Piloto automático: Sistema de navegação autónoma

Desde o início do crescente interesse na área de robótica que a navegação autónoma se apresenta como um problema de complexa resolução que, por isso, desperta vasto interesse no meio científico. Além disso, as capacidades da navegação autónoma aliadas à robótica permitem o desenvolvimento de variadas aplicações. O objectivo da navegação autónoma é conferir, a um dispositivo motor, capacidade de decisão relativa à locomoção. Para o efeito, utilizam-se sensores, como os sensores IMU, o receptor GPS e os encoders, para fornecer os dados essenciais à navegação. A dificuldade encontra-se no correcto processamento destes sinais uma vez que são susceptíveis a fontes de ruído. Este trabalho apresenta um sistema de navegação autónomo aplicado ao controlo de um robot. Para tal, desenvolveu-se uma aplicação que alberga todo o sistema de localização, navegação e controlo, acrescido de uma interface gráfica, que permite a visualização em mapa da movimentação autónoma do robot. Recorre-se ao Filtro de Kalman como método probabilístico de estimação de posição, em que os sinais dos vários sensores são conjugados e filtrados. Foram realizados vários testes de modo a avaliar a capacidade do robot atingir os pontos traçados e a sua autonomia no seguimento da trajectória pretendida.

Tecniche GPS/INS per l'anilisi dinamica di un ciclomotore

Nel seguente elaborato si espone l’utilizzo del sistema GPS/INS per la valutazione del moto di un ciclomotore. Tale sistema è composto da sensori GPS ( Global Navigation System ) per la misurazione della posizione, e da sensori INS ( Inertial Navigation System) per la misurazione dell’accelerazione e delle velocità angolari rispetto a tre assi coordinati. Chiaramente le misure di accelerazioni e di velocità angolari da parte dei sensori, presentano dei minimi errori, che però si ripercuotono sul posizionamento finale. Per limitare questo fenomeno e rendere la misura di velocità e posizione utilizzabile, un filtro di Kalman viene impiegato per correggere il risultato dell'integrazione usando le misurazioni del GPS. Il connubio tra il sistema INS e il sistema GPS è molto efficacie anche quando si ha una assenza di ricezione satellitare o perdita parziale dei satelliti (cycle slip). Infine è stato utilizzato uno smartphone sfruttando i sensori in esso presenti : accelerometri, giroscopi, GPS, per analizzare la dinamica di un ciclomotore, concentrandosi sull’assetto in particolar modo l’angolo di rollio. Tale prova è stata affrontata non tanto per validare il sistema GPS/INS, ma per provare una soluzione comoda e di basso costo per analizzare il moto di un ciclomotore.

Modellazione e verifica sperimentale delle dinamiche di aspirazione di un motore turbo GDI

Obiettivo di questo elaborato è quello di provvedere alla elaborazione dei dati geometrici necessari alla modellazione dei condotti di aspirazione e scarico di un motore 4 cilindri turbo benzina ad iniezione diretta (GDI) disponibile a banco prove. I dati sperimentali raccolti sono stati elaborati e sintetizzati, con lo scopo di fare avvicinare il più possibile le caratteristiche del modello a quelle del sistema a banco (cercando dunque di rendere il modello il più veritiero possibile). In primo luogo, saranno descritte le principali caratteristiche dei motori a combustione interna, con particolare enfasi rivolta ai componenti ed ai processi che caratterizzano i motori turbo GDI. In un secondo momento, sarà descritto come si è proceduto nella raccolta dei dati necessari alla modellazione e nell’elaborazione degli stessi. Il software cui l’elaborazione dei dati necessari alla modellazione è stata rivolta è GT-Suite, prodotto da Gamma Technologies e largamente utilizzato dalla maggior parte delle aziende del settore automotive.

