Defesa de Mestrado – Patrícia Mônica Campos Mayer Vicente – 1/2/2022

07/01/2022 06:37
Defesa de Dissertação de Mestrado
Aluna Patrícia Mônica Campos Mayer Vicente
­­Orientador Prof. Felipe Gomes de Oliveira Cabral, Dr. – DAS/UFSC
Data 01/2/2022 (terça-feira) – 15h

Videoconferência (https://meet.google.com/yhc-niwt-ddk)
Banca Prof. Felipe Gomes de Oliveira Cabral, Dr. – DAS/UFSC (presidente);

Profa. Patrícia Nascimento Pena, Dra. – DELT/UFMG;

Prof. Gustavo da Silva Viana, Dr. – COPPE/UFRJ;

Prof. Max Hering de Queiroz, Dr. – DAS/UFSC.
Título Decentralized Synchronous Diagnosis with Coordination
Resumo: Fault diagnosis is a fundamental task that must be performed in engineering systems in order to avoid undesired behaviors that can affect equipment or human safety. In this work, we consider fault diagnosis of Discrete Event Systems (DESs) modeled as automata. Recently, a new architecture for diagnosis called Decentralized Synchronous Diagnosis (DSD) has been proposed. In the DSD, local diagnosers are computed based on the fault-free behavior of the system components with the view to reduce the size of the local diagnosers for implementation. Although this method has been successfully implemented, its main drawback is the growth of the fault-free language of the system for diagnosis, which reduces the diagnosis efficiency. In order to circumvent this problem, in this work, we propose a decentralized synchronous diagnosis method with coordination (DSDC) that refines the diagnosis status using cluster automata of the local components. To do so, we also propose a communication protocol between local state estimators and the coordinator. We show that this method prevents the growth of the fault-free language for diagnosis, which guarantees the same diagnosis performance as the traditional centralized diagnosis method. Furthermore, a practical implementation of the method to a didactic manufacturing system is also presented.
Defesas

Defesa de Doutorado – Marco Aurélio Schmitz de Aguiar – 27/1/2022

06/01/2022 06:08
Defesa de Tese de Doutorado
Aluno Marco Aurélio Schmitz de Aguiar
Orientador

Coorientador

 Prof. Eduardo Camponogara, Dr. – DAS/UFSC

Prof. Morten Hovd, Dr. – NTNU/Noruega
Data

 

 27/1/2022  11h  (quinta-feira)

Videoconferência (https://NTNU.zoom.us/j/94080920248?pwd=OHUrOERmQUlESG1BbEZjbHB4WmFjZz09)
 

 

Banca

 Prof. Daniel Ferreira Coutinho, Dr. – DAS/UFSC (presidente);

Prof. Dominique Bonvin, Dr. – EPFL/Suiça;

Profa. Cristina Stoica Maniu, Dra. – Centrale Supélec/França;

Prof. Lars Imsland, Dr. – NTNU/Noruega;

Prof. Mario Cesar Mello Massa de Campos, Dr. – SmartAutomation/RJ
Título Distributed Optimal Control of DAE Systems: Modeling, Algorithms, and Applications
Abstract: In networked nonlinear systems, several subsystems interact with one another.

These systems represent a considerable portion of the controls applications since systems are seldomly isolated in real-world applications. This thesis contributes to the field of distributed optimal control of networked systems by proposing a framework for modeling, formalizing optimal control problems (OCP), and solving the OCP. The framework relies on the augmented Lagrangian method for optimal control of differential-algebraic equations (DAEs), which has its mathematical properties improved by this thesis — necessary conditions for global, local, and suboptimal convergence are shown. The framework proposes a modeling strategy that uses a direct graph to represent the many subsystems. Each subsystem is represented as a node, where the input-output relation between the subsystem is represented as an edge.

This component-based description of the system allows for easier development and maintenance of the models. The OCP is described using the system model and a set of guidelines, leading to a decoupled cost coupled constraints (DCCC) formulation.

