Controle adaptativo com desacoplamento aplicado a um sistema de tanques acoplados MIMO

O controle de sistemas MIMO (Multiple Input Multiple Output) é muitas vezes realizado por várias malhas de controladores clássicos que operam com restrições e apresentam baixo desempenho. Técnicas de controle adaptativo são uma alternativa interessante para aumentar o rendimento desses sistemas, como por exemplo os controladores MRAC (Model Reference Adaptive Control), que quando bem projetados, permitem que a dinâmica da planta seja escolhida de maneira a seguir um modelo de referência. O presente trabalho apresenta uma estratégia de desacoplamento para um sistema MIMO de três tanques acoplados e o projeto de um controlador MRAC para o mesmo.

Controle adaptativo com desacoplamento aplicado a um sistema de tanques acoplados MIMO

O controle de sistemas MIMO (Multiple Input Multiple Output) é muitas vezes realizado por várias malhas de controladores clássicos que operam com restrições e apresentam baixo desempenho. Técnicas de controle adaptativo são uma alternativa interessante para aumentar o rendimento desses sistemas, como por exemplo os controladores MRAC (Model Reference Adaptive Control), que quando bem projetados, permitem que a dinâmica da planta seja escolhida de maneira a seguir um modelo de referência. O presente trabalho apresenta uma estratégia de desacoplamento para um sistema MIMO de três tanques acoplados e o projeto de um controlador MRAC para o mesmo.

Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Análise experimental do consumo de um veículo flex operando com diferentes misturas de gasolina/etanol em tráfego urbano

This study is an analysis, on a trial basis, the fuel consumption of a Flex vehicle, operating with different mixtures of gasoline and ethanol in urban traffic, allowing more consistent results with the reality of the driver. Considering that most owners unaware of the possibility of mixing the fuel at the time of supply, thus enabling the choice of the most economically viable mixing gasoline / ethanol, resulting in lower costs and possibly a decrease in pollutant emission rates. Currently, there is a myth created by the people that supply ethanol only becomes viable if the value of not more than 70% of regular gasoline. However vehicles with this technology make it possible to operate with any percentage of mixture in the fuel tank, but today many of the owners of these vehicles do not use this feature effectively, because they ignore the possibility of mixing or the reason there is a deeper study regarding the optimal percentage of the mixture to provide a higher yield with a lower cost than proposed by the manufacturers.

Análise experimental do consumo de um veículo flex operando com diferentes misturas de gasolina/etanol em tráfego urbano

This study is an analysis, on a trial basis, the fuel consumption of a Flex vehicle, operating with different mixtures of gasoline and ethanol in urban traffic, allowing more consistent results with the reality of the driver. Considering that most owners unaware of the possibility of mixing the fuel at the time of supply, thus enabling the choice of the most economically viable mixing gasoline / ethanol, resulting in lower costs and possibly a decrease in pollutant emission rates. Currently, there is a myth created by the people that supply ethanol only becomes viable if the value of not more than 70% of regular gasoline. However vehicles with this technology make it possible to operate with any percentage of mixture in the fuel tank, but today many of the owners of these vehicles do not use this feature effectively, because they ignore the possibility of mixing or the reason there is a deeper study regarding the optimal percentage of the mixture to provide a higher yield with a lower cost than proposed by the manufacturers.

Desenvolvimento e caracterização de biocompósito de látex (borracha natural) e fibra de carnaúba

The development of composite materials encompasses many different application areas. Among the composites, it is had, especially, the materials of organic origin, which have the greatest potential for biodegradability and so, have been bringing relevance and prominence in the contemporary setting of environmental preservation and sustainable development. Following this perspective of ecological appeal, it was developed a biocomposite material with natural inputs typically brazilian. This composite was made from latex (natural rubber) and carnauba fiber in different mass proportions. Formulations had varied by 5%, 10%, 15% and 20% of fiber in relation the matrix. This material has been designed aiming at application in thermal insulation systems, which requirethermal protection surfaces and/or reduction of thermal energy loss. Therefore, the composite was characterized by thermal conductivity testing, specific heat, thermal diffusivity and thermogravimetry. As has also been characterized for their physical-mechanical, by testing density, moisture content, tensile strength, hardness and scanning electron microscopy (SEM). The characterization of the material revealed that the composite presents a potential of thermal insulation higher than the natural rubber, that was used as reference. And the formulation at 15% fiber in relation the matrix showed the best performance. Thus, the composite material in question presents itself as a viable and effective alternative for new thermal insulation material design.

