Laser cutting is one of the most important applications of laser in manufacturing industry; it is mainly used for sheet metal cutting. In laser cutting, performing real-time evaluation of laser cut quality is very important to the advancement of this process in industry. However, due to the dynamic nature of the laser cutting process specially when cutting ferrous alloys using oxygen as an assist gas, laser cut quality cannot be easily predicted; therefore, the quality inspection of the laser cut is performed by off line inspections of the edges of the metal by skilled operators. This methodology is carried out after the process and thus cannot maintain a good quality if the process performance is out of control. Therefore, the objective of the research project is to qualify and develop a sensor system that ensure fault recognition online and can automatically control the laser metal cutting process to achieve good quality cut. For the realization of this objective the following has been done: - study the relationship between process parameters and cut quality characteristics; - identify the best sensors that can be used to monitor the process; - design and develop an experimental setup to test the proposed sensors; - collect and analyze data from the proposed sensors and correlate them to specific cut quality characteristics (process state variables); - develop direct relationships between the process signals and cut quality; - develop appropriate strategy for process control; - design and develop an integrated monitoring and control system; - test and evaluate the proposed system using simulation. In this study, a new technique for the determination of cut quality of sheet steels under the CO2 laser cutting process has been established. It is based on on-line detection and post-processing analysis of light radiation and acoustic emissions from the cut kerf. Determination of machining quality during cutting is best done through the measurement of surface roughness and kerf widths, as these are the two parameters that vary in successful through cuts. These two quality parameters can further be correlated to the two dominant process parameters of laser power and cutting speed. This study presents an analysis of acoustic emissions and reflected light for CO2 laser cutting of steel plates, and discusses their use for the estimation of cut quality parameters of kerf width and striation frequency for mild steel plates of 3mm, 5mm, 8mm, and 10mm thicknesses. Airborne acoustic and light signals are acquired with a microphone and a photodiode respectively, and recorded with a PC based data acquisition system in real time. The signals are then analyzed to establish a correlation between the signals obtained and the cut quality achieved. Experimental evidence shows that the energy levels of acoustic emission signals (RMS analysis) can be used to maintain the cutting process under steady state condition. On the other hand, the light intensity signal fluctuates with a frequency that corresponds to the frequency of striations formed on the cut surface; therefore it can be used to regulate cutting speed and laser power to obtain an optimum cutting condition and best cut quality. The validity of the proposed control strategy was tested experimentally by simulating the variations of cutting speed and examining their effect on the signals. So far, the prototype used for experimentation has been successful in providing correct information about cut quality in terms of striation frequency, and also about the state of the process where the microphone signal was successful in determining system failure or improper cutting conditions. A microprocessor based control system utilizing the PID control algorithm is recommended for the implementation of the control strategy. The implementation requirements of the proposed system for industrial use are then discussed. A new setup for the coaxial monitoring of CO2 laser cutting using a photodiode is proposed to enhance the quality of the signal and also to protect the photodiode from the harsh cutting environment. It is also proposed that an open control architecture platform is needed to enhance the integration of the proposed process control functions. Conclusions and future research directions towards the achievement of Autonomous Production Cell (APC) for the laser cutting process are then given.

A multi-level modular control scheme to realize integrated process monitoring, diagnosis and control for intelligent machining is proposed and implemented. PC-based hardware architecture to manipulate machining process cutting parameters, using a PMAC interface card as well as sensing processes performance parameters through sampling, and processing by means of DSP interface cards is presented. Controller hardware, to interface the PC-based PMAC interface card to a machining process for the direct control of speed, feed and depth of cut, is described. Sensors to directly measure on-line process performance parameters, including cutting forces, cutting sound, tool-workpiece vibration, cutting temperature and spindle current are described. The indirect measurement of performance parameter surface roughness and tool wear monitoring, through the use of NF sensor fusion modeling, is described and verified. An object based software architecture, with corresponding user interfaces (using Microsoft Visual C++ Foundation Classes and implemented C++ classes for sending motion control commands to the PMAC and receiving processed on-line sensor data from the DSP) is explained. The software structure indicates all the components necessary for integrating the monitoring, diagnosis and control scheme. C-based software code executed on the DSP for real-time sampling, filtering and FFT processing of sensor signals, is explained. Making use of experimental data and regression analysis, analytical relationships between cutting parameters (independent) and each of the performance parameters (dependent) are obtained and used to simulate the machining process. A fuzzy relation that contains values determined from statistical data (indicating the strength of connection between the independent and dependent variables) is proposed. The fuzzy relation forms the basis of a diagnostic scheme that is able to intelligently determine which independent variable to change when a machining performance parameter exceeds control limits. The intelligent diagnosis scheme is extensively tested using the machining process simulation.

The use of autonomous robots in industrial applications is growing in popularity and possesses the following advantages: cost effectiveness, job efficiency and safety aspects. Despite the advantages, the major drawback to using autonomous robots is the cost involved to acquire such robots. It is the aim of GMSA to develop a low cost AGV capable of performing material handling in an industrial environment. Collective autonomous robots are often used to perform tasks, that is, more than one working together to achieve a common goal. The intelligent controller, responsible for establishing coordination between the individual robots, plays a key role in managing the tasks of each robot to achieve the common goal. This dissertation addresses the development of an AGV capable of such functionality. Key research areas include: the development of an autonomous coupling system, integration of key safety devices and the development of an intelligent control strategy that can be used to govern the operation of multiple AGVs in an area.

Made available in DSpace on 2014-06-11T19:26:03Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-10-07Bitstream added on 2014-06-13T19:12:49Z : No. of bitstreams: 1 costa_cs_me_botib.pdf: 556138 bytes, checksum: f3943b845a387e5013dc6b9cb14d81da (MD5) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / A identificação de promotores com expressão tecido-específica é uma alternativa viável para substituição dos promotores com expressão ubíqua geralmente utilizados em transgenia. Nesse contexto, o presente trabalho teve como objetivos caracterizar funcionalmente o promotor de um gene de eucalipto que codifica um transportador de potássio com expressão específica em raiz bem como isolar e caracterizar a região promotora de um gene de eucalipto selecionado como apresentando expressão específica em folha. Plantas transgênicas de tabaco (Nicotiana tabacum SR1) contendo um cassete de expressão composto pelo promotor de raiz fusionado ao gene repórter GUS (que codifica a β-glucoronidase) foram usadas em ensaios histoquímicos e histológicos para investigar a especificidade da expressão determinada pelo promotor em estudo. Os resultados evidenciaram que o promotor investigado dirige a expressão do gene repórter em tecido vascular de folhas e raízes. A expressão em feixes vasculares de folhas e raízes foi confirmada em cortes histológicos. Visando avaliar a resposta deste promotor a baixas concentrações de potássio, duas linhagens da geração T2 foram submetidas à deficiência de potássio, e a expressão relativa do gene repórter GUS foi determinada por PCR em tempo real. Nas linhagens submetidas a estresse de potássio observou-se um aumento da expressão relativa do gene repórter GUS em função da privação do elemento. Em paralelo, um gene selecionado in silico como apresentando expressão em folha de eucalipto teve seu perfil de expressão validado por RT-PCR. A construção de um cassete de expressão contendo o referido promotor fusionado ao gene repórter GUS foi empreendida visando futuras validações funcionais / The identification of tissue-specific promoters is of great value to substitute the ubiquitous promoters generally used in transgenic production. In this context, the present study aimed to functionally characterize the promoter of a Eucalyptus grandis gene encoding a potassium transporter showing root specific expression, and to isolate and functionally characterize the promoter region of an E. grandis gene selected as showing specific expression in leaf. Transgenic tobacco plants (Nicotiniana tabacum SR1) harboring a promoter:GUS fusion were used to investigate the expression specificity of the selected root promoter. The results showed that the investigated promoter drives a reporter gene expression in vascular tissues of leaves and roots. The expression in vascular bundles of leaves and roots was confirmed in histological crosssections. To evaluate the promoter responsiveness to low potassium concentrations, two transgenic lines (T2) were submitted to potassium starvation and the relative expression of the GUS reporter gene was determined by real time PCR. An increase in the relative expression of GUS in response to potassium starvation was observed. In parallel, the expression pattern of a gene showing leaf specific expression in Eucalyptus grandis was validated by RT-PCR. The construction of an expression cassette containing this promoter fused to the GUS reporter gene was performed aiming future functional characterization

Made available in DSpace on 2014-08-13T14:50:56Z (GMT). No. of bitstreams: 0 Previous issue date: 2014-02-21Bitstream added on 2014-08-13T17:59:58Z : No. of bitstreams: 1 000768347_20160221.pdf: 161112 bytes, checksum: 81652a09b62d246f4c78fc239ef06ae2 (MD5) Bitstreams deleted on 2016-02-22T11:12:47Z: 000768347_20160221.pdf,. Added 1 bitstream(s) on 2016-02-22T11:13:41Z : No. of bitstreams: 1 000768347.pdf: 885551 bytes, checksum: 3352268d651e4caf0f5c3131e9467935 (MD5) / As lipases, também chamadas de glicerol éster hidrolases, são enzimas que fazem parte do grupo das serina hidrolases, tendo como substrato, triglicerídeos. O modo de ação das lipases assemelha-se ao das esterases, realizando a hidrólise das ligações ésteres-carboxílicas de acilgliceróis, formando ácidos graxos e glicerol. Processos de bioconversão enzimática têm sido bastante utilizados na produção, transformação e valorização de matérias-primas. Avanços na tecnologia enzimática, como a imobilização de enzimas, possibilitaram a modificação das propriedades cinéticas e da estabilidade destas moléculas contribuindo com o aumento no potencial de aplicações das mesmas. O presente trabalho teve por objetivo estudar diferentes métodos de imobilização de lipases em suportes de sílica, bem como os efeitos deste procedimento, visando melhorar a funcionalidade das enzimas e o maior rendimento econômico nos processos industriais. Os métodos de imobilização escolhidos para os estudos foram: adsorção física, ligação covalente e encapsulação. O processo de imobilização de lipase em Celite (adsorção física) foi otimizado levando em conta o pH, porcentagem da concentração enzima:suporte e temperatura ótimos de atividade enzimática. Também se utilizou Celite como suporte para a imobilização de lipase por ligação covalente, onde se obteve os melhores resultados com atividade enzimática 20% a 40 ºC e eficiência de imobilização de 50%. A celite foi ativada com 3-aminopropiltrietoxisilano e glutaraldeído. Por último, foi avaliada a possibilidade de encapsulação da lipase utilizando o precursor tetraetilortossilicato (TEOS). Os resultados obtidos nesta última metodologia não se mostraram satisfatórios. Logo, com os dados obtidos, podemos dizer que uma boa manutenção da atividade catalítica depende do tipo de retenção (química ou física) e da força de interação ... / Lipases, also known as glycerol ester hydrolases , are enzymes that belong to the group of serine hydrolases. The mode of action of lipases is very similar to esterase group, performing the hydrolysis of carboxylic esters of glycerides - forming fatty acids and glycerol. The enzymatic bioconversion processes have been widely used in manufacturing, processing and recovery of raw materials. Advances methodology for immobilization of enzyme have allowed the modification of the kinetic properties and stability of these molecules contributing to the increase in the potential applications of the same. The present work is aimed to study different methods of immobilization of lipases in silica supports, and the effects of this procedure to improve the functionality of enzymes. The immobilization methods chosen for the studies were: physical adsorption, covalent bonding and encapsulation process. The process of immobilization of lipase on Celite (by physical adsorption) was optimized taking into account several parameters such as: pH, the enzyme concentration:support and temperature for enzyme activity. Celite was also used as a support for the immobilization of lipase by covalent bond, where best results were obtained with 20% enzymatic activity at 40 ° C and immobilization efficiency of 50%. The celite was activated with 3-aminopropyltriethoxysilane and glutaraldehyde. Finally, we have studied the possibility of encapsulation of lipase using the precusor tetraethylorthosilicate (TEOS). The results of this last methodology were not satisfactory. These results show that to maintain a good catalytic activity depends on the type of immobilization chose (chemical or physical) and the strength of the interaction between the enzyme and support, which can cause structural distortions in the protein, leading maintenance or a decrease in catalytic activity

Thesis (MTech (Electrical Engineering))--Peninsula Technikon, 2002 / This research outlines the development and design of an infrared radiation heating profile controller. The study includes both the theoretical aspects of the design process as well as giving an overview of the practical facets involved. The controller was subjected to comparative testing with a proportional control model, in order to observe its performance and validate its effectiveness. A need exists for these types of controllers and proved to be the motivation to embark on this investigation. Controllers of this nature that are commercially available either lacks the functionality of this unit or are too expensive to implement for research purposes. This unit was designed with cost effectiveness in mind but still meet the standards required of an industrial style controller. To this end the construction was completed using low cost and affordable electronic components. Heating profiles are necessary and useful tools for the proper processing of a host of materials. The controller developed in this research is able to within a fair degree of accuracy track a heating profile. The results confirm that this programmable control model to be a benefit and a valuable tool in temperature regulation. This means that intensive studies into the effects of infrared radiation on materials are now feasible. Research of this nature could possibly expand the application of infrared as a heating mechanism. Although tests were conducted on this controller, they are not meant to serve as an exhaustive analysis. The conclusions of these examinations do reveal the benefit of such a controller. More rigorous investigation is suggested as a subject for further study.

Thesis (MTech (Mechanical Engineering))--Peninsula Technikon, 2003 / Systematic laser cladding experiments were performed using a mixture of a Nickel base alloy powder mixed with tungsten carbide powder (percentage contents of tungsten carbide from 10% to 40%) on EN8 steel substrate with pre-placed powder method. Laser cladding of the Nickel base alloy powder + 50% tungsten carbide powder on EN9 steel substrate was performed with powder injection method as well. A Finite Element Method for calculating the surface temperature distribution was used to help prediction of temperature distribution laser cladding results. Composition of cladding materials was designed; a sticking agent was chosen for the pre-placed powder method. Clad coatings were obtained for different process parameters for laser cladding, and a detailed study of the affects of these parameters has been carried out. The characteristic microstructure and properties of the clad layers and interface were investigated by using an optical microscope, a micro hardness tester and a makeshift wear test. A comprehensive review is presented on the dilution of the coating and the typical problems experienced with the coating substrate interface. The results show that microstructure of clad layers comprise three zones: the cladding layer, bonding zone and heat-affected zone. The results showed that tungsten carbide particles increased the hardness and wear resistance as expected. Wear resistance of laser cladding coating is 3.5 times than that of substrate. The micro hardness range of the cladding layer is from RV 981.5 to RV 1187, which is 2-3 times than that of substrate. The micro hardness varies from cladding coating to transition layer then to heat affected zone and substrate along a gradient.

Thesis (MTech (Electrical Engineering))--Cape Peninsula University of Technology, 2016. / Tomography is the ability to internally visualise an opaque medium or a body, using different imaging techniques. Electrical Resistance Tomography (ERT) technique is a method commonly used in process tomography. It uses a non-intrusive resistance measurement between a set of electrodes attached on the circumference of a fixed cross-section with a given conductivity and permittivity distribution. ERT appears to be simple, low cost, safe and non-invasive. Despite the advantages of ERT, the reconstruction of the internal conductivity of the pipe still face a crucial challenges such as noise, a relatively low spatial resolution, as well as ill-posedness of the inverse problem when doing the image reconstruction using reconstruction algorithms. Although previous work showed the potential of various algorithms for the reconstruction of ERT tomograms, no full characterisation and comparison of different algorithms could be found for real flow situations. The ERT system was tested in the identification of different objects and fluid beds in a real time situation. The data collected from the measurements were then used for the image reconstruction using an algorithm developed by Time Long (One-step algorithm) and four EIDORS-based algorithms namely: Gauss-Newton algorithm with Laplace Prior (LP) and Gaussian prior (Automatic Hyper Parameter Selection (AHSP)), the Total Variation (TV) algorithm and the Conjugate Gradient (CG) algorithm. The performance of each algorithm was tested in different scenarios. The results obtained were then compared based on the quality and the accuracy of the images as well as the computational time of each algorithm. Firstly, reconstructed images were obtained using objects placed inside the ERT pipe test. Secondly, the algorithm performances were put to test in a level bed setup experiment and finally, the algorithm reconstructions were applied to the real flow situation, where different flow rates were applied. The results obtained were then analysed and compared.

