Preface

The Mechatronics Symposium is the result of the Mechatronics Committee activities of the ABCM – Brazilian Society of Mechanical Science and Engineering. The fourth issue of the Symposium Series in Mechatronics includes 108 papers selected and presented at the Mechatronics Symposium of the 20th International Congress of Mechanical Engineering (COBEM 2009), held on November 15-20, 2009 in Gramado, RS, Brazil.

The purpose of the Mechatronics Symposium is to gather researchers in order to discuss, disseminate and share relevant results related to research and development activities in the area. The papers included in this volume were submitted to a reviewing and selection process in which they were judged by at least two referees nominated by members of the scientific committee.

About of 230 abstracts were initially submitted to the symposium including not only works from Brazilian research institutes but also from overseas institutes. These abstracts were preliminary evaluated and generate 163 papers that through a peer review process and 138 were considered adequate for presentation in the Mechatronics Symposium. Since COBEM-1999, when the first Mechatronics Symposium was organized, efforts were conducted so as to stimulate the submission of papers from abroad as well as invite a larger number of experts, giving the Symposium an increasing relevance in the international scenario. The positive evolution has been confirmed with the data from the Mechatronics Symposium in COBEM-1999, COBEM-2001, COBEM-2003, COBEM-2005, COBEM-2007, and COBEM-2009.

The review of the Mechatronics Symposium of COBEM2009 involved 187 researchers. The scope of the fourth issue of the Symposium Series in Mechatronics comprehends works in the following subjects (but not restricted to): precision mechanics, robotics, micro systems & MEMS, nano-technology, digital signal processing, signal analysis, sensors, actuators, control, discrete and hybrid systems, acoustics and vibration, applied computational mechanics, manufacturing automation, fluid power systems, computer integrated manufacturing, CAD/CAE/CAM/CAPP, automatic systems, computer vision.

The selected papers in this volume are grouped into 8 main subjects:

Section I – Computer Vision

MULTIVARIABLE PREDICTIVE CONTROL WITH CONSTRAINS OF REFRIGERATION SYSTEMS

 

Agostinho Gomes da Silva, José Maria Galvez pp.9-16

• I.01:

  APPLICATION OF COMPUTER VISION AND KALMAN FILTERING TECHNIQUES TO IDENTIFY OIL FLAMES NEBULIZATION QUALITY

  A. T. Fleury, F. C. Trigo, F. P. R. Martinspp.1-10

• I.02:

  THREE-DIMENSIONAL SURFACE RECONSTRUCTION USING NURBS

  Daniel Martins de Aquino, José Nilton Fonseca Junior, João Carlos Mendes Carvalhopp.11-20

• I.03:

  AN INTELLIGENT COMPUTER VISION SYSTEM TO ROCK CLASSIFICATION IN OIL AND GAS INDUSTRY

  Laercio Brito Gonçalves, Fabiana Rodrigues Letapp.21-30

• I.04:

  ROBOT POSITION ESTIMATION AND TRACKING USING SEQUENTIAL MONTE CARLO ALGORITHMS

  Roberto Ferraz de Campos Filho, Newton Maruyama, Jun Okamoto Junior, Fabiano Rogerio Corrêa, Fabio Kawaoka Takasepp.31-37

• I.05:

  MULTIPLE 3D OBJECTS IDENTIFICATION FROM IMAGES BASED ON BOUNDING BOX RECONSTRUCTION

  Marcelo Rudek, Osiris Canciglieri Jr, Paulo Roberto Gardel Kurkapp.38-43

• I.06:

  3D SURFACE GENERATION FROM POINT CLOUDS ACQUIRED FROM A VISION-BASED LASER SCANNING SENSOR

  Gerardo Antonio Idrobo Pizo, José Mauricio S. T. Mottapp.44-53

• I.07:

  MODELING AN OPTICAL DIGITIZER ROBOTIC FOR READING THREE DIMENSIONAL OBJECTS

  Jorge Eliécer Rangel Díaz, Werley Rochester Borges Ferreira, João Carlos Mendes Carvalhopp.54-61

Section II – Control Systems

• II.01:

  ADAPTIVE CONTROL FOR AN ACTIVE SUSPENSION OF AN ELEVATOR

  Santiago Miguel Rivas López, Eduardo André Perondi, Mário Roland Sobczyk Sobrinhopp.62-71

• II.02:

  CONTROLLER TUNING USING MULTIOBJECTIVE PARTICLE SWARM OPTIMIZATION APPLIED TO A QUADRUPLE-TANK PROCESS

  Helon Vicente Hultmann Ayala, Leandro dos Santos Coelhopp.72-79

• II.03:

  CONTROL OF A TARGET TRACKING SYSTEM EMBEDDED IN A MOVING BODY

  Maurício Gruzman, Hans Ingo Weber, Luciano Luporini Menegaldopp.80-89

• II.04:

  INFINITE-HORIZON PREDICTIVE CONTROL OF A HELICOPTER MODEL WITH THREE DEGREES OF FREEDOM

  Rubens Junqueira Magalhães Afonso, Roberto Kawakami Harrop Galvãopp.90-99

• II.05:

  COMPARATIVE ANALYSIS OF CONTROL STRATEGIES APPLIED ON SPEED CONTROL OF SERVOMOTOR USING PID AND FUZZY CONTROLLERS

  Fábio Roberto Garcia de Lima, Wânderson de Oliveira Assispp.100-109

• II.06:

  DEFORMATION CONTROL OF A FLEXIBLE BEAM UNDER LOW FREQUENCY LOADING USING Ni-Ti-Cu SMA WIRE ACTUATOR

  Walber Medeiros Lima, Carlos José de Araújo, Walter Andrés Vermehren Valenzuela, José Sérgio da Rocha Netopp.110-119

• II.07:

  ACTIVE CONTROL SYSTEM TO STABILIZE SUSPENDED MOVING VEHICLES IN CABLES

  Danilo Martins Vieira, Ricardo Cury Ibrahim, Delson Torikaipp.120-126

• II.08:

  COMPARATIVE ASSESSMENT OF PREDICTIVE CONTROLLERS FOR AN INVERTED PENDULUM WITH THREE CONFLICTING CONTROL OBJECTIVES

  Adilson de Souza Cândido, Roberto Kawakami Harrop Galvão, Takashi Yoneyamapp.127-136

• II.09:

  CONTROLLING OPERATING TEMPERATURE IN PEM FUEL CELLS

  Luis Alberto Martinez Riascos, David Dantas Pereirapp.137-146

• II.10:

  ROBUST MODEL PREDICTIVE CONTROL FOR A MAGNETIC LEVITATION SYSTEM EMPLOYING LINEAR MATRIX INEQUALITIES

  Mariana Santos Matos, Roberto Kawakami Harrop Galvão, Takashi Yoneyamapp.147-155

• II.11:

  DIRECT SYNTHESIS FROM FREQUENCY RESPONSE MEASUREMENTS APPLIED TO THE CONTROLLER DESIGN OF A SERVO POSITIONING SYSTEM

  Thiago Malta Buttini, Rodrigo Nicolettipp.156-162

• II.12:

  TESTBED FOR CONTROLLES OF LONGITUDINAL MOVEMENTS OF AIRCRAFT

  Sérgio Ronaldo Barros dos Santos, Neusa Maria F. Oliveirapp.163-169

• II.13:

  OPEN LOOP CONTROL OF FLEXIBLE BEAM PERIODIC MOTION VIA FREQUENCY RESPONSE ANALYSIS

  Ivo Takao Futida, Rodrigo Nicolettipp.170-178

• II.14:

  AN IMPEDANCE CONTROL APPROACH FOR MACHINING TASKS USING ELASTIC JOINT MANIPULATORS

  Victor Barasuol, Edson De Pieri, Felipe Barretopp.179-188

• II.15:

  APPLICATION OF TFL/LTR ROBUST CONTROL TECHNIQUES TO FAILURE ACCOMMODATION

  Mariana Santos Matos, Karl Heinz Kienitzpp.189-197

• II.16:

  MIXED H2/H* CONTROL OF A TWO-FLOORS BUILDING MODEL USING THE LINEAR MATRIX INEQUALITY APPROACH

  Gustavo Luiz Chagas Manhães de Abreu, Vicente Lopes Jr., Michael J. Brennanpp.198-207

• II.17:

  GAIN-SCHEDULED L2 CONTROL OF DISCRETE-TIME POLYTOPIC TIME-VARYING SYSTEMS

  L. A. Rodrigues, J. F. Camino, J. De Caigny, P. L. D. Perespp.208-217

• II.18:

