Desenvolvimento e implementação de uma interface de comunicação para controlador robótico industrial

O presente trabalho trata do desenvolvimento de um sistema para comunicação bidirecional entre um robô ABB IRB 1400, originalmente desprovido de uma interface de comunicação de dados, e um microcomputador PC padrão. Para a implementação utilizou-se a porta paralela do PC e uma Placa E/S Digital para sinais discretos disponível no controlador do robô. Devido à diferença de caracterìsticas elétricas entre as interfaces utilizadas, foi necessáio projetar um dispositivo que permitisse o ajuste dos niveis de tensão entre os sinais. Osistema foi elaborado visando sua utilização por programas desenvolvidos pelos usuários em ambiente Windows, sendo disponibilizadas rotinas para envio e recebimento de dados através de um protocolo próprio. Na plataforma PC as rotinas estão encapsuladas em um arquivo compilado no formato DDL (Dynamic Link Library). No controlador do robô as rotinas foram criadas em linguagem ABB RAPID. O programa desenvolvido pelo usuário é responsável por todo o processamento das informações, que são então enviadas através do sistema de comunicação a um outro programa específico sendo executado no controlador do robô, o qual interpreta os dados e ativa as tarefas correspondentes. Os resultados obtidos foram satisfatórios, sendo a velocidade de transmissão limitada pela velocidade da Placa E/S do robô. Utilizando-se uma placa ABB DSQC 223, atingiram taxas de transmissão da ordem de 12,5 bytes/s para envio e 6,1 bytes/s para o recbimento de informaçãoes a partir do PC. O sistema demonstrou ser uma alternativa viável para o controle do robô através de um microcomputador PC, apresentando boa confiabilidade, baixo custo e faciliadade de implementação.

Arquitetura em hardware para co-processamento de tarefas em sistema operacional tempo real

Os sistemas operacionais de tempo real, assim como os sistemas embarcados, estão inseridos no desenvolvimento de projetos de automação industrial segmentado em diversas áreas de pesquisa como, por exemplo, robótica, telecomunicações, e barramentos industriais. As aplicações de sistemas modernos de controle e automação necessitam de alta confiabilidade, velocidade de comunicação, além de, determinismo temporal. Sistemas operacionais de tempo real (SOTR) têm-se apresentado como uma solução confiável quando aplicadas em sistemas que se fundamentam no cumprimento de requisitos temporais. Além disso, o desempenho computacional é totalmente dependente da capacidade operacional da unidade de processamento. Em um sistema monoprocessado, parte da capacidade computacional da unidade de processamento é utilizada em atividades administrativas, como por exemplo, processos de chaveamento e salvamento de contexto. Em decorrência disto, surge a sobrecarga computacional como fator preponderante para o desempenho do sistema. Este trabalho tem por objetivo, analisar e fornecer uma arquitetura alternativa para realizar o co-processamento de tarefas em uma plataforma IBM-PC, aumentando a capacidade computacional do microprocessador principal. No presente trabalho, a plataforma de coprocessamento realiza a execução do algoritmo de escalonamento do sistema operacional, desta forma distribuiu-se o gerenciamento temporal das tarefas entre a plataforma IBM-PC e a unidade de co-processamento.

Desenvolvimento e aplicação de um sistema de visão para robô industrial de manipulação

O presente trabalho aborda o desenvolvimento e aplicação de um sistema de visão para um robô industrial, dedicado a tarefas de manipulação. Para seu desenvolvimento, foi feita a integração de equipamentos comerciais de captação de vídeo com um PC, onde é executada a análise das imagens. Os resultados são enviados ao controlador do robô através de um sistema de comunicação, sendo recebidos por um programa de manipulação que executa as tarefas. Como peça central do sistema de captura e processamento de imagens tem-se o programa RobVis, desenvolvido em linguagem Visual Basic e que tem a função principal de identificar a posição e orientação de objetos a serem manipulados pelo robô, que interpreta as imagens captadas por uma câmera de vídeo do tipo CCD, ligada a uma placa de captura de imagens. Após definidas as variáveis de interesse, estas são transmitidas ao controlador do robô, através de um sistema de comunicação IRBCom, desenvolvido no Laboratório de Robótica da UFRGS. No controlador, um programa de manipulação escrito em linguagem Rapid, nativa do manipulador empregado, recebe as variáveis para execução da tarefa de captura de objetos em posições aleatórias e depósito em um ponto de descarga pré-definido. O sistema de visão desenvolvido caracteriza-se como de fácil implementação e aplicação em tarefas de manipulação robótica industrial que exijam a determinação da posição e orientação de objetos de trabalho dentro de uma porção do volume de trabalho do robô, coberta por um sistema de visão.

