O crescimento do potencial energético a partir da biomassa estimula o desenvolvimento e a criação de novas tecnologias neste setor. Neste trabalho realizou-se uma ampla pesquisa da produção, compressão e acondicionamento do biogás. Constatou-se durante essa pesquisa a necessidade da busca por alternativas que possibilitem a utilização eficiente deste biocombustível. Analisou-se a possibilidade da fabricação de um compressor alternativo para biogás que possa ser aplicado em pequenas unidades de produção por meio da modelagem das partes componentes. Primeiro efetuou-se a escolha do material considerando-se as características adequadas para construção do sistema de compressão. Depois disto dimensionou-se a camisa de compressão e a sua modelagem tridimensional com software Inventor 2010 (versão Student), além de válvulas e matrizes para fabricação. Complementarmente foi simulado o funcionamento do compressor (gráfico do deslocamento, velocidade e força com o software FluidSim da Festo Didatic). Por último executou-se o projeto eletropneumático, energização e lista de dispositivos necessários para montagem do compressor. Observou-se que essa tecnologia pode ser aplicada em pequenas plantas de produção de biogás. A comparação com outros sistemas de compressão revelou vantagens como a não haver contaminantes na compressão e acionamento, além da compressão poder se dar em ambiente separado do seu acionamento. / The growth of the energy potential from the biomass stimulates development and creation of new technologies in this sector. In this work is carried out extensive research in production, compression and biogas bottling. The need to search for alternatives has been evidenced during the research to make possible the efficient use of biofuel. After it analyzed the possibility of manufacturing of an alternative compressor for biogas which can be applied in small production units through the modeling of the contracting parties. At first it was effected the material choice considering the characteristics for the construction of the compression system. After this, was dimensioned a compression jacket, valves and matrices with the Student software Inventor 2010. Moreover the functioning of the compressor was simulated (its graphical of the displacement, speed and force with a FluidSim software from Festo Didatic). Finally was made a pneumatic project and was executed a list of necessary devices for the compressor assembly. It was observed to that this technology can be applied in small plants of production of biogas. The comparison with other systems of compression demonstrates that tis compressor haven’t contaminants, beyond the compression to be able to give itself in separate environment of its drive.

O crescimento do potencial energético a partir da biomassa estimula o desenvolvimento e a criação de novas tecnologias neste setor. Neste trabalho realizou-se uma ampla pesquisa da produção, compressão e acondicionamento do biogás. Constatou-se durante essa pesquisa a necessidade da busca por alternativas que possibilitem a utilização eficiente deste biocombustível. Analisou-se a possibilidade da fabricação de um compressor alternativo para biogás que possa ser aplicado em pequenas unidades de produção por meio da modelagem das partes componentes. Primeiro efetuou-se a escolha do material considerando-se as características adequadas para construção do sistema de compressão. Depois disto dimensionou-se a camisa de compressão e a sua modelagem tridimensional com software Inventor 2010 (versão Student), além de válvulas e matrizes para fabricação. Complementarmente foi simulado o funcionamento do compressor (gráfico do deslocamento, velocidade e força com o software FluidSim da Festo Didatic). Por último executou-se o projeto eletropneumático, energização e lista de dispositivos necessários para montagem do compressor. Observou-se que essa tecnologia pode ser aplicada em pequenas plantas de produção de biogás. A comparação com outros sistemas de compressão revelou vantagens como a não haver contaminantes na compressão e acionamento, além da compressão poder se dar em ambiente separado do seu acionamento. / The growth of the energy potential from the biomass stimulates development and creation of new technologies in this sector. In this work is carried out extensive research in production, compression and biogas bottling. The need to search for alternatives has been evidenced during the research to make possible the efficient use of biofuel. After it analyzed the possibility of manufacturing of an alternative compressor for biogas which can be applied in small production units through the modeling of the contracting parties. At first it was effected the material choice considering the characteristics for the construction of the compression system. After this, was dimensioned a compression jacket, valves and matrices with the Student software Inventor 2010. Moreover the functioning of the compressor was simulated (its graphical of the displacement, speed and force with a FluidSim software from Festo Didatic). Finally was made a pneumatic project and was executed a list of necessary devices for the compressor assembly. It was observed to that this technology can be applied in small plants of production of biogas. The comparison with other systems of compression demonstrates that tis compressor haven’t contaminants, beyond the compression to be able to give itself in separate environment of its drive.