  A CONTINUOUS APPROXIMATION OF THE LUGRE FRICTION MODEL

  Sobczyk S., Mário R, Perondi Eduardo A., Cunha Mauro A. B.pp.218-228

• II.19:

  A LEARNING CONTROL TECHNIQUE TO INCREASE THE FREQUENCY OF SERVO-HYDRAULIC TESTING MACHINES

  Juan Gerardo Castillo Alva, Marco Antonio Meggiolaro, Jaime Tupiassu Pinho de Castro, Timothy H. Topperpp.229-236

• II.20:

  NON-LINEAR FORCE CONTROL OF ACTUATORS BASED ON POLYMERIC ARTIFICIAL MUSCLES WITH CAPACITIVE EFFECT

  Pedro Ferreira da Costa Blois de Assis, Marco Antonio Meggiolaropp.237-246

• II.21:

  ANALYSIS OF CONTROL LAWS FOR UNMANNED UNDERWATER VEHICLES

  Samuel da Silva Gomes, Sebastião Cícero Pinheiro Gomes, Mário Lobo Centenopp.247-254

Section III – Emerging Technologies and AI Applications

• III.01:

  FAULT DETECTION IN A 3DOF HELICOPTER SYSTEM

  Elen Collaço de Oliveira, Guilherme Monteiro Garcia, Jackson Paul Matsuura, Roberto Kawakami Harrop Galvãopp.255-263

• III.02:

  FINITE ELEMENT MODELING OF EDDY-CURRENT COUPLERS

  Joaquim Girardello Detoni, Walter Jesus Paucar Casaspp.264-269

• III.03:

  NONLINEAR IDENTIFICATION USING NEURAL NETWORK COMBINED WITH TRAINING BASED ON PARTICLE SWARM OPTIMIZATON

  Fábio Alessandro Guerra, André Eugênio Lazzaretti, Leandro dos Santos Coelho, Cesar Augusto Taclapp.270-277

• III.04:

  GMDH ALGORITHM IMPLEMENTED IN THE INTELLIGENT IDENTIFICATION OF A BIOPROCESS

  Francisco Herrera Fernández, Fidel Hernández Lozanopp.278-287

• III.05:

  COMBINED APPROACH OF RBF NEURAL NEWORK. GENETIC ALGORITHM AND LOCAL SEARCH AND ITS APPLICATION IN IDENTIFICATION OF A NONLINEAR PROCESS

  André Eugênio Lazzaretti, Fábio Alessandro Guerra, Rodrigo Jardim Riella, Hugo Vieira Neto, Leandro dos Santos Coelhopp.288-296

• III.06:

  DESIGN AND IMPLEMENTATION OF A PILOT TEST FOR AN INDUSTRIAL PROTOTYPE OF HARMONIC DRIVE USING A FPGA REAL-TIME SYSTEM TO IMPLEMENTS CONTROL AND INSTRUMENTATION.

  Javier Gamboa, Ernesto Córdoba, Juan Carlos Santamaría, Arturo Perpiñánpp.297-303

• III.07:

  AN EXPERT SYSTEM FOR FAULT DIAGNOSTICS IN CONDITION BASED MAINTENANCE

  Edgar Amaya Simeón, Alberto José Álvares, Ricardo Ribeiro Gudwinpp.304-313

• III.08:

  IDENTIFICATION OF A POPPET VALVE USING GENETIC PROGRAMMING METHOD BASED ON ADAPTIVE PROBABILITIES WITH CHAOTIC TUNING AND ORTHOGONAL LEAST SQUARES

  Leandro dos Santos Coelho, Carlos Eduardo Kleinpp.314-324

• III.09:

  REAL-TIME STRUCTURAL DAMAGE DETECTION USING PARITY RESIDUE ANALYSIS

  Nilson Roberto Inocente-Junior, Euripedes Guilherme de Oliveira Nóbrega, Nazih Mechbalpp.325-334

Section IV – Industrial Informatics, Discrete and Hybrid Systems

• IV.01:

  AUTOMATIC ROUTING OF FORKLIFT ROBOTS IN WAREHOUSE APPLICATIONS

  Kelen C. Teixeira Vivaldini, Marcelo Becker, Glauco A. P. Caurinpp.335-344

• IV.02:

  HYBRID APPROACH TO AIR CONDITIONING SYSTEMS MODELLING USING PETRI NET

  Antonio Gabriel S. Almeida, Emília Villani, Fabrício Junqueira, Paulo E. Miyagipp.345-354