Gestão estratégica da segurança do trabalho na área industrial de uma usina de etanol, açúcar e energia elétrica

Conseguir lucratividade em uma usina produtora de etanol, açúcar e energia elétrica, sem acidentes do trabalho, passou a ser grande desafio. Portanto, a Gestão de Segurança transformou-se em estratégica, buscando levar o valor empresarial “segurança” como instrumento fundamental na execução da produção. Levantamos a história da implantação do Sistema de Gestão da Segurança da usina e também checamos através de indicadores universais de segurança, se os números alcançados, apresentam evolução satisfatória, procurando identificar as ações aplicadas e os resultados. No processo de evolução desse sistema, a usina tornou-se a primeira do mundo na obtenção de uma Certificação Internacional de Segurança (OHSAS 18001) do setor sucroenergético, além de alcançar quarto lugar em processamento de cana no Brasil. Aplicando o Instrumento ICOS – Inventário de Clima Organizacional de Segurança em 2005 e novamente em 2011, avaliamos se com crescimento da produção, aliado ao aumento do número de trabalhadores, o valor segurança manteve-se presente. Também apuramos possíveis fatores como tempo de empresa, escolaridade, proporção de acidentes e entrevistas com os responsáveis que contribuíram para a existência de setores há 16 anos sem perder um dia de trabalho por acidente. Finalmente, concluímos que lidar com gestão da segurança, capacita a empresa para enfrentar dificuldades do mercado, pois sucesso hoje, pode não valer para o dia seguinte caso ocorra acidente. Prevenir, educar, buscar conhecimento, celebrar, cobrar resultados e ousadia, definem o estilo de administração da usina estudada.

O que fazer com o bagaço da cana de açúcar? Uma abordagem da teoria das opções reais aplicada a usinas de processamento de etanol e açúcar da região de Piracicaba

O uso de resíduos da indústria canavieira, em particular o bagaço, é tema que ganha relevância desde a retomada do mercado de biocombustíveis, quando a produção ampliou significativamente o volume daquela biomassa. Existem trabalhos que tratam de apresentar subprodutos e tecnologias alternativas para o uso deste material e um conjunto outro de trabalhos apresenta análise de cenários de viabilidade econômica destas tecnologias. O objetivo deste trabalho é avaliar pela perspectiva econômico-financeira o melhor uso do bagaço da cana em um caso real. Para isto foi utilizada a Teoria das Opções Reais, como forma de analisar a melhor destinação do bagaço no horizonte de tempo de cinco anos, em uma dada a região, em um estudo de caso de uma usina sucroenergética com possibilidade de produção de etanol de segunda geração e/ou venda do bagaço in natura. Desta forma concluiu-se no caso apresentado que a produção de etanol de segunda geração em escala industrial não atrai investimentos e, sob esta ótica, deve ser postergada pois requer significativa aumento de produtividade por tonelada de matéria seca, além de substancial redução no custo das enzimas de fermentação. Ainda, foi possível também identificar a necessidade de políticas de incentivo para atração de investimentos.

Influência da adição de resíduo de caulim nas propriedades tecnológicas de uma massa padrão de porcelanato produzido em escala industrial

VARELA, M. L. et al. Influência da adição de resíduo de caulim nas propriedades tecnológicas de uma massa padrão de porcelanato produzido em escala industrial. Cerâmica, v.55, n.334 p.209-215. 2009.ISSN 0366-6913.Disponível em: . Acesso em: 06 out. 2010.

Avaliação do desempenho do aço D6 tratado termicamente e netretado em plasma com gaiola catódica visando aplicação industrial

In this research there was an evaluation of the best conditions of nitriding in plasma within a cathodic cage at an atmosphere of 80% N2-20%H2 in samples of tool manganese steel AISI D6, cold working, treated thermally in the following conditions: tension relief, treated thermally to temperature of maximum heat, temperate heat and temperate and temperate heat. A pressure of 2.5mbar and temperatures of 400 and 300ºC com treatment time of two and three hours were used to evaluate its performance as cutting tool (punch) of bicycle backs. Hardness, micro-structural aspects (layer thickness, interface, grain size etc), and crystal phases on the surface were appraised. When treated to tension relief, thermally treated to maximum heat temperature, temperature and temperate heat, the samples presented hardness levels of 243HV, 231HV, 832HV, and 653HV, respectively. The best nitrification conditions were: four hours and 300ºC for heat samples. A superficial hardness of 1000HV and a 108µm thickness for the nitrided layer were found in these samples