Desenvolvimento e caracterização de biocompósito de látex (borracha natural) e fibra de carnaúba

The development of composite materials encompasses many different application areas. Among the composites, it is had, especially, the materials of organic origin, which have the greatest potential for biodegradability and so, have been bringing relevance and prominence in the contemporary setting of environmental preservation and sustainable development. Following this perspective of ecological appeal, it was developed a biocomposite material with natural inputs typically brazilian. This composite was made from latex (natural rubber) and carnauba fiber in different mass proportions. Formulations had varied by 5%, 10%, 15% and 20% of fiber in relation the matrix. This material has been designed aiming at application in thermal insulation systems, which requirethermal protection surfaces and/or reduction of thermal energy loss. Therefore, the composite was characterized by thermal conductivity testing, specific heat, thermal diffusivity and thermogravimetry. As has also been characterized for their physical-mechanical, by testing density, moisture content, tensile strength, hardness and scanning electron microscopy (SEM). The characterization of the material revealed that the composite presents a potential of thermal insulation higher than the natural rubber, that was used as reference. And the formulation at 15% fiber in relation the matrix showed the best performance. Thus, the composite material in question presents itself as a viable and effective alternative for new thermal insulation material design.

Estudo da redução de arrasto induzido por polímeros em escoamentos internos turbulentos em dutos

The flows turbulent and laminar are present in various applications of engineering and one of the villain of energy loss big is the surface friction. Currently, there are several research aimed for the study of reducing drag (DR) with the objective of developing effective methods to reduce the friction. Regardless of numerous research carried out until today, the phenomenon DR still remains in study not it is fully understood. This paper studied the drag reduction by polymer induction in turbulent internal flows in ducts. We constructed a testing bench to perform the analysis of drag reduction, the bench has basically two manometers with a 8.5 psi full scale, a peripheral pump 0.5 HP, an acrylic tank, valves and tubes pvc and is situated in the Laboratory Fluid Mechanics UFRN. Were used as polymer additives to polyethylene glycol 4000, the Polyox WSR N60K, Polyox WSR 301 and Polyox WSR 205. The rationale for the choice of these polymers is their wide application in situations requiring greater energy efficiency, such as the addition reducing polymers for the jet used by the fire department to achieve greater distances. The induced drag reduction polymers is investigated from the turbulent flow analysis, with Reynolds number in a range between 2×104

Estudo da redução de arrasto induzido por polímeros em escoamentos internos turbulentos em dutos

The flows turbulent and laminar are present in various applications of engineering and one of the villain of energy loss big is the surface friction. Currently, there are several research aimed for the study of reducing drag (DR) with the objective of developing effective methods to reduce the friction. Regardless of numerous research carried out until today, the phenomenon DR still remains in study not it is fully understood. This paper studied the drag reduction by polymer induction in turbulent internal flows in ducts. We constructed a testing bench to perform the analysis of drag reduction, the bench has basically two manometers with a 8.5 psi full scale, a peripheral pump 0.5 HP, an acrylic tank, valves and tubes pvc and is situated in the Laboratory Fluid Mechanics UFRN. Were used as polymer additives to polyethylene glycol 4000, the Polyox WSR N60K, Polyox WSR 301 and Polyox WSR 205. The rationale for the choice of these polymers is their wide application in situations requiring greater energy efficiency, such as the addition reducing polymers for the jet used by the fire department to achieve greater distances. The induced drag reduction polymers is investigated from the turbulent flow analysis, with Reynolds number in a range between 2×104

Análise de microestrutura e de características geotécnicas de misturas de resíduo de polimento de porcelanato e solo

