Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás

This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal

Implantação de um sistema de detecção de vazamentos em oleodutos com tratamento de alarmes falsos

The pumping of fluids in pipelines is the most economic and safe form of transporting fluids. That explains why in Europe there was in 1999 about 30.000 Km [7] of pipelines of several diameters, transporting millíons of cubic meters of crude oil end refined products, belonging to COCAWE (assaciation of companies of petroleum of Europe for health, environment and safety, that joint several petroleum companies). In Brazil they are about 18.000 Km of pipelines transporting millions of cubic meters of liquids and gases. In 1999, nine accidents were registered to COCAWE. Among those accidents one brought a fatal victim. The oil loss was of 171 m3, equivalent to O,2 parts per million of the total of the transported volume. Same considering the facts mentioned the costs involved in ao accident can be high. An accident of great proportions can bríng loss of human lives, severe environmental darnages, loss of drained product, loss . for dismissed profit and damages to the image of the company high recovery cost. In consonance with that and in some cases for legal demands, the companies are, more and more, investing in systems of Leak detection in pipelines based on computer algorithm that operate in real time, seeking wíth that to minimize still more the drained volumes. This decreases the impacts at the environment and the costs. In general way, all the systems based on softWare present some type of false alarm. In general a commitment exists betWeen the sensibílity of the system and the number of false alarms. This work has as objective make a review of thé existent methods and to concentrate in the analysis of a specific system, that is, the system based on hydraulic noise, Pressure Point Analyzis (PPA). We will show which are the most important aspects that must be considered in the implementation of a Leak Detection System (LDS), from the initial phase of the analysis of risks passing by the project bases, design, choice of the necessary field instrumentation to several LDS, implementation and tests. We Will make na analysis of events (noises) originating from the flow system that can be generator of false alarms and we will present a computer algorithm that restricts those noises automatically

Sistema híbrido para detecção e diagnóstico de falhas em sistemas dinâmicos

The industries are getting more and more rigorous, when security is in question, no matter is to avoid financial damages due to accidents and low productivity, or when it s related to the environment protection. It was thinking about great world accidents around the world involving aircrafts and industrial process (nuclear, petrochemical and so on) that we decided to invest in systems that could detect fault and diagnosis (FDD) them. The FDD systems can avoid eventual fault helping man on the maintenance and exchange of defective equipments. Nowadays, the issues that involve detection, isolation, diagnose and the controlling of tolerance fault are gathering strength in the academic and industrial environment. It is based on this fact, in this work, we discuss the importance of techniques that can assist in the development of systems for Fault Detection and Diagnosis (FDD) and propose a hybrid method for FDD in dynamic systems. We present a brief history to contextualize the techniques used in working environments. The detection of fault in the proposed system is based on state observers in conjunction with other statistical techniques. The principal idea is to use the observer himself, in addition to serving as an analytical redundancy, in allowing the creation of a residue. This residue is used in FDD. A signature database assists in the identification of system faults, which based on the signatures derived from trend analysis of the residue signal and its difference, performs the classification of the faults based purely on a decision tree. This FDD system is tested and validated in two plants: a simulated plant with coupled tanks and didactic plant with industrial instrumentation. All collected results of those tests will be discussed

Proposta conceitual de colhedoras autopropelidas de açaí (Euterpe oleracea Mart.) para a região amazônica

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Uma Aplicação do Algoritmo QT Clustering para Marcação Colaborativa de Pontos Perigosos em Vias Públicas

This work proposes a collaborative system for marking dangerous points in the transport routes and generation of alerts to drivers. It consisted of a proximity warning system for a danger point that is fed by the driver via a mobile device equipped with GPS. The system will consolidate data provided by several different drivers and generate a set of points common to be used in the warning system. Although the application is designed to protect drivers, the data generated by it can serve as inputs for the responsible to improve signage and recovery of public roads

