Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Sistema de gestão ambiental: subsídios para a implantação em uma estação de tratamento de esgoto a partir da análise crítica de estudos ambientais prévios

The process of environmental impact assessment (EIA), in the extent of previous environmental studies, has as one of its functions to provide subsidies to the actions of environmental managment of enterprises. However, the proper estructuring of programs that allows to support this managment does not often occurs. This research sought as one of its objectives to evaluate in which extent the process of EIA can be a subsidie for the EMS, providing basic elements of this system. In addition, more specifically, the research had as one of its objetives the development of subsidies for the implantation of an Environmental Managment System (EMS), based on the model of ISO 14001 (2004), for a sewage treatment plant yet to be constructed in the city of President Venceslau / SP. In order to achieve theses objetives, a discussion was held based on the evaluation of environmental studies available in the library of Cetesb / SMA. Still, for the elaboration of subsidies for the EMS of the treatment plant, the research was focused on the structuring of environmental management program, based on the information contained in its Preliminary Environmental Report (PER). The research had as one of its products, the development of subsidies for the planning and control of the environmental aspects and impacts and for the environmental program of the enterprise, based on the use of environmental indicators. It was concluded, based on the results that, in general, the previous environmental studies analyzed showed little emphasis on the phase of development of structured environmental programs that offer guidelines to achieve the desired results for the environmental performance of the company.

Levantamento para a implantação de um sistema de gestão da qualidade segundo a norma NBR ISO/IEC 17025:2005 no Laboratório de celulose e papel da UNESP-Itapeva

The aim of this study is to perform a situational analysis of the Laboratory of pulp and paper-UNESP ITAPEVA for conducting proposal the accreditation according to ISO / IEC 17025:2005. The ISO / IEC 17025 establishes the criteria for those laboratories wishing to demonstrate their technical competence, which have an effective quality system and are able to generate technically valid results, establishing a single international standard for certifying the competence of laboratories to carry tests and / or calibrations, including sampling. The case study was conducted on laboratory Pulp and Paper Universidade Estadual Paulista (UNESP), campus Itapeva, where we compared the views of the technician responsible for the laboratory and a regular user. The generated conclusion is that the laboratory is unable to initiate an accreditation process, because it fails the requirements such as quality manual, register of subcontractors, research of customer satisfaction, schedule of internal audits, schedule for completion of critical analysis, profile of the functions required, functions current description, documentation of technical requirements for accommodation and environmental conditions, calibration programs, equipment calibration program, programs calibration standards and reports and / or certificate of test and / or calibration, that are in accordance with ISO / IEC 17025:2005, beyond that there is not the possibility to develop and implement a quality system without the commitment of everyone involved, regardless of the functional hierarchy

Busca de parceiros físicos das proteínas ADAM23 e MX1, utilizando o sistema de duplo híbrido em Saccharomyces cerevisae

A metilação de ilhas CpG em regiões regulatórias de vários genes tem sido descrita como um processo importante no silenciamento de genes supressores de tumor e diretamente envolvida no processo de carcinogênese de uma série de tumores. O estudo desses genes afetados pela metilação em tumores visa identificar possíveis marcadores moleculares para o diagnóstico, prognóstico e tratamento de tumores, além de possibilitar a descoberta de fatores importantes no processo biológico do câncer. Os genes MX1 e ADAM23 foram identificados como diferencialmente metilados em linhagens celulares provenientes de carcinoma de cabeça e pescoço. Neste sentido, ao estudar o perfil diferencial de metilação de genes em carcinomas de células escamosas de cabeça e pescoço, o gene MX1 foi identificado como diferencialmente expresso. Dessa forma, para elucidar a função destes genes no controle da carcinogênese, o presente estudo buscou identificar ligantes celulares das proteínas MX1 e ADAM23 por meio de rastreamentos de duplo-híbrido, usando bibliotecas de cDNA de cérebro fetal humano. Os rastreamentos com a proteína ADAM23 não geraram resultados positivos por isso não são aqui discutidos. Foi realizado rastreamento com a proteína MX1, que resultou em aproximadamente 1,0x106 transformantes, dos quais 74 foram confirmados pelo ensaio de duplo-híbrido e codificam para 9 ligantes já conhecidos e 21novos ligantes prováveis de MX1. Entre esses novos ligantes prováveis estão proteínas que já haviam sido descritas como ligantes de MX1, incluindo a própria proteína MX1, o que valida os resultados obtidos com este rastreamento. Além disso, grande parte dos ligantes identificados são fatores envolvidos no processo de SUMOilação de proteínas, na formação de corpúsculos nucleares denominados PML-NB e uma série de proteínas relacionadas ao controle da transcrição e apoptose... (Resumo completo, clicar acesso eletrônico abaixo)

