Desenvolvimento de uma cadeira de rodas robótica para transporte de portador de necessidades especiais

The objective of the dissertation was the realization of kinematic modeling of a robotic wheelchair using virtual chains, allowing the wheelchair modeling as a set of robotic manipulator arms forming a cooperative parallel kinematic chain. This document presents the development of a robotic wheelchair to transport people with special needs who overcomes obstacles like a street curb and barriers to accessibility in streets and avenues, including the study of assistive technology, parallel architecture, kinematics modeling, construction and assembly of the prototype robot with the completion of a checklist of problems and barriers to accessibility in several pathways, based on rules, ordinances and existing laws. As a result, simulations were performed on the chair in various states of operation to accomplish the task of going up and down stair with different measures, making the proportional control based on kinematics. To verify the simulated results we developed a prototype robotic wheelchair. This project was developed to provide a better quality of life for people with disabilities

Projeto em FPGA de um controlador unificado para correção de fator de potência em retificadores boost bidirecionais monofásicos

The use of Field Programmable Gate Array (FPGA) for development of digital control strategies for power electronics applications has aroused a growing interest of many researchers. This interest is due to the great advantages offered by FPGA, which include: lower design effort, high performance and highly flexible prototyping. This work proposes the development and implementation of an unified one-cycle controller for boost CFP rectifier based on FPGA. This controller can be applied to a total of twelve converters, six inverters and six rectifiers defined by four single phase VSI topologies and three voltage modulation types. The topologies considered in this work are: full-bridge, interleaved full-bridge, half-bridge and interleaved half-bridge. While modulations are classified in bipolar voltage modulation (BVM), unipolar voltage modulation (UVM) and clamped voltage modulation (CVM). The proposed project is developed and prototyped using tools Matlab/Simulink® together with the DSP Builder library provided by Altera®. The proposed controller was validated with simulation and experimental results

Análise e projeto de superfícies seletivas em frequência multibanda e/ou banda larga

Frequency selective surfaces (Frequency Selective Surface - FSS) are often used in various applications in telecommunications. Some of these applications may require that these structures have response with multiple resonance bands. Other applications require that the FSS response have large frequency range, to meet the necessary requirements. FSS to design with these features there are numerous techniques cited in the scientific literature. Thus, the purpose of this paper is to examine some common techniques such as: Overlap of FSS; Elements combined; Elements Elements convolucionados and fractals. And designing multiband FSS and / or broadband selecting simple ways in terms of construction and occupy the smallest possible space, aiming at practical applications. Given these requirements, three projects FSS were performed: a technology applied to IEEE 802.11 a/b/g/n and two projects for application in UWB. In project development, commercial software Ansoft DesignerTM and experimental results were satisfactory was used

Projeto e Implementação em Ambiente Foundation Fieldbus de Filtragem Estocástica Baseada em Análise de Componentes Independentes (M175)

This work considers the development of a filtering system composed of an intelligent algorithm, that separates information and noise coming from sensors interconnected by Foundation Fieldbus (FF) network. The algorithm implementation will be made through FF standard function blocks, with on-line training through OPC (OLE for Process Control), and embedded technology in a DSP (Digital Signal Processor) that interacts with the fieldbus devices. The technique ICA (Independent Component Analysis), that explores the possibility of separating mixed signals based on the fact that they are statistically independent, was chosen to this Blind Source Separation (BSS) process. The algorithm and its implementations will be Presented, as well as the results

Projeto, construção e análise de desempenho de coletores solares alternativos utilizando garrafas pet

A solar alternative system for water heating is presented. It work on a thermosiphon, consisting of one or two alternative collectors and a water storage tank also alternative, whose main purpose is to socialize the use of energy mainly to be used by people of low income. The collectors were built from the use of pets bottles, cans of beer and soft drinks and tubes of PVC, ½ " and the thermal reservoirs from a drum of polyethylene used for storage of water and garbage placed inside cylinder of fiber glass and EPS ground between the two surfaces. Such collectors are formed by three elements: pet bottles, cans and tubes absorbers. The heating units, which form the collector contains inside the cans that can be closed, in original form or in the form of plate. The collectors have an absorber grid formed by eight absorbers PVC tube, connected through connections at T of the same material and diameter. It will be presented data of the thermal parameters which demonstrate the efficiency of the heating system proposed. Relative aspects will be boarded also the susceptibility the thermal degradation and for UV for the PVC tubes. It will be demonstrated that this alternative heating system, which has as its main feature low cost, presents thermal, economic and materials viabilities

