Les travaux de recherche pr esent es dans ce m emoire ont et e men es au sein d'EDF R&D. Ils visent a remplacer une grande partie des essais physiques par des simulations num eriques a n d'optimiser des processus de maintenance robotis ee r ealis es notamment sur des installations nucl eaires. Il s'agit d'une mani ere g en erale d'obtenir des gains de productivit e en augmentant la rapidit e de mise en uvre des op erations mettant en uvre des proc ed es ainsi que de ma^ triser la qualit e des r esultats. Les proc ed es consid er es sont des proc ed es de fraisage a grande vitesse. Ces derniers n ecessitent une grande pr ecision de suivi de trajectoire (en position et vitesse spatiales), ceci malgr e les incertitudes relatives aux param etres structuraux du syst eme porteur du proc ed e et compte-tenu de son comportement dynamique intrins eque (saturations, frottement) ainsi que des perturbations dynamiques (gravit e, interactions physiques). Les travaux d evelopp es abordent, dans un cadre exp erimental, les probl emes d'identi cation des param etres g eom etriques et inertiels ainsi que le comportement structurel (d eformations et frottements) d'un robot Staubli TX90 sur di erentes charges. Ces probl emes sont trait es ici dans un cadre r eel en tenant compte des contraintes de mise en uvre dans un contexte industriel. L'ensemble des param etres identi es ont et e int egr es a un simulateur dynamique qui, reproduisant les lois de commande impl ement ees sur le syst eme industriel ainsi que les g en erateurs de trajectoires, permet d'analyser le comportement dynamique du syst eme lors de la mise en uvre d'un proc ed e de fraisage grande vitesse. Sur cette base, la correction des trajectoires de l'e ecteur peut ^etre r ealis ee pour minimiser les d efauts de forme induits par ces di erentes sources d'erreur.

The objective of this thesis is to analyse driving behaviour and to characterize the effectsof an efficient way of driving, termed eco-driving, that enables the driver to reduce fuelconsumption and CO2emissions.The approach used to assess driving style is a collection of data from a CAN bus of acar equipped with OBD-II (on-board diagnostic) system. The driving experiment wasperformed for nine drivers who drove in a normal way or regular driving style and onedriver was an eco-driver who drove in an economical driving style. The driving routewas approximately 18.7 kms (which took between 25 to 30 minutes) in Halmstad city,Sweden.The drivers are compared using a statistical analysis of the driving parameters such as,speed, accelerator (gas pedal) and brake pressure, which are obtained from CAN busdata. A hierarchical clustering algorithm also used to classify the drivers based on theaverage result of the signals.In the results, a driving difference between the eco-driver and the normal drivers is visi-ble, most of the normal drivers have more or less similar behaviour. The average speed ofthe eco-driver lower than the normal drivers and the accelerator (gas pedal) result is alsoshown less usage by the eco-driver than the normal drivers. On the other hand, the eco-driver has braked more often than the normal drivers, but gently. Nevertheless, differenttraffic conditions during the experiment obstructs comparisons between the drivers.

Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2016-03-10T21:25:15Z No. of bitstreams: 1 JoaoRonybertoCavalcanteRibeiro_DISSERT.pdf: 10659688 bytes, checksum: 7ec8ae4a93f2bbc61768b6aa5b4d8027 (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2016-03-17T21:43:40Z (GMT) No. of bitstreams: 1 JoaoRonybertoCavalcanteRibeiro_DISSERT.pdf: 10659688 bytes, checksum: 7ec8ae4a93f2bbc61768b6aa5b4d8027 (MD5) / Made available in DSpace on 2016-03-17T21:43:41Z (GMT). No. of bitstreams: 1 JoaoRonybertoCavalcanteRibeiro_DISSERT.pdf: 10659688 bytes, checksum: 7ec8ae4a93f2bbc61768b6aa5b4d8027 (MD5) Previous issue date: 2015-02-27 / O litoral do Estado do Rio Grande do Norte ? caracterizada pela presen?a de dunas e fal?sias. Estas ?ltimas consistem em taludes com altura de at? 40 metros e inclina??o variando de 30o a 90o com a horizontal. Assim, esta disserta??o teve como objetivo a avalia??o da estabilidade da fal?sia da Ponta do Pirambu em Tibau do Sul/RN, e a realiza??o de um estudo param?trico sobre a estabilidade de uma fal?sia homog?nea considerando como vari?veis a coes?o do material, a altura da fal?sia e a inclina??o do talude. O estudo na Ponta do Pirambu considerou ainda a possibilidade da exist?ncia de uma cobertura coluvionar com espessura variando de 0,50 a 5,00 metros. As an?lises foram realizadas pelo m?todo de Bishop, utilizando o programa GEO5. Na an?lise param?trica foram produzidos gr?ficos que relacionam altura da fal?sia com a inclina??o, para fatores de seguran?a iguais a 1,00 e 1,50; al?m de gr?ficos onde ? poss?vel obter facilmente o menor fator de seguran?a a partir da coes?o, altura da fal?sia e sua inclina??o. Concluiu-se que esses gr?ficos s?o muito ?teis para an?lises preliminares, para a defini??o de ?reas cr?ticas em mapeamentos de riscos em ?reas de fal?sias e para determina??o de uma equa??o para obten??o do menor fator de seguran?a em fun??o dos par?metros de resist?ncia e da geometria de um talude. Em rela??o ? fal?sia da Ponta do Pirambu, os resultados mostraram que a fal?sia est? sujeita a deslizamentos superficiais localizados nos pontos onde pode haver a presen?a do col?vio com espessuras superiores a dois metros. Entretanto, a fal?sia se mant?m est?vel, apresentando fator de seguran?a global igual ou superior a 2,50 na condi??o saturada. / The coastline from Rio Grande do Norte state is characterized for the presence of dunes and cliffs. The latter consist of slopes with height up to 40 meters and inclinations ranging from 30? to 90? wich horizontal. Thus, this dissertation had as objective the evaluation of the stability of cliff from Ponta do Pirambu in Tibau do Sul/RN, and the realization of a parametric study on the stability of a homogeneous cliff considering as variables the material's cohesion, the cliff height and the slope inclination. The study in Ponta do Pirambu considered yet the possibility of the existence of a colluvial cover with thickness ranging from 0.50 to 5.00 meters. The analyzes were performed by Bishop method, using GEO5 software. In parametric analysis were produced graphics that relate height cliff with the inclination, to safety factors equals to 1.00 and 1.50; besides graphics where it is possible easily get the lowest safety factor as from the cohesion, cliff height and its inclination. It was concluded that these graphs are very useful to preliminary analyzes, for the definition of critical areas in risk mappings in areas of cliffs and for determination of an equation for obtaining the lowest safety factor function of the strength parameters and of slope geometry. Regarding the cliff from Ponta do Pirambu, the results showed that the cliff is subject to superficial landslides located in the points where may there be the presence of colluvium with thicknesses greater than two meters. However, the cliff remains stable presenting the global safety factor equal or superior to 2.50 in the saturated condition.

Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2017-10-18T20:22:23Z No. of bitstreams: 1 NelizaMariaESilvaRomcy_TESE.pdf: 17755676 bytes, checksum: 4d3bc5100b86d5298e35c47b9f9a5653 (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2017-10-19T21:35:28Z (GMT) No. of bitstreams: 1 NelizaMariaESilvaRomcy_TESE.pdf: 17755676 bytes, checksum: 4d3bc5100b86d5298e35c47b9f9a5653 (MD5) / Made available in DSpace on 2017-10-19T21:35:28Z (GMT). No. of bitstreams: 1 NelizaMariaESilvaRomcy_TESE.pdf: 17755676 bytes, checksum: 4d3bc5100b86d5298e35c47b9f9a5653 (MD5) Previous issue date: 2017-09-18 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior (CAPES) / O potencial gerador dos meios digitais e os avan?os em fabrica??o est?o abrindo novas dimens?es no processo projetual. Por?m, a partir do cen?rio nacional, percebe-se que o reflexo da aplica??o dessas