The proposed formulation allows for the augmented Lagrangian method for optimal control of DAEs to relax the equations that connect the subsystems. The relaxed equations are put into the objective function, transforming into a coupled cost decoupled constraint (CCDC) formulation since there are no more constraints between the subsystems. There are several strategies for solving CCDC formulations; this thesis develops algorithms based on the coordinate descent and the alternating direction multiplier method (ADMM), which are well-suited for this formulation. One downside of these techniques is that they don’t allow for two connected nodes to iterate alongside, to circumvent that a modeling artifice was used, which enables all nodes to iterate alongside. Computational experiments were performed in a benchmark system, which showed promising results. The positive results led to further investigation of the behavior of the algorithms when controlling systems with nonlinearities closer to real applications. Numerical experiments with a small-scale oil production network showed that the algorithms could properly control the plant, even with nonlinearities and discontinuities.
Defesas

Defesa de Mestrado – Luiz Armando Barbosa Hage – 22/12/2021

14/12/2021 09:53
Defesa de Dissertação de Mestrado
Aluno Luiz Armando Barbosa Hage
­­Orientador

Coorientador

 Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC

Prof. Ebrahim Samer El`Yussef, Dr. – UFSC/Blumenau
Data 22/12/2021 (quarta-feira) – 9h

Videoconferência (https://meet.google.com/acf-zgfi-jsk)
Banca Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC (presidente);

Prof. Henrique Simas, Dr. – EMC/UFSC;

Prof. Eugênio de Bona Castelan Neto, Dr. – PPGEAS/UFSC;

Prof. Daniel Martins Lima, Dr. – CAC/UFSC.
Título Estudo sobre Modelagem e Controle com Restrições de Manipulador Móvel Não-Holonômico Planar
Resumo: Os manipuladores móveis são uma classe de robôs que desempenham um papel essencial na logística dos armazéns de produtos, explorando locais inacessíveis e perigosos, e muito mais. No entanto, não é uma tarefa fácil controlá-los ou navegá-los. Eles possuem singularidades e não-linearidades e, enquanto em movimento, devem evitar obstáculos e áreas restritas. Uma vez que os manipuladores móveis são siste-mas não-lineares com operações complexas, a literatura explora vários controladores para mover e controlar esses sistemas. No entanto, poucos trabalhos tratam o controle com restrições para manipuladores móveis. Esta dissertação apresenta uma estratégia de controle com restrição de movimento conhecida como Explicit Reference Governor (ERG) para um manipulador móvel planar não-holonômico com dois graus de liberdade (2-DOF). Em contraste com outras soluções para o problema de controle com restrição, o ERG fornece uma solução de baixo custo computacional aplicada diretamente ao sistema já controlado, tornando-o interessante para robôs móveis cujos recursos computacionais e energéticos são limitados. O ERG gera uma nova referência a um sistema pré-estabilizado conduzido ao valor desejado, ao passo que respeita as restrições impostas. Para a aplicação do sistema proposto, é fundamental modelar e pré-estabilizar o manipulador móvel que, por simplicidade, é controlado no seu espaço de trabalho por Controle de Dinâmica Inversa mais compensação dinâmica. A eficácia da proposta é estudada e confirmada utilizando resultados de simulação, nos quais são consideradas as restrições de movimento posicional no espaço de trabalho do robô e restrições por singularidade conhecidas.
Defesas

Defesa de Mestrado – Afonso da Fonseca Braga – 21/12/2021

09/12/2021 09:37
Defesa de Dissertação de Mestrado
Aluno Afonso da Fonseca Braga
Orientador

Coorientador

 Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC

Profa. Patrícia Della Méa Plentz, Dra. – INE/UFSC
Data 21/12/2021 (terça-feira) – 9h

Videoconferência (https://meet.google.com/khw-qyuf-twq)
Banca Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC (presidente);

Prof. Mário Antônio Ribeiro Dantas, Dr. – UFJF;

Prof. Leandro Buss Becker, Dr. – DAS/UFSC;