O Ministério Feminino e as Interpretações Místico - Simbólic as de João 4,4 - 42

Esta pesquisa se propõe a compreender qual o significado do ministério feminino e as mútuas relações dos símbolos na comunidade joanina. O filtro teológico adotado para essa compreensão partiu como base de João 4, em que surgem, dentro dessa perícope, sinais de uma comunidade em um processo teológico em diversas fases. É relevante a exegese porque nos permite entender o contexto histórico, as dificuldades da comunidade joanina e quais as principais questões discutidas dentro desse texto. A intenção primária é apresentar o valor da mulher para a comunidade de João em contrapartida com a opressão religiosa no mesmo período. Partindo do texto de Jo 4, 4-42, pretendemos também entender a proposta do redator, que usa os símbolos como forma de linguagem para classificar os personagens, a qualidade da missão e a forma de servir ao reino de Deus na perspectiva joanina.

Desenvolvimento de bionanocompósitos: nano e microcristais de celulose com poli (álcool vinílico) e poli (ácido lático)

This work has the main objective to obtain nano and microcrystals of cellulose, extracted from the pineapple leaf fibres (PALF), as reinforcement for the manufacture of biocomposite films with polymeric matrices of Poly(vinyl alcohol) (PVA) and Poly(lactic acid) (PLA). The polymer matrices and the nano and microcrystals of cellulose were characterised by means of TGA, FTIR and DSC. The analysis was performed on the pineapple leaves to identify the macro and micronutrients. The fibers of the leaves of the pineapple were extracted in a desfibradeira mechanical. The PALF extracted were washed to remove washable impurities and subsequently treated with sodium hydroxide (NaOH) and sodium hypochlorite (NaClO) in the removal of impurities, such as fat, grease, pectates, pectin and lignin. The processed PALF fibers were hydrolysed in sulfuric acid (H2SO4) at a concentration of 13.5 %, to obtain nano and microcrystals of cellulose. In the manufacture of biocomposite films, concentrations of cellulose, 0 %, 1 %, 3 %, 6 %, 9% and 12% were used as reinforcement to the matrices of PVA and PLA. The PVA was dissolved in distilled water at 80 ± 5 oC and the PLA was dissolved in dichloromethane at room temperature. The manufacture of biocompósitos in the form of films was carried out by "casting". Tests were carried out to study the water absorption by the films and mechanical test of resistance to traction according to ASTM D638-10 with a velocity of 50 mm/min.. Chi-square statistical test was used to check for the existence of significant differences in the level of 0.05: the lengths of the PALF, lengths of the nano and microcrystals of cellulose and the procedures used for the filtration using filter syringe of 0.2 μm or filtration and centrifugation. The hydrophilicity of biocompósitos was analysed by measuring the contact angle and the thickness of biocompósitos were compared as well as the results of tests of traction. Statistical T test - Student was also applied with the significance level (0.05). In biodegradation, Sturm test of standard D5209 was used. Nano and microcrystals of cellulose with lengths ranging from 7.33 nm to 186.17 nm were found. The PVA films showed average thicknesses of 0.153 μm and PLA 0.210 μm. There is a strong linear correlation directly proportional between the traction of the films of PVA and the concentration of cellulose in the films (composite) (0,7336), while the thickness of the film was correlated in 0.1404. Nano and microcrystals of cellulose and thickness together, correlated to 0.8740. While the correlation between the cellulose content and tensile strength was weak and inversely proportional (- 0,0057) and thickness in -0.2602, totaling -0,2659 in PLA films. This can be attributed to the nano and microcrystals of cellulose not fully adsorbed to the PLA matrix. In the comparison of the results of the traction of the two polymer matrices, the nano and microcrystals have helped in reducing the traction of the films (composite) of PLA. There was still the degradation of the film of PVA, within a period of 20 days, which was not seen in the PLA film, on the other hand, the observations made in the literature, the average time to start the degradation is above 60 days. What can be said that the films are biodegradable composites, with hydrophilicity and the nano and microcrystals of cellulose, contribute positively in the improvement of the results of polymer matrices used.

