Criação de uma estação de testes para um micro-helicóptero autónomo

Os UAV (Unmaned Air Vehicles) têm sido cada vez mais utilizados em vários ramos, como a geologia, a segurança pública, a robótica e na obtenção de imagens. Visto existir grande interesse no uso do equipamento, foi comprado um quadcopter com o objetivo poder tornálo o mais autónomo possível. Esta tese contém informações dos elementos utilizados nesse Arducopter e ainda a informação dos sensores que podem ser adaptados ao mesmo. Explica também como está estruturado todo o código e como o UAV pode ser configurado antes do voo. São também apresentados todos os resultados obtidos dos primeiros voos e as evoluções e alterações após cada teste.

Estudo geomecânico do Túnel do Cortado na Ilha da Madeira

O presente trabalho pretende contribuir para o aprofundamento do conhecimento geológico e geotécnico das formações vulcânicas da Ilha da Madeira, com especial destaque para os parâmetros geomecânicos obtidos através de retroanálise, tendo por base as leituras em obra do Túnel do Cortado (Faial, Santana; Madeira). Assim, o trabalho incide inicialmente sobre os túneis rodoviários na Ilha, com principal atenção nas características das suas secções transversais e emboquilhamentos. Segue-se um levantamento de todos os túneis construídos entre os anos de 1990 e 2013. Uma vez terminada esta apresentação, é feita uma caracterização geológica-geotécnica dos maciços da região, com especial atenção para as zonas geotécnicas afetas ao túnel em questão. São ainda abordadas metodologias de classificações geomecânicas, de retroanálise e modelação computacional. Segue-se um processo de retroanálise através do qual foram gerados vários modelos por forma a efetuar uma análise bidimensional das secções do túnel, onde se procurou estabelecer uma relação entre as leituras de obra e os parâmetros de resistência e deformabilidade do maciço em questão. Por fim, os resultados referentes aos parâmetros de resistência obtidos através dos modelos são analisados, procedendo-se à sua comparação com outros estudos existentes para a Ilha.

As levadas da Ilha da Madeira: uma herança cultural

A presente dissertação de mestrado tem como primeiro e fundamental objetivo salientar a importância das levadas da ilha da Madeira como património cultural e sublinhar a pertinência da sua candidatura a Património da Humanidade. Debruçando-se sobre um enquadramento conceitual e teórico acerca do património cultural e das levadas da ilha da Madeira, esta investigação pretende conhecer qual a relação existente entre ambos, existindo, também, o intuito de compreender qual o interesse da valorização, preservação e conservação destes aquedutos. O estudo desenvolveu-se, portanto, no sentido de responder à questão “As levadas da ilha da Madeira e o património cultural: que relação?”. Para dar resposta à mesma procedeu-se à explanação do conceito de património cultural e a sua legislação e, ainda, à história das levadas, que se cruza com a da própria ilha, recorrendo à consulta, leitura e análise de documentos relacionados com estes assuntos bem como ao trabalho de campo, percorrendo diversas levadas e registando observações in loco. Neste sentido, chegou-se à conclusão de que as levadas, que, no século XV, surgiram da necessidade de levar a água até aos terrenos agrícolas, são hoje a prova do esforço, luta e triunfo do povo madeirense. É na perspetiva de herança e cultura que encarar as levadas como património cultural faz todo o sentido, na medida em que apresentam, de facto, uma autenticidade ímpar, relativamente à sua forma e conceção, construção e materiais utilizados, tradições e técnicas de gestão de águas, localização, enquadramento e amplitude, termos linguísticos, lendas e contos a que deram origem e, ainda, a todo um património material e imaterial consigo relacionados.