ferramentas e processos ainda n?o ? amplamente identificado no ensino/aprendizado de projeto nos cursos de arquitetura e design. Nesse contexto, a presente pesquisa selecionou a modelagem param?trica como meio digital abordado, devido ?s lacunas de conhecimento e por se tratar de uma das bases tecnol?gicas de outros sistemas, como o Building Information Modeling. O problema de pesquisa consistiu em: ?Como introduzir no ensino de projeto o uso de processos e ferramentas computacionais que desenvolvam o objeto a partir de par?metros?? O uso da modelagem associativa se caracteriza pela programa??o das depend?ncias entre componentes, por meio de vari?veis (par?metros), com foco na constru??o de rela??es e regras. Diferente de um modelo tridimensional est?tico, um modelo param?trico pode ser considerado como um sistema din?mico. Partindo de premissas que apontam que a quest?o est? relacionada ao ?pensamento sist?mico?, ao ?ensino pr?tico reflexivo? e ? ?aprendizagem baseada em problemas?, foi estabelecida a seguinte hip?tese: considerando que o processo param?trico de projeto exige do projetista tanto habilidades comuns ao processo geral de projeto quanto habilidades espec?ficas da abordagem param?trica, sua introdu??o no ensino extrapola o ?mbito de uma ?nica disciplina, trazendo a necessidade de ser pensada a partir de uma vis?o sist?mica, prevendo de modo integrado a estrutura curricular dos cursos e o modelo de atelier de projeto. O objeto de estudo compreendeu, assim, as poss?veis rela??es entre o processo param?trico de projeto e o ensino de projeto. O objetivo geral da pesquisa consistiu em compreender as especificidades do processo param?trico de projeto, com o aux?lio do pensamento sist?mico, e propor novas diretrizes metodol?gicas para a aplica??o de suas ferramentas e processos no ensino de projeto, em cursos de arquitetura e design, considerando disciplinas e estruturas curriculares. Os objetivos espec?ficos buscaram: 1. analisar as especificidades do processo param?trico de projeto, considerando o pensamento sist?mico; 2. analisar as especificidades do ensino de projeto nos cursos de arquitetura e design; 3. caracterizar o atual cen?rio de aplica??o da modelagem param?trica no ensino nacional, a partir de amostra nos cursos de arquitetura e design, com ?nfase nas disciplinas de projeto, buscando identificar as melhores pr?ticas e os principais desafios; 4. propor e aplicar diretrizes metodol?gicas no ensino/aprendizado de projeto nos cursos de gradua??o de arquitetura e design, a partir de experimenta??es pedag?gicas, no intuito de utilizar ferramentas e processos param?tricos dentro da atividade projetual. Para o delineamento do trabalho, foram considerados os passos caracter?sticos da pesquisa construtiva (constructive research), resumidos nas seguintes etapas: 1. compreens?o do problema; 2. proposi??o (desenvolvimento e aplica??o da proposta); 3. valida??o (discuss?o e reflex?o). A compreens?o incluiu levantamento bibliogr?fico (aprofundamento te?rico), e levantamento emp?rico/pesquisa de campo com coleta de dados, para a caracteriza??o do cen?rio nacional e cen?rio local. As etapas posteriores de proposi??o e valida??o foram realizadas no cen?rio local (Universidade Federal do Rio Grande do Norte ? UFRN e Universidade Federal do Cear? ? UFC). A proposi??o consistiu no desenvolvimento das diretrizes metodol?gicas para a utiliza??o de ferramentas e processos param?tricos no ensino de projeto. Incluiu o estudo de uma proposta inicial e sua aplica??o para poss?veis ajustes, atrav?s de experimentos pedag?gicos de curta e longa dura??o (curso de extens?o de 20 h e duas disciplinas optativas, realizados na UFC). Por fim, a valida??o consistiu na revis?o parcial da proposta e aplica??o em novo experimento pedag?gico (curso de extens?o de 40 h, realizado na UFRN), al?m de sua apresenta??o, atrav?s de grupos focais, para professores/pesquisadores que participaram dos cursos e disciplinas (UFRN e UFC). Ao final da pesquisa, foi realizada uma revis?o final das diretrizes propostas, durante a qual se percebeu a necessidade de vislumbrar as estruturas curriculares dos cursos e o modelo de atelier de projeto integrado, resultado coerente com a hip?tese colocada inicialmente. Assim, considera-se que a abordagem param?trica deva ser introduzida ao longo da estrutura curricular dos cursos, de maneira gradual e dilu?da, contribuindo junto ?s diversas ?reas de Conhecimento em suas respectivas especificidades: Teoria e Hist?ria; Planejamento e Projeto; Representa??o e Linguagem; e Tecnologia. Nesse contexto, busca-se uma aproxima??o entre os processos de concep??o e execu??o, al?m de uma vis?o processual do projeto, onde o espa?o do atelier ? colocado como ambiente de experimenta??o, colabora??o e investiga??o de problemas