Registro global de nuvens de pontos RGB-D em tempo real usando fluxo óptico e marcadores

Registration of point clouds captured by depth sensors is an important task in 3D reconstruction applications based on computer vision. In many applications with strict performance requirements, the registration should be executed not only with precision, but also in the same frequency as data is acquired by the sensor. This thesis proposes theuse of the pyramidal sparse optical flow algorithm to incrementally register point clouds captured by RGB-D sensors (e.g. Microsoft Kinect) in real time. The accumulated errorinherent to the process is posteriorly minimized by utilizing a marker and pose graph optimization. Experimental results gathered by processing several RGB-D datasets validatethe system proposed by this thesis in visual odometry and simultaneous localization and mapping (SLAM) applications.

FTE-LEACH: um protocolo energeticamente eficiente e tolerante a falhas aplicado às redes industriais de sensores sem fio

A Wireless Sensor Network (WSN) consists of distributed devices in an area in order to monitor physical variables such as temperature, pressure, vibration, motion and environmental conditions in places where wired networks would be difficult or impractical to implement, for example, industrial applications of difficult access, monitoring and control of oil wells on-shore or off-shore, monitoring of large areas of agricultural and animal farming, among others. To be viable, a WSN should have important requirements such as low cost, low latency, and especially low power consumption. However, to ensure these requirements, these networks suffer from limited resources, and eventually being used in hostile environments, leading to high failure rates, such as segmented routing, mes sage loss, reducing efficiency, and compromising the entire network, inclusive. This work aims to present the FTE-LEACH, a fault tolerant and energy efficient routing protocol that maintains efficiency in communication and dissemination of data.This protocol was developed based on the IEEE 802.15.4 standard and suitable for industrial networks with limited energy resources

Modelagem dos efeitos da irradiação luminosa no cérebro de camundongos e rastreamento de neurônios durante experimentos de microscopia de fluorescência

The fluorescent proteins are an essential tool in many fields of biology, since they allow us to watch the development of structures and dynamic processes of cells in living tissue, with the aid of fluorescence microscopy. Optogenectics is another technique that is currently widely used in Neuroscience. In general, this technique allows to activate/deactivate neurons with the radiation of certain wavelengths on the cells that have ion channels sensitive to light, at the same time that can be used with fluorescent proteins. This dissertation has two main objectives. Initially, we study the interaction of light radiation and mice brain tissue to be applied in optogenetic experiments. In this step, we model absorption and scattering effects using mice brain tissue characteristics and Kubelka-Munk theory, for specific wavelengths, as a function of light penetration depth (distance) within the tissue. Furthermore, we model temperature variations using the finite element method to solve Pennes’ bioheat equation, with the aid of COMSOL Multiphysics Modeling Software 4.4, where we simulate protocols of light stimulation tipically used in optogenetics. Subsequently, we develop some computational algorithms to reduce the exposure of neuron cells to the light radiation necessary for the visualization of their emitted fluorescence. At this stage, we describe the image processing techniques developed to be used in fluorescence microscopy to reduce the exposure of the brain samples to continuous light, which is responsible for fluorochrome excitation. The developed techniques are able to track, in real time, a region of interest (ROI) and replace the fluorescence emitted by the cells by a virtual mask, as a result of the overlay of the tracked ROI and the fluorescence information previously stored, preserving cell location, independently of the time exposure to fluorescent light. In summary, this dissertation intends to investigate and describe the effects of light radiation in brain tissue, within the context of Optogenetics, in addition to providing a computational tool to be used in fluorescence microscopy experiments to reduce image bleaching and photodamage due to the intense exposure of fluorescent cells to light radiation.

Otimização do controle do diagrama de radiação de radares de varredura para rastreio de foguetes usando o método GAMMC para o Caso Planar (GAMMC-P)