Evolution of the landscape of Madeira Island: long-term vegetation dynamics

The aim of this thesis was to evaluate historical change of the landscape of Madeira Island and to assess spatial and temporal vegetation dynamics. In current research diverse “retrospective techniques”, such as landscape repeat photography, dendrochronology, and research of historical records were used. These, combined with vegetation relevés, aimed to gather information about landscape change, disturbance history, and vegetation successional patterns. It was found that landscape change, throughout 125 years, was higher in the last five decades manly driven by farming abandonment, building growth and exotic vegetation coverage increase. Pristine vegetation was greatly destroyed since early settlement and by the end of the nineteenth century native vegetation was highly devastated due to recurrent antropogenic disturbances. These actions also helped to block plant succession and to modify floristical assemblages, affecting as well as species richness. In places with less hemeroby, although significant growth of vegetation of lower seral stages was detected, the vegetation of most mature stages headed towards unbalance between recovery and loss, being also very vulnerable to exotic species encroachment. Recovery by native vegetation also occurred in areas formerly occupied by exotic plants and agriculture but it was almost negligible. Vegetation recovery followed the successional model currently proposed, attesting the model itself. Yet, succession was slower than espected, due to lack of favourable conditions and to recurrent disturbances. Probable tempus of each seral stage was obtained by growth rates of woody taxa estimated through dendrochronology. The exotic trees which were the dominant trees in the past (Castanea sativa and Pinus pinaster) almost vanished. Eucalyptus globulus, the current main tree of the exotic forest is being replaced by other cover types as Acacia mearnsii. The latter, along with Arundo donax, Cytisus scoparius and Pittosporum undulatum are currently the exotic species with higher invasive behaviour. However, many other exotic species have also proved to be highly pervasive and came together with the ones referred above to prevent native vegetation regeneration, to diminish biological diversity, and to block early successional phases delaying native forest recovery.

Gestão Social em Empreendimentos Econômicos Solidários: uma abordagem no Oeste Potiguar

The central research question was to search for data to ratify the theory and discourse of the so-called practitioners of economic solidarity, by defending the substantive rationality should guide the principles of economic solidary, designing the space economy incidental and not the primacy of relations in determining social as well, reflecting the predominance of dimensions of social management in administrative practices of ESS's. For both analyzed the theoretical dimensions of social management - sociopolitical, economic, organizational and environmental - manifested in organizational practices supportive of economic organization Potiguar West. For the success of the research realized the triangulation involving a combination of quantitative and qualitative methodological approaches. At first the research will use a quantitative approach, from the cluster analysis, to verify the behavior of the sample chosen for this study. In the second stage of the qualitative study was carried out focus group technique (FLICK, 2002) for further analysis of the dimensions of social management on organizational practices supportive of economic organization, related to the principles of Solidary Economy, established in a quantitative approach. In quantitative analysis, the socio-political dimension, it was clear that the more equity instruments of internal and external, from the purposeful living in public spaces, the best monetary results. Another point worth stressing concerns the economic dimension, with the practice reciprocity prevailing in market. Thus, the qualitative approach was possible to understand the processes of exchange of product or service. Rural enterprises surveyed in the allocation of the agro-ecological products have the following scale of priority, sequentially: self-consumption (domestic), market and exchange. The research leads to the fact that training and practices that enhance the socio-political dimension (knowledge, empowerment, sense of belonging) become the guiding principle for the strengthening of the social management in the context of other dimensions, leading to gains sociopolitical, economic, organizational and environmental. Despite the weaknesses found in the organizational dimension and environment, both in a quantitative as in qualitative, we determined that the practices of ESS's Potiguar West incorporate predominantly elements of social management and economic solidarity, with a preponderance of substantive rationality in the primacy of the instrumental. Finally, research has brought information that the participants of the ESS's do not give the money economy primacy in determining social relations, which in turn leads to the confirmation that, in practice the solidarity economy, prevailing the dominance of substantive rationality, as a guide for organizational practices

Economia solidária e relações de gênero na agricultura familiar: o caso do grupo produtivo mulheres decididas a vencer