e solu??es. / The generating potential of digital tools and advances in manufacturing are introducing new opportunities in design process. However, considering the national scenario, the reflection of these tools and processes is still not widely identified in design teaching / learning, in architecture and product design courses. In this context, the present research selected parametric modeling as the discussed digital tool, due to gaps in knowledge and because it is one of the technological foundations of other systems, such as Building Information Modeling. The research problem is: ?How to introduce in design education the use of digital processes and tools that consider objects based on their parameters?? The use of associative models is characterized by programming the dependencies between components through variables (parameters), focusing on the construction relationships and rules. Unlike a static three-dimensional model, a parametric model is a dynamic system. Although parametric modeling is related to the use of digital media, design and representation of objects based on their parameters emphasizes the understanding of the interaction between parts and their emerging potential, which characterizes the parametric design. Based on premises that indicate that the research question is related to "systems thinking", "reflective practice in teaching" and "problem-based learning", the following hypothesis was established: considering that parametric design demands from designers both general skills from any design process as well as skills specific to the parametric approach, its introduction into teaching extrapolates the scope of a single discipline. Thus, it must be thought from a systemic point of view and include both curriculum frameworks and the studio model in an integrated approach. The study object comprises possible relations between parametric design and design education. The overall objective of the research is to understand the specificities of parametric design, supported by systems thinking, and propose new methodological guidelines for the application of its tools and processes in design education, in architecture and product design courses, considering disciplines and curriculum frameworks. Specific objectives include: 1. analyze the specificities of parametric design, considering systems thinking; 2. analyze the specificities of design education, in architecture and product design courses; 3. characterize the current scenario of parametric modeling in national education, with an emphasis on design disciplines, in order to identify best practices and key challenges; 4. propose and implement methodological guidelines in design teaching / learning in architecture and product design undergraduate from pedagogical experiments, in order to use parametric tools and processes within design activity. The research outline was based on the characteristic steps of constructive research, summarized in the following stages: 1. understanding of the problem; 2. proposition (development and implementation of the proposal); 3. Validation (discussion and reflection). Understanding included literature (theoretical study), and empirical survey / site visit with data collection, to characterize the national scenario and the local scenario. The local scenario (Federal University of Rio Grande do Norte ? UFRN ? and Federal University of Cear? ? UFC) hosted the proposition and validation steps. Proposition consisted in developing methodological guidelines for the use of tools and parametric processes in design education. It included the study of an initial proposal and its application to possible adjustments through pedagogical experiments of short and long term (extension course of 20h and two elective courses, held in UFC). Finally, validation was the partial revision of the proposal and the application of a new pedagogical experiment (extension course of 40 hours, held at UFRN), in addition to its presentation, during focus groups, to teachers /researchers who participated in the courses and the disciplines (UFRN and UFC). At the end of the research, the proposal was revised again, when including both curriculum frameworks and an integrated studio model proved to be necessary, a coherent result with the initially proposed hypothesis. As such, it can be affirmed that parametric design must be introduced throughout the curriculum frameworks, in a gradative and diluted approach, contributing along with the different Expertise Areas, in their respective specifications. In this context, an approximation between design and execution is sought, along with a procedural view of the project, where the design studio is applied as an environment for experimentation, collaboration and investigation of problems and solutions.

Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2016-04-22T21:41:53Z No. of bitstreams: 1 JoseIdifranseAguiarTrindade_TESE.pdf: 3433912 bytes, checksum: cc18488777701871fa15bf7410b660d3 (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2016-04-22T22:05:27Z (GMT) No. of bitstreams: 1 JoseIdifranseAguiarTrindade_TESE.pdf: 3433912 bytes, checksum: cc18488777701871fa15bf7410b660d3 (MD5) / Made available in DSpace on 2016-04-22T22:05:27Z (GMT). No. of bitstreams: 1 JoseIdifranseAguiarTrindade_TESE.pdf: 3433912 bytes, checksum: cc18488777701871fa15bf7410b660d3 (MD5) Previous issue date: 2015-01-30 / Conselho Nacional de Desenvolvimento Cient?fico e Tecnol?gico (CNPq) / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior (CAPES) / Este trabalho tem como objetivo investigar o comportamento de elementos fractais e elementos helicoidais em estruturas planares de microfita. Em particular, as superf?cies seletivas de frequ?ncia (FSS) tiveram seus elementos convencionais alterados para formatos fractais e para o formato helicoidal. O substrato diel?trico usado ? de fibra de vidro (FR-4) e tem espessura de 1,5 mm, permissividade el?trica relativa de 4,4 e tangente de perdas igual a 0,02. Para as FSS, adotou-se a geometria fractal pentagonal de D?rer e a geometria helicoidal. Para efetuar as medi??es, foram utilizadas duas antenas cornetas em visada direta, conectadas por cabo coaxial a um analisador de redes vetorial. Alguns prot?tipos foram selecionados para fabrica??o e medi??o. A partir dos resultados preliminares obtidos, objetivou-se encontrar aplica??es pr?ticas para as estruturas a partir do cascateamento entre elas. Para as FSSs com elementos fractais de D?rer, observou-se um comportamento multibanda proporcionado pela geometria fractal, ao mesmo tempo em que a largura de banda se tornou estreita na medida em que o n?vel de itera??o fractal aumentou, tornando-a uma estrutura mais seletiva em frequ?ncia, com um maior fator de qualidade. Uma an?lise param?trica possibilitou a an?lise da influ?ncia da varia??o da camada de ar entre elas. As estruturas fractais pentagonais foram consideradas e cascateadas. O cascateamento entre determinadas estruturas pentagonais apresentou um comportamento tri-band para determinados valores da camada de ar entre elas, com aplica??es na banda licenciada 2,5 GHz (2,3 ~ 2,7 GHz), e 3,5 GHz (3,3 ~ 3,8 GHz). Para as FSSs com elementos helicoidais, seis estruturas foram consideradas. A partir de resultados preliminares obtidos com a an?lise isolada das estruturas, o cascateamento entre elas proporcionou o aumento da largura de banda, na medida em que a espessura da camada de ar aumenta. Com a finalidade de encontrar aplica??es pr?ticas para as estruturas helicoidais cascateadas, as estruturas propostas foram cascateadas e as mesmas encontraram aplica??es na banda-X (8,0 ~ 12,0 GHz), e na banda n?o licenciada que compreende a faixa de 5,25 a 5,85 GHz. Na caracteriza??o num?rica e experimental das estruturas abordadas, utilizou-se, respectivamente, o software comercial Ansoft Designere um analisador de redes vetorial, modelo N5230A da Agilent. / This work aims to investigate the behavior of fractal and helical elements structures in planar microstrip. In particular, the frequency selective surfaces (FSSs) had changed its conventional elements to fractal and helical formats. The dielectric substrate used was fiberglass (FR-4) and has a thickness of 1.5 mm, a relative permittivity 4.4 and tangent loss equal to 0.02. For FSSs, was adopting the D?rer?s fractal geometry and helical geometry. To make the measurements, we used two antennas horns in direct line of sight, connected by coaxial cable to the vector network analyzer. Some prototypes were select for built and measured. From preliminary results, it was aimed to find practical applications for structures from the cascading between them. For FSSs with D?rer?s fractal elements was observed behavior provided by the multiband fractal geometry, while the bandwidth has become narrow as the level of iteration fractal increased, making it a more selective frequency with a higher quality factor. A parametric analysis allowed the analysis of the variation of the air layer between them. The cascading between fractal elements structure were considered, presented a tri-band behavior for certain values of the layer of air between them, and find applications in the licensed 2.5GHz band (2.3-2.7) and 3.5GHz band (3.3-3.8). For FSSs with helical elements, six structures were considered, namely H0, H1, H2, H3, H4 and H5. The electromagnetic behavior of them was analyzed separately and cascaded. From preliminary results obtained from the separate analysis of structures, including the cascade, the higher the bandwidth, in that the thickness of the air layer increases. In order to find practical applications for helical structures cascaded, the helical elements structure has been cascaded find applications in the X-band (8.0-12.0) and unlicensed band (5.25-5.85). For numerical and experimental characterization of the structures discussed was used, respectively, the commercial software Ansoft Designer and a vector network analyzer, Agilent N5230A model.

