras aplicações como prospecção de águas subterrâneas, investigações de interesse à Engenharia Civil e ao uso de ocupação do solo. Neste trabalho, inicialmente, faz-se uma visualização geral do método IP, suas aplicabilidades, metodologia de trabalhos, arranjos de campo, fundamentos teóricos, vantagens e desvantagens etc. O objetivo principal, entretanto, é o modelamento analógico em laboratório, no sentido de simular-se as condições encontradas na natureza. Para tanto, utilizou-se de modelos geométricos simples, cilindros e placas. Na confecção destes modelos, utilizou-se cimento, areia quartzitica e grafita. Como a grafita apresenta um intenso fenômeno IP, variou-se o teor de grafita contido nos modelos. Assim, para diferentes formas e medidas dos modelos, variou-se também o conteúdo de partículas polarizáveis. As medidas foram feitas no sentido de verificar-se o comportamento da resposta IP quanto a forma, conteúdo de grafita, profundidade e direção do modelo estudado.

Nonlinear formulation based on FEM, Mazars damage criterion and Fick's law applied to failure assessment of reinforced concrete structures subjected to chloride ingress and reinforcements corrosion

Structural durability is an important design criterion, which must be assessed for every type of structure. In this regard, especial attention must be addressed to the durability of reinforced concrete (RC) structures. When RC structures are located in aggressive environments, its durability is strongly reduced by physical/chemical/mechanical processes that trigger the corrosion of reinforcements. Among these processes, the diffusion of chlorides is recognized as one of major responsible of corrosion phenomenon start. To accurate modelling the corrosion of reinforcements and to assess the durability of RC structures, a mechanical model that accounts realistically for both concrete and steel mechanical behaviour must be considered. In this context, this study presents a numerical nonlinear formulation based on the finite element method applied to structural analysis of RC structures subjected to chloride penetration and reinforcements corrosion. The physical nonlinearity of concrete is described by Mazars damage model whereas for reinforcements elastoplastic criteria are adopted. The steel loss along time due to corrosion is modelled using an empirical approach presented in literature and the chloride concentration growth along structural cover is represented by Fick's law. The proposed model is applied to analysis of bended structures. The results obtained by the proposed numerical approach are compared to responses available in literature in order to illustrate the evolution of structural resistant load after corrosion start. (C) 2014 Elsevier Ltd. All rights reserved.

Sistema para navegação de robôs móveis e interação humano-robô baseada em comandos de voz

This project is comprised by an interactive mobile robotics’ environment, focused in human-robot interaction. The system was developed to work in a smartphone, with Android operating system, embedded in a small size mobile robot. Information provided by the smartphone’s camera and microp hone, as well as by proximity sensors embedded in the robot, is used as inputs of a control architecture, implemented in software. It is a behavior-based and receptive to human commands control architecture, to assist the robot’s navigation. The robot is controlled by its own behaviors or by commands em it ted by humans

Desenvolvimento de um sistema para navegação de robôs móveis por caminhos em plantações

The use of mobile robots in the agriculture turns out to be interesting in tasks of cultivation and application of pesticides in minute quantities to reduce environmental pollution. In this paper we present the development of a system to control an autonomous mobile robot navigation through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features, and then submitting such characteristic features to a support vector machine to find out the most appropriate route. As the overall goal of the project to which this work is connected is the robot control in real time, the system will be embedded onto a hardware platform. However, in this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route.

Modelagem do crescimento, maturação sexual e produção de ovos como ferramenta para estimar as exigências nutricionais de matrizes pesadas

Pós-graduação em Zootecnia - FCAV

SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Food Competition in a Semi-Free-Ranging Cebus apella Group

The competitive regime faced by individuals is fundamental to modelling the evolution of social organization. In this paper, we assess the relative importance of contest and scramble food competition on the social dynamics of a provisioned semi-free-ranging Cebus apella group (n=18). Individuals competed directly for provisioned and clumped foods. Effects of indirect competition were apparent with individuals foraging in different areas and with increased group dispersion during periods of low food abundance. We suggest that both forms of competition can act simultaneously and to some extent synergistically in their influence on social dynamics; the combination of social and ecological opportunities for competition and how those opportunities are exploited both influence the nature of the relationships within social groups of primates and underlie the evolved social structure. Copyright (c) 2008 S. Karger AG, Basel

Evolution of extrafloral nectaries: adaptive process and selective regime changes from forest to savanna

Much effort has been devoted to understanding the function of extrafloral nectaries (EFNs) for antplantherbivore interactions. However, the pattern of evolution of such structures throughout the history of plant lineages remains unexplored. In this study, we used empirical knowledge on plant defences mediated by ants as a theoretical framework to test specific hypotheses about the adaptive role of EFNs during plant evolution. Emphasis was given to different processes (neutral or adaptive) and factors (habitat change and trade-offs with new trichomes) that may have affected the evolution of antplant associations. We measured seven EFN quantitative traits in all 105 species included in a well-supported phylogeny of the tribe Bignonieae (Bignoniaceae) and collected field data on antEFN interactions in 32 species. We identified a positive association between ant visitation (a surrogate of ant guarding) and the abundance of EFNs in vegetative plant parts and rejected the hypothesis of phylogenetic conservatism of EFNs, with most traits presenting K-values < 1. Modelling the evolution of EFN traits using maximum likelihood approaches further suggested adaptive evolution, with static-optimum models showing a better fit than purely drift models. In addition, the abundance of EFNs was associated with habitat shifts (with a decrease in the abundance of EFNs from forest to savannas), and a potential trade-off was detected between the abundance of EFNs and estipitate glandular trichomes (i.e. trichomes with sticky secretion). These evolutionary associations suggest divergent selection between species as well as explains K-values < 1. Experimental studies with multiple lineages of forest and savanna taxa may improve our understanding of the role of nectaries in plants. Overall, our results suggest that the evolution of EFNs was likely associated with the adaptive process which probably played an important role in the diversification of this plant group.

Unmanned platform for long-range remote analysis of volatile compounds in air samples

This paper describes a long-range remotely controlled CE system built on an all-terrain vehicle. A four-stroke engine and a set of 12-V batteries were used to provide power to a series of subsystems that include drivers, communication, computers, and a capillary electrophoresis module. This dedicated instrument allows air sampling using a polypropylene porous tube, coupled to a flow system that transports the sample to the inlet of a fused-silica capillary. A hybrid approach was used for the construction of the analytical subsystem combining a conventional fused-silica capillary (used for separation) and a laser machined microfluidic block, made of PMMA. A solid-state cooling approach was also integrated in the CE module to enable controlling the temperature and therefore increasing the useful range of the robot. Although ultimately intended for detection of chemical warfare agents, the proposed system was used to analyze a series of volatile organic acids. As such, the system allowed the separation and detection of formic, acetic, and propionic acids with signal-to-noise ratios of 414, 150, and 115, respectively, after sampling by only 30 s and performing an electrokinetic injection during 2.0 s at 1.0 kV.

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing.

Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

Walking on irregular surfaces and in the presence of unexpected events is a challenging problem for bipedal machines. Up to date, their ability to cope with gait disturbances is far less successful than humans': Neither trajectory controlled robots, nor dynamic walking machines (Limit CycleWalkers) are able to handle them satisfactorily. On the contrary, humans reject gait perturbations naturally and efficiently relying on their sensory organs that, if needed, elicit a recovery action. A similar approach may be envisioned for bipedal robots and exoskeletons: An algorithm continuously observes the state of the walker and, if an unexpected event happens, triggers an adequate reaction. This paper presents a monitoring algorithm that provides immediate detection of any type of perturbation based solely on a phase representation of the normal walking of the robot. The proposed method was evaluated in a Limit Cycle Walker prototype that suffered push and trip perturbations at different moments of the gait cycle, providing 100% successful detections for the current experimental apparatus and adequately tuned parameters, with no false positives when the robot is walking unperturbed.

Model and control of tendon actuated robots

The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brief discussion about the benefits that the use of tendons can introduce in the motion control of a robotic device, the design and control aspects of the UB Hand 3 anthropomorphic robotic hand are presented. In particular, the tendon-sheaths transmission system adopted in the UB Hand 3 is analyzed and the problem of force control and friction compensation is taken into account. The implementation of a tendon based antagonistic actuated robotic arm is then investigated. With this kind of actuation modality, and by using transmission elements with nonlinear force/compression characteristic, it is possible to achieve simultaneous stiffness and position control, improving in this way the safety of the device during the operation in unknown environments and in the case of interaction with other robots or with humans. The problem of modeling and control of this type of robotic devices is then considered and the stability analysis of proposed controller is reported. At the end, some tools for the realtime simulation of dynamic systems are presented. This realtime simulation environment has been developed with the aim of improving the reliability of the realtime control applications both for rapid prototyping of controllers and as teaching tools for the automatic control courses.