O crescimento do potencial energético a partir da biomassa estimula o desenvolvimento e a criação de novas tecnologias neste setor. Neste trabalho realizou-se uma ampla pesquisa da produção, compressão e acondicionamento do biogás. Constatou-se durante essa pesquisa a necessidade da busca por alternativas que possibilitem a utilização eficiente deste biocombustível. Analisou-se a possibilidade da fabricação de um compressor alternativo para biogás que possa ser aplicado em pequenas unidades de produção por meio da modelagem das partes componentes. Primeiro efetuou-se a escolha do material considerando-se as características adequadas para construção do sistema de compressão. Depois disto dimensionou-se a camisa de compressão e a sua modelagem tridimensional com software Inventor 2010 (versão Student), além de válvulas e matrizes para fabricação. Complementarmente foi simulado o funcionamento do compressor (gráfico do deslocamento, velocidade e força com o software FluidSim da Festo Didatic). Por último executou-se o projeto eletropneumático, energização e lista de dispositivos necessários para montagem do compressor. Observou-se que essa tecnologia pode ser aplicada em pequenas plantas de produção de biogás. A comparação com outros sistemas de compressão revelou vantagens como a não haver contaminantes na compressão e acionamento, além da compressão poder se dar em ambiente separado do seu acionamento. / The growth of the energy potential from the biomass stimulates development and creation of new technologies in this sector. In this work is carried out extensive research in production, compression and biogas bottling. The need to search for alternatives has been evidenced during the research to make possible the efficient use of biofuel. After it analyzed the possibility of manufacturing of an alternative compressor for biogas which can be applied in small production units through the modeling of the contracting parties. At first it was effected the material choice considering the characteristics for the construction of the compression system. After this, was dimensioned a compression jacket, valves and matrices with the Student software Inventor 2010. Moreover the functioning of the compressor was simulated (its graphical of the displacement, speed and force with a FluidSim software from Festo Didatic). Finally was made a pneumatic project and was executed a list of necessary devices for the compressor assembly. It was observed to that this technology can be applied in small plants of production of biogas. The comparison with other systems of compression demonstrates that tis compressor haven’t contaminants, beyond the compression to be able to give itself in separate environment of its drive.

Šiame darbe yra nagrinėjamos kukurūzų burbuolių ir grūdų fizikinės-mechaninės savybės, jų svarba iškūlimui, valymui bei tolesniam perdirbimui. Literatūros apžvalgoje atlikta kukurūzų burbuolių ir grūdų fizikinių-mechaninių savybių bei grūdo atsistatymo koeficiento mokslinių tyrimų analizė. Eksperimentiniais tyrimais nustatytas kukurūzų grūdų atsistatymo koeficientas. Tirtas kukurūzų burbuolių atsparumas lenkimui, gniuždymui ir radialiniam spaudimui. Atlikti grūdo atskyrimo jėgos nustatymo spaudžiant juos eilutėje specialiu antgaliu tyrimai. Nustatytas vieno grūdo atskyrimo jėgos dydis priklausomai nuo spaudžiamų grūdų eilutėje skaičiaus. Švytuokline daužykle atlikti kuliamos kukurūzo burbuolės, imituojant judėjimą pobūgnio paviršiumi, bandymai. Nustatyta spragilo smūgio impulso dydžio įtaka grūdų atskyrimui nuo šerdies. Taip pat nustatyta spragilo smūgio į burbuolę trukmė ir burbuolės sąlyčio su spragilu trukmės priklausomybė nuo spragilo greičio smūgio metu. Darbą apibendrina 9 išvados, jo pabaigoje pateiktas informacijos šaltinių sąrašas. / Physical-mechanical properties of corn cobs and grain and their influence for the thrashing, cleaning and conversion in this work are discussed. The review of the sciential researches of physical-mechanical properties of corn cobs and grain is done, also the researches of the set-factor of corn grain is reviewed. The results of the researches of the set-factor of corn grain is represented, the resistance for bending, vertical and horizontal compression are done. Researches of corn grain detaching from cob compressing few grains in the line are done and the results are presented. The experiment of the corn cob movement through the gap between the concave and the raspbar in the pendulum striker is made, the continuance of the impact impulse of the raspbar is determinated, also the influence of the strike impulse for the grain detaching from the corn cob is presented. It is also presented the results of the research of the continuance of contact between the corn cob and raspbar depending on the raspbar velocity before the impact. 8 conclusions summarize this work and, finally, the list of references is presented.