Made available in DSpace on 2014-12-17T14:54:51Z (GMT). No. of bitstreams: 1 DiegoRCS.pdf: 1286138 bytes, checksum: 890aca771a97105bf912985058e417c2 (MD5) Previous issue date: 2008-12-11 / The present research aims at contributing to the area of detection and diagnosis of failure through the proposal of a new system architecture of detection and isolation of failures (FDI, Fault Detection and Isolation). The proposed architecture presents innovations related to the way the physical values monitored are linked to the FDI system and, as a consequence, the way the failures are detected, isolated and classified. A search for mathematical tools able to satisfy the objectives of the proposed architecture has pointed at the use of the Kalman Filter and its derivatives EKF (Extended Kalman Filter) and UKF (Unscented Kalman Filter). The use of the first one is efficient when the monitored process presents a linear relation among its physical values to be monitored and its out-put. The other two are proficient in case this dynamics is no-linear. After that, a short comparative of features and abilities in the context of failure detection concludes that the UFK system is a better alternative than the EKF one to compose the architecture of the FDI system proposed in case of processes of no-linear dynamics. The results shown in the end of the research refer to the linear and no-linear industrial processes. The efficiency of the proposed architecture may be observed since it has been applied to simulated and real processes. To conclude, the contributions of this thesis are found in the end of the text / O presente trabalho visa contribuir com a ?rea de detec??o e diagn?stico de falhas em sistemas din?micos atrav?s da proposta de uma nova arquitetura de sistemas de detec??o e isolamento de falhas (FDI, Fault Detection and Isolation). A arquitetura proposta traz inova??es no que se refere ? maneira como as grandezas f?sicas do processo monitorado s?o relacionadas ao sistema FDI e, em conseq??ncia disso, ? maneira como as falhas s?o detectadas, isoladas e classificadas. Uma busca por ferramentas matem?ticas capazes de satisfazer os objetivos da arquitetura proposta apontou para o uso do filtro de Kalman e seus derivados EKF (Extended Kalman Filter) e UKF (Unscented Kalman Filter). O uso do primeiro algoritmo mostra-se eficaz no caso em que o processo monitorado apresenta uma rela??o linear entre suas grandezas f?sicas a serem monitoradas e sua sa?da. Os outros dois, caso a din?mica seja n?o linear. Posteriormente, um comparativo entre o EKF e o UKF mostra que o segundo se adequa melhor ?s necessidades da arquitetura proposta. Os resultados mostrados no final da tese s?o referentes a plantas lineares e n?o-lineares, onde se pode observar a efic?cia da arquitetura proposta quando a mesma foi aplicada a processos simulados e reais

Made available in DSpace on 2014-12-17T14:55:44Z (GMT). No. of bitstreams: 1 HumbertoAS_DISSERT.pdf: 1011716 bytes, checksum: 2b872372fd085e114502d8002132d6ba (MD5) Previous issue date: 2010-03-19 / Conselho Nacional de Desenvolvimento Cient?fico e Tecnol?gico / Postsurgical complication of hypertension may occur in cardiac patients. To decrease the chances of complication it is necessary to reduce elevated blood pressure as soon as possible. Continuous infusion of vasodilator drugs, such as sodium nitroprusside (Nipride), would quickly lower the blood pressure in most patients. However, each patient has a different sensitivity to infusion of Nipride. The parameters and the time delays of the system are initially unknown. Moreover, the parameters of the transfer function associated with a particular patient are time varying. the objective of the study is to develop a procedure for blood pressure control i the presence of uncertainty of parameters and considerable time delays. So, a methodology was developed multi-model, and for each such model a Preditive Controller can be a priori designed. An adaptive mechanism is then needed for deciding which controller should be dominant for a given plant / Em muitos procedimentos cir?rgicos existe a necessidade de realizar o controle da press?o arterial para, com isto, preservar a sa?de do paciente. Para diminuir as chances de uma