Profa. Eliane Pozzebon, Dra. – UFSC/Araranguá.
Título HeMuRo Framework: Development of a Generic Framework for Multi-Robot Systems
Abstract: Mobile robotics presents as an alternative due to the lack of mobility of robotic manipulators. Biological behaviors inspired many ways of locomotion increasing the usability of robots in multiple areas, adding robots in academic environments and also in environments that are harmful to humans. Over time, new tools emerged to simplify the use of robotic systems. ROS has a collection of open-source tools and algorithms to help engineers build robotic systems, featuring robot control, mapping, localization, and navigation for mobile robots. However, adding more functionalities to a mobile robot impacts higher costs and higher energy consumption. Therefore, a balance between functionality and feasibility is needed. Multi-Robot System (MRS) are systems where it is possible to combine different types of robots with multiple abilities to perform missions, increasing the efficiency and robustness of the system. This way it is possible to use multiple robots with specific abilities, instead of using a single robot with all the sensors and functionalities. New issues are introduced such as, for example, task allocation and task decomposition taking into consideration each type of robot, robot coordination to execute missions, and also the ability to reallocate missions in case of failure. This work presents a framework responsible for task allocation and decomposition of missions for heterogeneous robots. With the main goal to be open-source and flexible, HeMuRo Framework was built with a modular and distributed architecture allowing modification and improvements. With simple missions as input, the framework performs mission decomposition and task allocation using an auction algorithm taking into consideration battery level, time to execute the mission, and if the robot has the capability of executing the mission. In case of failure or not being able to finish the mission, there is also the possibility to reallocate to another robot. This framework works independently but there is also the possibility of interaction with ROS to communicate with real robots or simulated environments. Simulations were also conducted, involving different scenarios such as hospital and logistics warehouse. HeMuRo Framework applied versatility to decompose different types of results, obtaining graphical information for analysis.
Defesas

Defesa de Mestrado – Luiz Felipe Curtarelli – 17/12/2021

03/12/2021 15:22
Defesa de Dissertação de Mestrado
Aluno Luiz Felipe Curtarelli
­­Orientador

Coorientador

 Prof. Werner Kraus Junior, Dr. – DAS/UFSC

Prof. Rodrigo Castelan Carlson, Dr. – DAS/UFSC
Data 17/12/2021 (sexta-feira) – 15h30

Videoconferência (https://meet.google.com/qcc-troe-gtb)
Banca Prof. Werner Kraus Junior, Dr. – DAS/UFSC (presidente);

Prof. Vinicius Peccin, Dr. – IFSC/Chapecó;

Prof. Bruno Vieira Bertoncini, Dr. – DET/UFC;

Prof. Lauro Nicolazzi, Dr. – EMC/UFSC.
Título Análise do Consumo de Combustível e da Capacidade Viária para a Condução Ecológica em Microssimulação de tráfego
Resumo: A condução ecológica em veículos de passeio caracteriza-se pela aplicação de acelerações baixas em relação à condução normal visando à redução do consumo de combustível. Considerando que diversos modelos macroscópicos de fluxo apresentam dependência direta da capacidade com acelerações no nível microscópico, supõe-se que a condução ecológica diminua a capacidade viária e que, portanto, possa gerar cenários de congestionamentos mais severos se comparados a cenários similares com condução normal. Em decorrência, avalia-se a hipótese de a condução ecológica resultar em maior consumo agregado do tráfego em condições saturadas. Para a avaliação da hipótese, foram coletados dados em ciclos de condução com um veículo dotado do sistema de apoio à condução ecológica na cidade de Florianópolis-SC. Os dados foram utilizados para definir as acelerações dos modos de condução serem utilizadas em simulação microscópica, bem como para a calibração do modelo de consumo de combustível utilizado.  Resultados em simulação microscópica obtidos com o simulador Aimsun Next para um segmento viário hipotético semaforizado confirmam a hipótese, indicando o excesso de pare-e-anda e o consumo em marcha lenta como responsáveis pelo consumo aumentado. Conclui-se pela relevância de sistemas de desligamento/acionamento automático dos motores para redução do consumo em qualquer regime de tráfego com uso da condução ecológica.
Defesas

