Durante o desenvolvimento dessa dissertação foi criado um novo controlador de navios para aproamento automático de mínima energia (weathervane), de acordo com condições ambientais incidentes, mantendo o posicionamento de um ponto de controle arbitrário. O controlador proposto utiliza a metodologia ZPC (Zero Power Control), empregando o método da integral de realimentação, originalmente proposto para aplicação em sistemas de levitação magnética. Além da análise de estabilidade, também foi utilizado o simulador numérico de sistemas oceânicos TPN (Tanque de Provas Numérico), atestando o funcionamento do controlador sob a influência de diversas condições. Foram simulados casos com agentes ambientais (onda, vento e correnteza) desalinhados, ondas irregulares, posicionamento da popa no navio, dentre outros. O desempenho do controlador desenvolvido foi comparado, através de análise estática, com o desempenho de outras lógicas de controle weathervane, apresentando desempenho igual ou superior. Finalmente, um navio em escala reduzida foi submetido a testes em um tanque físico. Os resultados experimentais foram bastante satisfatórios, validando os resultados numéricos obtidos. Com isto, conclui-se que o controlador projetado atende os propósitos para o qual foi concebido com sucesso, sendo viável e possuindo diversas aplicações práticas imediatas. / A new controller was developed during this thesis, intended to automatically calculate the optimum heading (weathervane) for any given environmental condition. The vessel positioning is kept while this controller adapts the heading. The proposed controller utilizes the Zero Power Control (ZPC) methodology, generally applied to magnetic levitation systems. The chosen ZPC strategy is the integral feedback. A stability analysis was carried, in addition to simulations at the oceanic systems numerical simulator TPN (Numerical Offshore Tank), proving the controller availability under the influence of several environmental conditions. Cases with misaligned environmental agents (wind, waves and current), irregular waves, stern control, among others were simulated. In order to prove its performance, the final controller was compared with existing weathervane controllers through a static analysis, showing that it was equal or superior. Finally, a scale model ship was undergone to tests on a physical tank. The experimental results were pretty good, validating the obtained numerical results. In conclusion, the designed controller attends its design requirements successfully, being viable and having several immediate practical applications.

Visando apoiar o desenvolvimento de controladores para servoposicionadores pneumáticos, é apresentada no presente trabalho uma proposta de um procedimento baseado no uso de redes neurais para a determinação de modelos matemáticos precisos que possam ser aplicados tanto para a simulação do seu comportamento dinâmico quanto na estrutura de controladores que utilizam estratégias baseadas em modelos. No âmbito do trabalho, esse procedimento foi testado por meio de sua aplicação na identificação das forças de atrito e da relação pressão/vazão mássica nos orifícios de controle da servoválvula (que consistem nas principais não-linearidades envolvidas em tais sistemas). Além disso, determinou-se através de redes neurais a relação inversa entre as vazões desejadas e o sinal de controle da servoválvula (difeomorfismo), a qual é aplicada em técnicas de controle baseadas em modelos. Visando validar o procedimento de modelagem proposto, foram realizadas simulações em malha aberta e malha fechada, cujos resultados são comparados com os de experimentos realizados em uma bancada de testes. Com o intuito de comprovar sua eficácia em aplicações de controle, o modelo baseado em redes neurais foi utilizado no desenvolvimento de um controlador não-linear sintetizado de acordo com uma estratégia em cascata (a qual foi já testada em outros trabalhos, mostrando resultados satisfatórios quando aplicada ao controle de servoposicionadores pneumáticos). No entanto, essa estratégia apresenta dificuldades de implantação em decorrência das dificuldades associadas ao processo de identificação dos parâmetros do sistema, que são especialmente trabalhosos neste caso. As características de estabilidade em malha fechada foram analisadas por meio do segundo método Lyapunov. Os resultados experimentais em malha fechada obtidos atestam a eficácia da estratégia de controle proposta. / The development of a precise positioning system has motivated several researches in the pneumatic systems control area to overcome the problems caused by these nonlinearities, by appropriate feedback control algorithms. In this work it is proposed a methodology based on neural networks to achieve accurate mathematical models that can be used in simulation as in controllers techniques based on models. This methodology was tested through its application in identifying the phenomenon of friction and the relationship pressure/mass flow through servo valve orifices control holes. Furthermore, using neural networks, the inverse relationship between the desired flow rates and control signal of servo valve (diffeomorphism), which is applied in various control techniques based on models, was determined. To evaluate the proposed modeling methodology, simulations were done in open and closed loop, and the results were compared with experiments conducted on a real pneumatic servo positioning system. A neural network based model was used to develop a nonlinear controller according to a cascade strategy with friction compensation (which has been tested on other studies showing satisfactory results when applied to pneumatic servo positioning control). The cascade control strategy, despite showing a good performance in trajectory tracking, presents significant difficulties in implementation due mainly to difficulties associated with the system parameters identification process, which are especially expensive. The characteristics of the closed loop stability were analyzed by Lyapunov method. The experimental results obtained in closed loop attest the efficiency of the proposed control strategy.