Brazil is a country in development, rich in natural resources. In order to grow sustainably, it is necessary to Brazil to preserve its environment, which is an expressive challenge, especially to industries, such as those producing ceramic materials. This study was developed using Porcelain Tile Polishing Residue (RPP) in blends with soil to build compacted fills. This residue is a slurry generated during the polishing process of porcelain tiles and contains powdery material from the polished tile, the abrasives used during the process and cooling water. The RPP was collected from a private company located in Conde/PB and it was mixed with a sandy-clayey soil, to build the fills. Laboratorial tests were conducted with pure soil, pure RPP and blends in proportions of 5%, 10%, 15% and 20% of RPP in addition to the dry mass of pure soil. The Chemical and Physical Characterization tests performed were: specific solid weight, grain size distribution, laser analysis of grain size distribution, Atterberg limits, X ray fluorescence, X ray diffraction, scanning electron microscopy and soil compaction,. The materials and blends were also compacted and direct shear tests and plate load tests were performed. Plate load tests were conducted using a circular plate with 30 cm diameter, on specimens of pure soil and 5% blend, compacted in a metallic box inside the Soil Mechanics Laboratory of the Federal University of Rio Grande do Norte, Brazil. Both mechanical tests performed were conducted under inundated conditions, willing to reduce the influence of soil suction. An evaluation of the results of the tests performed shows that RPP is a fine material, with grain size distribution smaller than 0,015mm, composed mainly of silica and alumina, and particles in angular shape. The soil was characterized as a clayey sand, geologically known as a lateritic soil, with high percentages of alumina and iron oxide, and particles with rounded shape. Both the Soil and the blends presented low plasticity, while the residue showed a medium plasticity. Direct shear tests showed that the addition of RPP did not cause major changes into blends’ friction angle data, however, it was possible to note that, for the proportions studied, that is a tendency of obtain lower shear stresses for higher percentages of RPP in the blends. Both pure soil and 5% mixture showed a punching disruption for the Plate load test. For this same test, the allowable stress for 5% mixture was 44% higher than the pure soil, and smaller vertical settlement results for all stresses.

Análise de microestrutura e de características geotécnicas de misturas de resíduo de polimento de porcelanato e solo

Brazil is a country in development, rich in natural resources. In order to grow sustainably, it is necessary to Brazil to preserve its environment, which is an expressive challenge, especially to industries, such as those producing ceramic materials. This study was developed using Porcelain Tile Polishing Residue (RPP) in blends with soil to build compacted fills. This residue is a slurry generated during the polishing process of porcelain tiles and contains powdery material from the polished tile, the abrasives used during the process and cooling water. The RPP was collected from a private company located in Conde/PB and it was mixed with a sandy-clayey soil, to build the fills. Laboratorial tests were conducted with pure soil, pure RPP and blends in proportions of 5%, 10%, 15% and 20% of RPP in addition to the dry mass of pure soil. The Chemical and Physical Characterization tests performed were: specific solid weight, grain size distribution, laser analysis of grain size distribution, Atterberg limits, X ray fluorescence, X ray diffraction, scanning electron microscopy and soil compaction,. The materials and blends were also compacted and direct shear tests and plate load tests were performed. Plate load tests were conducted using a circular plate with 30 cm diameter, on specimens of pure soil and 5% blend, compacted in a metallic box inside the Soil Mechanics Laboratory of the Federal University of Rio Grande do Norte, Brazil. Both mechanical tests performed were conducted under inundated conditions, willing to reduce the influence of soil suction. An evaluation of the results of the tests performed shows that RPP is a fine material, with grain size distribution smaller than 0,015mm, composed mainly of silica and alumina, and particles in angular shape. The soil was characterized as a clayey sand, geologically known as a lateritic soil, with high percentages of alumina and iron oxide, and particles with rounded shape. Both the Soil and the blends presented low plasticity, while the residue showed a medium plasticity. Direct shear tests showed that the addition of RPP did not cause major changes into blends’ friction angle data, however, it was possible to note that, for the proportions studied, that is a tendency of obtain lower shear stresses for higher percentages of RPP in the blends. Both pure soil and 5% mixture showed a punching disruption for the Plate load test. For this same test, the allowable stress for 5% mixture was 44% higher than the pure soil, and smaller vertical settlement results for all stresses.

