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

Materiais supercondutores HTS para arranjos de antenas e aplicação de PBG para micro-ondas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Um ambiente de suporte ao trabalho cooperativo com aplicação à telemedicina

This dissertation presents a cooperative virtual multimedia enviroment for employing on time medical Field, using a TCP/IP computer network. The Virtual Diagnosis Room environment make it possible to perform cooperative tasks using classical image processing. Synchronous and assynchronous text conversation (chat) and content markup, in order to produce remote cooperative diagnosis. The dissertation also describes the tool in detail and its functions, that enables the interaction among users, along with implementation detals, contributions and weakness of this work

Aplicação de superfícies seletivas em frequência para melhoria de resposta de arranjos de antenas planares

This work aims to show how the application of frequency selective surfaces (FSS) in planar antenna arrays become an alternative to obtain desired radiation characteristics from changes in radiation parameters of the arrays, such as bandwidth, gain and directivity. In addition to analyzing these parameters is also made a study of the mutual coupling between the elements of the array. To accomplish this study, were designed a microstrip antenna array with two patch elements, fed by a network feed. Another change made in the array was the use of the truncated ground plane, with the objective of increasing the bandwidth and miniaturize the elements of the array. In order to study the behavior of frequency selective surfaces applied in antenna arrays, three different layouts were proposed. The first layout uses the FSS as a superstrate (above the array). The second layout uses the FSS as reflector element (below the array). The third layout is placed between two FSS. Numerical and experimental results for each of the proposed configurations are presented in order to validate the research

Firmeza de caqui 'Giombo' submetido à aplicação pós-colheita de cloreto de cálcio

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

Qualidade tecnológica da cana-de-açúcar em função da aplicação de maturadores em meio de safra

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

Aplicação de sistemas multi-classificadores no diagnóstico de falhas em motores de indução trifásicos

Equipment maintenance is the major cost factor in industrial plants, it is very important the development of fault predict techniques. Three-phase induction motors are key electrical equipments used in industrial applications mainly because presents low cost and large robustness, however, it isn t protected from other fault types such as shorted winding and broken bars. Several acquisition ways, processing and signal analysis are applied to improve its diagnosis. More efficient techniques use current sensors and its signature analysis. In this dissertation, starting of these sensors, it is to make signal analysis through Park s vector that provides a good visualization capability. Faults data acquisition is an arduous task; in this way, it is developed a methodology for data base construction. Park s transformer is applied into stationary reference for machine modeling of the machine s differential equations solution. Faults detection needs a detailed analysis of variables and its influences that becomes the diagnosis more complex. The tasks of pattern recognition allow that systems are automatically generated, based in patterns and data concepts, in the majority cases undetectable for specialists, helping decision tasks. Classifiers algorithms with diverse learning paradigms: k-Neighborhood, Neural Networks, Decision Trees and Naïves Bayes are used to patterns recognition of machines faults. Multi-classifier systems are used to improve classification errors. It inspected the algorithms homogeneous: Bagging and Boosting and heterogeneous: Vote, Stacking and Stacking C. Results present the effectiveness of constructed model to faults modeling, such as the possibility of using multi-classifiers algorithm on faults classification

Desenvolvimento de uma ferramenta computacional para aplicação em métodos de elevação por bombeio centrífugo submerso

The Electrical Submersible Pump (ESP) has been one of the most appropriate solutions for lifting method in onshore and offshore applications. The typical features for this application are adverse temperature, viscosity fluids and gas environments. The difficulties in equipments maintenance and setup contributing to increasing costs of oil production in deep water, therefore, the optimization through automation can be a excellent approach for decrease costs and failures in subsurface equipment. This work describe a computer simulation related with the artificial lifting method ESP. This tool support the dynamic behavior of ESP approach, considering the source and electric energy transmission model for the motor, the electric motor model (including the thermal calculation), flow tubbing simulation, centrifugal pump behavior simulation with liquid nature effects and reservoir requirements. In addition, there are tri-dimensional animation for each ESP subsytem (transformer, motor, pump, seal, gas separator, command unit). This computer simulation propose a improvement for monitoring oil wells for maximization of well production. Currenty, the proprietaries simulators are based on specific equipments manufactures. Therefore, it is not possible simulation equipments of another manufactures. In the propose approach there are support for diverse kinds of manufactures equipments

Estudo da qualidade de serviço de uma aplicação VoIP em ambientes wireless com handoff

This work deals with experimental studies about VoIP conections into WiFi 802.11b networks with handoff. Indoor and outdoor network experiments are realised to take measurements for the QoS parameters delay, throughput, jitter and packt loss. The performance parameters are obtained through the use of software tools Ekiga, Iperf and Wimanager that assure, respectvely, VoIP conection simulation, trafic network generator and metric parameters acquisition for, throughput, jitter and packt loss. The avarage delay is obtained from the measured throughput and the concept of packt virtual transmition time. The experimental data are validated based on de QoS level for each metric parameter accepted as adequated by the specialized literature

Implementação experimental de filtro ativo paralelo de potência com aplicação a gerador de indução trifásico

This work describes the experimental implementation of a shunt active power filter applied to a three-phase induction generator. The control strategy of active filter turned to the excitation control of the machine and to decrease the harmonics in the generator output current. Involved the implementation of a digital PWM switching, and was made a comparison of two techniques for obtaining the reference currents. The first technique is based on the synchronous dq reference method and the second on the theory of instantaneous power. The comparison is performed via simulation and experimental results. To obtain the experimental results, was mounted a bench trial and the control and communications needed were implemented using DSP - MS320F2812. The simulation results and experimental data proved the efficiency of the filter to apply, highlighting the technique of instantaneous power