Avaliação do desempenho do aço AISI D2 tratado termicamente e nitretado em plasma com gaiola catódica visando aplicação industrial

In the research, steel samples tool AISI D2, treated thermally, in the conditions: relief of tension, when maximum, seasoned and seasoned was treated thermally in the temperature of revenimento and revenida had been nitrited in plasma with cathodic cage, in atmosphere of 80%N2:20%H2. One used pressure of 2,5 mbar, 400 and 480°C temperatures with treatment time of 3 and 4 hours, with the objective to evaluate its performance in pipes cut tool. It was compared that the performance of the same steel when only thermally treated, both with tension relief. It was evaluated its hardness. Microstructural aspects (the layer thickness, interface, graisn size, etc) and crystalline phases on the surface. Besides, it was verified accomplishment possibility of nitriding simultaneous to annealing treatment. The tempering samples had presented hardness levels of 600 HV, while in nitrited samples these values had been 1100 HV

Desenvolvimento de membranas porosas de alumina para fins de tratamento de efluente industrial têxtil

Textile production has been considered as an activity of high environmental impact due to the generation of large volumes of waste water with high load of organic compounds and strongly colored effluents, toxic and difficult biodegradability. This thesis deals with obtaining porous alumina ceramic membranes for filtration of textile effluent in the removal of contaminants, mainly color and turbidity. Two types of alumina with different particle sizes as a basis for the preparation of formulation for mass production of ceramic samples and membranes. The technological properties of the samples were evaluated after using sintering conditions: 1,350ºC-2H, 1,450ºC-30M, 1,450ºC-2H, 1,475ºC-30M and 1,475ºC-2H. The sintered samples were characterized by XRD, XRF, AG, TG, DSC, DL, AA, MEA, RL, MRF-3P, SEM and Intrusion Porosimetry by Mercury. After the characterization, a standard membrane was selected with their respective sintering condition for the filterability tests. The effluent was provided by a local Textile Industry and characterized at the entry and exit of the treatment plant. A statistical analysis was used to study the effluent using the following parameters: pH, temperature, EC, SS, SD, oil and grease, turbidity, COD, DO, total phosphorus, chlorides, phenols, metals and fecal coliform. The filtered effluent was evaluated by using the same parameters. These results demonstrate that the feasibility of the use of porous alumina ceramic membranes for removing contaminants from textile effluent with improved average pore size of 0.4 micrometre (distribution range varying from 0,025 to 2.0 micrometre), with total porosity of 29.66%, and average percentages of color removal efficiency of 89.02%, 92.49% of SS, turbidity of 94.55%, metals 2.70% (manganese) to 71.52% (iron) according to each metal and COD removal of 72.80%

Estudo de adsorvente obtido de terras diatomáceas para remoção de metais pesados em águas produzidas: processamento, caracterização e dinâmica em leito fixo

The acceleration of industrial growth in recent decades on all continents aroused the interest of the companies to counter the impacts produced on the environment, spurred primarily by major disasters in the petroleum industry. In this context, the water produced is responsible for the largest volume of effluent from the production and extraction of oil and natural gas. This effluent has in its composition some critical components such as inorganic salts, heavy metals (Fe, Cu, Zn, Pb, Cd, ), presence of oil and chemicals added in the various production processes. In response to impact, have been triggered by research alternative adsorbent materials for water treatment and water produced, in order to removing oils and acids and heavy metals. Many surveys of diatomaceous earth (diatomite) in Brazil involve studies on the physico-chemical, mineral deposits, extraction, processing and applications. The official estimated Jazi are around 2.5 million tonnes, the main located in the states of Bahia (44%) and Rio Grande do Norte (37,4%). Moreover, these two states appear as large offshore producers, earning a prominent role in research of adsorbents such as diatomite for treatment of water produced. Its main applications are as an agent of filtration, adsorption of oils and greases, industrial load and thermal insulator. The objective of this work was the processing and characterization of diatomite diatomaceous earth obtained from the municipality of Macaíba-RN (known locally as tabatinga) as a low cost regenerative adsorbent for removal of heavy metals in the application of water produced treatment. In this work we adopted a methodology for batch processing, practiced by small businesses located in producing regions of Brazil. The characterization was made by X-ray diffraction (XRD), scanning electron microscopy (SEM) and specific surface area (BET). Research conducted showed that the improvement process used was effective for small volume production of diatomite concentrated. The diatomite obtained was treated by calcination at temperature of 900 oC for 2 hours, with and without fluxing Na2CO3 (4%), according to optimal results in the literature. Column adsorption experiments were conducted to percolation of the in nature, calcined and calcined fluxing diatomites. Effluent was used as a saline solution containing ions of Cu, Zn, Na, Ca and Mg simulating the composition of produced waters in the state of Rio Grande do Norte, Brazil. The breakthrough curves for simultaneous removal of copper ions and zinc as a result, 84.3% for calcined diatomite and diatomite with 97.3 % for fluxing. The calcined fluxing diatomite was more efficient permeability through the bed and removal of copper and zinc ions. The fresh diatomite had trouble with the permeability through the bed under the conditions tested, compared with the other obtained diatomite. The results are presented as promising for application in the petroleum industry