Desenvolvimento de um sistema para aplicação dos conceitos da tecnologia cad3d-bim na indústria moveleira

In this work was developed an information system to apply the concepts of CAD3D-BIM technology for the design activities of the furniture industry. The development of this system was based in an architecture comprised of two modules: a web interface to management the metadata of models from furniture's library and the combination of three-dimensional CAD software with a specific plugin to access the information from this model. To develop this system was also used a Data Base Management System (DBMS) designed to storage the information from models in a hierarchical way, based on concepts of Group Technology (GT). The centralization of information in a single database allows the automatic availability of any changes to all participants involved in a particular project when it‟s happens. Each module from system has its own connection to this database. Finally was developed a prototype from a 3D virtual environment to help create Virtual Reality projects in the web. A study from available technologies to create 3D web applications for execution in websites was done to support this development. The interconnection between modules and the database developed allowed the assembly of a system architecture to support the construction and exhibition of projects of the furniture industry in accordance with the concepts proposed by BIM (Building Information Modeling), using as object of study the furniture industry of state of Rio Grande do Norte

Desenvolvimento de um núcleo versátil e integrado de ferramentas CAD/CAE para a modelagem e simulação de peças mecânicas

Currently there is still a high demand for quality control in manufacturing processes of mechanical parts. This keeps alive the need for the inspection activity of final products ranging from dimensional analysis to chemical composition of products. Usually this task may be done through various nondestructive and destructive methods that ensure the integrity of the parts. The result generated by these modern inspection tools ends up not being able to geometrically define the real damage and, therefore, cannot be properly displayed on a computing environment screen. Virtual 3D visualization may help identify damage that would hardly be detected by any other methods. One may find some commercial softwares that seek to address the stages of a design and simulation of mechanical parts in order to predict possible damages trying to diminish potential undesirable events. However, the challenge of developing softwares capable of integrating the various design activities, product inspection, results of non-destructive testing as well as the simulation of damage still needs the attention of researchers. This was the motivation to conduct a methodological study for implementation of a versatile CAD/CAE computer kernel capable of helping programmers in developing softwares applied to the activities of design and simulation of mechanics parts under stress. In this research it is presented interesting results obtained from the use of the developed kernel showing that it was successfully applied to case studies of design including parts presenting specific geometries, namely: mechanical prostheses, heat exchangers and piping of oil and gas. Finally, the conclusions regarding the experience of merging CAD and CAE theories to develop the kernel, so as to result in a tool adaptable to various applications of the metalworking industry are presented

Aperfeiçoamento no projeto de um protótipo de misturador-decantador à inversão de fases visando aplicação na indústria do petróleo

In the oil industry the mixture oil/water occurs in the operations of production, transportation and refining, as well as during the use of its derivatives. The amount of water produced associated with the oil varies and can reach values of 90% in volume in the case of mature phase of the production fields. The present work deals with the development of new design of the Mixer Settler based on Phase Inversion (MDIF) in a laboratory scale. We envisage this application in industrial scale so the phases of project, construction and operation are considered. The modifications most significant, in comparison with the original prototype, include the materials of construction and the substitution of the equipment used in the mixing stage of the process. It was tested the viability of substitution of the original system of mechanical mixing by a static mixer. A statistical treatment by means of an experimental design of composed central type was used in order to evaluate the behavior of the main variables of the separation process as function of the efficiency of separation for the new device. This procedure is useful to delimit an optimal region of operation with the equipment. The variables of process considered on the experimental design were: oil concentration in the feeding water (mg/L); Total volumetric flow rate (L/h); Ratio organic/water on volumetric basis (O/A). The separation efficiency is calculated by comparison of the content of oil and greases in the inlet and outlet of the equipment. For determination of TOG (Total Oil and Grease), the method used was based in the absorption of radiation in the infra-red region. The equipment used for these determinations was InfraCal® TOG/TPH Model HATR-T2 of the Wilks Enterprise, Incorporation. It´s important to stand out that this method of measure has being used by PETROBRAS S.A. Results of global efficiency of separation oil/water varied from 75.3 to 97.7% for contaminated waters containing up to 1664,1 mg/L of oil. By means of tests carried out with a real sample of contaminated water supplied by PETROBRAS we have got an effluent specified in terms of the legal standards required for discharging. Thus, the new design of equipment constitutes a real alternative for the conventional systems of treatment of produced water in the oil industry