Launching centers are designed for scientific and commercial activities with aerospace vehicles. Rockets Tracking Systems (RTS) are part of the infrastructure of these centers and they are responsible for collecting and processing the data trajectory of vehicles. Generally, Parabolic Reflector Radars (PRRs) are used in RTS. However, it is possible to use radars with antenna arrays, or Phased Arrays (PAs), so called Phased Arrays Radars (PARs). Thus, the excitation signal of each radiating element of the array can be adjusted to perform electronic control of the radiation pattern in order to improve functionality and maintenance of the system. Therefore, in the implementation and reuse projects of PARs, modeling is subject to various combinations of excitation signals, producing a complex optimization problem due to the large number of available solutions. In this case, it is possible to use offline optimization methods, such as Genetic Algorithms (GAs), to calculate the problem solutions, which are stored for online applications. Hence, the Genetic Algorithm with Maximum-Minimum Crossover (GAMMC) optimization method was used to develop the GAMMC-P algorithm that optimizes the modeling step of radiation pattern control from planar PAs. Compared with a conventional crossover GA, the GAMMC has a different approach from the conventional one, because it performs the crossover of the fittest individuals with the least fit individuals in order to enhance the genetic diversity. Thus, the GAMMC prevents premature convergence, increases population fitness and reduces the processing time. Therefore, the GAMMC-P uses a reconfigurable algorithm with multiple objectives, different coding and genetic operator MMC. The test results show that GAMMC-P reached the proposed requirements for different operating conditions of a planar RAV.

Geração de padrão de marcha adaptável para uma órtese ativa de membros inferiores

Atualmente com o crescente aumento de dispositivos robóticos destinados para aplicação na área de mobilidade de pessoas que sofreram algum tipo de lesão medular, se faz necessário desenvolver novas ferramentas para tornar tais equipamentos mais adaptáveis, seguros e autônomos. Para que as órteses robóticas que auxiliam na locomoção de pessoas paraplégicas possam desempenhar sua função, estas devem ser capazes de reproduzir os movimentos perdidos com o máximo de fidelidade e segurança em ambientes que eventualmente possam conter obstáculos de diferentes tipos como buracos, escadas e calçadas. As órteses robóticas para membros inferiores têm a capacidade de caminhar, subir e descer degraus, todavia, esses movimentos, na maioria das vezes, não se adaptam ao ambiente, sendo assim, para uma órtese robótica que foi projetada para subir um degrau com uma determinada altura ao se deparar com um degrau maior provavelmente não conseguirá realizar essa tarefa com a mesma segurança. Para solucionar esse e outros problemas, esse trabalho apresenta um Sistema de Auxílio à Locomoção (SAL) dotado de um planejador de passos e um gerador de referências angulares com características antropomórficas para a órtese robótica Ortholeg. O SAL utiliza dados antropométricos do usuário para gerar um padrão de marcha personalizado, dessa forma, a órtese em questão é capaz de adaptar o tamanho do passo para não colidir com obstáculos presentes no ambiente e transpor buracos com diversos tamanhos, subir e descer escadas e calçadas com diferentes valores de altura e comprimento. Para desenvolver o sistema de auxílio à locomoção foram adaptadas técnicas de planejamento de caminho, usadas a princípio em robôs bípedes. São apresentados vários experimentos que mostram a órtese Ortholeg realizando alguns movimentos com características antropomórficas para diferentes distâncias de caminhada e três tipos de obstáculos: degrau, buraco e calçada. A autonomia adquirida com a utilização do sistema de planejamento apresentado facilita a utilização de órteses robóticas como também garante uma maior segurança ao usuário.

Desenvolvimento da célula base de microestruturas periódicas de compósitos sob otimização topológica

This thesis develops a new technique for composite microstructures projects by the Topology Optimization process, in order to maximize rigidity, making use of Deformation Energy Method and using a refining scheme h-adaptative to obtain a better defining the topological contours of the microstructure. This is done by distributing materials optimally in a region of pre-established project named as Cell Base. In this paper, the Finite Element Method is used to describe the field and for government equation solution. The mesh is refined iteratively refining so that the Finite Element Mesh is made on all the elements which represent solid materials, and all empty elements containing at least one node in a solid material region. The Finite Element Method chosen for the model is the linear triangular three nodes. As for the resolution of the nonlinear programming problem with constraints we were used Augmented Lagrangian method, and a minimization algorithm based on the direction of the Quasi-Newton type and Armijo-Wolfe conditions assisting in the lowering process. The Cell Base that represents the composite is found from the equivalence between a fictional material and a preescribe material, distributed optimally in the project area. The use of the strain energy method is justified for providing a lower computational cost due to a simpler formulation than traditional homogenization method. The results are presented prescription with change, in displacement with change, in volume restriction and from various initial values of relative densities.