Variáveis biométricas da cana-de-açúcar fertilizada com resíduos orgânico e industrial e irrigada com água servida e potável

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Avaliação do processo industrial da cerâmica vermelha na região do Seridó - RN

Particularly in Braziland in Rio Grande do Norte, companies manufacturing red ceramic, play an important role as agents of development to study the region Seridó- RN, specific place for carrying out the research. It is observed in this region a concentration of red ceramic industries of small size, which, despite its importance in the ceramic, they are unable to enjoy or use the new forms of administrative management and technological advances designed and offered by universities, centers of research and projects of governments, remained almost entirely outside the progress and modernization, technological and administrative. These companies still have outdated technology, and management processes, providing quality problems and standardization of end products. Upon these conditions are the companies going through crisis and struggling to survive alone and without assistance. The region of Seridó-RN, lets make a detailed case study of red ceramic companies in the region proposed from the existing theoretical and actual lifting of the condition of the product manufacturing red ceramic, allowing through this overview of the implementation of collect samples of raw materials, allowing the study of each ceramic industry that contributed to the participation of the research, which was determined parameters such as: analysis of the physical, chemical and technological properties of raw materials, characterization of the processes used, raising the technological resources considering equipment, machinery, supplies, raw materials and facilities available and its organization by type of products from companies involved in this study. The methodology consists of the following steps: collection of raw material, crushing and screening, characterization of raw materials (liquid limit, chemical analysis, mineralogical analysis, differential thermal analysis, sieve analysis), mixing, forming, cutting, drying and burning of ceramic bodies and bodies of evidence. The results showed that it was clay with distinct characteristics with respect to plasticity. With respect to the different compositions of mixtures of ceramic masses, we conclude that the ceramic properties showed a direct proportionality with increasing fraction of the clay not plastic. However, the compositions of the masses studied proved to be the most appropriate for the types of simulated clay for use in ceramics. Adopted in the ceramic processing made it possible to obtain products the resulted in consistent properties, and in some cases even exceeding the requirements of technical studies and standard-Brazilian clays to obtain ceramic products such as tiles, bricks and tiles to floor. Based on the discussions from the results obtained in the various processing steps of this work, one can draw conclusions according to the physico-chemical and mineralogical properties of raw materials, the properties of ceramic products burned and analysis. This work may be used by other researchers, private companies and governmental organizations, undergraduate students and graduate, can develop studies and future research to: develop projects to modify the furnaces; mapping projects develop and rationalize the exploitation of raw materials ;promoting reforestation and forest management; develop reduction projects and recovery of waste; develop training projects in manpower sector, and develop security projects, improving the conditions of work in the area pottery

Otimização do tempo e temperatura no processamento da gipsita oriunda dos cristalizadores da produção de sal para obter gesso de uso na construção civil

During the process of the salt production, the first the salt crystals formed are disposed of as industrial waste. This waste is formed basically by gypsum, composed of calcium sulfate dihydrate (CaSO4.2H2O), known as carago cru or malacacheta . After be submitted the process of calcination to produce gypsum (CaSO4.0,5H2O), can be made possible its application in cement industry. This work aims to optimize the time and temperature for the process of calcination of the gypsum (carago) for get beta plaster according to the specifications of the norms of civil construction. The experiments involved the chemical and mineralogical characterization of the gypsum (carago) from the crystallizers, and of the plaster that is produced in the salt industry located in Mossoró, through the following techniques: x-ray diffraction (XRD), x-ray fluorescence (FRX), thermogravimetric analysis (TG/DTG) and scanning electron microscopy (SEM) with EDS. For optimization of time and temperature of the process of calcination was used the planning three factorial with levels with response surfaces of compressive mechanical tests and setting time, according norms NBR-13207: Plasters for civil construction and x-ray diffraction of plasters (carago) beta obtained in calcination. The STATISTICA software 7.0 was used for the calculations to relate the experimental data for a statistical model. The process for optimization of calcination of gypsum (carago) occurred in the temperature range from 120° C to 160° C and the time in the range of 90 to 210 minutes in the oven at atmospheric pressure, it was found that with the increase of values of temperature of 160° C and time calcination of 210 minutes to get the results of tests of resistance to compression with values above 10 MPa which conform to the standard required (> 8.40) and that the X-ray diffractograms the predominance of the phase of hemidrato beta, getting a beta plaster of good quality and which is in accordance with the norms in force, giving a by-product of the salt industry employability in civil construction