Sorção de petróleo por fibras vegetais

Nowadays, when accidents with oil tanker or shore tanks occur and there is oil spill, some arrangements are made in order to repress and to fix the situation. For the containment, barriers or detours are usually made of synthetic materials such as polyurethane foam. In order to clear water away, techniques like in loco burning, biodegradant agents, dispersant agents and sorbent materials application are used. The most of the sorbent materials are also synthetic and they are used because it is easy to store them and their availability in market. This dissertation introduces the study of vegetable fibers of pineapple leaf fibers (Ananas comosus (L.) Merr.), cotton fibers (Gossypium herbaceum L.), kapok fibers (Ceiba pentandra (L.) Gaertn.), curauá fibers (Ananas erectifolius L.B. Sm.) and sisal fibers (Agave sisalana Perrine) related to their capacity of sorption of oil in case of accidental spill in the ocean. This work evaluates the substitution possibility of synthetic materials by natural biodegradable materials with less cost

Desenvolvimento de um sistema para análise de integridade estrutural de equipamentos estáticos baseado em cad vps micro cracks e ultrassom

In general, the designs of equipment takes into account the effects and processes of deterioration it will undergo and arrives at an approximate useful life. However, changes in operational processes and parameters, the action of external agents, the kind of maintenance conducted, the means of monitoring, and natural and accidental occurrences completely modify the desired performance of the equipment. The discontinuities that occur in anisotropic materials often and due to different factors evolve from being subcritical to critical acquiring the status of defect and compromising the physical integrity of the equipment. Increasingly sophisticated technological means of detection, monitoring and assessment of these discontinuities are required to respond ever more rapidly to the requirements of industry. This paper therefore presents a VPS (Virtual Pipe System) computational tool which uses the results of ultrasonic tests on equipment, plotting the discontinuities found in models created in the CAD and CAE systems, and then simulates the behavior of these defects in the structure to give an instantaneous view of the final behavior. This paper also presents an alternative method of conventional ultrasonic testing which correlates the integrity of an overlay (carbon steel and stainless steel attached by welding) and the reflection of ultrasonic waves coming from the interface between the two metals, thus making it possible to identify cracks in the casing and a shift of the overlay

Avaliação dos impactos ambientais gerados por uma industria cerâmica típica da Região do Seridó/RN

The present work deals with an evaluation of the environmental impacts arised from a typical ceramics industry located in the Seridó region of Rio Grande do Norte State. That region contains the largest State s producing basin of red ceramics. The district of Parelhas stands out as the largest producing nucleus. The studied company is located in the rural zone of Parelhas, it was selected as study object because it possesses a great part of the representative characteristics of the Region s ceramics park as a whole. Impacts produced at the implantation and operation phases of the Company had been evaluated, being this last phase subdivided in stages of the productive process. Among found adverse impacts, they are distinguished: losses in air quality, undesirable noises, microclimatic alterations, impoverishment of the ground, elimination of the vegetal covering, agricultural exodus, crisis in cattle agriculture and, superficial and underground water contamination, beyond risks ocupational diseases and industrial accidents. The Leopold s interactive matrix, that summarizes results of the work, was presented in form of 15 (fifteen) tables that display impacts classified in qualitative and quantitative way. Totally, 175 (one hundred and seventy-five) significant impacts produced by this Company had been identified, being 114 (one hundred and fourteen) negative, 38 (thirty-eight) positive and 23 (twenty-three) among mixed, indefinite and inert ones. In the work, before the evaluation of impacts properly said, it was constructed a diagnostic table of the ambient situation at a previous moment to implantation of the Company, elaborated on basis of inferences and historical researches. It was proposed still, mitigative steps for adverse impacts identified, as also elaborated a program to accompaniment and observing that the fulfilment of indicated mitigative steps guarantees. The final part of the work contemplates conclusions and suggestions that aim to influence positively the presented sight in terms of environmental management

Influência dos modelos digitais de terreno na modelagem de circulação hidrodinâmica 2DH: um estudo de caso