complica??o, ? necess?rio reduzir a press?o arterial o mais r?pido poss?vel. A infus?o cont?nua de drogas vasodilatadoras, como o nitroprussiato de s?dio (NPS), reduz rapidamente a press?o arterial na maioria dos pacientes. Por?m, cada paciente tem uma sensibilidade diferente a infus?o do NPS, o que faz com que os par?metros e os atrasos do sistema sejam desconhecidos a priori. Al?m disso, os par?metros de uma fun??o de transfer?ncia associados ? um paciente particular s?o variantes no tempo. Desta forma, o objetivo do trabalho consiste em desenvolver uma metodologia capaz de controlar de forma autom?tica a press?o arterial na presen?a de incertezas de par?metros e de grandes atrasos. Para isso foi desenvolvida uma metodologia multi-modelo, onde para cada modelo existe um Controlador Preditivo especificamente sintonizado, e um mecanismo adaptativo decide qual controlador deve ser o dominante para uma determinada planta

Made available in DSpace on 2014-12-17T14:56:05Z (GMT). No. of bitstreams: 1 PatriciaNG.pdf: 767778 bytes, checksum: 287c497d20e307221386eeee17df3f9d (MD5) Previous issue date: 2005-02-03 / This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot / Esta disserta??o apresenta uma metodologia de modelagem e identifica??o para um rob? m?vel dotado de rodas. O modelo din?mico discreto proposto leva em considera??o a din?mica dos atuadores. Ao contr?rio da abordagem cl?ssica, onde as coordenadas de posi??o do rob? (x, y) s?o usadas como vari?veis de estado (o que resulta em um modelo n?o linear), o modelo discreto proposto utiliza o incremento na dist?ncia percorrida pelo rob? Delta_l. Com isto, o modelo resultante ? linear e invariante no tempo, podendo ser identificado utilizando qualquer m?todo cl?ssico, como por exemplo os m?nimos quadrados recursivos. Um problema desta abordagem ? que a vari?vel Delta_l n?o ? diretamente mensur?vel. Nesta proposta, este problema ? contornado usando uma estimativa de Delta_l calculada assumindo que o caminho percorrido durante um per?odo de amostragem pode ser aproximado por uma curva de segundo grau. O m?todo proposto ? validado atrav?s de resultados de simula??o computacional e experi?ncias pr?ticas

Lorsqu'un biomarqueur est mesuré de façon répétée au cours du suivi de patients, il est d'abord nécessaire d'établir un critère, issu du profil d'évolution longitudinal du marqueur, afin de détecter la survenue d'un événement, ou d'en prédire la gravité. Nous avons développé une méthode de modélisation robuste de données longitudinales, afin de calculer les différents critères pour les patients, et d'en comparer les performances diagnostiques ou pronostiques. Dans un second temps, il faut déterminer un seuil de ce critère quantitatif au dessus ou en dessous duquel le test diagnostique est considéré comme positif. Une méthode Bayésienne d'estimation de ce seuil et de son intervalle de crédibilité a été développée. Ce travail a été appliqué au diagnostic de persistance locale de cellules cancéreuses après traitement par ultrasons d'un cancer de la prostate. Ce diagnostic est effectué à partir des mesures répétées d'antigène spécifique de la prostate (PSA), dont le nadir a été retenu, avec différents seuils, comme meilleur critère diagnostique. Ceci permet de n'effectuer des biopsies que lorsqu'il y a de fortes chances qu'elles soient positives. / For the early diagnosis or prognosis of an event in presence of repeated measurements of a biomarker over time, it is necessary to define a criterion, stemming from the longitudinal profiles of that marker. A method was developed for a robust modelling of marker measurements, to calculate the various criteria for the patients, and compare their diagnostic or prognostic accuracies. Using the continuous criterion as a diagnostic test requires the specification of a threshold. A Bayesian method was developed to estimate this threshold and its credible interval. This method was applied to the diagnosis of local prostate cancer persistence after an ultrasound treatment. The diagnosis relies on serial measurements of prostate specific antigen (PSA), whose nadir (along with several thresholds) was found to be the best diagnostic criterion. This allows to trigger biopsy only when this biopsy is likely to be positive.

