Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere’s surface and was constructed in a way that always three wheels are in contact with the sphere’s metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere’s surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.     

Integration of virtual and real environments for engineering service-oriented manufacturing systems

Engineering frameworks are currently required to support the easy, low-cost, modular and integrated development of manufacturing systems addressing the emergent requirements of re-configurability, responsiveness and robustness. This paper discusses the integration of 2D/3D digital software tools with Petri net based service-oriented frameworks to allow the design, configuration, analysis, validation, simulation, monitoring and control of manufacturing systems in a virtual environment and its posterior smooth migration into the real ??physical?? environment. An experimental case study was implemented to validate the proposed concepts, using the Continuum platform to design, compose, analyze, validate and simulate the Petri nets based service-oriented manufacturing control system, and the Delmia Automation^TM software suite to support the rapid prototyping and the easy simulation of the designed control solution. The experimental results prove several aspects of the proposed approach, notably the smooth migration between the design and the operation phases, one of the main objectives of the work.     

Acoustic evaluation and adjustment of an open-plan office through architectural design and noise control

Arranging office space into a single open room offers advantages in terms of easy exchange of information and interaction among coworkers, but reduces privacy and acoustic comfort. Thus, the purpose of this work was to evaluate the acoustic quality of a real open-plan office and to propose changes in the room to improve the acoustic conditioning of this office. The computational model of the office under study was calibrated based on RT and STI measurements. Predictions were made of the RT and STI, which generated the radius of distraction r(D), and the rate of spatial decay of sound pressure levels per distance doubling DL(2) in the real conditions of the office and after modifications of the room. The insertion of dividers between work stations and an increase in the ceiling's sound absorption improved the acoustic conditions in the office under study.     

A new approach to designing reduced scale thermal-hydraulic experiments

Reduced scale experiments are often employed in engineering because they are much cheaper than real scale testing. Unfortunately, though, it is difficult to design a thermal-hydraulic circuit or equipment in reduced scale capable of reproducing, both accurately and simultaneously, all the physical phenomena that occur in real scale and operating conditions. This paper presents a methodology to designing thermal-hydraulic experiments in reduced scale based on setting up a constrained optimization problem that is solved using genetic algorithms (GAs). In order to demonstrate the application of the methodology proposed, we performed some investigations in the design of a heater aimed to simulate the transport of heat and momentum in the core of a pressurized water reactor (PWR) at 100% of nominal power and non-accident operating conditions. The results obtained show that the proposed methodology is a promising approach for designing reduced scale experiments.     

Improvement of Glycaemia and Endothelial Function by a New Low-Dose Curcuminoid in an Animal Model of Type 2 Diabetes

Curcumin has been suggested as a promising treatment for metabolic diseases, but the high doses required limit its therapeutic use. In this study, a new curcuminoid is synthesised to increase curcumin anti-inflammatory and antioxidant potential and to achieve hypoglycaemic and protective vascular effects in type 2 diabetic rats in a lower dose. In vitro, the anti-inflammatory effect was determined through the Griess reaction, and the antioxidant activity through ABTS and TBARS assays. In vivo, Goto-Kakizaki rats were treated for 2 weeks with the equimolar dose of curcumin (40 mg/kg/day) or curcuminoid (52.4 mg/kg/day). Fasting glycaemia, insulin tolerance, plasma insulin, insulin signalling, serum FFA, endothelial function and several markers of oxidative stress were evaluated. Both compounds presented a significant anti-inflammatory effect. Moreover, the curcuminoid had a marked hypoglycaemic effect, accompanied by higher GLUT4 levels in adipose tissue. Both compounds increased NO-dependent vasorelaxation, but only the curcuminoid exacerbated the response to ascorbic acid, consistent with a higher decrease in vascular oxidative and nitrosative stress. SOD1 and GLO1 levels were increased in EAT and heart, respectively. Altogether, these data suggest that the curcuminoid developed here has more pronounced effects than curcumin in low doses, improving the oxidative stress, endothelial function and glycaemic profile in type 2 diabetes.     

Improved bushing models for general multibody systems and vehicle dynamics

The development and computational implementation, on a multibody dynamics environment, of a constitutive relation to model bushing elements associated with mechanical joints used in the models of road and rail vehicles is presented here. These elements are used to eliminate vibrations in vehicles, due to road irregularities, to allow small misalignment of axes, to reduce noise from the transmission, or to decrease wear of the mechanical joints. Bushings are made of a special rubber, used generally in energy dissipation, which presents a nonlinear viscoelastic relationship between the forces and moments and their corresponding displacements and rotations. In the methodology proposed here a finite element model of the bushing is developed in the framework of the finite element code ABAQUS to obtain the constitutive relations of displacement/rotation versus force/moment for different loading cases. The bushing is modeled in a multibody code as a nonlinear restrain that relates the relative displacements between the bodies connected with the joint reaction forces, and it is represented by a matrix constitutive relation. The basic ingredients of the multibody model are the same vectors and points relations used to define kinematic constraints in any multibody formulation. One particular, and relevant, characteristic of the formulation now presented is its ability to represent standard kinematic joints, clearance, and bushing joints just by defining appropriate constitutive relations. Spherical, revolution, cylindrical, and translational bushing joints are modeled, implemented, and demonstrated through the simulation of two multibody models of a road vehicle, one with perfect kinematic joints for the suspension sub-systems, and other with bushing joints. The tests conducted include an obstacle avoidance maneuver and a vehicle riding over bumps. It is shown that the bushing models for vehicle multibody models proposed here are accurate and computationally efficient so that they can be included in the vehicle models leading reliable simulations.     

Metrics and Criteria for Quality Assessment of Testable Hw/Sw Systems Architectures

The purpose of this paper is to present a novel methodology for assessing the quality of architecture solutions of hw/sw systems, with particular emphasis on testability. Criteria and metrics for quality assessment are proposed and used to assist the design team in selecting a best-fitted architecture that satisfies not only functional requirements, but also test requirements. The methodology makes use of object-oriented modeling techniques. Near-optimum clustering of methods and attributes into objects is carried out, in such a way that objects with moderate complexity, low coupling and high functional autonomy, result. The main features of the methodology are ascertained through a case study.     

STL-free design and manufacturing paradigm for high-precision powder bed fusion

High-precision powder bed fusion (PBF), together with highly complex geometries necessitate a much more scalable representation of the geometry and an efficient computational pipeline. This paper presents a new digital design and manufacturing paradigm to solve the scalability and efficiency challenges by using the concept of STL-free workflow. It seamlessly integrates implicit solid modelling for design and direct slicing for manufacturing without any intermediate steps related to STL meshes. The presented paradigm has been validated by two case studies involving complex geometries filled with multiscale triply periodic minimal surfaces (TPMS), which are fabricated by PBF with laser beam size 25 µm.     

FAME Production and Fatty Acid Profiles from Moist Chlorella sp. and Nannochloropsis oculata Biomass

In the present study, we investigated the production of fatty acid methyl esters (FAME) from moist Chlorella sp. and Nannochloropsis oculata biomass using a hydrolysis–esterification process. Additionally, we evaluated for the first time the fatty acid profile before and after this process. Hydrolysis of the lipid fraction was performed on a moist biomass in the presence of differing amounts of an acid catalyst in both 50 and 100 % w/w water relative to the biomass. The esterification of the crude extracts of the free fatty acids (FFA) was then investigated. The experiments show that in the presence of 50 % w/w water relative to the biomass, the hydrolysis–esterification process results in higher FFA and FAME yields. The analysis of the fatty ester profiles did not reveal any degradation of the FFA from the microalgae biomass under the hydrolysis–esterification conditions. The results were compared with both extraction–transesterification and direct transesterification processes using dry biomass. The extraction–transesterification and hydrolysis–esterification processes resulted in similar FAME yields and similar profiles of the fatty esters from dry and moist biomass materials, respectively.