Orientador: Nelson Luis Cappelli / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Agricola / Made available in DSpace on 2018-08-06T12:22:46Z (GMT). No. of bitstreams: 1 Silveira_AugustoCesarda_M.pdf: 3377004 bytes, checksum: d130ae6a3461f29b10825e5e08012c66 (MD5) Previous issue date: 2004 / Resumo: Este trabalho teve como principais objetivos: avaliar, comparar e analisar os diferentes aparelhos de GPS, levando-se em conta as diversas categorias, seus desempenhos com respeito a seus índices de acurácia e precisão, podendo assim, analisar os custos dos aparelhos em função dos índices de desempenho nos diversos modos de operação. Levando-se em conta que o sistema de posicionamento global por satélites (GPS) tem se tornado padrão no segmento da agricultura, baseou-se na significativa diferença de custo, acurácia e precisão entre os receptores GPS das categorias de navegação e de mapeamento e a imediatamente superior. A motivação deste trabalho deu-se, com a possibilidade de aumento do número de usuários no segmento agrícola, por meio da redução do custo dos sistemas de posicionamento e na necessidade de se conhecer a real acurácia e precisão dos receptores GPS em diversos modos de operação / Abstract: This work had as main objectives: evaluate, compare and analyze the different GPS devices, taking into account the several categories, their performance related to their accuracy and precision indicators, and in this way it may analyze the costs of devices in function of the performance indicators in the several ways of operation. Taking into account that the system of global position by satellites (GPS) has become a standard in the agriculture segment, it has been based in the significance cost, accuracy and precision differences among the GPS receptors of the navigation and the mapping categories and their immediate superior ones. The motivation of this work has been provided with the possibility of an increase of number of users in the agriculture segment through the reduction of costs of the mapping systems and the need to know the real accuracy and precision of the GPS receptors in the several ways of operation / Mestrado / Maquinas Agricolas / Mestre em Engenharia Agrícola

Orientador: Carlos Roberto de Souza Filho / Tese (doutorado) - Universidade Estadual de Campinas, Instituto de Geociências / Made available in DSpace on 2018-08-21T05:23:53Z (GMT). No. of bitstreams: 1 Guimaraes_FernandoRosa_D.pdf: 9327798 bytes, checksum: 1876a862078f6acfd997088341778183 (MD5) Previous issue date: 2011 / Resumo: O Quadrilátero Ferrífero é uma das maiores províncias metalíferas do mundo e possui potencial aurífero exploratório considerável visto o grande número de minas que produzem, ou já produziram no passado, milhares de toneladas desse metal. Depósitos auríferos importantes como Mina Grande, Cuiabá e Raposos, considerados gigantes e de classe mundial, além de jazidas de menor porte (Faria, Bicalho, Engenho, D'água, Morro da Glória, etc.), hospedam-se na porção centro-norte do Supergrupo Rio das Velhas (Dorr 1969) e são conhecidas desde o início do século XVIII. Esta tese de Doutorado tem como tema central o desenvolvimento e a aplicação de métodos quantitativos e qualitativos de mapeamento prospectivo tridimensional, que possibilita a seleção e a hierarquização de corpos auríferos potenciais tridimensionais durante programas de exploração mineral, reduzindo riscos e direcionando melhor a continuidade das investigações exploratórias. Além disso, demonstra-se que a aplicação de recursos geoestatísticos auxilia expressivamente o entendimento geológico de depósitos auríferos da província metalogenética do Quadrilátero Ferrífero (QF), pode fornecer evidências de localizações espaciais de domínios auríferos enriquecidos, além de ajudar na quantificação de conteúdo metálico e na classificação de recursos minerais. Esta tese está organizada em um formato de dois desenvolvimentos distintos. O capítulo 1 denominado "Assinaturas Geoquímicas e Geofísicas de IP, Resistividade e EM de Depósitos Auríferos Mesotermais do Quadrilátero Ferrífero - Estudos de Caso: Depósito Lamego e Adjacências - Brasil" apresenta resultados de processos de inversão geofísica de levantamentos aéreo e terrestre (IP) que possibilitaram caracterizar as assinaturas dos corpos sulfetados conhecidos do depósito Lamego, além