Análise de desempenho de algoritmos de compressão de dados com perda para aplicações industriais

The great amount of data generated as the result of the automation and process supervision in industry implies in two problems: a big demand of storage in discs and the difficulty in streaming this data through a telecommunications link. The lossy data compression algorithms were born in the 90’s with the goal of solving these problems and, by consequence, industries started to use those algorithms in industrial supervision systems to compress data in real time. These algorithms were projected to eliminate redundant and undesired information in a efficient and simple way. However, those algorithms parameters must be set for each process variable, becoming impracticable to configure this parameters for each variable in case of systems that monitor thousands of them. In that context, this paper propose the algorithm Adaptive Swinging Door Trending that consists in a adaptation of the Swinging Door Trending, as this main parameters are adjusted dynamically by the analysis of the signal tendencies in real time. It’s also proposed a comparative analysis of performance in lossy data compression algorithms applied on time series process variables and dynamometer cards. The algorithms used to compare were the piecewise linear and the transforms.

Algoritmo eficiente para aquisição de sinais de GPS por software

O NAVSTAR/GPS (NAVigation System with Timing And Ranging/Global Po- sitioning System), mais conhecido por GPS, _e um sistema de navegacão baseado em sat_elites desenvolvido pelo departamento de defesa norte-americano em meados de 1970. Criado inicialmente para fins militares, o GPS foi adaptado para o uso civil. Para fazer a localização, o receptor precisa fazer a aquisição de sinais dos satélites visíveis. Essa etapa é de extrema importância, pois é responsável pela detecção dos satélites visíveis, calculando suas respectivas frequências e fases iniciais. Esse processo pode demandar bastante tempo de processamento e precisa ser implementado de forma eficiente. Várias técnicas são utilizadas atualmente, mas a maioria delas colocam em conflito questões de projeto tais como, complexidade computacional, tempo de aquisição e recursos computacionais. Objetivando equilibrar essas questões, foi desenvolvido um método que reduz a complexidade do processo de aquisição utilizando algumas estratégias, a saber, redução do efeito doppler, amostras e tamanho do sinal utilizados, além do paralelismo. Essa estratégia é dividida em dois passos, um grosseiro em todo o espaço de busca e um fino apenas na região identificada previamente pela primeira etapa. Devido a busca grosseira, o limiar do algoritmo convencional não era mais aceitável. Nesse sentido, um novo limiar foi estabelecido baseado na variância dos picos de correlação. Inicialmente, é feita uma busca com pouca precisão comparando a variância dos cinco maiores picos de correlação encontrados. Caso a variância ultrapasse um certo limiar, a região de maior pico torna-se candidata à detecção. Por fim, essa região passa por um refinamento para se ter a certeza de detecção. Os resultados mostram que houve uma redução significativa na complexidade e no tempo de execução, sem que tenha sido necessário utilizar algoritmos muito complexos.

Performance comparativa entre R437A e R134A paradrop-in em um condicionador de ar automotivo

The reduction in energy consumption is the main requirement to be satisfied in refrigeration and air conditioning by mechanical vapor compression system. In automotive system isn´t different. Thermal analyses in these systems are crucial for a better performance in automotive air conditioner. This work aims to evaluate the conditions of use of R134A refrigerant (used in vehicles) and compare with R437A (alternative refrigerant), varying the speed of the electric fan in the evaporator. All tests were performed in automotive air conditioning unit ATR600, simulating the thermal conditions of the system. The equipment is instrumented for data acquisition temperature, condensation and evaporation pressures and electrical power consumed to determine the coefficient of performance of the cycle. The system was tested under rotations of 800, 1600 and 2400 rpm with constant load of R- 134a. It occurred with the same conditions with R437A. Both recommended by the manufacturer. The results show that the best system performance occurs in the rotation of 800 RPM for both refrigerants.

