Projeto e construção de um robô móvel AGV/ROV não-holonômico com habilidade para navegação autônoma do tipo wall-following

Esta dissertação de mestrado apresenta o projeto e a construção de um robô móvel terrestre denominado LOGBOT, com tração de movimento do tipo diferencial – com duas rodas motoras e uma roda livre para manter a estabilidade de sua estrutura em relação à superfície. O controle do robô dispõe dos modos de telemetria e autônomo. No modo de controle por telemetria (ROV), a comunicação do robô com a estação de controle é feita por radiofreqüência a uma distância de até um quilometro em ambientes externos, e até cem metros em ambientes internos. No modo de controle autônomo (AGV), o robô tem habilidade para navegar em ambientes internos e desconhecidos usando sempre a parede à sua esquerda como referência para a trajetória de seu movimento. A seqüência de movimentos para execução da trajetória é enviada para a estação de controle que realiza análises de desempenho do robô. Para executar suas tarefas no modo autônomo, a programação do robô conta com um agente inteligente reativo, que detecta características do ambiente (obstáculos, final de paredes, etc.) e decide sobre qual atitude deve ser executada pelo robô, com objetivo de contornar os obstáculos e controlar a velocidade de suas rodas. Os problemas de erro odométrico e suas correções com base no uso de informações sensoriais externas são devidamente tratados. Técnicas de controle hierárquico do robô como um todo e controle em malha fechada da velocidade das rodas do robô são usadas. Os resultados mostraram que o robô móvel LOGBOT é capaz de navegar, com estabilidade e precisão, em ambientes internos no formato de um corredor (wall following).

Estudo das intempéries nas propriedades mecânicas e viscoelásticas de compósitos PPS/Fibras de carbono e EPOXI/Fibras de carbono de uso aeronaútico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Ecologia e conservação dos tubarões do arquipélago de Fernando de Noronha, com ênfase no tubarão-cabeça-de-cesto Carcharhinus perezi (Poey, 1876) (Carcharhiniformes, Carcharhinidae)

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

Reintrodução de mutuns-do sudeste Cra blumenbachii (Cracidade) na mata atlântica da Reserva Ecológica de Guapiaçu (Cachoeiras de Macacu, RJ, Brasil)

Pós-graduação em Ciências Biológicas (Zoologia) - IBRC

Máximo déficit acumulado de oxigênio em corridas livre e resistida em pista

Pós-graduação em Ciências da Motricidade - IBRC

Detecção e localização de danos em materiais compósitos aplicado em aeronaves utilizando redes neurais artificiais

Pós-graduação em Engenharia Mecânica - FEIS

Ultrasonic non-destructive testing of plate-like structures using piezoelectric array transducers

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

Utilização da mínima quantidade de lubrificante (MQL) com água no processo de retificação cilíndrica em cerâmica avançada com rebolo de ligante resino cerâmico/metálico

Pós-graduação em Engenharia Mecânica - FEB

Estudo do envelhecimento da liga AA 7075 encruada

Aluminum alloys are widely used in industry, because they combine different mechanical properties according to the alloying elements used in addition to thermal and mechanical treatments performed, resulting in materials with good weight/resistance relation. The 7XXX series alloys are worked heat treatable alloys commonly used in the aerospace industry, especially due to their high mechanical properties obtained after aging heat treatment, which increases the interest around 7075 alloy. Some studies with alloys which can be aged show that it is possible that cold word processes affect the results of aging. Thus, this study was intended to verify the influence of the aging process of AA 7075 alloy. There were three routes of aging with specimens previously treated thermally. In the first route T6 treatment was performed with a annealed specimen and other in solid solution. The second was the natural aging in a annealed specimen. In the last route was done aging by steps with a annealed specimen and other in solid solution with the intention to reduce the effects of natural aging. The results show that the routes 1 and 3 had similar hardness for all the samples, showing that the validity of Route 3 as an alternative and also the hardening did not affect the hardness at the end of the process, significantly reducing the time required for the highest hardness. Finally, natural aging was less effective in increasing hardness

Estudo do fenômeno de instabilidade de estruturas cilíndricas de paredes finas submetidas ao carregamento de pressão externa

Thin walled cylindrical shells are widely used in many areas of industry, including civil, mechanical, nuclear, marine, petroleum and aerospace engineering. The wide application of thin cylindrical shells and the importance of instability phenomenon are the motivation basis to this study, since these factors have a great importance in engineering projects. It is presented a detailed study about the instability of cylindrical shells based on theoretical calculation, which results are compared with finite elements method calculation. The loading and boundary conditions analyzed are based on the most common types verified in real engineering projects and refer respectively to lateral (external) pressure and cylinders with simply supported edges. The calculation based on the finite elements method was executed with ANSYS 13.0 software. The results obtained with this calculation are in good agreement with the analytical theory presented in the technical note NACA No 1341 (BATDORF, 1947) considering a wide range of applicability. On the other hand, the analytical method presented in the book Theory of Elastic Stability (TIMOSHENKO; GERE, 1936) has a very restrict applicability and has presented considerable deviations in a great sort of the analyzed cases