Densidade de estocagem em camarões da espécie Macrobrachium rosenbergii (De Man, 1879) na fase juvenil

Among the species of freshwater shrimp being cultivated, Macrobrachium rosenbergii stands out. Knowledge about the behavior of this species and the influence of certain factors on its development can help optimize management practices and minimize the likely impacts shrimp farming has on the environment and the animals themselves. The objective of this study was to characterize the species' behavior during early stages of development under different stocking densities over a 24-hour cycle. Ten day old postlarvae were transferred from the Jundiaí School of Agriculture (EAJ - Escola Agrícola de Jundiaí) in Macaíba (RN), Brazil to the Shrimp Behavior Laboratory (LSPR - Laboratório de Estudos do Comportamento do Camarão) at the Federal University of Rio Grande do Norte (UFRN), where they were weighed and measured. Eight aquaria with constant temperature, aeration and filtration, and subjected to a12 h light/12 h dark cycle were used for each experiment. Each aquarium also contained two shelters made of bricks and the water quality was monitored weekly. Behavioral observations were made at two densities: 25 individuals/m-² and 40 individuals/m-². The methods for recording behaviors were: behavioral sampling – enter and leave the shelter, exploring on the substrate, exploring in the water column, move away, attack, pursuit and cannibalism; scan sampling - inactivity, feeding, exploration, digging, swimming, cleaning and staying in the shelter. Observations were made during a 15 minute period/per aquarium at a frequency of 4 times daily, for 4 days/week, and over 4 weeks. Food was provided 2 times/day for each aquarium population, immediately before the 1st and 3rd observation periods. Our results demonstrate that at high density, there is an increased frequency of agonistic behavior; during the light phase, there is a greater frequency of behaviors that result in less exposure (inactivity, cleaning and staying in the shelter); during the dark phase, there is an increased frequency of behaviors that result in greater exposure (feeding, exploration, swimming and digging); at times of feed offer, there is an increased frequency of leaving the shelter, moving away, pursuit, feeding, exploration and swimming. At low density, the animals showed a lower frequency of agonistic behaviors, greater weight gain and higher growth rates, which indicates that this is a more favorable growing environment for cultivation and when applied, can generate better living conditions, favor survival rates and increase management success

Influência da granulometria e taxas de filtração no tratamento de água utilizando dupla filtração

The contamination of water sources of public drinking by waste originated by anthropogenic activities has brought various risks to human health. Among the consequences of such activities can highlight the bloom of microalgae and cyanobacteria, which have the potential to produce toxins dangerous to humans, and the presence of humic substances that are generated by the decomposition of natural organic matter (NOM), such as vegetation. When found in water sources for public supply, present negative aspects conferring high color, odor and taste. The double filtration technology has good efficiency in water with the presence of cyanobacteria and different quality variations. Therefore, this study aimed to evaluate the behavior of the technique of double filtration with pre-oxidation for water purifiers the lagoon of Extremoz-RN, which currently has high concentrations of cyanobacteria. The research is summarized in four phases: the first phase turned to static tests in jarteste equipment in the laboratory and subsequent phases were tested in the Pilot Plant of Double Filtration. For the second and third stage filtration rates were tested filtration rates of 120 and 180 m3 / m2 .day for ascending boulders filters and 160 and 240 m3 / m2 .day in the filters in quick sand descendants. The last phase aimed to evaluate the double filtration with pre-oxidation. The results demonstrated that the system could produce double filtration in all trials of good quality water according to the Decree nº. 2914/11 of the Ministry of Health. The use of preoxidation favored the removal of microcystin and color at the end of the tests, reaching a percentage of color removal around 60%. The analysis of variance in the data, enabled prove that the filtration rates of 180 m3 / m2.d the gravel filter and 240 m3 /m2 .d in rapid filters, were the most significant for the removal of turbidity. The ascending filter of boulder 4 with particle size finer filter layer showed the best performance and the best means of turbidity and apparent color. The rapid filter downward 1 was more efficient in removing turbidity reaching removal about 100%

Novas abordagens para configurações automáticas dos parâmetros de controle em comitês de classificadores