The Women s experiences in the private sphere under the work s field changes the family relationship allowing them more freedom, autonomy and independence. The inequalities, socially built, homemade women s obligations results in discrimination, difficult to insert and recovery on female s job in a job s market, including low salary if compared with men s and difficult to services access in addiction a difficult daily life and in domestic sphere. The women s organisation in productive groups or economically solidary enterprises (ESE) torn possible the social economically organisations and politicians to promote deep changes in a domestically e socially relationship, positioning, for example, women s in publics areas and in the rout of emancipation. The objective of this search are understand men and women relationship in the family agriculture s field starts insert women in economically solidary enterprises (ESE) on Mulunguzinho s settlement (Mossoró/RN). The theoretical framework is inspirited Economical Solidary concept kind division s job and women s empowerment. This search had a qualitative character and exploration through case s study on Mulheres decididas a vencer s group. The secondary information was create through theoretical framework and information collected through semi-structured interviews based in interviews applied for women and yours respective husbands by criterion for women participation on productive activities of beekeeping culture of goat and sheep. This study turns possible conclude that the women s participations in productive groups in solidary economical change significantly their life and their family life. The group s organisations process, the training was received, the collective production, the marketing and the mobilized participation to move it all was fundamental for women share with their families partners some homemade and take care with the children. This finding confirm a different aspect not economical in solidary economy overcoming the monetary value in associative relationship observing principally individuals well-being and the concern with the form of reproduction this way of life in the associated

Adição de superplastificante e anti-segregante à base de CMC em pastas de cimento para Poços de Petróleo

Oil well cementing materials consist of slurries of Special class Portland cement dispersed in water. Admixtures can be used to provide the necessary fluidity, so the material can be efficiently pumped down as well as penetrate porous rocks with controlled filter loss. Construction admixtures can be used to modify the properties of oil well cements provided they can withstand and hold their properties at the higher than ambient temperatures usually encountered in oil fields. In civil construction, superplasticizer play the role of dispersants that reduce the facto r of water cement improve mechanical properties and fluidity of the cement, whereas anti-segregation agents improve the workability of the slurry. In the present study, oil well cement slurries were produced adding both a dispersant and an anti-segregation agent conventionally used in Portland CPII-Z-32 RS cement aiming at materials for primary cementing and squeeze operations. Three basic aspects were evaluated: fluidity, filter loss and the synergetic effect of the admixtures at two temperatures, i.e., 27°C and 56°C, following API RP 10B practical recommendations. The slurries were prepared using admixture concentrations varying from 2.60 Kgf/m3 (0.02 gallft3) to 5.82 Kgf/m3 (0.045 galJft3) BWOC. The density of the slurries was set to 1.89 g/cm3 (15.8 Ib/gal). 0.30 to 0.60% BWOC of a CMC-based anti-segregation agent was added to the cement to control the filter loss. The results showed that the addition of anti-segregation at concentrations above 0.55% by weight of cement resulted in the increased viscosity of the folders in temperatures evaluated. The increasing the temperature of the tests led to a reduction in the performance of anti-segregation. At concentrations of 5.20 kgf/m3 (0,040 gallft3) and 5.82 Kgf/m3 (0,045 gal/ft 3) observed a better performance of the properties evaluated in the proposed system. At low temperature was observed instability in the readings of rheology for all concentrations of anti-segregation. Contents that increasing the concentration of anti¬-segregation is limited concentrations greater than 0.55 % BWOC of the CMC in temperature analyzed. The use of the system with CMC promoted a good performance against the properties evaluated. The principal function of anti¬-segregation was optimized with increasing concentration of superplasticizer, at temperatures above the 2rC. The study of the behaviour of systemic additives, resulting in slurries of cement, which can be optimized face studies of other intrinsic properties in oil fields

Avaliação da influência do nacl em pastas de cimento portland para cimentação de poços de petróleo em zonas evaporíticas

One of the major current challenges for oilwell companies is the extraction of oil from evaporitic zones, also known as pre-salt basins. Deep reservoirs are found under thick salt layers formed from the evaporation of sea water. Salt layers seal the flow of oil from underneath rock formations, which store hydrocarbons and increase the probability of success in oil and gas exploration. Oilwells are cemented using Portland-based slurries to promote mechanical stability and zonal isolation. For pre-salt oilwells, NaCl must be added to saturate the cement slurries, however, the presence of salt in the composition of slurries affects their overall behavior. Therefore, the objective of the present study was to evaluate the effect of the addition of 5 to 25% NaCl on selected properties of Portland-based slurries. A series of tests were carried out to assess the rheological behavior, thickening time, free water and ultrassonic compressive strength. In addition, the slurries were also characterized by thermal analysis, X ray diffraction and scanning electron microscopy. The results showed that the addition of NaCl affected the thickening time of the slurries. NaCl contents up to 10% shortened the thickening time of the slurries. On the other hand, concentrations in excess of 20% not only extended the thickening time, but also reduced the strength of hardened slurries. The addition of NaCl resulted in the formation of a different crystalline phase called Friedel´s salt, where free chlorine is bonded to tricalcium aluminate