Made available in DSpace on 2014-12-17T14:08:34Z (GMT). No. of bitstreams: 1 AntonioRGpdf.pdf: 5141308 bytes, checksum: d76799635535d71b79841802f1a64db0 (MD5) Previous issue date: 2009-07-30 / Petr?leo Brasileiro SA - PETROBRAS / Exploration of heavy oil reservoirs is increasing every year in worldwide, because the discovery of light oil reservoirs is becoming increasingly rare. This fact has stimulated the research with the purpose of becoming viable, technically and economically, the exploration of such oil reserves. In Brazil, in special in the Northeast region, there is a large amount of heavy oil reservoir, where the recovery by the so called secondary methods Water injection or gas injection is inefficient or even impracticable in some reservoirs with high viscosity oils (heavy oils). In this scenario, steam injection appears as an interesting alternative for recover of these kinds of oil reservoirs. Its main mechanism consists of oil viscosity reduction through steam injection, increasing reservoir temperature. This work presents a parametric simulation study of some operational and reservoir variables that had influence on oil recovery in thin reservoirs typically found in Brazilian Northeast Basins, that use the steam injection as improved oil recovery method. To carry out simulations, it was used the commercial software STARS (Steam, Thermal, and Advanced Processes Reservoir Simulator) from CMG (Computer Modeling Group) version 2007.11. Reservoirs variables studied were horizontal permeability, vertical and horizontal permeability ratio, water zone and pay zone thickness ratio, pay zone thickness and thermal conductivity of the rock. Whereas, operational parameters studied were distance between wells and steam injection rate. Results showed that reservoir variables that had more influence on oil recovery were horizontal permeability and water zone and pay zone thickness ratio. In relation to operational variables, results showed that short distances between wells and low steam injection rates improved oil recovery / A cada ano tem ocorrido cada vez mais a explora??o de reservas de ?leo pesado em diversas regi?es do mundo. Isto tem sido feito porque ? cada vez mais rara a exist?ncia de jazidas petrol?feras de ?leos leves. Este fato tem impulsionado in?meras pesquisas em dire??o a tornar vi?vel, do ponto de vista operacional e econ?mico, a explora??o de tais reservas de ?leo. No Brasil, em especial na regi?o Nordeste, existe uma grande quantidade de reservat?rios de ?leos pesados, onde a recupera??o pelos m?todos ditos secund?rios inje??o de ?gua e gases mostram-se ineficientes ou at? invi?veis em alguns reservat?rios que apresentam ?leos de elevada viscosidade. Neste cen?rio, a inje??o de vapor surge como uma alternativa bastante interessante na recupera??o do ?leo desses tipos de reservat?rios. Seu principal mecanismo consiste na redu??o da viscosidade do ?leo por meio da inje??o de um fluido aquecido, no caso, vapor de ?gua, aumentando a temperatura do reservat?rio. Este trabalho apresenta um estudo param?trico das vari?veis de reservat?rio e operacionais que influenciam no fator de recupera??o de ?leo ao longo da vida produtiva do reservat?rio em reservat?rios delgados tipicamente encontrados em Bacias do Nordeste brasileiro, que utilizam a inje??o de vapor como m?todo avan?ado de recupera??o. O estudo foi conduzido atrav?s de simula??o num?rica, utilizando o programa STARS (Steam, Thermal, and Advanced Processes Reservoir Simulator) do grupo CMG (Computer Modelling Group) vers?o 2007.11. As vari?veis de reservat?rio compreenderam a permeabilidade horizontal, a raz?o entre a permeabilidade vertical e horizontal, a raz?o entre a zona de ?gua e a de ?leo, a espessura da zona produtora de ?leo e a condutividade t?rmica da rocha. Enquanto que os par?metros operacionais estudados foram a dist?ncia entre po?os e a vaz?o de inje??o de vapor. Os resultados obtidos mostraram que as vari?veis de reservat?rios que mais influenciaram no fator de recupera??o foram a permeabilidade horizontal e a raz?o entre a zona de ?gua e de ?leo. Com rela??o ?s vari?veis operacionais, menores dist?ncias entre po?os e vaz?es de inje??o melhoram o fator de recupera??o durante a vida produtiva do reservat?rio