Orientador: Flavio Vasconcelos da Silva / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Quimica / Made available in DSpace on 2018-08-11T18:18:51Z (GMT). No. of bitstreams: 1 Pinelli_ThiagoGomes_M.pdf: 3499061 bytes, checksum: 0b7fc1ffa57b990b43362b82cb12bb54 (MD5) Previous issue date: 2008 / Resumo: Nos últimos anos ocorreu um excessivo aumento da demanda elétrica no Brasil devido principalmente a um aumento significativo do consumo industrial e comercial. Sabe-se que os sistemas de refrigeração são grandes consumidores de energia elétrica e este setor sofreu um grande impacto com o racionamento de energia. Além disso, o problema da destruição da camada de ozônio pelos refrigerantes CFC's utilizados nos ciclos frigoríficos proporcionaram uma preocupação adicional quanto os seus efeitos sobre o meio ambiente. Estes dois fatores têm motivado não só o setor produtivo como a comunidade científica a estudar formas de melhorar o desempenho energético dos sistemas de refrigeração. A eficiência energética em equipamentos de refrigeração é cada vez mais importante para indústrias, comércio e residências, devido à magnitude que tais equipamentos representam no consumo de energia elétrica. O processo de melhoria energética em um sistema de refrigeração, inicia-se na fase de projeto, com análise de eficiência exergética de seus componentes e a implementação de controladores nas variáveis do processo. Neste contexto propôs-se, a montagem de um protótipo de resfriamento de líquido completamente automatizado que possibilite a monitoração das variáveis do processo e a análise do consumo de energia elétrica. Os ensaios foram realizados com variações de carga térmica e freqüência do motor em 1800, 1500, 1200 e 900 W e 40, 50, 60 e 70 Hz utilizando condensação à água e condensação a ar. Foram feitas análises dos comportamentos da temperatura de descarga, COP Total, COP Útil e potência consumida. Foram observados, melhores resultados para o sistema com condensação a ar. Observou-se também que para temperaturas de condensação menores, e temperaturas de evaporação maiores, tem-se um aumento no COP total, COP útil e uma redução na temperatura de descarga e no consumo de energia. / Abstract: In the latest years occurred an excessive rise in the electric demand in Brazil due mainly to a significant growth in the commercial and industrial consumption. It is known that cooling systems are big electric energy consumers and that this sector suffered a big impact because of the energy rationing. Besides that the destruction of the ozone layer problems caused by refrigerant fluids (CFC's) created an additional concern ragarding its efects over the environment. Both of these factors have motivated not only the productive sector but also the scientific community to try to develop ways of improving the cooling systems energetic performance. The concern with the energy efficiency in cooling equipments is growing in the industry, commerce and private residence due to the magnitude that these equipments represent in the electric consumption. The procedures to improve the cooling systems in energetic matters are started during the project development, through its components energy efficiency analysis and through the implementation of controllers in the process variables. Within this context it was suggested the assembly of a fully automatic liquid cooling prototype that permit the process variables to be monitored and the electric energy to be analyzed. The condensing temperature, evaporating temperature, discharge temperature, coefficient of performance, (COP), useful coefficient of performance, (useful COP), and power consumption were analyzed. The tests were made using water condenser and air condenser. The compressor frequency was varied from 40 to 70 Hz and the cooling capacity in 1800, 1500, 1200, and 900 W. The best observed results were the ones that used air condensation. It was also noticed that for lower condensing temperatures and higher evaporating temperatures there was a rise in the total COP, useful COP and a reduction in the discharge temperature and in the electrical energy consumption. / Mestrado / Sistemas de Processos Quimicos e Informatica / Mestre em Engenharia Química

This project describes the process and the result of automating a moment in the production of a wave power generator. The project goal is to improve a stacking tool, as well as simulating this process to be able to use it in the production of stator valleys.   The project started with an investigation and a study of the tool, which has been used in laboratory work at Angstrom Laboratory at Uppsala University. It was necessary to study even the robot, which was used in the automating.   The project started by constructing a prototype based on the design of the old tool. The tool became updated with suction cups and electromagnets. The first task which resulted an advantage of the new prototype was to make the sheets movement more reliable. The disadvantage is that it can only take one sheet at a time which prolongs the stacking time. The second task was to simulate the stackning momentum.   To simulate the entire process of the project, a robot cell model was created in the "ABB-Robotstudio" program. The aim was to develop a specific simulation moment based on a previous research project (Robotized Stacking of the Uppsala University Wave Energy Converter Generator Stator) by Erik Hultman and Marcus Linder at Uppsala University.   The results of the tests showed that the instrument worked as it supposed to do and steering of the stator’s sheets movement was secure.

