Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Arquitetura de Software para Barcos Robóticos

We propose in this work a software architecture for robotic boats intended to act in diverse aquatic environments, fully autonomously, performing telemetry to a base station and getting this mission to be accomplished. This proposal aims to apply within the project N-Boat Lab NatalNet DCA, which aims to empower a sailboat navigating autonomously. The constituent components of this architecture are the memory modules, strategy, communication, sensing, actuation, energy, security and surveillance, making these systems the boat and base station. To validate the simulator was developed in C language and implemented using the graphics API OpenGL resources, whose main results were obtained in the implementation of memory, performance and strategy modules, more specifically data sharing, control of sails and rudder and planning short routes based on an algorithm for navigation, respectively. The experimental results, shown in this study indicate the feasibility of the actual use of the software architecture developed and their application in the area of autonomous mobile robotics

Esverdeamento em cultivares de batata avaliado pela escala visual e índice spad

Foi avaliado o esverdeamento em tubérculos de cultivares de batata utilizando dois métodos de determinação (escala visual de notas e índice spad). Utilizou-se o delineamento experimental inteiramente casualizado, com quatro repetições, em esquema fatorial 18 x 5, constituído por cultivares (Agata, Apuã (IAC-5977), Aracy (IAC-2), IAC Aracy Ruiva, Asterix, Bintje, Dali, Clone IAC-6090, Itararé (IAC-5986), Laguna, Remarka, Liseta, Mondial, Novita, Oscar, Picasso, Santana e Solide) e tempo de armazenamento (5; 10; 15; 20 e 25 dias). Todas as cultivares apresentaram desempenho linear e crescente pelo índice spad, com excecão da Bintje, com spad médio de 1,23. Pela escala visual, as cultivares apresentaram desempenho quadrático e linear. A cultivar Bintje é resistente ao esverdeamento determinado pelos dois métodos. O índice spad pode ser utilizado para determinação do esverdeamento do 10º ao 25º dia de armazenamento.

Occurrence of Atopozelus opsimus preying on nymphs and adults of Glycaspis brimblecombei

The stink bugs genus Atopozelus (Hemiptera: Reduviidae) is native in the Americas, with five described species of which only three have been recorded in Brazil. In August 2007, Eucalyptus camaldulensis leaves infested by lerp psyllid were collected and taken to the Forest Pest Biological Control Laboratory situated at São Paulo State University. A small green stink bug, identified as Atopozelus opsimus Elkins (Hemiptera: Reduviidae) that fed on nymphs and adult psyllids, was found on the leaves. These stink bugs presented phytophagy, omnivory and ability in opening the lerp (shell) that protect the psyllid. A. opsimus has demonstrated unusual particularities, different from many biological control agents found in nature; this predator thus deserves more attention for its potential to be evaluated.

Composto orgânico no potencial fisiológico de sementes de brócolis após o armazenamento

The study was carried out with the objective to evaluate the broccoli seeds (cultivar Ramoso Santana) germination and vigor from plants cultivated with different organic compost levels and after storage in dry chamber. At seed production stage, the experiment was conducted in randomized complete blocks design, with five treatments (0; 30; 60; 90 and 120 t ha(-1) of Biomix (R) organic compost) and four replications. Soon after harvesting and after 12 and 24 months of conservation in dry chamber room (20 degrees C and 40% relative humidity) it was evaluated germination, following seed analisys rules, and vigor (first count of germination and germination speed index - IVG). There were no differences in germination and vigor in seeds as soon as they were harvested and after 12 month of storage. After 24 months of storage, the lesser the organic compost rates, the lesser seed germination and IVG, with respective values, without compost, of 69% and 12,3. For another hand, the highest values for germination and IVG, 82% and 16,1, respectively, were obtained with the highest rate of organic compost (120 t ha(-1)).

Manejo químico de espécies de trapoeraba com aplicação isolada e em mistura de diferentes herbicidas

This paper evaluated the effect of different herbicides applied isolated and mixed on two species of dayflower (Commelina benghalensis and Commelina villosa). Both species were grown under pot conditions with a capacity of 14 L. Three stems with 10 cm were planted per pot. The herbicides application was made using a stationary spray system, to provide a spray volume of 200 L ha(-1), with spray tip XR 110.02VS, when the plants were with dimensions of 25-35 cm for C. benghalensis and 30-35 cm for C. villosa. The mixture saflufenacil more effective control of C. benghalensis were saflufenacil + glyphosate (48 + 720 g ha(-1)) and, saflufenacil + (glyphosate + imazethapyr) with and without the addition of ammonium sulfate (24 + 623 g ha(-1)). The combination of carfentrazone + glyphosate (20 + 720 g ha(-1)) were also effective in the C. benghalensis control. The saflufenacil mixture allowed plant control of C. villosa, where saflufenacil + glyphosate (24 + 720 g ha(-1)) with the addition of ammonium sulfate, showed a good visually control of this species. The application of 2,4-D (720 g ha(-1)) and 2,4-D + glyphosate (720 + 720 g ha(-1)) provided the best visual controls of C. benghalensis e C. villosa. All chemical treatment regardless of Commelina species reduced the dry mass of dayflower.