de estimar profundidades e extensões laterais de corpos condutores eletromagnéticos, resistivos e/ou geoelétricos neste depósito. A caracterização diferenciada dos sinais geofísicos de condutividade eletromagnética, efeito IP e resistividade definida no depósito Lamego, onde os controles com os corpos de minério conhecidos foram adequadamente compreendidos, auxiliaram na identificação e na localização de novas extensões de corpos potenciais nos alvos satélites denominados: São José, Biquinha, Bom Caminho e Sobradinho. Adicionalmente, um estudo complementar na região do depósito Morro de Glória foi desenvolvido, e modelos prospectivos fundamentados na integração e análise espacial tridimensional de dados multi-fonte, priorizando o uso de algoritmos avançados de lógica fuzzy e inversão geofísica, que auxiliaram na seleção e hierarquização de corpos auríferos potenciais neste depósito. O capítulo 2 denominado "Krigagem Ordinária e Simulação Condicional como Suporte na Estimativa, Categorização e Caracterização do Depósito de Ouro do Lamego - Quadrilátero Ferrífero - MG" apresenta um conjunto de procedimentos geoestatísticos utilizado para obtenção de uma estimativa quantitativa e qualitativa dos teores e volumes dos corpos de minério, que sustentam os números finais do conteúdo metálico do depósito Lamego e a sua categorização em termos de recurso mineral. Dentre os procedimentos utilizados destacam-se: (i) caracterização geológica e da modelagem tridimensional dos corpos de minério; (ii) caracterização do QA/QC utilizado, (iii) estudo exploratório da base de dados e ajuste e análise de variogramas direcionais; (iv) definição de efeito pepita; (v) definição dos parâmetros e aplicação da krigagem ordinária; (vi) validação da krigagem ordinária; (vii) classificação dos recursos baseado nos resultados obtidos na simulação condicional; (viii) análise de como os resultados geoestatísticos, pós validados, podem contribuir no aprimoramento do entendimento do depósito. O conjunto de procedimentos geoestatísticos desenvolvidos neste trabalho serviu não só como um importante experimento para a estimativa de teores e do conteúdo metálico do depósito aurífero Lamego, mas também para auxiliar na categorização dos recursos minerais e aprimorar o entendimento geológico e caracterização dos corpos de minério deste depósito / Abstract: The Quadrilátero Ferrífero (Iron Quadrangle) located in State of Minas Gerais is one of the largest metal bearing regions in the world. The region has considerable gold exploration potential. There are many mines which have produced thousands of tons of gold. Mina Grande, Cuiabá and Raposos are considered world class deposits. Other smaller deposits, including Faria, Bicalho, Engenho, D'água and Morro da Glória, are found in the central-northern area of the Rio das Velhas Supergroup (Dorr 1969). They have been known since the 18th century and are normally associated with a number of geological factors and "coincidences" which have occurred and have manifested in three dimensions. This thesis is organized in two distinct developments. The first Chapter "Geochemical and Geophysical Signatures of Induced Polarization, Resistivity and Electromagnetic Surveys of Orogenic Gold Deposits in the Quadrilátero Ferrífero - Case Studies in Lamego Deposit and Surrounding Targets, Minas Gerais, Brazil, presents data results of the geophysical inversion from data windows of the survey "Spectrem - Airborne Electromagnetic Survey-2002", along with resistivity and induced polarization (IP) ground surveys. The studies provide a characterization of the signatures of known sulphide bodies from Lamego's deposit and estimates the depth of possible lateral extensions of the electromagnetic, resistive and/or geoelectric conductive bodies in this deposit. This work describes the results of geological, geophysical, and geochemical research conducted in the region between the Lamego and Cuiabá deposits, starting with the methodological characterization, geophysical and geochemical signatures established for the Lamego deposit, aiming at a regional metallogenic analysis and assessment of the potential for locating similar gold deposits. The main objectives of this work is (i) to characterize the behavior of IP signatures, resistivity and air EM of the sulphide host rocks of the gold mineralization