Defesa de Ex. Qualificação – Eduardo Otte Hülse – 14/12/2021

02/12/2021 17:10
Defesa de Exame de Qualificação
Aluno Eduardo Otte Hülse
Orientador

Coorientador

 Prof. Eduardo Camponogara, Dr. – DAS/UFSC

Prof. Werner Kraus Junior, Dr. – DAS/UFSC
Data

Local

 14/12/2021  15h  (terça-feira)

Videoconferência (meet.google.com/rfg-jfmq-yok)
  Prof. Rodrigo Castelan Carlson, Dr. – DAS/UFSC (presidente)

Prof. Leandro Callegari Coelho, Dr. – ODSD/University Laval – Canadá;

Prof. Felipe Alberto Delgado Breinbauer, Dr. – DITL/PUC-Chile.
Título Multi-route Coordinated Control of Transit Systems Operations
Abstract: This research aims to formalize the problem of real-time control of multiple bus routes in a transit system network considering the interaction between routes. The work is motivated by operational constraints of real-world bus transit systems that are often neglected by existing real-time control strategies. From a practical perspective, system operators run bus routes that are usually not closed circuits, there are system bottlenecks, and fleet and dispatching management has to be addressed due to integrated schedules, which are typically overly simplified or disregarded. Based on the proposed formal problem statement, an event-based simulator will be designed in terms of state variables and dynamic equations that reflect the characteristics described for the transit system of interest. Besides the modeling contributions, this dissertation aims to design system-wide coordinated control strategies to regulate a multi-route schedule using holding actions. Additionally, this work proposes to combine rescheduling with holding actions in a hierarchical algorithm for real-time control of transit system operations at the network-level.
Defesas

Defesa de Doutorado – Juan Gabriel Guerrero Grijalva – 10/12/2021

02/12/2021 09:47
Defesa de Tese de Doutorado
Aluno Juan Gabriel Guerrero Grijalva
Orientador

Coorientador

 Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC

Prof. Daniel Martins, Dr. – EMC/UFSC
Data

 

 10/12/2021  10h  (sexta-feira)

Videoconferência (https://meet.google.com/gwi-taot-yve)
 

 

Banca

 Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC (presidente);

Prof. Marcelo Becker, Dr. – EESC/USP;

Prof. Henrique Simas, Dr. – EMC/UFSC;

Prof. Leonardo Mejia Rincon, Dr. – UFSC/Blumenau;

Prof. Eugênio de Bona Castelan Neto, Dr. – PPGEAS/UFSC.
Título Folding Mechatronic: a Scissor-Like Elements based Approach
Abstract: Folding Mechatronics is a technology that arises due to the need to develop devices that can be transported in a compact way, and when they are used, they can be deployed, reaching a larger size according to what is necessary. In the design of a mechatronic device, two steps must be considered: the first focused on the design of the tangible structure, hardware, where the main challenge is the design of the folding structure; and the second stage consists of the development of a control algorithm, software, which considers the needs and restrictions of the physical system. Scissor-like elements (SLE) are used for the design of the folding structure. An SLE consists of a pair of beams joined by a pivot, a rotation joint, to allow free rotation of one beam in relation to the other around the pivot axis. There is a wide variety of SLE that facilitates the formation of structures with different morphologies. In order to design lightweight folding structures, the use of origami coupled with SLEs is also explored. Dual quaternions are used in the kinematic analysis of SLEs. In the kinematic analysis, aspects related to direct kinematics and the workspace are considered. The  state equation is represented by means of a mass-spring-damper system whose parameters are obtained through systems identification theory. In the controller project, two approaches are explored: one in continuous time and the other in discrete time. In a continuous-time, a robust approach based on inequalities of linear matrices is presented. On the other hand, a predictive controller is employed to handle the discrete time approach. The predictive controller handles restrictions on the input and the output of the dynamic system.
Defesas