Reúso de água no processamento de jeans na indústria têxtil

This study aims to assess the potential for industrial reuse of textile wastewater, after passing through a physical and chemical pretreatment, into denim washing wet processing operations in an industrial textile laundry, with no need for complementary treatments and dilutions. The methodology and evaluation of the proposed tests were based on the production techniques used in the company and upgraded for the experiments tested. The characterization of the treated effluent for 16 selected parameters and the development of a monitoring able to tailor the treated effluent for final disposal in accordance with current legislation was essential for the initiation of testing for reuse. The parameters color, turbidity, SS and pH used were satisfactory as control variables and presents simple determination methods. The denim quality variables considered were: color, odor, appearance and soft handle. The tests were started on a pilot scale following complexity factors attributed to the processes, in denim fabric and jeans, which demonstrated the possibility of reuse, because there was no interference in the processes and at quality of the tested product. Industrial scale tests were initiated by a step control that confirmed the methodology efficiency applied to identify the possibility of reuse by tests that precede each recipe to be processed. 556 replicates were performed in production scale for 47 different recipes of denim washing. The percentage of water reuse was 100% for all processes and repetitions performed after the initial adjustment testing phase. All the jeans were framed with the highest quality for internal control and marketed, being accepted by contractors. The full-scale use of treated wastewater, supported by monitoring and evaluation and control methodology suggested in this study, proved to be valid in textile production, not given any negative impact to the quality the produced jeans under the presented conditions. It is believed that this methodology can be extrapolated to other laundries to determine the possibility of reuse in denim washing wet processing with the necessary modifications to each company.

Análise bromatológica de carnes antes e após o processamento para obtenção de charque

The process of salting and drying in the sun is used to preserve meat since the beginning of civilization. There is evidence that this preservation technique has arisen in Egypt, between 4,000 and 5,000 years ago. In our country, according to literature, was the first industrial product that gave the appearance of beef jerky, beef being produced, where about 70% to 75% of the muscle is composed of water, where it will be around 45% as a final product, according to the law in his article RIISPOA No. 432 provides that the jerky should contain no more than this amount of moisture in the muscular portion, or more than 15% of total ash with tolerance of up to 5% variation . Besides this parameter, proteins, lipids, ash, and minerals were analyzed in samples before and after the manufacturing process to know the content of these nutrients. Since these are considered important in product quality, thus the concentration in these samples, respectively, in the flesh Front (CD and CHD) before and after the manufacturing process for humidity were respectively 75.28% and 47.38% , the protein was 14.17 and 22.20 g / 100 g sample, 6.360 and 4.251 of lipids g/100g of the sample, and the ashes 0.974 9.144 g/100g sample, minerals like calcium and 4.074 30 , 06 ppm, sódio0, 055 and 5.401 g / L, sodium chloride, 0.139 and 13.74 g / L, potassium 237.5 and 166.8 ppm, 1.721 and 3.295 ppm iron, 0.143 and 0.135 ppm phosphorus, zinc and 4.690 6.905 ppm; magnésio14, 63 e13, 75 ppm manganese .017 e0, 007ppm, copper 0.057 and 0.039 ppm in the case of needle-type meat (CPA and CHPA), 68.04% and 44.17%, protein 13 , 72, and 24.42 g/100g of sample, 1.137 in the ash and 12.68 g / 100g of sample, and the minerals calcium 17.11 and 12.89 ppm; sódio0, 123 and 4.871 g / L, sodium chloride 0.312 and 12.39 g / L, potassium 305.3 and 182.1 ppm; ferro1, 817 and 1.513 ppm, 0.273 and 0.139 ppm phosphorus, zinc 6.305 and 4.783 ppm, 27.95 and 15.85 ppm magnesium, manganese and 0.025 0.011 ppm, 0.057 and 0.143 ppm copper and chromium 0.014 and 0.068 ppm