Avaliação tribológica dos polímeros NBR, PTFE e PTFE gravitado em contato com aço AISI 52100

Low cost seals are made of NBR, Nitrile Butadiene Rubber, a family of unsaturated copolymers that is higher resistant to oils the more content of nitrile have in its composition, although lower its flexibility. In Petroleum Engineering, NBR seal wear can cause fluid leakage and environmental damages, promoting an increasing demand for academic knowledge about polymeric materials candidate to seals submitted to sliding contacts to metal surfaces. This investigation aimed to evaluate tribological responses of a commercial NBR, hardness 73 ± 5 Sh A, polytetrafluoroethylene (PTFE), hardness 60 ± 4 HRE and PTFE with graphite, 68 ± 6 HRE. The testings were performed on a sliding tribometer conceived to explore the tribological performance of stationary polymer plane coupons submitted to rotational cylinder contact surface of steel AISI 52100, 20 ± 1 HRC Hardness, under dry and lubricated (oil SAE 15W40) conditions. After screening testings, the normal load, relative velocity and sliding distance were 3.15 N, 0.8 m/s and 3.2 km, respectively. The temperatures were collected over distances of 3.0±0.5 mm and 750±50 mm far from the contact to evaluate the heating in this referential zone due to contact sliding friction by two thermocouples K type. The polymers were characterized through Thermogravimetric Analysis (TGA), Differential Scanning Calorimetry (DSC) and Dynamic Mechanical Analysis (DMA). The wear mechanisms of the polymer surfaces were analyzed by Scanning Electron Microscopy (SEM) and EDS (Energy-Dispersive X-ray Spectroscopy). NBR referred to the higher values of heating, suggesting higher sliding friction. PTFE and PTFE with graphite showed lower heating, attributed to the delamination mechanism

Construção e análise de desempenho de um forno/fogão solar tipo caixa construído a partir de uma sucata de pneu

An alternative box-type solar cooker built starting from the scrap of a tire and a scrap of old office chair is presented, which principles functions are the effect greenhouse and the concentration. The tire served as structure for making of is the baking enclosure where the absorber (roasting pan 20x30cm) of the solar is located, being re-covered for a glass blade for the generation of the greenhouse effect isolated lateral and having deep its and for a composite the plaster base and EPS. Segments of plain mirrors had been placed in the laterals of the oven/cook for the concentration of the radiation and a reflecting parable was introduced in the baking enclosure for the exploitation of the incident reflected radiation inside of the oven/cook. The oven/cook is mobile to allow one better aiming of exactly in relation to the apparent movement of the sun. The thermal economic and of materials viabilities of the stove/cook in study will be demonstrate. The average internal temperature of the absorber was around 152,3°C and the internal temperature around 110°C. Will demonstrate that toits low cost and good thermal performance, represents basic characteristics for the viability of large use of such archetype, mainly for cooking the decreases and averages temperatures. One will reveal that the archetype in study is competitive with the box-type solar cooker conceived in the whole world

Nutrient extraction and exportation by castor bean hybrid lyra

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Estudo de um isolante térmico para tubos fabricado em material compósito

It presents a new type of insulation for ductwork hot water, which can be used in solar systems for heating water, which consists of a composite of different compositions based on plaster, cement and EPS ground, palm and water. This composite has as its main features easy assembly and manufacturing processes and low cost. Comparative results will be presented on the tests of materials and thermal tubes proposed. Four formulations were used to manufacture tubes with three diameters 70, 65 and 42mm. It was also tested conventionally used for elastomeric foam insulation to 110 ° C, for a comparative analysis with the composite pipe insulator proposed. It will demonstrate that the cost of manufacturing of such tubes is competitive with alternative elastomeric foam tested, but results of the composite tube to the temperature range studied, are lower. Another drawback of the composite insulator tube is its large mass. It would be important to test such a composite for greater levels of temperature to a diagnostic technique competitive with conventionally used insulators. A positive factor of using the proposed composite-tube would be the recycling of EPS so damaging to the environment, representing an environmentally friendly application of science

Extração do óleo essencial de Cymbopogom winterianus J. com CO2 pressurizado

The extraction with pressurized fluids has become an attractive process for the extraction of essential oils, mainly due the specific characteristics of the fluids near the critical region. This work presents results of the extraction process of the essential oil of Cymbopogon winterianus J. with CO2 under high pressures. The effect of the following variables was evaluated: solvent flow rate (from 0.37 to 1.5 g CO2/min), pressure (66.7 and 75 bar) and temperature (8, 10, 15, 20 and 25 ºC) on the extraction kinetics and the total yield of the process, as well as in the solubility and composition of the C. winterianus essential oil. The experimental apparatus consisted of an extractor of fixed bed and the dynamic method was adopted for the calculation of the oil solubility. Extractions were also accomplished by conventional techniques (steam and organic solvent extraction). The determination and identification of extract composition were done by gas chromatography coupled with a mass spectrometer (GC-MS). The extract composition varied in function of the studied operational conditions and also related to the used extraction method. The main components obtained in the CO2 extraction were elemol, geraniol, citronellol and citronellal. For the steam extraction were the citronellal, citronellol and geraniol and for the organic solvent extraction were the azulene and the hexadecane. The most yield values (2.76%) and oil solubility (2.49x10-2 g oil/ g CO2) were obtained through the CO2 extraction in the operational conditions of T = 10°C, P = 66.7 bar and solvent flow rate 0.85 g CO2/min