Defesa de Doutorado – Laura Michaela Ribeiro – 2/12/2021

27/11/2021 08:41
Defesa de Tese de Doutorado
Aluna Laura Michaela Ribeiro
Orientador

Coorientador

 Prof. Leandro Buss Becker, Dr. – DAS/UFSC

Prof. Ivan Müller, Dr. – UFRGS
Data

 

 2/12/2021  8h30  (quinta-feira)

Videoconferência (meet.google.com/tyi-xzwx-aqj)
 

 

Banca

 Prof. Leandro Buss Becker, Dr. – DAS/UFSC (presidente);

Prof. Aldebaro Klautau, Dr. – PPGEE/UFPA;

Prof. Eduardo Souto, Dr. – Icomp/UFAM;

Prof. Carlos Barros Montez, Dr. – DAS/UFSC.
Título Communication Interface Manager for Improving Performance of Heterogeneous UAV Networks
Abstract: Performing means for exchanging messages with stable connections in missions composedof multiple unmanned aerial vehicles (UAV) is a complex task. The variations in UAVdistances from each other, considering their trajectories, and the medium dynamic factorsimpose difficulties that must be properly addressed. In addition, the use of different types-of-service (ToS) such as voice, data, and video are increasingly present in the executionof applications involving networks composed of multiple UAVs. In this way, the reliabil-ity in the delivery of messages and link quality are important research challenges thatensure the exchange of different messages in a dynamic way, meeting the different ToSnetwork requirements to obtain traffic with quality of service (QoS). The use of hetero-geneous communication medium has shown gains in maintaining the connection amonghighly mobile nodes while increasing reliable transmission of data, as needed in MANETS,VANETs, and, more recently, in FANETs. In this context, this thesis proposes a heteroge-neous interface manager (IM) that is capable of improving communication in multi-UAVnetworks. Given a predefined set of available individual wireless interfaces, the proposedIM dynamically defines the best interface for sending messages based on on-flight condi-tions sensed and calculated dynamically from the wireless medium. The proposed IM issituated above the network link layer and contains a heuristic that decides in real-timebetween two or more wireless communication interfaces. It considers up-to-date monitor-ing data that represent the current state of the UAVs’ communication links within a givenenvironment. Currently, a decision-three (DT) with a sum of points heuristic is used asbasis to the proposed approach, and aims to support the decisions of IM. The heuris-tic accounts for parameters, such as the number of bytes received, number of bytes lost,throughput, received signal strength indication (RSSI), and signal to noise ratio (SNR).Firstly, the proposed IM is implemented using IEEE 802.11n and IEEE 802.11p wire-less interfaces employing different frequency bands to validate the decision tree heuristic.Secondly, the IM applies several single-band and multiband wireless local area communi-cation interfaces: IEEE 802.11n, IEEE 802.11p, IEEE 802.11ac, and IEEE 802.11ax, inorder to extend the IM decision possibilities. Lastly, a Naive Bayes classifier is attachedto the IM to perform a policy of weights according to network metrics. It computes thenetworks most critical points defining an adaptive solution according to the type of traffic.The IM is validated with simulations conducted using a realistic (and complex) simulationsetup based on the NS-3 network simulator, connected to the Gazebo or SUMO mobilitysimulators. This allows the UAV missions to be programmed in 2 D and 3 D mobility’sscenarios, and leave all communication aspects to be processed within NS-3. There wereconducted several experimental scenarios involving different numbers of UAVs, flying atdifferent speeds, traveling different distances and trajectories. The aim was analyzing theperformance of the communication interfaces applied homogeneously (with a single interface) and heterogeneously (using the proposed IM with different set of interfaces). The IMperformance was evaluated in terms of metrics from the medium-access-control (MAC)and physical layers, aiming to improve and maintain the connectivity between the UAVsduring the mission, and from the application layer, which targets the reliability in thedelivery of messages. Obtained results show that compared with the cases where a sin-gle interface is used, the proposed IM can increase the network throughput and presentsthe best proportion of transmitted and received packets, reception power (-60 dBm to-75 dBm), and loss (-80 dB to -85 dB), resulting in more efficient and stable networkconnections. Finally, this thesis also evaluated the performance considering voice, data,and video streaming ToS, highlighting the gains of the IM with and without ML classifier.The results showed that a combination of different interfaces in the IM decisions usingadaptive metric weights compose a powerful solution to maintain and increase the linkquality in U2U achieving message exchange over greater distances.
Defesas