Significant advances have emerged in research related to the topic of Classifier Committees. The models that receive the most attention in the literature are those of the static nature, also known as ensembles. The algorithms that are part of this class, we highlight the methods that using techniques of resampling of the training data: Bagging, Boosting and Multiboosting. The choice of the architecture and base components to be recruited is not a trivial task and has motivated new proposals in an attempt to build such models automatically, and many of them are based on optimization methods. Many of these contributions have not shown satisfactory results when applied to more complex problems with different nature. In contrast, the thesis presented here, proposes three new hybrid approaches for automatic construction for ensembles: Increment of Diversity, Adaptive-fitness Function and Meta-learning for the development of systems for automatic configuration of parameters for models of ensemble. In the first one approach, we propose a solution that combines different diversity techniques in a single conceptual framework, in attempt to achieve higher levels of diversity in ensembles, and with it, the better the performance of such systems. In the second one approach, using a genetic algorithm for automatic design of ensembles. The contribution is to combine the techniques of filter and wrapper adaptively to evolve a better distribution of the feature space to be presented for the components of ensemble. Finally, the last one approach, which proposes new techniques for recommendation of architecture and based components on ensemble, by techniques of traditional meta-learning and multi-label meta-learning. In general, the results are encouraging and corroborate with the thesis that hybrid tools are a powerful solution in building effective ensembles for pattern classification problems.

Autonomic hardware manager: uma arquitetura de hardware autonômico usando a solução de repositório ativo de componentes

This Thesis main objective is to implement a supporting architecture to Autonomic Hardware systems, capable of manage the hardware running in reconfigurable devices. The proposed architecture implements manipulation, generation and communication functionalities, using the Context Oriented Active Repository approach. The solution consists in a Hardware-Software based architecture called "Autonomic Hardware Manager (AHM)" that contains an Active Repository of Hardware Components. Using the repository the architecture will be able to manage the connected systems at run time allowing the implementation of autonomic features such as self-management, self-optimization, self-description and self-configuration. The proposed architecture also contains a meta-model that allows the representation of the Operating Context for hardware systems. This meta-model will be used as basis to the context sensing modules, that are needed in the Active Repository architecture. In order to demonstrate the proposed architecture functionalities, experiments were proposed and implemented in order to proof the Thesis hypothesis and achieved objectives. Three experiments were planned and implemented: the Hardware Reconfigurable Filter, that consists of an application that implements Digital Filters using reconfigurable hardware; the Autonomic Image Segmentation Filter, that shows the project and implementation of an image processing autonomic application; finally, the Autonomic Autopilot application that consist of an auto pilot to unmanned aerial vehicles. In this work, the applications architectures were organized in modules, according their functionalities. Some modules were implemented using HDL and synthesized in hardware. Other modules were implemented kept in software. After that, applications were integrated to the AHM to allow their adaptation to different Operating Context, making them autonomic.

Topologia de gerador de distúrbios elétricos baseada em conversores de potência

Electrical disturbances such as voltage sags, interruptions and voltage unbalances might cause serious problems for the end-user and for the companies of generation and transmission of energy. Few years ago, those companies have been using methods and equipments of protection to avoid the disturbances’ presence or to mitigate their effects on the power system. Disturbances generators are used to analyse the behavior of electrical and electronic equipments affected by disturbances. The analysis of those failures allows the development of appropriated protection equipments. In this paper, the development of a disturbances generator based on power converters is presented. The disturbance generator developed is able to generate some symmetrical disturbances, such as: voltage sags, voltage swells and harmonic distortion. The control strategy used in the disturbance generator is based on discrete and repetitive control. The steps of the design of the control and of the filter used for reducing harmonic in the output, are detailed in the text. Are presented the obtained results on computational simulations and the obtained results on laboratory tests.