Desenvolvimento de um painel sanduíche com carga de particulado oriundo de resíduo lignocelulósico para aplicação em produtos na área de equipamentos de proteção

This work aims to study and investigate the use of a hybrid composite polymer formed with blanket aramid (Kevlar 29) fiber blanket flax fiber and particulate dry endocarp of coconut (Cocos nucifera Linn), using as matrix an epoxy resin based thermoset for use in areas of protective equipment. Besides such material is used an aluminum plate, joined to the composite by means of glue based on epoxy and araldite commercial. The manufacturing process adopted was manual lamination (Hand Lay Up) to manufacture the hybrid composite. After the composite is prepared, an aluminum plate is subjected to pressure and glued to cure the adhesive. Layers of veil will also be used to separate the particulate from the linen blanket layer without disturbing the alignment of the fibers of the blankets. To characterize the mechanical and physical behavior was manufactured a plate of 800 x 600 mm of the hybrid composite, which were removed specimens for tests of water absorption to saturation; density; impact test (Charpy) and two test specimens for ballistic testing 220 mm x 200 mm to make a comparative study between the dry state and saturated water absorption and thus see the ballistic performance of these two conditions. The test was applied to make a comparative study of fracture in these two conditions, caused by penetrating ballistic missile (38 and 380). To test the impact (Charpy) will analyze the absorbed energy, fracture appearance and lateral contraction, also in dry condition and saturation of absorbed water, thereby analyzing situations where the impact load is relevant, such as bumps and shocks produced by stone, metal or wooden bars among others. The proposed configuration, along with the tests, has the purpose, application in the fields of equipment against ballistic impact, such as helmets; bullet proof vests; shields; protective packaging and other items to be identified in this research.

Influência do retardante de chamas nas propriedades mecânicas e flamabilidade em compósitos poliméricos de epóxi/fibra de curauá

Currently, there is a great search for materials derived from renewable sources. The vegetable fibers as reinforcement for polymer matrixes, has been used as an alternative to replace synthetic fibres, being biodegradable and of low cost. The present work aims to develop a composite material with epoxy resin reinforced with curauá fibre with the addition of alumina trihydrate (aluminum hydroxide, Al(OH)3) as a flame retardant, which was used in proportions of 10 %, 20% and 30% of the total volume of the composite. The curauá fibers have gone through a cleaning process with an alkaline bath of sodium hydroxide (NaOH ), parallelized by hand and cut carding according to the default length . They were molded composites with fibers 30cm. Composites were molded in a Lossy Mold with unidirectional fibres in the proportion of 20% of the total volume of the composite. The composites were prepared in the Chemical Processing Laboratory of the Textile Engineering Department at UFRN. To measure the performance of the material, tests for the resistance to traction and flexion were carried out. with samples that were later analyzed in the Electronic Microscopy Apparatus (SEM ). The composites showed good mechanical properties by the addition of flame retardant and in some cases, leaving the composite more vulnerable to breakage. These mechanical results were analyzed by chi-square statistical test at the 5% significance level to check for possible differences between the composite groups. Flammability testing was conducted based on the standard Underwriters Laboratory 94 and the material showed a satisfactory result taking their average burn rate (mm / min) decreasing with increasing addition of the flame retardant composite.

Análise do desempenho de um refrigerador doméstico funcionando com uma válvula de expansão micrométrica

Household refrigerators are equipments that represent a significant portion on the eletricity consumption of Brazilian homes. The use of these devices with low energy efficiency contributes to increase the energy consumption. The energy efficiency of a refrigerator is a function of the interaction between the coolant fluid and the components of the thermodynamic cycle. Changes in load and/or nature of the coolant may modify the condensing and/or evaporation pressures. The volumetric capacity of the compressor, the mass flow of coolant and the compression power are dependent parameters of the condensation and evaporation pressures. Thus, the expansion devices exert an importante role in the balance of these pressures, being fundamental for the better performance of the refrigeration cycle. This experimental research aims to investigate the sensitivity of the performance parameters of a household refrigerator operating with R134a and at different evaporation pressures. Therefore, a small refrigerator was instrumented with temperature, pressure sensors and other variables of interest, installed along the cooling circuit, in order to allow the thermal mapping and the evaluation of the equipment performance parameters. The variation of pressure loss in the coolant fluid resulting from the operation of the expansion valve with micrometric adjustment that modifies the evaporation temperature, influencing significantly the performance parameters of the thermodynamic refrigeration cycle.