Projeto e Operação em Escala Semi-Industrial de um Equipamento para Tratamento de Águas Produzidas na Indústria do Petróleo Utilizando Nova Tecnologia: misturador-decantador à inversão de fases - MDIF

The aim of this work is to use a new technology in the treatment of produced wastewaters from oil industry. An unit for treat produced waters called UTMDIF, was designed, installed and operated in an industrial plant for treatment of effluents from oil industry. This unit operates by means of the method of separation of phase inversion and can become a promising alternative to solve the problem of oil/water separation. This method constitutes the basis of the working of a new design of mixersettler of vertical configuration which occupies small surface area. The last characteristic becomes specially important when there is limitation on the lay-out of the plant, for example, over maritime platforms to explore oil. This equipment in a semi-industrial scale treats produced wastewaters contaminated with oil at low concentrations (ranging from 30 to 150 mg/L) and throughputs of 320 m3/d (47,4 m3 m-2 h-1). Good results were obtained in oil/water separation which leads to the necessary specification to discharge those wastewaters. Besides, the non dependence of the efficiency of separation in spite of the salinity of the medium becomes the equipment an attractive new technology to treat wastewaters containing oil at low concentrations

Determinação de Dados de Equilíbrio Líquido-Vapor para Sistemas Hidrocarbonetos e Desenvolvimento de uma Nova Célula Dinâmica

In the present work are established initially the fundamental relationships of thermodynamics that govern the equilibrium between phases, the models used for the description of the behavior non ideal of the liquid and vapor phases in conditions of low pressures. This work seeks the determination of vapor-liquid equilibrium (VLE) data for a series of multicomponents mixtures of saturated aliphatic hydrocarbons, prepared synthetically starting from substances with analytical degree and the development of a new dynamic cell with circulation of the vapor phase. The apparatus and experimental procedures developed are described and applied for the determination of VLE data. VLE isobarics data were obtained through a Fischer's ebulliometer of circulation of both phases, for the systems pentane + dodecane, heptane + dodecane and decane + dodecane. Using the two new dynamic cells especially projected, of easy operation and low cost, with circulation of the vapor phase, data for the systems heptane + decane + dodecane, acetone + water, tween 20 + dodecane, phenol + water and distillation curves of a gasoline without addictive were measured. Compositions of the equilibrium phases were found by densimetry, chromatography, and total organic carbon analyzer. Calibration curves of density versus composition were prepared from synthetic mixtures and the behavior excess volumes were evaluated. The VLE data obtained experimentally for the hydrocarbon and aqueous systems were submitted to the test of thermodynamic consistency, as well as the obtained from the literature data for another binary systems, mainly in the bank DDB (Dortmund Data Bank), where the Gibbs-Duhem equation is used obtaining a satisfactory data base. The results of the thermodynamic consistency tests for the binary and ternary systems were evaluated in terms of deviations for applications such as model development. Later, those groups of data (tested and approved) were used in the KijPoly program for the determination of the binary kij parameters of the cubic equations of state original Peng-Robinson and with the expanded alpha function. These obtained parameters can be applied for simulation of the reservoirs petroleum conditions and of the several distillation processes found in the petrochemistry industry, through simulators. The two designed dynamic cells used equipments of national technology for the determination Humberto Neves Maia de Oliveira Tese de Doutorado PPGEQ/PRH-ANP 14/UFRN of VLE data were well succeed, demonstrating efficiency and low cost. Multicomponents systems, mixtures of components of different molecular weights and also diluted solutions may be studied in these developed VLE cells