Controle de dissociação caótica de moléculas diatômicas

In this work we investigate the dissociation of heteronuclear diatomic molecules subjected to laser pulses. This phenomenon can be modeled by the classical forced Morse oscillator. This system presents a chaotic dynamics associated with the anharmonicity of the internuclear potential and with the coupling of permanent dipole of molecule with the electric field of laser. We want to verify how the dissociation probability evolves while we change the intensity and frequency of laser. We study the phase space of molecules to have a better understanding of system dynamics. We make the calculations changing two parameters of laser (intensity and frequency) and checking how this parameters influences on molecule dissociation. We compare the results of HF molecule (Fluoride acid) and CO molecule (Carbon monoxide) to check how the dipole moment of each molecule can influence on laser interaction

Simulação e controle de um quadcopter utilizando lógica fuzzy

The present work develops a model to simulate the dynamics of a quadcopter being controlled by a PD fuzzy controller. Initially is presented a brief history of quadcopters an introduction to fuzzy logic and fuzzy control systems. Afterwards is presented an overview of the quadcopter dynamics and the mathematical modelling development applying Newton-Euler method. Then the modelling are implemented in a Simulink model in addition to a PD fuzzy controller. A prototype proposition is made, by describing each necessary component to build up a quadcopter. In the end the results from the simulators are discussed and compared due to the discrepancy between the model using ideal sensor and the model using non-ideal sensors

Controle de velocidade de um motor de indução trifásico usando técnicas de ajuste empírico para bancada de teste no laboratório de automação

This work aims to make the closed loop control of a three phase induction motor, through the integration of the following equipment: a frequency inverter, the actuator system; a programmable logic controller (PLC), the controller; an encoder, the velocity sensor, used as a feedback monitoring the control variable and the three-phase induction motor, the plant to be controlled. The control is performed using a Proportional - Integrative - Derivative (PID) approach. The PLC has a help instruction, which performs the auto adjustment of the controller, that instruction is used and confronted with other adjustment methods. There are several types of methods adjustments to the PID controllers, where the empirical methods are addressed in this work. The system is deployed at the Interface and Electro Electronic Control laboratory in the Universidade Estadual Paulista Júlio Mesquita Filho, Guaratinguetá, São Paulo, then, in the future, this work becomes an experiment to be conducted in the classroom, allowing undergraduate students to develop a greater affinity to the programs used by the PLC as well as studies of undergraduate and graduate works with the help of assembly made

Analise do sistema de medição em peças aeronaúticas através do estudo de R&R (repetibilidade e reprodutibilidade)

The Measurement System Analysis (MSA - Measurement System Analysis) is a statistical methodology developed to study and analyze the behavior of the measurement systems, and, therefore, allow the increased of the confidence readings performed by measuring instruments. It’s widely used in the automotive industry since the 90’s and is a mandatory requirement for the approval of the parts according to ISO Standard of the automotive sector. However, the aerospace industry doesn’t require this type of Study, once which the vast majority of aeronautics parts have characteristics (dimensions) with very tight tolerances, closed, ie, at the home of microns. This work aims to create lists of recommendations for definitions of measuring instruments in developing of control plans, which correlates tolerances fields of characteristics for different settings and acceptance of the instrument, classified as optimum, recommended and not recommended, through of the study of R&R (Repeatability and Reproducibility) in aeronautics parts. Every methodology of the experimental part was based on modern strategy of continuous improvement, the DMAIC (Define Measure Analyze Implant Control), in order to achieve better measurement method used in the control of milling aeronautics parts, identifying and reducing the variations of the measurement process. The results of the R&R Study in large part of measuring instrument manuals were considered acceptable and/or recommended, ie with values of %P/T and %RR lower than 30%, providing statistical data which have enabled the elaboration of tables of recommendations, which, from this work, have turned into very important documents and aid for Process Engineering, having in their hands a technical study able to identify which is the most appropriate instrument to get a more robust dimensional... (Complete abstract click electronic access below)

Sistema de iluminação inteligente através de redes de sensores wireless

The objective of this project is to collaborate with the society, working on a subject that is directly linked to issues of sustainability and environmental preservation. For this, a survey is being developed in order to make possible the creation of an intelligent mechanism, with the use of wireless solutions for the control of energy consumption in order to meet the needs of quality of life and reduce the average consumption of electrical energy. An intelligent lighting system can be explained simply, as an interconnected network of lamps in order to meet needs such as light intensity, the location of it, the moment will turn on or turn off the lights, among other possibilities. This network of lamps is controlled by algorithms implemented using microcontrollers, which may or may not have changed its characteristics. This can be automatic (pre-programmed by the administrator) or manual (controlled via a remote control, phones, etc.), and will depend upon the manager himself and also the characteristics imposed on the project. However, it is important to note that after the search is complete, decisions will be consistent with the Brazilian reality, ie, this system can only be feasible if it has all the characteristics described above, but with an affordable price so that people can acquire it

Auxílio a tomada de decisão na inclusão de sobressalentes de manutenção em estoque utilizando um sistema especialista fuzzy

In the current economic scenario of constant changes, industries seek to increase their profitability decreasing inventory levels. Maintenance and maintenance management, combined with the inventory management of spare parts, has assumed a position of competitive advantage in business. Stock only what you need has become a difficult decision for managers, who are faced with the lack of models and criteria to assist this decision-making. This work proposes a method which supports decision making, on a MATLAB modeling, using criteria established by an expert and his maintenance workers team, focusing on no regular demand of spare parts. The proposed model was adequate to the needs of the company and the maintenance manager in the decision on the storage