influência da adição de diferentes sais em pastas de cimento portland para cimentação de poços de petróleo

One of the great challenges at present time related with the materials area concerns of products and processes for use in petroleum industry, more precisely related to the Pre-salt area. Progresses were reached in the last years allowing the drilling of the salt layer, with the time reduction for drilling and larger success at the end. For the oil wells companies the preponderant factor is the technology, however, in spite of the progress, a series of challenges is still susceptible to solutions and one of them refers to the slurries preparation for cementing in those areas. Inside of this context, this study had for objective to analyze the influence of the salts NaCl, KCl, CaSO4 and MgSO4 in strength and chemical structure of the hydrated products. As methodology, they were prepared and analyzed cement slurries with varied concentrations of these salts that are commonly found in the saline formations. The salts concentrations used in formulations of the slurries were of 5%, 15% and 30%. The slurries were formulated with specific weight of 15,8 lb / gal and the cement used was Class G. Strength tests were accomplished in samples cured by 24 hours and 28 days. Also were realized crystallographic characterization (XRD) and morphologic (SEM). In agreement with the presented results, it is observed that the largest resistance values are attributed to the slurries with concentration of 15%. There was reduction of the strength values of the slurries formulated with concentration of 30%. Through the characterization microstructural it was possible to note the salts influence in the main cement hydrated products

Efeito da incorporação de diatomita na estabilidade e permeabilidade de compósitos cimentíceos espumados aplicados a poços de petróleo

Lightweight oilwell cement slurries have been recently studied as a mean to improve zonal isolation and sheath-porous formation adherence. Foamed slurries consisting of Portland cement and air-entraining admixtures have become an interesting option for this application. The loss in hydrostatic pressure as a consequence of cement hydration results in the expansion of the air bubbles entrapped in the cement matrix, thus improving the sheath-porous formation contact. Consequently, slurries are able to better retain their water to complete the hydration process. The main objective of the present study was to evaluate the effect of the addition of an air-entraining admixture on the density, stability and permeability of composite slurries containing Portland cement and diatomite as light mineral load. Successful formulations are potential cementing materials for low fracture gradient oilwells. The experimental procedures used for slurry preparation and characterization were based on the American Petroleum Institute and ABNT guidelines Slurries containing a pre-established concentration of the air-entraining admixture and different contents of diatomite were prepared aiming at final densities of 13 to 15 lb/gal. The results revealed that the reduction of 15 to 25% of the density of the slurries did not significantly affect their strength. The addition of both diatomite and the air-entraining admixture increased the viscosity of the slurry providing better air-bubble retention in the volume of the slurry. Stable slurries depicted bottom to top density variation of less than 1.0 lb/gal and length reduction of the stability sample of 5.86 mm. Finally, permeability coefficient values between 0.617 and 0.406 mD were obtained. Therefore, lightweight oilwell cement slurries depicting a satisfactory set of physicochemical and mechanical properties can be formulated using a combination of diatomite and air-entraining admixtures for low fracture gradient oilwells

Influência da adição do NaCl e KCl em sistemas de pastas contendo sílica para poços de petróleo em zonas evaporíticas e carbonáticas