• IV.03:

  AN EDUCATIONAL FRAMEWORK FOR REMOTE CONTROL OF A PUMA ROBOT

  Carlos Cesar Aparecido Eguti, Carlos Eduardo Oliveira da Silva, Emil Yoshigae Nakao, Emília Villani, Luis Gonzaga Trabassopp.355-363

• IV.04:

  PETRI NETS AND GRAPHIC SIMULATION FOR THE VALIDATION OF COLLABORATIVE ROBOTIC CELLS IN AIRCRAFT INDUSTRY

  Adriano José Cunha de Aguiar, Emília Villani, Fabrício Junqueirapp.364-373

• IV.05:

  MODEL-BASED REFINEMENT OF REQUIREMENT SPECIFICATION: A COMPARISON OF TWO V&V APPROACHES

  Rodrigo Pastl Pontes, Marcelo Essado, Paulo Claudino Véras, Ana Maria Ambrósio, Emília Villanipp.374-383

• IV.06:

  USING SIMULATION TOOLS IN THE DEVELOPMENT OF A NETWORKED CONTROL SYSTEMS RESEARCH PLATFORM

  Eduardo Paciência Godoy, Arthur José Vieira Porto, Ricardo Yassushi Inamasupp.384-393

• IV.07:

  MODEL PREDICTIVE CONTROL WITH CONSTRAINTS ON ACCUMULATED DEGRADATION OF ACTUATORS

  Eduardo Bento Pereira, Roberto Kawakami Harrop Galvão, Takashi Yoneyamapp.394-402

• IV.08:

  CHANNEL/INSTANCE PETRI NETS FOR STRUCTURAL AND FUNCTIONAL MODELING OF INDUSTRIAL EQUIPMENT

  Henri Carlo Belan, Victor Juliano De Negri, Rodrigo Szpakpp.403-407

• IV.09:

  A SYSTEMATIZED APPROACH TO OBTAIN DEPENDABLE CONTROLLERS SPECIFICATIONS

  José Machado, Eurico Seabrapp.408-417

• IV.10:

  FORMAL SYNTHESIS SIMULATION AND AUTOMATIC CODE GENERATION OF SUPERVISORY CONTROL FOR A MANUFACTURING CELL

  Yuri Garcia Silva, Max Hering de Queirozpp.418-426

• IV.11:

  DEVELOPMENT OF CONTROL CABINET FOR INDUSTRIAL ROBOTS UP TO SIX DEGREES OF FREEDOM

  Jordano Fernandes Cordeiro, Kássio Maciel Kienitz, Marcelo Henrique Souza Bomfim, Paulo José Alves Souza, Frederico Allevato Ramalho Filho, Eduardo José Lima II, Alexandre Queiroz Bracarensepp.427-432

• IV.12:

  MODELING OF AN ELEVATOR GROUP CONTROL SYSTEM USING PROGRAMMABLE LOGIC CONTROL AND DESTINATION CONTROL SYSTEM

  Alvaro A. Patiño-Forero, Daniel M. Muñoz, Guilherme Caribé de Carvalho, Carlos H. Llanospp.433-441

• IV.13:

  A HOLONIC APPROACH TO THE INTEGRATION OF AUTOMATED SYSTEMS

  José Reinaldo Silva, Marco Antonio Poli Jr., Celina Soares Pereira, José Mendes Machadopp.442-450

• IV.14:

  INTRODUCING OBJECT-ORIENTATION IN UNIFIED PETRI NET APPROACH

  Jose Reinaldo Silva, José Armando San Pedro Miralles, Arianna Olivera Salmon, Pedro M. Gonzalez del Foyopp.451-459

• IV.15:

  IMPLEMENTATION AND EVALUATION OF A CAN-BASED DISTRIBUTED CONTROL SYSTEM FOR VARIABLE RATE TECHNOLOGY IN AGRICULTURAL MACHINERY

  Robson Rogério Dutra Pereira, Eduardo Paciência Godoy, Rodrigo Martins Romeira Sakai, Arthur José Vieira Porto, Ricardo Yassushi Inamasupp.460-469

• IV.16:

  ENERGY SAVING IN BUILDING AUTOMATION USING ZIGBEE WIRELESS NETWORK AND FUZZY CONTROL

  Paulo A. F. Júnior, Adolfo Bauchspiesspp.470-479

• IV.17:

  AUTOMATIC TRAFFIC CONTROL STRATEGY FOR SINGLE TRACK RAILWAYS IMPLEMENTED IN SEQUENTIAL FLOW CHART ON AN INDUSTRIAL PROGRAMMABLE CONTROLLER

  Tiago Romeiro de Jesus, José Adriany Victor de Aquino, Guilherme Caribé de Carvalho, Carlos Humberto Llanos Quinteropp.480-489

• IV.18:

  AN OPEN CONTROL SYSTEM FOR MANIPULATOR ROBOTS

  Diego Caberlon Santini, Walter Fetter Lagespp.490-498

Section V – Intelligent and Distributed Manufacturing Systems

• V.01:

  A REAL-TIME SIMULATOR FOR AUV DEVELOPMENT

  João Lucas Dozzi Dantas, Ettore Apolonio de Barrospp.499-508

• V.02:

  TRAJECTORIES AND SIMULATION MODEL OF AGVs WITH TRAILERS

  Omar Lengerke, Abrahão Campos Moutinho Vieira, Max Suell Dutra, Fernando de Noronha Castro Pinto, Felipe Maia Galvão Françapp.509-518

• V.03:

  4-D MODELING APPLIED TO INDUSTRIAL AUTOMATION

  Ivando S. Diniz, Diego Colón, Fernando P. Marafãopp.519-527

• V.04:

  FRAMEWORK FOR COLLABORATIVE MANUFACTURING SYSTEMS BASED IN SERVICES

  José Isidro Garcia Melo, Caio César Fattori, Fabrício Junqueira, Paulo Eigi Miyagipp.528-537

• V.05:

  AUTONOMOUS LOCAL CONTROL AND REMOTE MANAGEMENT: ALTERNATIVE FOR CRITICAL INDUSTRIAL AUTOMATED SYSTEMS

  Luciana de Almeida Pacheco, Herman Augusto Lepiksonpp.538-545

• V.06:

  PARAMETER IDENTIFICATION OF A FEED DRIVE FOR HIGH SPEED MACHINE TOOLS

  Agustín Casquero, Rogelio Hecker, Diego Vicente, Marcelo Florespp.546-552

• V.07:

  DIRECT ACCESS OF CNC DATA FOR VIBRATION CONTROL

  Carlos Eduardo Oliveira da Silva, Emília Villani, Jefferson de Oliveira Gomespp.553-558

• V.08:

  FEASIBILITY STUDY OF NON CONVENTIONAL PARAMETERS FOR DISTURBANCES MONITORING AND DETECTING IN SHORT CIRCUIT GAS METAL ARC WELDING

  Eber Huanca Cayo, Sadek C. Absi Alfaropp.559-569

Section VI – Robotics

• VI.01:

  PROPOSAL FOR A NEW DESIGN FOR CONTINUUM ROBOTS SUITABLE TO MANIPULATE TOOLS IN HIGHER POSITIONS

  Vitor Finotto Cores, Oswaldo Horikawa, Andre Riyuiti Hirakawapp.570-579

• VI.02:

  LOAD BALANCER WITH AUTOMATIC LIFTING FORCE COMPENSATION

  Rogério Yamamoto, André Hirakawa, Oswaldo Horikawapp.580-589

• VI.03:

  A GENERAL APPROACH FOR ACCURACY ANALYSIS OF PARALLEL MANIPULATOR WITH JOINT CLEARANCE

  Rogério Sales Gonçalves, João Carlos Mendes Carvalhopp.590-598

• VI.04:

  A MULTI-OBJECTIVE OPTIMIZATION DESIGN FOR PARALLEL STRUCTURES

  Rogério Sales Gonçalves, João Carlos Mendes Carvalho, Rogério Rodrigues dos Santospp.599-608

• VI.05:

  A NEW APPROACH FOR COLLISION AVOIDANCE OF MANIPULATORS OPERATING IN UNSTRUCTURED AND TIME-VARYING ENVIRONMENTS

  Carlos Rodrigues Rocha, Henrique Simas, Daniel Martins, Altamir Diaspp.609-617

• VI.06:

  USE OF THE GROBNER BASIS IN THE STUDY OF MANIPULATORS TOPOLOGY

  Giovana Trindade da Silva Oliveirapp.618-627

• VI.07:

  A PERPENDICULARITY MEASUREMENT SYSTEM FOR INDUSTRIAL ROBOTS

  Luís Fernando Ferreira Furtado, Emilia Villani, Ricardo Sutériopp.628-637

• VI.08:

  A STUDY OF THREE CONTROL APPROACHES FOR THE CYCLIST ROBOT PROBLEM

  Yesid Enrique Castro Caicedo, Carlos Humberto Llanos Quintero, Walter de Britto Vidal Filho, Leandro dos Santos Coelhopp.638-647

• VI.09:

  COMPARISON BETWEEN LOOK-AND-MOVE AND VISUAL SERVO CONTROL USING SIFT TRANSFORMS IN EYE-IN-HAND MANIPULATOR SYSTEM

  Ilana Nigri, Marco Antonio Meggiolaro, Raul Queiroz Feitosapp.648-657

• VI.10:

  A STUDY ON HEXAPOD ROBOTS AND MODELING BY MEANS OF CAD TECHNIQUES

  Thiago Augusto Ferreira, Armando Carlos de Pina Filho, Alexandre Silva de Limapp.658-665

• VI.11:

  TRAJECTORIES GENERATION USING ARTIFICIAL NEURAL NETWORKS

  Luiz Eduardo Nicolini do Patrocínio Nunes, Valesca Alves Correa, José Rui Camargo, Carlos Alberto Chavespp.666-672

• VI.12:

  GAIN SCHEDULING CONTROL FOR THE HYDRAULIC ACTUATION OF THE HYQ ROBOT LEG

  Thiago Boaventura Cunha, Claudio Semini, Emanuele Guglielmino, Victor Juliano De Negri, Yousheng Yang, Darwin G. Caldwellpp.673-682

• VI.13:

  MODEL CHECKING A ROV REACTIVE CONTROL ARCHITECTURE

  Fábio Henrique de Assis, Newton Maruyama, Fabio Kawaoka Takasepp.683-692

• VI.14:

  DEVELOPMENT OF PARALELL ROBOTS FOR WELDING

  Emanuel Barbosa Silva, Frederico Allevato Ramalho Filho, Eduardo José Lima II, Alexandre Queiroz Bracarense, Hernandes Coutinho Fagundespp.693-699

• VI.15:

  A SPECIALIZED WELDING ROBOT FOR REPAIRING HYDRAULIC TURBINE BLADES

  José Maurício S. T. Motta, Guilherme Caribé de Carvalho, Carlos Humberto Llanos Quintero, Walter de Britto Vidal Filho, Enio Prates Vasconcelos Filho, Luciano Selva Ginanipp.700-709

• VI.16:

  TRAJECTORY PLANNING WITH REDUNDANT COOPERATIVE ROBOTICS SYSTEMS

  Cristiane Pescador Tonettopp.710-718

• VI.17:

  KINEMATIC MODEL FOR ECLIPSE AND ECLIPSE-II PARALLEL ROBOT

  Henrique Simas, Altamir Dias, Daniel Martinspp.719-728

• VI.18:

  SCREW-BASED RELATIVE JACOBIAN FOR MANIPULATORS COOPERATING IN A TASK USING ASSUR VIRTUAL CHAINS

  Luiz Ribeiro, Daniel Martinspp.729-738

• VI.19:

  KINEMATIC CONCEPTION OF A HYDRAULIC ROBOT APPLIED TO POWER LINE INSULATORS MAINTENANCE

  Henrique Simas, Victor Barasuol, Roberto Kinceler, Emerson Raposo, Daniel Martin, Edson Roberto Pieri, Victor Juliano De Negri, Marcelo Stemmer, Eugênio Castelanpp.739-748

• VI.20:

  DEVELOPMENT OF A HYBRID ARCHITECTURE FOR THE AUTONOMOUS CONTROL OF MOBILE ROBOTS

  Hugo Silva, Alberto Álvarespp.749-757

• VI.21:

  MOBILE ROBOT LOCALIZATION IN OUTDOOR ENVIRONMENTS USING COMPLEMENTARY FILTERING

  Douglas Guimarães Macharet, Armando Alves Neto, Víctor Costa da Silva Campos, Mario Fernando Montenegro Campospp.758-767

• VI.22:

  MACHINE VISION AND ARTIFICIAL NEURAL NETWORKS FOR SEAM TRACKING AND WELD INSPECTION

  Fernando de Aguiar Faria, Abraão Marques Tavares, Marina Spyer Las Casas, Frederico Allevato Ramalho Filho, Eduardo José Lima II, Alexandre Queiroz Bracarensepp.768-775

Section VII – Sensors & Actuators

• VII.01:

  STUDY OF THE ELETROCHEMICAL COMPORTAMENT (PLATINUM / POLYANILINE / PALLADIUM) MODIFIED ELECTRODE FOR DEVELOPING HYDROGEN SENSOR PERMEATE IN METTALIC STRUCTURES APPLIED IN OIL REFINARIES.