Šiame darbe yra nagrinėjamos kukurūzų grūdų ir burbuolių fizikinės-mechaninės savybės, jų brendimo laikotarpyje, veikiant pusiau statine apkrova. Literatūros apžvalgoje atlikta kukurūzų burbuolių ir grūdų fizikinių-mechaninių savybių bei grūdų tamprumo modulio mokslinių tyrimų analizė. Moksliniai eksperimentiniai tyrimai buvo atlikti 2012 metų rugsėjo-spalio mėnesiais, dukart savaitėje, Žemės ūkio mašinų tyrimų laboratorijoje fizikinių-mechaninių savybių tyrimo mašina „Instron 5960“. Eksperimentiniais tyrimais nustatyti kukurūzų grūdų ir burbuolių biometriniai rodikliai. Tirtas kukurūzų burbuolių atsparumas lenkimui ir gniuždymui. Atlikti grūdo atskyrimo jėgos nustatymo spaudžiant juos eilutėje specialiu antgaliu tyrimai. Atliktas grūdų gniuždymo bandymas, spaudžiant grūdą iki visiško suirimo. Tyrimų duomenys apdoroti statistiškai. Tyrimais nustatyta, kad grūdams bręstant, rugsėjo-spalio mėnesiais, kukurūzų grūdų drėgnis sumažėja nuo 50,94±1,64% iki 36,21±0,52%, o maksimali jėga, reikalinga suardyti grūdą, padidėja nuo 91,54±16,75 N iki 200,67±18,43 N. / This study was carried out to determine the physical and mechanical properties in different physiological maturity stage of corn grains and corn ears. The study of the mechanical properties of corn grains and ears were performed under quasi-static conditions with the unit “Instron-5960”. Corn ears bending were determined, when the gap between the support beams was 60 mm and 120 mm. The rupture force of ear breaking decreases with an increasing of distance between the supports. The grain was loaded at three different orientations: over the length, over the width and over the thickness. Single grain was placed between two parallel plates and gradually compressed, while simultaneously recording the force and the corresponding deformation that occurred until the grain ruptured. At this point the force suddenly decreased, while the deformation continued. In most cases the initial portion of the load-deformation curve of the grain is approximately linear up to certain levels of deformation beyond which it became non-linear. The observed bioyield point represents the yield point in the biological materials. This is an indication of initial cell rupture in the cellular structure of the material. Research data were processed statistically. The results showed that the max rupture force of corn grain increased from 91.54±16.75 N to 200.67±18.43 N by decreasing the moisture content from 50.94±1.64% to 36.21±0.52%, respectively. 5 conclusions summarize this work and, finally, the list of... [to full text]

Offloading SLAM to the edge/cloud is now becoming an attractive option to greatly decrease device energy usage. The new SLAM solution involves compressing image data on the device before transmission, allowing a further decrease in the network bandwidth when performing SLAM at the edge/cloud. However, lossy compression affects the quality of images, making image features harder to detect and track during visual SLAM operation, impacting localization accuracy. Current visual SLAM implementations assume that images are non-compressed since SLAM is traditionally executed onboard the device to which a camera is directly connected. This thesis work explores the impact of image compression on the localization accuracy of ORBSLAM3, a representative visual SLAM system, and in what way the ORBSLAM3’s modules for feature detection and matching are affected. Methods are proposed that adapt the image bitrates based on the number of features detected and enhance the image brightness for low-light conditions, plus optimizing the internal parameters in SLAM, to improve the robustness of the overall system to image compression. The experiment results show the detailed influence of the impact brought by compression on ORB-SLAM3 and prove the effectiveness of our methods. Also, integrating these methods yields synergistic improvements. While this thesis work primarily addresses the SLAM system’s front-end, future work can target back-end modifications. / Att avlasta