As personal service robots are expected to gain widespread use in the near future there is a need for these robots to function properly in a large number of different environments. In order to acquire such an understanding this thesis focuses on implementing a depth image based planar segmentation method based on the detection of 3-D edges in video-rate speed on an embedded system. The use of plane segmentation as a mean of understanding an unknown environment was chosen after a thorough literature review that indicated that this was the most promising approach capable of reaching video-rate speeds. The camera used to capture depth images is a Kinect for Xbox One, which makes video-rate speed 30 fps, as it is suitable for use in indoor environments and the embedded system is a Jetson TX1 which is capable of running GPU-accelerated algorithms. The results show that the implemented method is capable of segmenting depth images at video-rate speed at half the original resolution. However, full-scale depth images are only segmented at 10-12 fps depending on the environment which is not a satisfactory result.

M.Comm. / The potential information available to managers through the management information system is considerably greater than a decade ago. Managers can through web portals view exactly where a product is in the manufacturing process anywhere in the world. The significant difference lies in how the information is passed from the control engineering layer to the business information layer. Substantial leaps forward have been achieved in the transparency of the various networks. In a manufacturing plant, information, right down to a pulse from the simplest sensor, can now immediately be shown to a user on the internet a thousand kilometres away. Making information from the factory floor available in real-time into the management system in the correct format, is not as simple as might appear. Over the past decade plant automation systems and business information systems have become more integrated than ever before. The organization’s management must make the correct, informed choice of networks for each application. Management must be aware of the various automation networks and their limitations. Management must also take cognisance of the possible compatibility issues associated with choices of networks and the associated automation equipment. Management needs to consider from whom and how to source the plant control networks. Supply chain management techniques have lead the trend in many industries to move to fewer, more strategic suppliers. The possibility of a single source strategic supplier relationship is investigated. The first part of research aims to determine whether a single supplier is a technically-sound solution. A number of automation networks are researched, their usability, industry support and future potential evaluated. iii These included various fieldbus networks and the newer reputedly more universal industrial Ethernets. The literature suggested that the solutions proposed by some of the major suppliers should be comprehensive. The research concurred that the offerings of two major worldwide automation suppliers were sufficiently all-inclusive. The second part of the research investigated whether strategic partnering is sound business practice. The customer to supplier relationship is examined. The advantage to both parties of pursuing a closer relationship is explored. The literature reported benefit and an increase in closer supplier partnering in other industries. The research confirmed that there was indeed benefit in a closer customer supplier relationship in the automation industry. The results of the literature study and the research conducted conclude that a single-vendor plant control network is feasible. Moreover entering a strategic partnership with a single automation supplier is best business practice.

In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.

The manufacturing industry is constantly looking for ways to reduce production costs and at the same time to increase productivity. Automation of common manufacturing operations is one of these methods. By automating common manufacturing operations; various machines, robots, control systems and information technologies are used to reduce the overall human input requirement (mental and physical). Recent advances in technology have made it possible to now also automate (or facilitate) the maintenance requirement of these machines and tools. Modern tools and machines, which can estimate when it will fail or when failure is imminent have obvious advantages for predictive maintenance purposes. Another function of this technology is to determine how efficiently a tool or machine operates, or what the quality of the produced goods is. Predictive maintenance can decrease manufacturing plant or machine down times – which have a positive effect on cost-savings – has gained considerable importance over the last two decades.

The work reported in this thesis is concerned with both a fundamental assessment and the provision of a comprehensive MDI system for milling machines. The conceptual design has led to the realisation of a prototype work station which represents advances beyond the current state of the art for systems containing an APT-like processor and employs a powerful and flexible conversationally-based system with graphics support. The work station has been interfaced in STR mode to a numerically controlled milling machine and the effectiveness of the programming system has been demonstrated by the production of four workpieces.

The author develops a mathematically rigorous and concise formulation of a general, multistage input-output model for complex production systems, by integrating various useful concepts, developed in different disciplines. This model was designed to serve equally well for production planning, cost measurement and allocation purposes. After the objective, scope and methodology are set forth, the concepts of linking the stages of a production system and reducing the multistage model into different equivalent formats are demonstrated. Then the concepts of jumping inputs, internal flows and feedbacks are introduced into the model, to account for characteristics of more complex production systems. All previously discussed concepts are then integrated into a single, generalized input-output model. It is shown, how the physical model may be used to calculate the total costs of alternative production programs, how standard costs can be derived and how dollar-coefficient matrices may be used. Some of the existing literature is then integrated and evaluated within this new framework. Finally a summary is complemented by a list of areas that seem to deserve further research. / Business, Sauder School of / Graduate

In this work, I present the performance of a extended target tracking algorithm that utilizes Gaussianprocesses. The extended target tracking algorithm is evaluated on objects corresponding to roadusers, with automotive use in mind. The measurements that denes the object to be tracked arederived from stereo image sensor disparity and is called Stick-pixels or Stixels. The process ofgenerating these measurements are also presented in this work.It consists of two separate methods,one relying on stereo image frames and one purely dened by object characteristics and pose. Theextended target tracking algorithm has been tested on three types of simulated road users, car, cyclistand pedestrian. To evaluate the performance of the target tracking algorithm three measures areused, error in position, orientation discrepancy over time and intersection over union.

In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen. The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation. It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation.