Controle de dissociação molecular com ferramentas de dinâmica não linear

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Análise da vibração para o controle do funcionamento de um ventilador de um sistema de exaustão

This work has as objective to show the vibrational analysis as a method of predictive maintenance as an auxiliar procedure in the fail detection in equipments, most specifically in the rotative ones, and with that help the maintenance team to have conditions to foresee the right time to do the swap of the components of the systems, what would lead to failures. Knowing the exact moment the resources of people and money can be focused in the critic operations to the plant. This technic has been already studied for more then 30 years and was widely used in this work, not only as an equipment condition verification method, but also, after the equipment replacement, was used to prove that the new fan was operating under the best work conditions and with that maintenance could return to contol the vibration level of the equipment, not being necessary any kind of intervention

Controle de qualidade em equipamentos de tomografia computadorizada

The computed tomography, devised by Godfrey Hounsfield and Allan Cormack, is in its fourth decade of the clinical use and has presented to be a very useful tool in the diagnosis of several pathologies. For this reason, its use is increasing each day, due to technological progress since its creation. Due to be more and more utilized, the equipment must be in good operating conditions, because it is subject to variance and wearing, damage the quality of diagnosis. To evaluate whether the performance of the scanner remains constant along the time and the dose received by the patient is within the desired limits, periodic tests of quality control must be performed. For this subject, the regulation 453 (June 01, 1998) was created, which determines the need of the implementation of a program for quality assurance (PGQ), where, in addition to the tests of quality control, are established the necessary measurements for the proper functioning of the equipment, generating a trustworthy diagnosis, reducing the dose for the patient and the costs. In this document, are presented tests of quality control carried out in hospitals of the city of Sao Paulo carried out together with the Technical Section of Applications by Imaging Diagnostic (STADI) of the Institute of Electrotechnics and Energy of the University of São Paulo (IEE/USP)

Estudo de caso de controle estatístico de processo: levantamento estatístico de defeitos em molduras

This graduate work approaches the study of Statistical Process Control - SPC, in a stage production of an industrial frame, aiming to use the tool of statistical process control (SPC) to assess the process capability. Where the process needs improvement as well not meet the specifications. Assessing the needs that the company needs to improve quality management, and the difficulties they present during the implementation of the CEP. The present study is to use the method of case study. The results are presented through study of the level of defects using Pareto diagrams and control chart by - (p) fraction defective, and checking the capacity and stability of the process using control charts and histograms XbarraR. The process demonstrated the need for improvements in process and quality management. At the end of the work are presented suggestions for improving the quality system of the company

Aplicação dos conceitos de RCM e a ferramenta FMEA no aumento de confiabilidade em equipamentos de uma indústria química

The growing demand for quality at competitive prices and fast production process put to the test function in the industrial Maintenance. The need for equipment with high availability to fit this fierce competitiveness makes maintenance becomes essentially reliable. Despite this current context, many companies still have an old view of maintenance, focused only on corrective services, and proposals for change are often neglected due to the sense of urgency day to day. Thus, this study aims to demonstrate through theoretical applicability of simple tool, but of great value in increasing reliability within the maintenance sector of an industry, applying the concepts of Reliability Centered Maintenance – RCM and Analysis tool Failure Modes and Effects – FMEA in equipment of a chemical company directly involved in the manufacturing process of the brake fluid, which this product is used in vehicles around the country. That way, you can identify the types, occurrence and criticality of each failure and evaluate assertively decision making for each device, avoiding unnecessary downtime and potential failures of the same

A calculadora como ferramenta de aprendizagem

This paper talks about the importance of the calculator as an aid to student learning, being a powerful educational tool when used properly by the teachers. It‟s also exposed some issues related to the calculator to better understand concepts that help the student learning. As a last activity there is an applied research with Math Teachers at Ana Fausta de Moraes school in Guaratinguetá town, SP, in order to expose the reality about the use of the calculator as a teaching resource

Estudo de caso de controle estatístico de processo: levantamento da variação de espessura de tábuas de pinus

This graduate work approaches the study of Statistical Process Control - SPC, in a stage production of an industrial frame, aiming to use the tool of statistical process control (SPC) to assess the process capability. Where the process needs improvement as well not meet the specifications. Assessing the needs that the company needs to improve quality management, and the difficulties they present during the implementation of the CEP. The present study is to use the method of case study. The results are presented through study, and checking the capacity and stability of the process using control charts XbarraR. The process demonstrated the need for improvements in process and quality management. At the end of the work are presented suggestions for improving the quality system of the company

Estudo exploratório sobre o desempenho em aritmética utilizando o soroban como ferramenta auxiliar

Pós-graduação em Matemática em Rede Nacional - IBILCE

A dengue como ferramenta de interdisciplinaridade e popularização científica entre estudantes de ensino fundamental

The majority of the population knows their role in dengue control, preventing the accumulation of water in containers as potential breeding sites of Aedes aegypti, the main vector of dengue. Also known chemical control, widely used by the institutions responsible for the control of endemic diseases. On the other hand, unaware that an alternative measure such biological control through a microbial biopesticide, safe, harmless to health and the environment, can be adopted. Thus, this work reported for elementary school students, simply and clearly, the biological control of mosquitoes through bacterial biopesticide produced locally. Moreover, promoted the interdisciplinary teaching of science and mathematics through the data tabulation and charting on interviews conducted by students, about the level of knowledge of the population about dengue and other related variables.

Projeto e concepção de um quadcopter utilizando o controle PID

The present work refers to the design, conception and development of a quadcopter based on PID controllers, a widespread microcontroller on the market was being implemented, the Arduino. Also made use of LabVIEW programming tool from National Instruments company for the quadcopter control and telemetry. For the control, LabVIEW software acquired the joystick commands, making the necessary adjustments to the perfect interpretation by microcontroller on the quadcopter and adjusts the parameters of PID controllers. For telemetry, data relating to quadcopter behavior are received, interpreted and presented in an intuitive user interface. In the first part of this graduate work presents the theoretical background on the subject, with a brief history about the quadcopters, followed by the main projects in the academic and commercial matters. Also are presented the theories of communications used in the design and PID control. Then an overview of the dynamic and mathematical model is demonstrated. Having done this, the physical and computer components required to complete the project are showed and the results are achieved consequently. Finally, a conclusion is made taking into account the results obtained. In this work will be presented the PID control of quadcopter translational movements only to roll and pitch movements

Implantação do sistema kanban para elementos de fixação em maquinas de movimentação de terra

Always seeking the maximum profit under the reduced production time and lower number of failures, companies are increasingly evolving and going after continuous improvement in order to remain competitive in the market. Thus, increasingly there is investment in the management system Lean manufacturing. Lean system is very important, because through it, the maximum value is added in the final product. Being measured by the efficiency and reducing failures to zero. In the studied company, Lean manufacturing system came into effect through the kanban system for purchasing, control and distribution of bulk material used in the assembly of the final product, which are earth-moving machines. It is very important to check the great change made in the company with the implementation of kanban. All inventory management becomes visual, elements are arranged in an organized manner, with addresses in structures, calculated in special boxes and finally, assemblers have the guarantee of an item supply, with the distribution cars located on their assembly area. This study participates effectively assuring the supply. Avoiding any failure on the lack of material, non-compliance of delivery times to the customer and maintenance of over-stock or obsolete inventory, in which case both cause financial loss to the company

Efeitos de pontos de contato corporal e orientação segmentar na sensibilidade háptica durante o uso do sistema âncora em tarefas de controle postural

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Apoio à execução de experimentos controlados usando uma ontologia para empacotamento: a ferramenta OntoExpTool

Pós-graduação em Ciência da Computação - IBILCE

Desenvolvimento da ferramenta MS2PSOC: Tradução de modelos descritos no matlab/simulink para o ambiente psoc creator

Pós-graduação em Engenharia Elétrica - FEIS