SLAM till kanten/molnet blir nu ett attraktivt alternativ för att markant minska enheters energiförbrukning. Den nya SLAM-lösningen innebär att bilddata komprimeras på enheten innan den överförs, vilket möjliggör ytterligare minskning av nätverksbandbredden vid genomförandet av SLAM vid kanten/molnet. Men förlustkomprimering påverkar bildernas kvalitet och gör det svårare att upptäcka och följa bildfunktioner under visuell SLAM-drift, vilket påverkar lokaliseringsnoggrannheten. Nuvarande implementationer av visuell SLAM förutsätter att bilderna inte är komprimerade eftersom SLAM traditionellt utförs ombord på den enhet till vilken en kamera är direkt ansluten. Denna avhandling utforskar effekten av bildkomprimering på lokaliseringsnoggrannheten hos ORB-SLAM3, en representativ visuell SLAM-system, och på vilket sätt ORB-SLAM3: s moduler för funktionssökning och matchning påverkas. Metoder föreslås som anpassar bildbitarna baserat på antalet detekterade funktioner och förbättrar bildens ljusstyrka för svagt ljusförhållanden, samt optimerar de interna parametrarna i SLAM för att öka hela systemets robusthet mot bildkomprimering. Experimentresultaten visar den detaljerade påverkan som kompression har på ORB-SLAM3 och bevisar effektiviteten hos våra metoder. Dessutom ger integration av dessa metoder synergi och förbättringar. Även om denna avhandling primärt fokuserar på SLAM-systemets framsida, kan framtida arbete rikta sig mot bakkantsmodifieringar.

Mankind strives for accomplishing the mutually agreed goals in Agenda 2030 where the thirteenth goal is to stop climate change. The amount of sand used in several materials is of great importance to the environment. Sand is a crucial component when producing flat glass, and one way of decreasing the construction sectors impact on the climate change is recycling of old flat glass. The study investigates the potential for an easier reuse of flat glass. The purpose of the thesis is to increase the reuse of flat glass and thereby reduce the climate impact from the construction sector. The aim is to bring forth a crosslist for reuse of flat glass, to find out if the bending strength in an old glass can achieve the requirements of today's standards and to make an overall calculation of the costs andthe enviromental savings when reusing flatglass. Several methods were used to achieve the aim, namely a literature study to gather information, dialogues that give a range of how different aspects can be valued and abending strength test that show the reused flatglass´s ability to withstand external pressure. The overall costs and the enviromental impact were also calculated. The result shows that the crosslist encounters for the properties being fulfilled in a reused window, given that the performer has a certain knowledge. The bending strength test showed that the roughly 60 year old flat glass did achieve the requirements and can therefore be used as a product in a new building. The dialouges enlighted the greatest obstacles for reusing flat glass as lack of knowledge and supply. More specific problems while using old flat glass is the matters of energy and guarantee which are essential when deciding if reuse is possible and is problematic for whoever tries to upgrade a window that is not reaching its specified requirements. The requirements if a window is to be reused or not in a specific way is a part of thecrosslist where the properties are categorized from 1 to 3 where 3 has the lowest performance but still achieves the minimum requirements. The possibly changed strength of the tested flat glass in terms of age is difficult to assess as there is no new reference object with a similar thickness to compare with. The overall calculations of costs and environmental impact shows that large savings can be made . The study show the possibilities of how a flat glass can be made by reusin flat glass. Nonetheless, more deep diving studies need to be deducted within the area but perhaps in the long term the study may contribute to increasing the reuse of flatglass.