Orientador: Valter de Albuquerque Pedrosa / Coorientador: Luciana Francisco Fleuri / Banca: Maria José Queiroz de Freitas Alves / Banca: Haroldo Yukio Kawaguti / Resumo: As lipases, também chamadas de glicerol éster hidrolases, são enzimas que fazem parte do grupo das serina hidrolases, tendo como substrato, triglicerídeos. O modo de ação das lipases assemelha-se ao das esterases, realizando a hidrólise das ligações ésteres-carboxílicas de acilgliceróis, formando ácidos graxos e glicerol. Processos de bioconversão enzimática têm sido bastante utilizados na produção, transformação e valorização de matérias-primas. Avanços na tecnologia enzimática, como a imobilização de enzimas, possibilitaram a modificação das propriedades cinéticas e da estabilidade destas moléculas contribuindo com o aumento no potencial de aplicações das mesmas. O presente trabalho teve por objetivo estudar diferentes métodos de imobilização de lipases em suportes de sílica, bem como os efeitos deste procedimento, visando melhorar a funcionalidade das enzimas e o maior rendimento econômico nos processos industriais. Os métodos de imobilização escolhidos para os estudos foram: adsorção física, ligação covalente e encapsulação. O processo de imobilização de lipase em Celite (adsorção física) foi otimizado levando em conta o pH, porcentagem da concentração enzima:suporte e temperatura ótimos de atividade enzimática. Também se utilizou Celite como suporte para a imobilização de lipase por ligação covalente, onde se obteve os melhores resultados com atividade enzimática 20% a 40 ºC e eficiência de imobilização de 50%. A celite foi ativada com 3-aminopropiltrietoxisilano e glutaraldeído. Por último, foi avaliada a possibilidade de encapsulação da lipase utilizando o precursor tetraetilortossilicato (TEOS). Os resultados obtidos nesta última metodologia não se mostraram satisfatórios. Logo, com os dados obtidos, podemos dizer que uma boa manutenção da atividade catalítica depende do tipo de retenção (química ou física) e da força de interação ... / Abstract: Lipases, also known as glycerol ester hydrolases , are enzymes that belong to the group of serine hydrolases. The mode of action of lipases is very similar to esterase group, performing the hydrolysis of carboxylic esters of glycerides - forming fatty acids and glycerol. The enzymatic bioconversion processes have been widely used in manufacturing, processing and recovery of raw materials. Advances methodology for immobilization of enzyme have allowed the modification of the kinetic properties and stability of these molecules contributing to the increase in the potential applications of the same. The present work is aimed to study different methods of immobilization of lipases in silica supports, and the effects of this procedure to improve the functionality of enzymes. The immobilization methods chosen for the studies were: physical adsorption, covalent bonding and encapsulation process. The process of immobilization of lipase on Celite (by physical adsorption) was optimized taking into account several parameters such as: pH, the enzyme concentration:support and temperature for enzyme activity. Celite was also used as a support for the immobilization of lipase by covalent bond, where best results were obtained with 20% enzymatic activity at 40 ° C and immobilization efficiency of 50%. The celite was activated with 3-aminopropyltriethoxysilane and glutaraldehyde. Finally, we have studied the possibility of encapsulation of lipase using the precusor tetraethylorthosilicate (TEOS). The results of this last methodology were not satisfactory. These results show that to maintain a good catalytic activity depends on the type of immobilization chose (chemical or physical) and the strength of the interaction between the enzyme and support, which can cause structural distortions in the protein, leading maintenance or a decrease in catalytic activity / Mestre

University of Macau / Faculty of Science and Technology / Department of Electromechanical Engineering