Proposta de válvula bypass para controle de velocidade de PIGs instrumentados: protótipo e simulação em bancada

In the Oil industry, oil and gas pipelines are commonly utilized to perform the transportation of production fluids to longer distances. The maintenance of the pipelines passes through the analysis of several tools, in which the most currently used are the pipelines inspection cells, popularly knowing as PIG. Among the variants existing in the market, the instrumented PIG has a significant relevance; acknowledging that through the numerous sensors existing in the equipment, it can detect faults or potential failure along the inspected line. Despite its versatility, the instrumented PIG suffers from speed variations, impairing the reading of sensors embedded in it. Considering that PIG moves depending on the speed of the production fluid, a way to control his speed is to control the flow of the fluid through the pressure control, reducing the flow rate of the produced flow, resulting in reduction of overall production the fluid in the ducts own or with the use of a restrictive element (valve) installed on it. The characteristic of the flow rate/pressure drop from restrictive elements of the orifice plate is deducted usually from the ideal energy equation (Bernoulli’s equation) and later, the losses are corrected normally through experimental tests. Thus, with the objective of controlling the fluids flow passing through the PIG, a valve shutter actuated by solenoid has been developed. This configuration allows an ease control and stabilization of the flow adjustment, with a consequent response in the pressure drops between upstream and downstream of the restriction. It was assembled a test bench for better definition of flow coefficients; composed by a duct with intern diameter of four inches, one set of shutters arranged in a plate and pressure gauges for checking the pressure drop in the test. The line was pressurized and based on the pressure drop it was possible to draw a curve able to characterize the flow coefficient of the control valve prototype and simulate in mockup the functioning, resulting in PIG speed reduction of approximately 68%.

Influência da absorção de umidade no comportamento mecânico nos compósitos poliméricos híbridos Kevlar/vidro quando imerso em água do mar e petróleo

The polymer matrix composite materials are being used on a large scale in the most different industrial fields such as aerospace, automotive, oil, among others, since the industrial perspectives is currently working with materials which have a good mechanical performance at high service life and cost / benefit. Thus, the determination of the mechanical properties is indispensable for the characterization of waste resulting in greater expansion of this type of material. Thus, this work will be obtained three plates laminated with tereftálica polymeric matrix reinforced by a bidirectional woven E-glass and kevlar both industrially made, where the plates are manufactured by manual lamination process (hand lay-up), all laminates have five enhancement layers, the first hybrid laminate will consist of bidirectional woven E-glass fiber, kevlar fiber interspersed with layers, is formed by the second bidirectional woven kevlar fiber at the ends of the laminate (two layers), and in the center the glass fiber fabric (three layers), the third plate is composed of only the bidirectional woven E-glass fiber. Then were prepared specimens (CP) by standard, to determine the mechanical properties of tensile and bending in three points. After fabrication of the specimens, they were immersed in oil and seawater. After that, there was a comparison of the mechanical properties for the test condition in the dry state. Showing that there was a considerable increase in the properties studied because the effect of hybridization in laminates.

Análise estratégica das Instituições de Ensino Superior privadas da cidade do Natal

Private Higher Education Institutions are embedded in a market where competitiveness is a key factor. To remain competitive, HEIs needs to have proactive and innovative strategies, especially to understand their main customers, students, with regard to their expectations about the quality of HEI. This study is to evaluate the overall private institutions of higher education in the city of Natal / RN, as the strategies adopted to remain on the market , based on the perceived quality of students. For conduct this research, it has developed two private institutions in the city of Natal, through the application using exploratory research to guide the survey for data collection with questionnaire to apply the overview with students, being directed to senior students courses in Bussiness, Accounting and Law. This research tool addresses aspects relevant to map the dimensions: (1) teaching, perspectives related to methods and teaching tools; ( 2 ) teachers, specifies the quality attributes related to teachers; (3 ) Infrastructure, describes the environment of the HEI; ( 4 ) services , evaluates the quality processes that attach to the HEI; and ( 5 ) intangible relates aspects with student satisfaction. The results were analyzed using descriptive statistical techniques using the Statistical Package Tool for Social Sciences (SPSS). The first stage of results characterizes the descriptive analysis of the overall sample and by HEI and course, plus a build univariate analysis of the HEI and also bivariate analysis shows that correlation of the factors through Spearman correlation coefficient. The results were used to compose a matrix of importance versus performance that compare with the contents of the Ministry of Education and Culture (MEC). Finally, these comparisons allowed identification of the most important factors for the quality of the HEI and the level of performance from institutions in the development of each attributes of quality dimensions.