Ensaios não destrutivos: metrologia e calibração

To perform the quality control of various industries like: petrochemical, nuclear, aerospace, steel, shipbuilding, pulp and paper, and inspection of welded products, castings, forgings, rolled products, among others, used the method of Non-Destructive Testing (NDT). The method is based on the physical properties of the material, so selecting a procedure more appropriate. The company Inter-Metro Serviços Especiais Ltda., with its cutting-edge laboratory, dedicated to the implementation of calibration services and measurement equipment for industrial, medical, occupational safety and Non-Destructive Testing (NDT). It has a trained team, providing guidance and providing support for improving procedures for testing and measuring

Produção de eletrodos em carbono vítreo monolítico e reticulado a partir da resina furfurílica dopada com cobre

The glassy carbon is a material with a huge technological evolution. Due to its lightness, biocompatibility and their thermal and electrical properties this material finds applications in several industrial fields such as electronics, medical, aerospace and chemical. In order to explore the conductive properties of glassy carbon for use as modified electrodes, the present work aims the processing of monolithic and reticulated glassy carbon with colloidal copper for use in electrochemical applications. First, the best parameters for the cure of furfuryl alcohol resin doped were established through viscosimetry measurements and pressurized differential scanning calorimetry. The analysis of the micrographs of the cured resins show that copper concentrations above 3% weight, generate higher porosity in the material. The characterizations of the monolithic and reticulated glassy carbon resulting from carbonization were performed by scanning electron microscopy (SEM), Raman and Electrochemical impedance spectroscopy, and although it was not possible to detect the presence of copper by SEM, the influence of these particles have been observed by Raman and FT-IR spectra and electrochemical behavior of the material. The decrease in conductivity of monolithic and reticulated glassy carbon in the presence of copper may be related to the defects caused by the presence of copper in the structure of the material.

Tratamento de modificação de eutético da liga AA356

Alloy Al-7%Si-0,3Mg (AA356), having an excellent combination of properties such as low solidification shrinkage and good fluidity, good weldability, high wear resistance, high strength to weight particularly in the automotive and aerospace engineering. The refinement of the structure aluminum silicon eutectic alloy is a fairly common practice in the casting, through the treatment knows as modification. You can get the modification for the addition of chemicals and rare earths, these have the ability to modify the structure of the eutectic, but only sodium and strontium produce a strong action modifier when used in low concentrations. The modifying effect of silicon grain turns into a fibrous form branched and enveloped by the metal matrix in the form of a composite structure that has the highest limit of tensile strength, ductility and machinability. This work will be obtained AA356 alloy ingots using two different types of molds: metal mold and sand mold. Macrographs will be made in ingots obtained for observation of the macrostructures obtained in both types of ingots. Will be sampled at strategic locations of the ingots to correlate microstructure and cooling rate. The results showed that the material of the ingot has a strong influence on the resulting micro-andmacrostructure

Preparação de substratos de carbeto de silício para fins aeroespaciais

This conclusion thesis has the objective of produce substrates of Silicon Carbide from the powder of SiC for aerospace use. The powder of SiC was pressed in cylindrical form by the process called “wet way”. For the inicial pressing process was used a uniaxial squeezer and after that was used a isostatic squeezer, after that the samples were synthesized. The next step was the machining and polishing to improve the features of the surface of the sample. Then the roughness was measured, as also the Arquimedes method and optical microscopy and scanning eletron microscopy. Some innovations were done, in one of the lots little vacancys were done with organic material or silicon to reduce the weight of the sample; and the other innovation were the use of a slip film of SiC on the surface of the sample, that were after synthesized with LASER to reduce the roughness, in this samples the roughness were reduce in 50 % if compared with the other samples

Estudo da usinagem por torneamento de ligas de alumínio

The non-ferrous materials have got so many mechanical, physical and chemical advantageous properties so that is provided to them consolidated position in industry. In this context, aluminium alloys have been seen a lot on many applications of engineering areas – specially on automotive, aeronautical and aerospace due to their main properties such as low density, high corrosion resistance, favorable structure weight / material resistance relation, among others characteristics that are mencioned through this study. This study aims to analyze the aluminium alloys behavior on a general context when they are used on turning process, taking for examples the 6262 and 7050 aluminium alloys. In this way, the analysis studies the datas obtained during the turning tests realized on 3 steps each one; those datas are concerning the medium and total rugosities – obtained with the assistance of a portable Surface Roughness Finish Tester, as well as the chips obtained during the tests - visual analysis, and the cutting tools wear – with the assistance of an optical microscope, under different conditions of application of cutting fluids (dry machining, application of coolant in abundance and MQL – Minimum Quantity of Lubricant). The results concerning this study show detailed information about influence of cutting fluids on the machining by turning of the aluminium alloys related on this work and also about aluminium alloys in general when they are used on turning processes with different conditions from one another. By this way, it was evident the MQL technique is the best one for the 6262 alloy. However, for 7050 alloy, it was evident that the dry machining is responsible for the best results