Digital Elevation Models (DEM) are numerical representations of a portion of the earth surface. Among several factors which affect the quality of a DEM, it should be emphasized the attention on the input data and the choice of the interpolating algorithm. On the other hand, several numerical models are used nowadays to characterize nearshore hydrodynamics and morphological changes in coastal areas, whose validation is based on field data collection. Independent on the complexity of the physical processes which are modeled, little attention has been given to the intrinsic bathymetric interpolation built within the numerical models of the specific application. Therefore, this study aims to investigate and to quantify the influence of the bathymetry, as obtained by a DEM, on the hydrodynamic circulation model at a coastal stretch, off the coast of the State of Rio Grande do Norte, Northeast Brazil. This coastal region is characterized by strong hydrodynamic and littoral processes, resulting in a very dynamic morphology with shallow coastal bathymetry. Important economic activities, such as oil exploitation and production, fisheries, salt ponds, shrimp farms and tourism, also bring impacts upon the local ecosystems and influence themselves the local hydrodynamics. This fact makes the region one of the most important for the development of the State, but also enhances the possibility of serious environmental accidents. As a hydrodynamic model, SisBaHiA® - Environmental Hydrodynamics System ( Sistema Básico de Hidrodinâmica Ambiental ) was chosen, for it has been successfully employed at several locations along the Brazilian coast. This model was developed at the Coastal and Oceanographical Engineering Group of the Ocean Engineering Program at the Federal University of Rio de Janeiro. Several interpolating methods were tested for the construction of the DEM, namely Natural Neighbor, Kriging, Triangulation with Linear Interpolation, Inverse Distance to a Power, Nearest Neighbor, and Minimum Curvature, all implemented within the software Surfer®. The bathymetry which was used as reference for the DEM was obtained from nautical charts provided by the Brazilian Hydrographic Service of the Brazilian Navy and from a field survey conducted in 2005. Changes in flow velocity and free surface elevation were evaluated under three aspects: a spatial vision along three profiles perpendicular to the coast and one profile longitudinal to the coast as shown; a temporal vision from three central nodes of the grid during 30 days; a hodograph analysis of components of speed in U and V, by different tidal cycles. Small, but negligible, variations in sea surface elevation were identified. However, the differences in flow and direction of velocities were significant, depending on the DEM

Correlação entre padrão postural em jovens praticantes do atletismo

O estudo objetivou observar o alinhamento corporal de jovens atletas praticantes de atletismo e analisar a associação de tais padrões dentro e entre os grupos de provas desta modalidade. Participaram 63 atletas de ambos os sexos e o protocolo de coleta para análise postural baseou-se na observação e registro fotográfico com marcações nos principais acidentes ósseos visando à verificação do alinhamento dessas estruturas. Os segmentos considerados para análise foram: tronco, pelve, joelho e tornozelo. Foi utilizado para análise dos dados o teste de Goodman para contrastes entre e dentro de proporções binomiais. Os resultados mostraram que saltadores (58,33%) e arremessadores/lançadores (50,00%) apresentam o tronco em posição mais equilibrada que atletas de resistência (5,56%). Na região do quadril, arremessadores/lançadores apresentaram predomínio de pelve com rotação esquerda (66,67%), enquanto nos saltadores foi observada elevada frequência de anteversão pélvica (58,33%). A observação do joelho revelou altas taxas de normalidade e recurvatum em fundistas, valgo nos arremessadores/lançadores (50,00%) e varo para os demais grupos. Para a articulação do tornozelo, nota-se que, exceto os saltadores, os grupos apresentaram predominância de valgismo. Conclui-se que, para atender às características particulares de cada prova, níveis distintos de postura são estabelecidos.

Fadiga no trabalho: como o psicólogo pode atuar?

As más condições laborais e a forma de organização do trabalho dentro do sistema capitalista frequentemente têm se mostrado nocivas para o trabalhador. Além disso, a chamada síndrome da fadiga crônica é um dos males que acomete a classe trabalhadora. Por meio de revisão teórica buscou-se caracterizar a síndrome, suas possíveis causas e consequências e o papel do psicólogo nas organizações. A fadiga pode ser compreendida como um esgotamento físico e mental, culminando em consequências para a saúde do trabalhador. Excesso de trabalho, pressão por produção, turnos alternados, riscos físicos e falta de autonomia são alguns fatores apontados como prováveis desencadeadores da síndrome, e as consequências encontradas vão desde baixo rendimento e maior risco de acidentes de trabalho até dificuldade para relaxar em momentos de lazer. É papel do psicólogo do trabalho e organizacional realizar ações remediadoras e preventivas que impeçam ou dificultem o aparecimento da fadiga no trabalho.