Consanguinidade e efeito fundador da mutação G377S da doença de Gaucher em população de Tabuleiro do Norte – Ceará – Brasil

Gaucher’s disease (GD) is caused by a β-glucocerebrosidase deficiency, leading to the accumulation of glucocerebroside in the reticuloendothelial system. The prevalence of GD in Tabuleiro do Norte (TN) (1:4000) is the highest in Brazil. The purpose of this study was to present evidence of consanguinity and founder effect for the G377S mutation (c.1246G>A) among GD patients in TN based on enzyme, molecular and genealogical studies. Between March 2009 and December 2010, 131 subjects at risk for GD (GC in dried blood ≤2.19 nmol/h/ml) and 5 confirmed GD patients from the same community were submitted for molecular analysis to characterize the genetic profile of the population. Based on the enzymatic and molecular analysis, the subjects were classified into three categories: affected (n=5), carrier (n=20) and non-carrier (n=111). All carriers were (G377S/wt). Affected subjects were homozygous (G377S/G377S). The identification of a single mutation in carriers and homozygotes from different generations, the history of the community and the genealogy study suggest that the high prevalence of GD in this population may be due to a combination of consanguinity and founder effect for the G377S mutation

Um estudo sobre a variabilidade do vento no nordeste do Brasil através de métodos estatísticos e via modelos dinâmicos de meso e micro escala

The objective of this study was to determine the seasonal and interannual variability and calculate the trends of wind speed in NEB and then validate the mesoscale numerical model for after engage with the microscale numerical model in order to get the wind resource at some locations in the NEB. For this we use two data sets of wind speed (weather stations and anemometric towers) and two dynamic models; one of mesoscale and another of microscale. We use statistical tools to evaluate and validate the data obtained. The simulations of the dynamic mesoscale model were made using data assimilation methods (Newtonian Relaxation and Kalman filter). The main results show: (i) Five homogeneous groups of wind speed in the NEB with higher values in winter and spring and with lower in summer and fall; (ii) The interannual variability of the wind speed in some groups stood out with higher values; (iii) The large-scale circulation modified by the El Niño and La Niña intensified wind speed for the groups with higher values; (iv) The trend analysis showed more significant negative values for G3, G4 and G5 in all seasons and in the annual average; (v) The performance of dynamic mesoscale model showed smaller errors in the locations Paracuru and São João and major errors were observed in Triunfo; (vi) Application of the Kalman filter significantly reduce the systematic errors shown in the simulations of the dynamic mesoscale model; (vii) The wind resource indicate that Paracuru and Triunfo are favorable areas for the generation of energy, and the coupling technique after validation showed better results for Paracuru. We conclude that the objective was achieved, making it possible to identify trends in homogeneous groups of wind behavior, and to evaluate the quality of both simulations with the dynamic model of mesoscale and microscale to answer questions as necessary before planning research projects in Wind-Energy area in the NEB

Padrões de diversidade α (alfa) e β (beta) zooplanctônica em lagos tropicais: a importância da estrutura do habitat e da identidade das espécies

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Padrões de diversidade α (alfa) e β (beta) zooplanctônica em lagos tropicais: a importância da estrutura do habitat e da identidade das espécies

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Toxicity assessment of industrial- and sunscreen-derived ZnO nanoparticles

Lo scopo della presente tesi è l’analisi della tossicità di nanoparticelle di ossido di zinco (nano-ZnO) verso gli organismi acquatici. In particolare, il presente studio valuta per la prima volta l'inibizione della crescita della diatomea Thalassiosira pseudonana indotta sia da nanoparticelle di dervazione industriale, che da nanoparticelle auto-estratte in laboratorio da un filtro solare. Gli esperimenti, condotti presso il Laboratorio di Ingegneria dell'Università di Miami, hanno mostrato che la tossicità indotta dalle nanoparticelle di ossido di zinco è influenzata dal tipo di nanoparticelle, nonché dalla loro concentrazione nella soluzione acquosa e dal tempo di esposizione. In particolare le nanoparticelle di derivazione industriale, più piccole rispetto alle nanoparticelle estratte dal filtro solare, hanno indotto un’inibizione della crescita superiore, specialmente a concentrazioni inferiori. Questo andamento suggerisce che ad alte concentrazioni la tossicità di nano-ZnO potrebbe essere influenzata dall’aggregazione di nanoparticelle (indipendentemente dalle dimensioni di partenza delle nanoparticelle), mentre a concentrazioni inferiori la tossicità potrebbe essere influenzata dalle dimensioni di partenza delle nanoparticelle, così come dal tipo di nanoparticelle e dal tempo di esposizione.