Controle e caos na formação de moléculas com pulso de laser

We investigate the formation of molecules under the action of external field acting during the atomic collision. To describe this process, the collision of atomic pairs, we use the Morse oscillator model driven The study was developed from the standpoint of classical mechanics by analyzing the sensitivity of the system with respect to initial conditions, the verification of chaotic dynamics associated with the process of formation of molecules with laser and analysis of system dynamics and the likelihood of photoassociation in response to the external field parameters

Estudo para a implementação de um sistema de desbaste de cobre para manufatura de placas de circuito impresso

This paper presents a study on the development of a manufacturing system of printed circuit boards through copper milling. An advantage of this system is the replacement of chemical processes by physical process presenting a sustainable solution. The paper uses programs that will generate G-code needed to establish the coordinates where the milling forms the tracks. After obtaining the code, it will be transformed into steps that will be sent through the serial port to the microcontroller and the serial communication control will be in software. After obtaining information the microcontroller will execute the movement of the stepper motors through their drivers, H-bridge, the microcontroller also drives the spindle motor responsible for rotating the grinding tool, using a driver with a optocoupler and TRIAC

Estudo de caso de controle estatístico de processo: levantamento estatístico de defeitos em molduras

This graduate work approaches the study of Statistical Process Control - SPC, in a stage production of an industrial frame, aiming to use the tool of statistical process control (SPC) to assess the process capability. Where the process needs improvement as well not meet the specifications. Assessing the needs that the company needs to improve quality management, and the difficulties they present during the implementation of the CEP. The present study is to use the method of case study. The results are presented through study of the level of defects using Pareto diagrams and control chart by - (p) fraction defective, and checking the capacity and stability of the process using control charts and histograms XbarraR. The process demonstrated the need for improvements in process and quality management. At the end of the work are presented suggestions for improving the quality system of the company

Estudo de cargas térmicas de uma aeronave e dimensionamento de um sistema de ar condicionado

This work deals with the thermal load study of a fictitious aircraft as well as scaling, in terms of the airflow and temperature of the air conditioning system, for heating and cooling of the its internal environment, aiming the thermal comfort of occupants. The first part is presented the techniques and methods utilized for modeling different heat exchanges that occur in the aircraft and then allowed to calculate the total heat load and the airflow and temperature necessary to comply with the requirements of the thermal comfort. Techniques to determine the basic parameters, as convection coefficient and global coefficient of heat exchange, are also presented. The work aims to develop a program, using a computational tool, to automate the calculations so that facilitate this study. It also allows to be used for other airplanes just changing parameters and the control variables related to the specific project. Finally the program performs calculations for a fictitious airplane, to analyze its functionality and the influence of parameters involved in the temperature controls. The program allowed analyzing the sensitivity of portions of the thermal load and the corresponding parameters of influence, as well as the scaling of the air conditioning in terms of airflow and temperature. It was considered, despite the simplifications, a good approximation to the actual values and then can be used in development of the other airplanes

Avaliação da toxicidade do dióxido de carbono no sistema nervoso de Apis mellifera (Hymenoptera, Apidae)

A concentração de dióxido de carbono (CO2) global eleva-se a cada ano, isso deve-se a um desequilíbrio entre as taxas de emissão deste gás por atividades antropogênicas e fontes naturais e a taxa que a biosfera e oceanos o removem da atmosfera. O CO2 é um importante constituinte químico do ambiente, pois este é um gás que aprisiona radiação infravermelha emitida pela superfície da Terra, contribuindo, assim, para a manutenção da temperatura global necessária a vida. As alterações na concentração de CO2 na atmosfera afetam inúmeros animais que dependem que estas estejam altamente controladas para poderem sobreviver. Em abelhas Apis mellifera valores elevados de temperatura ou níveis de CO2 dentro da colméia podem ter efeitos deletérios. Estes insetos são considerados bioindicadores naturais, pois apresentam diferenças fisiológicas conforme as condições do ambiente, sendo utilizadas na avaliação de efeitos a várias substâncias presentes no meio. Atualmente uma das técnicas utilizadas para a avaliação do efeito de estímulos externos é a utilização da marcação da proteína c-Fos através da expressão do gene c-fos, que indicam tanto a existência de atividade celular como também possibilita a identificação de áreas cerebrais determinadas. Esta proteína foi utilizada com o intuído de verificar se concentrações elevadas de gás carbônico são capazes de alterar as funções cerebrais da abelha Apis mellifera, comprometendo sua atividade de orientação e, conseqüentemente seu forrageamento. Marcações positivas à proteína Fos foram observadas nas regiões dos lobos ópticos e ocelos tanto do grupo controle quanto dos grupos Resumo Jacob, C. R. O. 9 expostos ao gás dióxido de carbono para todas as idades coletadas, estes resultados estão relacionados com a...(Resumo completo, clicar acesso eletrônico abaixo)