One of the major challenges faced nowadays by oil companies is the exploration of pre-salt basins. Thick salt layers were formed in remote ages as a consequence of the evaporation of sea water containing high concentrations of NaCl and KCl. Deep reservoirs can be found below salt formations that prevent the outflow of oil, thus improving the success in oil prospection. The slurries used in the cement operations of salt layers must be adequate to the properties of those specific formations. At the same time, their resulting properties are highly affected by the contamination of salt in the fresh state. It is t herefore important to address the effects of the presence of salt in the cement slurries in order to assure that the well sheath is able to fulfill its main role to provide zonal isolation and mechanical stability. In this scenario, the objective of the present thesis work was to evaluate the effect of the presence of NaCl and KCl premixed with cement and 40% silica flour on the behavior of cement slurries. Their effect in the presence of CO2 was also investigated. The rheological behavior of slurries containing NaCl and KCl was evaluated along with their mechanical strength. Thermal and microstructural tests were also carried out. The results revealed that the presence of NaCl and KCl affected the pozzolanic activity of silica flour, reducing the strength of the hardened slurries containing salt. Friedel´s salt was formed as a result of the bonding between free Cl- and tricalcium aluminate. The presence of CO2 also contributed to the degradation of the slurries as a result of a process of carbonation/bicarbonataion

Comportamento reológico de materiais cimentícios para poços de petróleo contendo naftaleno condensado ou policarboxilato

Pastas a base de cimento Portland são utilizadas na cimentação de poços de petróleo. Elas consistem de uma mistura de partículas sólidas de cimento dispersas em água e aditivos. Atualmente, diversos materiais alternativos são utilizados como aditivos, objetivando a modificação e a melhoria das propriedades das pastas de cimento, especialmente no aumento da fluidez. Novos aditivos plastificantes são capazes de suportar as diversas condições de poços, promovendo propriedades no estado fluido compatíveis às condições exigidas para cimentação.Dispersantes são os componentes da pasta que garantem fluidez, além de proporcionar controle na água perdida por filtração na formação porosa, garantindo o sucesso da operação de bombeio. Em deter minados campos, além do efeito da profundidade, as condições geológicas das formações promovemvariações do gradiente de pressão e temperatura ao longo da profundidade vertical do poço. Recentemente, diversos aditivos químicos da indústria da construção civil tem sido estudados em condições de cimentação de poços de petróleo. Vários produtos testados tem apresentado desempenho superior aos produtos normalmente empregados pela indústria de petróleo com boa relação custo/benefício em função do volume de mercado da construção civil. Resultados promissores na seleção de aditivos com função dispersante da construção civil para operações de cimentação de poços de petróleo onshore foram obtidos para temperaturas até 80°C. O potencial de uso desses aditivos permite estabelecer novas soluções para problemas encontrados na cimentação de poços de petróleo HPHT, poços sujeitos à injeção de vapor, poços depletados e poços produtores de gás. Na construção civil, os superplastificantes permitem reduzir o fator água/cimento das argamassas proporcionando melhoria de propriedades como resistência mecânica e fluidez. Assim, o objetivo deste trabalho foi o estudo e a caracterização reológica de pastas constituídas de cimento Portland, água e aditivos do tipo plastificante, com função dispersante a base de naftaleno condensado e policarboxilato, na faixa de temperaturas de 58°C e 70ºC. As condições utilizadas para a avaliação dos aditivos alternativos foram baseadas em uma cimentação primária para um poço hipotético de 2200 m de profundidade e gradientes geotérmicos de 1,7°F/100 pés e 2,1°F/100 pés. Os resultados demonstraram a grande eficiência e o poder dispersivo do policarboxilato para as temperaturas estudadas. O aditivo promoveu alta fluidez, sem efeitos de sedimentação da pasta. O dispersante à base de naftaleno reduziutant o a viscosidade plástica como o limite de escoamento acimada concentração a partir de 0,13%. O modelo de Bingham descreveu bem o comportamento reológico das pastas com policarboxilato para todas as concentrações