  Lilian Machado Moya, Jéferson Aparecido Moreto, Haroldo de Araújo Ponte, Carlos Marcus Gomes da Silva Cruzpp.776-783

• VII.02:

  DEVICE FOR MEASURING THE PAINTING THICKNESS AND CIRCUNFERENCIAL DEFORMATION ON 14″ PIPELINES

  Vitor Ferreira Romano, Cesar Gomes Ferreira, Luiz Eduardo da Silva Demenicis, Ney Robinson Salvi dos Reispp.784-792

• VII.03:

  SHORT PULSE CHARACTERIZATION OF NONLINEARITIES IN POWER ULTRASOUND TRANSDUCERS

  Nicolás Pérez Alvarez, Nilson Noris Franceschetti, Flávio Buiochi, Julio Cezar Adamowskipp.793-801

• VII.04:

  THEORETICAL AND EXPERIMENTAL STUDY OF THE PRESSURE BEHAVIOR ON HYDRAULIC POSITIONING SYSTEMS

  Rodrigo Szpak, José Roberto Branco Ramos Filho, Henri Carlo Belan, Victor Juliano De Negripp.802-811

• VII.05:

  STUDY OF NOVEL GEOMETRIES FOR OSCILLATORY BIMORPH ACTUATOR OF A PIEZOELECTRIC FLOW PUMP

  Cícero R. de Lima, Adriano A. Koga, Márcio B. Falcão, Sandro L. Vatanabe, Andres Choi, Emílio C. Nelli Silvapp.812-817

• VII.06:

  NONLINEAR CHARACTERISTICS SYSTEMATIC STUDY IN PNEUMATIC ACTUATORS

  Carla Silvane Ritter, Antonio Carlos Valdiero, Pedro Luís Andrighetto, Fernando Zago, Luciano Endlerpp.818-826

• VII.07:

  PERISTALTIC PUMP USING SOLENOID TYPE ACTUATOR

  Diogo Cao Pires, Angeline R. Santos, Marc Lucas H. Neilson, Oswaldo Horikawapp.827-834

• VII.08:

  STUDY OF THE BOUNDARY ELEMENT METHOD FOR THE DIRECT PROBLEM OF ELECTRICAL IMPEDANCE TOMOGRAPHY

  Vanessa Rolnik, Olavo H. Menin, Grazieli L. C. Carosio, Paulo Seleghim Juniorpp.835-843

• VII.09:

  MECHATRONIC SERVO SYSTEM APPLIED TO A SIMULATED-BASED AUTOTHROTTLE MODULE

  Rafael Coronel Bueno Sampaio, Marcelo Beckerpp.844-853

• VII.10:

  ON-LINE TRAJECTORY ADAPTATION FOR ACTIVE LOWER LIMBS ORTHOSES BASED ON NEURAL NETWORKS

  Marciel A. Gomes, Adriano A. G. Siqueirapp.854-863

• VII.11:

  MAGNETIC SUSPENSION OF THE ROTOR OF A VENTRICULAR ASSISTANCE DEVICE OF MIXED FLOW TYPE – HALL SENSOR FOR ROTOR POSITION SENSORING

  Pedro Antunes, Orlando de Mello, Eduardo Bock, Aron Andrade, Isaías da Silva, Oswaldo Horikawapp.864-873

• VII.12:

  A LOW COST PIEZOELECTRIC VALVE-LESS DIAPHRAGM PUMP

  Andres Choi, Sandro L. Vatanabe, Cícero R. de Lima, Emílio C. Nelli Silvapp.874-881

• VII.13:

  ON LINE FAULT DETECTION FOR SERVOPROPORTIONAL VALVES

  José Roberto Branco Ramos Filho, Victor Juliano De Negripp.882-891

• VII.14:

  EVALUATION OF A MODE CONVERSION DUAL-CELL TO MEASURE THE COMPLEX REFLECTION COEFFICIENT AT A SOLID-LIQUID INTERFACE

  Ediguer E. Franco, Julio C. Adamowski, Flávio Buiochipp.892-897

• VII.15:

  ANALYSIS OF THE INFLUENCE OF TEMPERATURE ON THE FRICTION COEFFICIENT OF FRICTION MATERIALS

  Jean Greselle Balotin, Patric Daniel Neis, Ney Francisco Ferreirapp.898-906

• VII.16:

  RELATION BETWEEN THE TEMPERATURE OF THE DISC MEASURED WITH THERMOCOUPLE AND BY THERMOGRAPHY USING A REDUCED SCALE DYNAMOMETER

  Patric Daniel Neis, Gabriel Aquino Schell Kruze, Ney Francisco Ferreirapp.907-913

• VII.17:

  STATIC MODELING OF MCKIBBEN PNEUMATIC MUSCLE

  Giovanno Ferrari Zuglian, Lúcio Corrêa, Giovani Geremia, Miguel Ignácio Serrano, Eduardo André Perondipp.914-922

• VII.18:

  ANALYSIS OF THE DISCRETE REPRESENTATION METHOD TO COMPUTE ECHO RESPONSES FROM CIRCULAR CONCAVITY DEFECT

  Paulo Orestes Formigoni, Orlando Cirullo Filho, Julio C. Adamowski, Flávio Buiochipp.923-933

• VII.19:

  DEVELOPMENT OF A DIDATIC EQUIPMENT FOR PNEUMATIC COMPONENT SIZING

  Yesid Ernesto Asaff Mendoza, Mauro Damian Hené, Thiago Boaventura Cunha, Victor Juliano De Negripp.934-943

• VII.20:

  ON THE PERFORMANCE OF LINEAR AND ROTARY SERVO MOTORS IN SUB MICROMETRIC ACCURACY POSITIONING SYSTEMS

  Gilva Altair Rossi de Jesus, José Maria Galvez, Carlos Alberto Martinpp.944-951

• VII.21:

  DYNAMICAL MODELING AND CONTROL DESIGN OF A FLEXIBLE RADAR ANTENNA

  Agenor de Toledo Fleury, Fabrizio Leonardi, Fabiano Armellinipp.952-961

• VII.22:

  ANALYSIS AND EXPERIMENTAL REALIZATION OF A HYBRID ELECTRO-VISCOELASTIC VIBRATION NEUTRALIZER

  Rodrigo Féder Paraná, Carlos Alberto Bavastripp.962-971

We are grateful to the referees and the authors. We would like to thank also Eng. Luis Alberto Galaz Mamani and Mr. Paulo Leonel Teixeira for organizing the data and files used in this volume.

Catalog Card

ABCM Symposium Series Mechatronics, Volume 4

20th COBEM – International Congress of Mechanical Engineering Gramado, RS 15 a 20 de novembro de 2009

Editores

Victor Juliano De Negri, Eduardo André Perondi, Mauro André Barbosa Cunha, Oswaldo Horikawa

FICHA CATALOGRÁFICA

Elaborado pela ABCM – Associação Brasileira de Engenharia e Ciências Mecânicas

De Negri, Victor Juliano 1960 –
Mecatrônica/ Victor Juliano De Negri, Eduardo André Perondi, Mauro André
Barbosa Cunha, Oswaldo Horikawa
Associação Brasileira de Engenharia e Ciências Mecânicas, 2010.
971p. : il.
I. Mecatrônica. 2. Automação e Controle
II. Título.
ISBN 978-85-85769-47-5

Copyright 2010 – Associação Brasileira de Engenharia e Ciências Mecânicas, ABCM.

Av. Rio Branco, 124/14º Andar Rio de Janeiro, RJ Brasil

Tel.: 55 21 22210438 www.automobilesphilippecypres.com

A ABCM não autoriza a reprodução de qualquer parte desta publicação para sua distribuição em geral, para promoções, para a criação de novas publicações ou para a venda. Apenas através de prévia solicitação, por escrito, e em casos excepcionais, a ABCM poderá consentir a cópia de partes deste livro.

Documento preparado pelos editores em novembro de 2010.

Editorial Committee

• Victor Juliano De Negri – victor@emc.ufsc.br
• Eduardo André Perondi – perondi@mecanica.ufrgs.br
• Mauro André Barbosa Cunha – mauro@ifsul.edu.br
• Oswaldo Horikawa – ohorikaw@usp.br