Efeitos da aplicação de efluente de tratamento de esgoto na fertilidade do solo e produtividade de pepino sob irrigação subsuperficial

O experimento foi conduzido com o objetivo de avaliar técnicas para a aplicação de águas residuárias na agricultura, proporcionando melhor reutilização de água, recurso natural atualmente escasso e muito mal disponibilizado. Utilizou-se da cultura de pepino (Cucumis sativus L.) em estufa, com oito parcelas irrigadas com efluentes de tratamento de esgoto residencial e oito parcelas irrigadas com água tratada e distribuída pela SABESP (tratamento-testemunha), ambas abastecidas por sistema de irrigação subsuperficial, avaliando-se a produção média por planta, a fertilidade do solo e a disposição de nutrientes na água do solo. Nas análises do solo, verificaram-se maiores teores de P, K e CTC no solo irrigado com efluentes. Nesse mesmo tratamento, constataram-se os maiores teores de N, nitrato, Ca, Mg, Zn e S para as análises da água retida na matriz do solo. Quanto à produção total média por planta, as parcelas irrigadas com efluente apresentaram 2.769,6 g de matéria fresca, superior aos 1.968,6 g verificados no tratamento-testemunha, demonstrando a importância da utilização de efluente de esgoto para o fornecimento de nutrientes e aumento de produtividade.

Estudo da detecção preventiva da osteoporose pela aplicação da variação da permissividade elétrica a partir da sondagem eletromagnética

This paper proposes a method based on the theory of electromagnetic waves reflected to evaluate the behavior of these waves and the level of attenuation caused in bone tissue. For this, it was proposed the construction of two antennas in microstrip structure with resonance frequency at 2.44 GHz The problem becomes relevant because of the diseases osteometabolic reach a large portion of the population, men and women. With this method, the signal is classified into two groups: tissue mass with bony tissues with normal or low bone mass. For this, techniques of feature extraction (Wavelet Transform) and pattern recognition (KNN and ANN) were used. The tests were performed on bovine bone and tissue with chemicals, the methodology and results are described in the work

Viabilidade econômica dos sistemas manual e mecanizado de aplicação de herbicidas em ferrovias

A aplicação mecanizada de herbicidas em ferrovias tem como principal vantagem a grande capacidade operacional, cobrindo trechos extensos em curtos espaços de tempo. Entretanto em função das características dos equipamentos utilizados, quase sempre ocorre grande desperdício de herbicida. A aplicação manual, através de pulverizadores costais, tem como principal vantagem a possibilidade da pulverização dirigida às áreas infestadas, diminuindo a quantidade de herbicida aplicado. Por outro lado, sua reduzida capacidade operacional faz com que a aplicação de longos trechos seja demorada, tornando-a, assim, mais dependente dos problemas climáticos e operacionais da ferrovia. O objetivo do trabalho foi realizar uma análise comparativa das características operacionais e econômicas destes sistemas de aplicação, apontando os fatores mais importantes a serem avaliados para a sua implantação. Para tanto, foram realizadas simulações em computador, baseando-se em diversas equações matemáticas e dados levantados no campo. Os resultados mostraram que a aplicação manual apresentou-se mais econômica apenas para trechos com baixas infestações (até 10%, e média). Na composição de custos, os gastos com herbicidas corresponderam a cerca de 80% do total para a aplicação mecanizada e apenas 8% na manual. Levando-se em conta os fatores operacionais e de mão-de-obra, em apenas um dos trechos avaliados houve vantagem econômica do uso da aplicação manual.

Influência da chuva após aplicação de imazamox sobre o controle de plantas daninhas aquáticas

This study aimed to evaluate the imazamox control efficiency on aquatic plants under different intervals of simulated rain after its spraying. The experiment was carried out in completely random design with four replications. The imazamox at 290.4 g ha(-1) was tested on three aquatic weed species, Eichhornia crassipes (Mart.) Solms, Pistia stratiotes L. and Salvinia adnata Desv and, under eight different rain-free periods (0, 2, 4, 6, 8, 12, 24 hours). Rainfall was simulated using a sprinkler irrigation system (20mm). There was a good control of Eichhornia crassipes, regardless of periods without rain after herbicide spraying. However, Pistia stratiotes took a rain-free period of at least eight hours to obtain an effective control. In Salvinia adnata, whole rain-free periods affected the control provided by the herbicide.

Cobre e zinco no material percolado e no solo com a aplicação de água residuaria de suinocultura em solo cultivado com soja

O objetivo deste trabalho foi avaliar possíveis efeitos da aplicação de taxas de água residuária de suinocultura (ARS), quanto às concentrações de cobre e zinco, tanto no solo quanto na água percolada de lisímetros de drenagem, durante o ciclo da cultura da soja. O experimento foi conduzido em ambiente protegido, onde havia 24 lisímetros de drenagem. Semeou-se soja cultivar CD 202, e foram aplicadas ARS nas seguintes dosagens: 0; 100; 200 e 300 m³ ha-1 no ciclo, combinadas com duas adubações na semeadura (com e sem adição da adubação recomendada na semeadura), em três repetições por tratamento. Foram feitas seis coletas do material percolado durante o ciclo da cultura e realizadas determinações de cobre e zinco. No solo, foram feitas três coletas em cada parcela experimental, para a determinação do pH, da matéria orgânica, da capacidade de troca catiônica, do cobre e do zinco. O delineamento foi em blocos casualizados, num esquema fatorial de 4 x 2. Observou-se que o cobre no solo não apresentou diferenças significativas com a aplicação de ARS e adubação, enquanto as concentrações de zinco no solo foram influenciadas pelas taxas aplicadas de ARS. As transferências de cobre e de zinco por percolação foram pouco expressivas.