Análise de DFA e de agrupamento do perfil de densidade de poços de petróleo

In recent years, the DFA introduced by Peng, was established as an important tool capable of detecting long-range autocorrelation in time series with non-stationary. This technique has been successfully applied to various areas such as: Econophysics, Biophysics, Medicine, Physics and Climatology. In this study, we used the DFA technique to obtain the Hurst exponent (H) of the profile of electric density profile (RHOB) of 53 wells resulting from the Field School of Namorados. In this work we want to know if we can or not use H to spatially characterize the spatial data field. Two cases arise: In the first a set of H reflects the local geology, with wells that are geographically closer showing similar H, and then one can use H in geostatistical procedures. In the second case each well has its proper H and the information of the well are uncorrelated, the profiles show only random fluctuations in H that do not show any spatial structure. Cluster analysis is a method widely used in carrying out statistical analysis. In this work we use the non-hierarchy method of k-means. In order to verify whether a set of data generated by the k-means method shows spatial patterns, we create the parameter Ω (index of neighborhood). High Ω shows more aggregated data, low Ω indicates dispersed or data without spatial correlation. With help of this index and the method of Monte Carlo. Using Ω index we verify that random cluster data shows a distribution of Ω that is lower than actual cluster Ω. Thus we conclude that the data of H obtained in 53 wells are grouped and can be used to characterize space patterns. The analysis of curves level confirmed the results of the k-means

Simulador de dano à formação, aplicado ao Projeto e à execução da perfuração de poços de petróleo

With the high oil price variability, the petroleum and the reservoir engineers are usually face to face on how they can evaluate the well performance and productivity. They can improve high productivity from the well construction to the secondary recoveries, but they have never tried a measurement in the drilling operations about the lower productivity index. As a rule, frequently the drilling operations hear from the reservoir engineering and geology that, if there is a formation damage, probably some drilling operations practices were not done properly or the good practice in petroleum engineering or mud engineering were not observed. The study in this working search is an attempt of how to measure a formation damage just from the project drilling to the drilling operations, with datum from the fields in Brazilian northeast and putting into practice a Simulator developed from the modeling on the theory offered by different experts and sources in formation damage

Estudo do comportamento de pastas compósitas cimento/sílica/poliuretana para poços de petróleo HPHT

Os poços HPHT atravessam zonas anormalmente pressurizadas e com altos gradientes de temperatura. Esses poços apresentam elevadas concentrações de tensões produzidas pelas operações de perfuração e fraturamento hidráulico, flutuações da pressão e temperatura, forças dinâmicas geradas durante a perfuração, formações inconsolidadas, entre outros aspectos, podendo resultar em falhas mecânicas na bainha de cimento. Tais falhas comprometem a estabilidade mecânica do poço e o isolamento das zonas produtoras de óleos e/ou gás. Para que operações corretivas não se façam necessárias, é preciso adequar as pastas às condições de cada poço. Sistemas de pastas de cimento para poços HPHT requerem um bom controle de suas propriedades termo-mecânicas. Visto que a temperaturas superiores a 110 oC (230 oF) o cimento, após alcançar um valor máximo de resistência, inicia um processo de perda de resistência (retrogressão). Para prevenir esse efeito substitui-se parcialmente o cimento Portland por sílica com objetivo de incrementar a reação pozolânica. Esta reação modifica a trajetória do processo natural de hidratação do cimento, o gel de silicato de cálcio hidratado (C-S-H) se converte em várias outras fases com maior resistência. Polímeros também são adicionados para proporcionar maior flexibilidade e agir como barreira à propagação de trincas desenvolvidas sob tensão. O presente trabalho teve como objetivo estudar o comportamento do sistema cimento/sílica/polímero quando submetido às condições de alta temperatura e alta pressão. Foram formuladas pastas de cimento puro, pastas contendo 40 % BWOC de sílica flour e pastas com diferentes concentrações de poliuretana (5 % a 25 %) e 40 % BWOC de sílica flour. O peso específico das pastas foi fixado em 1,87 g/cm3 (15,6 lb/gal). Os resultados demonstram que as resistências da pasta contendo 40% de sílica e das com adição de polímero foram muito superiores a da pasta de cimento puro, não ocorrendo o efeito da retrogressão. As pastas com polímero apresentaram um crescente aumento da tenacidade com o aumento da concentração da mesma, sendo assim capaz de suportar as tensões. Além de se manterem estáveis termicamente acima de 180 ºC. O sistema também apresentou excelentes resultados de filtrado, reologia, água livre, estabilidade e permeabilidade. Sendo assim, o mesmo mostrou ser aplicável a poços HPHT