Avaliação da temperatura de cristalização da parafina em sistemas: parafina, solvente e tensoativo

The formation of paraffin deposits is common in the petroleum industry during production, transport and treatment stages. It happens due to modifications in the thermodynamic variables that alter the solubility of alkanes fractions present in petroleum. The deposition of paraffin can provoke significant and growing petroleum losses, arriving to block the flow, hindering to the production. This process is associated with the phases equilibrium L-S and the stages and nucleation, growth and agglomeration the crystals. That process is function of petroleum intrinsic characteristics and temperature and pressure variations, during production. Several preventive and corrective methods are used to control the paraffin crystallization, such as: use of chemical inhibitors, hot solvents injection, use of termochemistry reactions, and mechanical removal. But for offshore exploration this expensive problem needs more investigation. Many studies have been carried through Wax Appearance Temperature (WAT) of paraffin; therefore the formed crystals are responsible for the modification of the reologics properties of the oil, causing a lot off operational problems. From the determination of the WAT of a system it is possible to affirm if oil presents or not trend to the formation of organic deposits, making possible to foresee and to prevent problems of wax crystallization. The solvent n-paraffin has been widely used as fluid of perforation, raising the production costs when it is used in the removal paraffin deposits, needing an operational substitute. This study aims to determine the WAT of paraffin and the interference off additives in its reduction, being developed system paraffin/solvent/surfactant that propitiates the wax solubilization. Crystallization temperatures in varied paraffin concentrations and different solvents were established in the first stage of the experiments. In the second stage, using the methodology of variation of the photoelectric signal had been determined the temperature of crystallization of the systems and evaluated the interferences of additives to reduction of the WAT. The experimental results are expressed in function of the variations of the photoelectric signals during controlled cooling, innovating and validating this new methodology to determine WAT, relatively simple with relation the other applied that involve specific equipments and of high cost. Through the curves you differentiate of the results had been also identified to the critical stages of growth and agglomeration of the crystals that represent to the saturation of the system, indicating difficulties of flow due to the increase of the density

Automação de um sistema rotatório para secagem do rejeito de maracujá

The rotary dryer is one of the most used equipments in processing industries. Its automatic control mode of operation is important specially to keep the moisture content of the final product in the desired value. The classical control strategies, like PID (proportional integral derivative) control, are largely used in the industrial sector because of its robustness and because they are easy to be implemented. In this work, a data acquisition system was implemented for monitoring the most relevant process variables, like: both inlet and outlet drying air temperature, dryer rotation, outlet air speed and humidity, and mass of the final product. Openloop tests were realized to identify a mathematical model able to represent the drying process for the rotary system. From this model, a PID controller was tuned using a direct synthesis method, assuming a first order trajectory. The PID controller was implemented in the system in order to control the inlet drying air temperature. By the end, closedloop tests (operating in automatic mode) were realized to observe the controller performance, and, after setting the best tune, experiments were realized using passion fruit seeds as raw material. The experiments realized in closedloop showed a satisfactory performance by the implemented control strategy for the drying air temperature of the rotary system

Extração e exportação de nutrientes pelo híbrido de mamona Savana: I – macronutrientes

Low height castor bean hybrids and highly productive possibly need larger quantity of macronutients during its development cycle. However, in Brazil there is little information on extraction and exportation of macronutrients by low height castor bean hybrids, as on season as out-of-season growing. This study aimed to evaluate the nutrients extraction and exportation by Savana hybrid castor bean on season and out-of-season growing. The experiments were conducted during the season of 2005/2006 and out-of-season of 2006 in an Oxisol. The experimental design was a randomized block with four replications. The plots were consisted by harvest times of plants, which were composed by six plant rows to 5 m, spaced 0.45 m between rows. Samples were collected at 17, 31, 45, 59, 73, 97 and 120 days after emergence (DAE) during the season and at 17, 31, 45, 59, 80; 100 and 120 DAE in the out-of-season. The nutrients accumulation by Savana hybrid was small until the flowering (30 DAE), but intensified after this period. The period of greatest nutrient absorption occurred at 65 and 90 DAE for N, 70 and 80 DAE for P, 60 DAE for K and Mg, 55 and 60 DAE for Ca and S. The amounts absorbed per hectare by hybrid Savana ranged 155 to 31 kg of N, 17 to 3 kg of P, 71 to 13 kg of K, 56 to 12 kg of Ca, 28 to 4 kg of Mg and 29,5 to 7 kg of S in season and out-of-season, respectively. The yield was higher in growing season, but the nutrients extraction and exportation per ton of grain were similar among the seasons. Among 40% and 50% of N and S and most part of Mg, K and Ca accumulated in the plants returned to soil with crop residues, but less than 35% of P remained in the residues.