of the Lamego deposit, considering the three dimensional geological/geochemical modeling, aligned with the direct inversion process of each of the geophysical properties; (ii) to locate possible lateral extensions and at depth of potential sulphide bodies containing gold mineralization; (iii) to investigate, in depth, the continuity of soil and excavation anomalies through the geophysical sections, which help in locating gold deposits in the north-northwest region of the Quadrilátero Ferrífero; (iv) to characterize the methodological criteria for mineral exploration by IP geophysics and three dimensional integration of multi-source information; to appropriately employ the scheduling, configuration, and geophysical inversion methodology used in the Lamego deposit in target satellites to aid the exploration scheduling of surface drilling; to tabulate the main characteristics of geophysical signatures of all surveyed targets and deposits in order to understand the correlation with the different models of researched materials. Additionally, a complementary study applied on Morro da Glória deposit was carry out based on the integration and three dimensional spatial analysis of multi-source data and the use of fuzzy logic algorithms and geophysical inversion. The 3D integration of surface exploration data projected underground, together with geological and geochemical information, combined with geophysical inversion methods applied to electromagnetic data, support this study in the development of a model which has the potential to assist in finding and quantifying new three dimensional auriferous orebodies in Morro da Glória gold deposit, which is located near Belo Horizonte city. The second Chapter "Ordinary Kriging and Conditional Simulation to Support Quantitative Estimation, Characterization and Classification of the Lamego Gold Deposit - Quadrilátero Ferrífero - Brazil", presents geostatistical procedures which were used for quantitative estimation of grades and volumes of the orebodies and to support the final figures related to the metal content and classification of the Lamego gold deposit. The ordinary kriging was used in the estimation and Sequential Gaussian Simulation (SGSIM) was used for accessing the uncertainties and guiding the classification of the Deposit. The main procedures used in this work are summarized as follow: (i) geological modeling of the mineralized orebodies; (ii) QA/AC characterization; (iii) exploration data analysis; variogram fitting and analysis; (iv) nugget effect definition; (v) definition of the ordinary kriging parameters; (vi) ordinary kriging validation and (vii) resource classification by SGSIM. Metallogenetical conclusions of Lamego deposit are presented based on geostatistical analysis and include the mean gold distribution of the horizontal volumetric panels indicates that gold grades are lower with increasing depth both in the Carruagem and Arco da Velha orebodies. Conversely, the mean gold distribution of the vertical volumetric panels indicates that gold grades slightly increase following the north direction. This feature can be associated with deformation episodes, which are coincident to the mineralizing hydrothermal fluid accumulation at those sites and/or associated to structural traps in the northern sectors of the aforementioned orebodies / Doutorado / Geologia e Recursos Naturais / Doutor em Ciências

The explosion of the mobile telecommunications market has resulted in the apparition of multiple applications and services. However the particular business pressure has often lead to that these systems have poor quality design and, consequently, implementation. Software system builders have realized the importance of the overall system organization to address quality requirements. Practically, they started to use, idiomatically, a number of commonly recognized solutions to guide their design of system structures. This report analyses and evaluates these solutions and comments on the result obtained when one of them was carefully selected and applied to a system of mobile positioning services. / +46708576448

El desarrollo económico y la estabilidad general del país en los últimos años, trajo consigo el auge de diversos sectores como el industrial, el minero, el agropecuario, etc. Esto, significó mayor cantidad de puestos de trabajo para la población y mejores ingresos para las familias. Bajo este contexto era natural que se incrementara la demanda de productos de diversa índole y de servicios, principalmente los de entretenimiento. Esta demanda fue atendida con la construcción de nuevos centros comerciales y la modernización de los pocos ya existentes. Las grandes superficies de consumo han pasado a formar parte del día a día de la sociedad, tanto es así que se puede decir que la gente va al centro comercial a pasear y no a comprar. Para los comerciantes esto es un problema que se resuelve incrementando el número de visitantes que realiza compras en el centro comercial. Dentro de las diversas tecnologías de posicionamiento y geolocalizaciones que en la actualidad se aplican en distintos ámbitos del quehacer diario como pedir comida a domicilio, pedir servicios de taxi, encontrar la mejor ruta para un destino sin toparse con el tráfico, etc., se encuentran aquellos que permiten navegar dentro de los lugares cerrados, las conocidas como Indoor Positioning Systems (IPS). / In the past few years the economic growth and overall stability of the country, brought with it an increase for many industrial sectors, like mining, agriculture and others. This also had an impact on the people in the form of more jobs and better incomes. Under this context it was only natural that the demand for any product or services increased, mainly the ones relative to the entertainment sector. The respond to this demand was the construction of new malls and the update of the ones already in place. Large spaces for retail purposes are now part of the everyday in a modern society, in such a way the people go to the mall just to spend the day and not for buying goods. For the retailers this is a problem to be solved by increasing the number of visitors to the mall. Among the many technologies in global positioning and geolocation that has a place in current applications for everyday tasks like food ordering, taxi services, or even finding the best route home avoiding rush hour, there are the ones that allows to navigate inside buildings, these are called Indoor Positioning Systems (IPS). / Trabajo de investigaciòn

Scene mapping is an integral part of processing a forensic scene with scattered human remains. By utilizing the appropriate mapping technique, investigators can accurately document the location of human remains and maintain a precise geospatial record of this evidence at a scene. Global positioning system (GPS) units have been used for years to survey the spatial distribution of large-scale archaeological sites. However, differential global positioning (DGPS) unit now provide decreased positional error suitable for small-scale surveys, such as forensic scenes. Because of the lack of knowledge concerning this utility in mapping a scene, controlled research is necessary to determine the practicality of using DGPS in mapping scattered human remains in different environments. The purpose of this research is to quantify the accuracy of a DGPS unit for mapping skeletal dispersals and to determine the applicability of this utility in mapping dispersed remains. First, the accuracy of the DGPS unit was determined using known survey markers in different environments. Secondly, several simulated scenes were constructed and mapped in open, tree-covered, and structure-obstructed environments using the DGPS. Factors considered included the extent of the dispersal, data collection time, and the use of offsets. Data were differentially postprocessed and compared in a geographic information system (GIS) to evaluate the most efficient recordation methods. Results of this study show that the DGPS is a viable option for mapping human remains in open areas. Furthermore, guidelines for accurate scene mapping using a DGPS unit will be provided, along with a discussion concerning the integration of DGPS into GIS for scene analysis and presentation

This thesis describes a research study relating naturalistic Global Positioning System (GPS) driving data with long-term traffic safety performance for two classes of roadways. These two classes are multilane arterial streets and limited access highways. GPS driving data used for this study was collected from 33 volunteer drivers from July 2012 to March 2013. The GPS devices used were custom GPS data loggers capable of recording speed, position, and other attributes at an average rate of 2.5 hertz. Linear Referencing in ESRI ArcMAP was performed to assign spatial and other roadway attributes to each GPS data point collected. GPS data was filtered to exclude data with high horizontal dilution of precision (HDOP), incorrect heading attributes or other GPS communication errors. For analysis of arterial roadways, the Two-Fluid model parameters were chosen as the measure for long-term traffic safety analysis. The Two-Fluid model was selected based on previous research which showed correlation between the Two-Fluid model parameters n and Tm and total crash rate along arterial roadways. Linearly referenced GPS data was utilized to obtain the total travel time and stop time for several half-mile long trips along two arterial roadways, Grand Avenue and California Boulevard, in San Luis Obispo. Regression between log transformed values of these variables (total travel time and stop time) were used to derive the parameters n and Tm. To estimate stop time for each trip, a vehicle “stop” was defined when the device was traveling at less than 2 miles per hour. Results showed that Grand Avenue had a higher value for n and a lower value for Tm, which suggests that Grand Avenue may have worse long-term safety performance as characterized by long-term crash rates. However, this was not verified with crash data due to incomplete crash data in the TIMS database. Analysis of arterial roadways concluded by verifying GPS data collected in the California Boulevard study with sample data collected utilizing a traditional “car chase” methodology, which showed that no significant difference in the two data sources existed when trips included noticeable stop times. For analysis of highways the derived measurement of vehicle jerk, or rate of change of acceleration, was calculated to explore its relationship with long-term traffic safety performance of highway segments. The decision to use jerk comes from previous research which utilized high magnitude jerk events as crash surrogate, or near-crash events. Instead of using jerk for near-crash analysis, the measurement of jerk was utilized to determine the percentage of GPS data observed below a certain negative jerk threshold for several highway segments. These segments were ¼-mile and ½-mile long. The preliminary exploration was conducted with 39 ¼-mile long segments of US Highway 101 within the city limits of San Luis Obispo. First, Pearson’s correlation coefficients were estimated for rate of ‘high’ jerk occurrences on these highway segments (with definitions of ‘high’ depending on varying jerk thresholds) and an estimate of crash rates based on long-term historical crash data. The trends in the correlation coefficients as the thresholds were varied led to conducting further analysis based on a jerk threshold of -2 ft./sec3 for the ¼-mile segment analysis and -1 ft./sec3 for the ¼-mile segment analysis. Through a negative binomial regression model, it was shown that utilizing the derived jerk percentage measure showed a significant correlation with the total number of historical crashes observed along US Highway 101. Analysis also showed that other characteristics of the roadway, including presences of a curve, presence of weaving (indicated by the presence of auxiliary lanes), and average daily traffic (ADT) did not have a significant correlation with observed crashes. Similar analysis was repeated for 19 ½-mile long segments in the same study area, and it was found the percentage of high negative jerk metric was again significant with historical crashes. The ½-mile negative binomial regression for the presence of curve was also a significant variable; however the standard error for this determination was very high due to a low sample size of analysis segments that did not contain curves. Results of this research show the potential benefit that naturalistic GPS driving data can provide for long-term traffic safety analysis, even if data is unaccompanied with any additional data (such as live video feed) collected with expensive vehicle instrumentation. The methodologies of this study are repeatable with many GPS devices found in certain consumer electronics, including many newer smartphones.

No description available.

No description available.