Saúde do trabalhador no SUS: desafios e perspectivas frente à precarização do trabalho

Refletir sobre o campo saúde do(a) trabalhador(a) é o objetivo deste estudo. Busca-se sublinhar o significado das condições de trabalho para o ser humano do ponto de vista da saúde. A premissa não é quantificar, mas inferir que as condições de trabalho podem gerar danos à saúde, mas nem sempre apresentam de imediato a sua relação com o trabalho. São discutidas, a partir da abordagem qualitativa, três situações, as quais contemplam os trabalhos rural, informal e infantil e, como resultado, verifica-se a contradição da categoria trabalho, que, se por um lado é sinônimo de sociabilidade, por outro, contraditoriamente, constitui-se em mecanismo de exclusão social na medida em que é realizado sem o reconhecimento dos direitos sociais e trabalhistas. Verifica-se a expansão de formas de trabalho sem regulamentação, tais como o domiciliar e o familiar e os realizados em locais como a rua e o lixo. Encerra-se a reflexão com destaque ao papel do Sistema Único de Saúde (SUS) na assistência integral à saúde dos(as) trabalhadores(as) e ao desafio de atuar na perspectiva de prevenção e promoção da saúde do trabalhador de modo integrado e articulado aos demais órgãos públicos que atuam nesta área.

Gestão da segurança e saúde no trabalho em empresas produtoras de baterias automotivas: um estudo para identificar boas práticas

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

Diretrizes para implantação de sistemas de segurança e saúde do trabalho em empresas produtoras de baterias automotivas

O desenvolvimento de Sistemas de Gestão da Segurança e Saúde no Trabalho (SGSST) ganha um significado cada vez mais importante no desempenho das empresas, pois, por meio deles, é possível obter a promoção da saúde e satisfação dos trabalhadores e a redução dos riscos de acidentes. No entanto, para que um SGSST obtenha bons resultados, as empresas precisam estar atentas às dificuldades comumente encontradas durante o seu processo de implantação, procurando solucioná-las de maneira antecipada e estruturada. Pelo exposto, este trabalho tem como principal objetivo apresentar diretrizes, baseadas no referencial teórico e nos resultados dos estudos de caso realizados, para implantação de SGSSTs em empresas fabricantes de baterias automotivas. Para o seu desenvolvimento adotou-se o método de pesquisa qualitativa a partir da realização de dois estudos de caso em empresas fabricantes de baterias automotivas localizadas na cidade de Bauru. Os instrumentos de coleta de dados foram entrevistas semiestruturadas, análise de documentos e observação in loco. Ao final do artigo, são propostas diretrizes relacionadas aos seguintes elementos: alta direção, estratégia organizacional, cultura organizacional, departamento de Segurança e Saúde do Trabalho (SST), técnicos de SST, recursos humanos, treinamento, equipes multidisciplinares, comunicação interna, resistência à mudança, indicadores de desempenho, ferramentas gerenciais para solução de problemas de SST, gestão de projetos, recompensas e incentivos, e integração do sistema.

Análise fractográfica do modo de falha de compósitos carbono/epóxi

A utilização de compósitos poliméricos na fabricação de aeronaves vem sendo cada vez mais intensa. em função disso, a possibilidade de ocorrer falhas em serviço de um componente fabricado em compósito polimérico torna-se cada vez maior. A análise de falhas de materiais compósitos ainda é um tema pouco explorado, principalmente no Brasil, porém vem tornando-se cada vez mais importante em apoio à área de prevenção e investigação de acidentes aeronáuticos. Este trabalho teve como objetivo a caracterização de fraturas em laminados unidirecionais de fibra de carbono de módulo intermediário com sistema de resina epóxi modificada, tipo 8552, em resistência ao cisalhamento interlaminar nas condições ambiente e saturado de umidade em câmara higrotérmica. A análise fractográfica no plano de falha dos laminados foi realizada por microscopias óptica e eletrônica de varredura. A comparação dos resultados mostrou que o condicionamento higrotérmico afetou significativamente a região de interface da resina sem alterar a adesão interfacial fibra/resina. Os aspectos de fratura presentes na região de resina, como cristas de galo e escarpas, e do reforço foram detalhados, podendo-se assim estabelecer a direção de propagação da trinca e caracterizar o modo de falha, por ser do tipo misto (arrancamento e cisalhamento simultaneamente).