Da Amazônia ao Pacífico cruzando os Andes

A Área Amazônica (AA) é compartilhada por oito países sul-americanos independentes. Desde os tempos coloniais sentiu-se a necessidade da construção de uma via de união da AA com o Oceano Pacífico. Mas os Andes, em termos técnicos e econômicos, foram barreira insuperável até as últimas décadas do século XIX. Nos últimos anos, para o Brasil - país que tem perto de 60% da AA -, esta via vem se tornando cada vez mais importante em termos de exportação, especialmente para o mercado japonês, de grãos, madeira, polpa de madeira etc., ao mesmo tempo em que o Japão também deseja acesso direto à AA. Brasil e Peru, segundo país da AA, com a maior e mais ocidental costa no Pacífico, têm desenvolvido projetos para a construção de uma estrada, contando para isso com apoio financeiro oferecido pelo Japão em diversas oportunidades. Tais projetos tentam conciliar não apenas os interesses de Brasil e Peru, mas também os da Bolívia, país mediterrâneo que poderia finalmente ter acesso livre à costa do Pacífico. Os Estados Unidos, porém, opõem-se a construção da mencionada via e, o projeto está a espera de que o financiamento anteriormente aventado permita sua concretização. Parece que, na construção da projetada estrada, interesses estratégicos das grandes potências mundiais estão envolvidos.

O uso da abordagem CTSA para o ensino de energia tendo o desenvolvimento sustentável como eixo temático

In recent decades, humanity has become increasingly concerned with environmental problems. Proofs of this are increasing initiatives in civil society organizations, private institutions and government actions, either local, state or national actions to promote environmental protection. The goal of this research is to contribute to the formation of citizens more aware of their responsibilities to sustainable development issues, simultaneously to their learning of physics in the secondary school. Thus, we have designed a research project that aims to evaluate the effectiveness of the adoption of the concept of sustainable development as a central theme in physics classes in high school. From this goal, we designed, implemented and evaluate lesson plans that aim not only to construct and apply the concept of energy, but also to understand their transformations and conservation law, as well as their processes of production, distribution and consume in the context of physical laws in which it is involved. Then, it was deliberately provided to students, during classes, to read, interpret and produce texts, by this way being able to think and start to have a critical view of the world around him, as well as absorb the energy concept and understand his occurrence in phenomena of nature and in technologies. The approach used for this was that constraining science, technology, society and environment - STSE. This teaching methodology has been applied in the IFRN Ipanguaçu campus, for students of two classes of first year of high school integrated course in agroecology and in technical computing. The survey results show the effectiveness of both methods with respect to the viewpoints of students in relation to the guidelines of sustainable development and the learning of physics content proposed. It is hoped with this dissertation to contribute to the formation of future men and women as citizens environmentally friendly, but also as a source of inspiration for teachers who wish to foster in its students such a critical position about civic education, from their classes

Projeto cartográfico e implementação de um protótipo de atlas escolar interativo

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Memórias de rios e de lagos na construção romanesca: leitura de narrativas da Amazônia paraense

This study focalizes the memoirs of rivers and of lakes in the romantic construction starting from the romances Chove nos campos de Cachoeira (1941), Marajó (1947) and Três casas e um rio (1958), of writer Dalcídio Jurandir; of the book of memoirs Marajó, minha vida (1998), of writer Dita Acatauassu; of the story "A Feiticeira", published in the book Contos Amazônicos, written by Inglês de Sousa (1883); of the short story "O Peixe", published in O carro dos milagres, (1990), of writer Benedicto Monteiro; of the oral narratives Honorato: Cobra Grande , O encanto de Honorato and A Lenda da Cobra Norato , picked up by the project named The Imaginary in the Shape of Oral Narratives of Paraense Amazon (IFNOPAP) of the Federal University of Pará. In those speeches, the voices of the memory detach the multiple functions of rivers and lakes represented as space, atmosphere, scenery, route and route, thread and fabric, re-elaborated in the narrators' memoirs, characters and narrators/character of the fiction and in popular narratives

Lazer na terceira idade: desenvolvimento humano e qualidade de vida

The article aimed to understand the concept of leisure and understanding that older people have about their benefits to the quality of life as part of the idleness of the population. We used a sample of subjects living in the city of Bauru, SP, aged less than fifty years, of both sexes and economically disadvantaged class. It was used in literature, documentary and field. We developed an intervention project that aimed to education for leisure. It was the conclusion that public policies are necessary and qualified professionals for construction projects and equipment to expand the Recreation, spreading it and reaching the people of old age since previous stages of life. Materials with simple and low cost, the project of intervention, it reached the recreation-education and education for leisure satisfactorily.