Indicador de inconformidades em instalações elétricas de baixa tensão

With the progress of devices technology, generation and use of energy ways, power quality parameters start to influence more significantly the various kinds of power consumers. Currently, there are many types of devices that analyze power quality. However, there is a need to create devices, and perform measurements and calculate parameters, find flaws, suggest changes, and to support the management of the installation. In addition, you must ensure that such devices are accessible. To maintain this balance, one magnitude measuring method should be used which does not require great resources processing or memory. The work shows that application of the Goertzel algorithm, compared with the commonly used FFT allows measurements to be made using much less hardware resources, available memory space to implement management functions. The first point of the work is the research of troubles that are more common for low voltage consumers. Then we propose the functional diagram indicate what will be measured, calculated, what problems will be detected and that solutions can be found. Through the Goertzel algorithm simulation using Scilab, is possible to calculate frequency components of a distorted signal with satisfactory results. Finally, the prototype is assembled and tests are carried out by adjusting the parameters necessary for one to maintain a reliable device without increasing its cost.

Fuzzy angel: uma arquitetura distribuída de telemedicina para monitoramento de pacientes com esclerose lateral amiotrófica

The Amyotrophic Lateral Sclerosis (ALS) is a neurodegenerative disease characterized by progressive muscle weakness that leads the patient to death, usually due to respiratory complications. Thus, as the disease progresses the patient will require noninvasive ventilation (NIV) and constant monitoring. This paper presents a distributed architecture for homecare monitoring of nocturnal NIV in patients with ALS. The implementation of this architecture used single board computers and mobile devices placed in patient’s homes, to display alert messages for caregivers and a web server for remote monitoring by the healthcare staff. The architecture used a software based on fuzzy logic and computer vision to capture data from a mechanical ventilator screen and generate alert messages with instructions for caregivers. The monitoring was performed on 29 patients for 7 con-tinuous hours daily during 5 days generating a total of 126000 samples for each variable monitored at a sampling rate of one sample per second. The system was evaluated regarding the rate of hits for character recognition and its correction through an algorithm for the detection and correction of errors. Furthermore, a healthcare team evaluated regarding the time intervals at which the alert messages were generated and the correctness of such messages. Thus, the system showed an average hit rate of 98.72%, and in the worst case 98.39%. As for the message to be generated, the system also agreed 100% to the overall assessment, and there was disagreement in only 2 cases with one of the physician evaluators.

Fuzzy angel: uma arquitetura distribuída de telemedicina para monitoramento de pacientes com esclerose lateral amiotrófica

The Amyotrophic Lateral Sclerosis (ALS) is a neurodegenerative disease characterized by progressive muscle weakness that leads the patient to death, usually due to respiratory complications. Thus, as the disease progresses the patient will require noninvasive ventilation (NIV) and constant monitoring. This paper presents a distributed architecture for homecare monitoring of nocturnal NIV in patients with ALS. The implementation of this architecture used single board computers and mobile devices placed in patient’s homes, to display alert messages for caregivers and a web server for remote monitoring by the healthcare staff. The architecture used a software based on fuzzy logic and computer vision to capture data from a mechanical ventilator screen and generate alert messages with instructions for caregivers. The monitoring was performed on 29 patients for 7 con-tinuous hours daily during 5 days generating a total of 126000 samples for each variable monitored at a sampling rate of one sample per second. The system was evaluated regarding the rate of hits for character recognition and its correction through an algorithm for the detection and correction of errors. Furthermore, a healthcare team evaluated regarding the time intervals at which the alert messages were generated and the correctness of such messages. Thus, the system showed an average hit rate of 98.72%, and in the worst case 98.39%. As for the message to be generated, the system also agreed 100% to the overall assessment, and there was disagreement in only 2 cases with one of the physician evaluators.