Defesa de Mestrado – Matuzalem Muller dos Santos – 2/12/2021

24/11/2021 09:15
Defesa de Dissertação de Mestrado
Aluno Matuzalem Muller dos Santos
Orientador

Coorientador

 Prof. Jomi Fred Hübner Dr. – DAS/UFSC

Prof. Maiquel de Brito, Dr. – UFSC/Blumenau
Data 2/12/2021 (quinta-feira) – 14h

Videoconferência (https://meet.google.com/xgu-jvoj-kct)
Banca Prof. Jomi Fred Hübner, Dr. – DAS/UFSC (presidente);

Prof. Carlos Roberto Moratelli, Dr. – CAC/UFSC;

Prof. Maicon Rafael Zatelli, Dr. – INE/UFSC;

Prof. Leandro Buss Becker, Dr. – DAS/UFSC.
Título Programação Orientada a Agentes BDI em Sistemas Embarcados
Abstract: The characteristics of autonomy, reactivity, and proactivity, commonly present in embedded systems used in cyber-physical systems, are often similar to the ones of agents. Although the usage of agents in these scenarios would be beneficial, the lack of tools to implement agents in hardware commonly used in low-cost embedded systems is one of the reasons that prevent embedded agents from becoming a reality. This work discusses the challenges of implementing BDI agents in embedded systems and presents a framework for their implementation. Multiple versions of an application are implemented using the proposed framework and also using a more usual approach, allowing the comparison between the different versions and evaluating the overhead of the BDI engine in the agent executable.
Defesas

Defesa de Doutorado – Diego Câmara Sales – 18/11/2021

10/11/2021 20:23
Defesa de Tese de Doutorado
Aluno Diego Câmara Sales
Orientador

Coorientador

 Prof. Leandro Buss Becker, Dr. – DAS/UFSC

Prof. Cristian Koliver, Dr. – INE/UFSC
Data

 

 18/11/2021  13h30  (quinta-feira)

Videoconferência (https://meet.google.com/fqf-ocsu-ycz)
 

 

Banca

 Prof. Leandro Buss Becker, Dr. – DAS/UFSC (presidente);

Prof. Raimundo Barreto, Dr. – IComp/UFAM;

Prof. Eduardo Augusto Bezerra, Dr. – EEL/UFSC;

Prof. Rodrigo Castelan Carlson, Dr. – DAS/UFSC.
Título Abordagem para Evolução da Arquitetura de Sistemas Embarcados com Uso Intenso de Sensores e Atuadores
Resumo: A constante evolução dos dispositivos de sensoriamento e atuação (SA) faz com que os projetistas avaliem potenciais modificações de projeto da arquitetura de sistemas (AS) ciber-físicos durante o ciclo de vida. Estes dispositivos desempenham um papel crítico, pois são os mecanismos pelos quais o software (ciber) interage com o mundo físico. A troca ou inclusão destes dispositivos na arquitetura é uma atividade complexa composta de um conjunto de etapas dedicadas à modelagem das características, propriedades e requisitos do sistema. Desta forma, detalhar as etapas e atividades de desenvolvimento do projeto pode auxiliar a equipe de projetistas durante a representação e gerenciamento dos recursos da arquitetura. Entretanto, algumas etapas são mais discutidas na comunidade científica, tal como a modelagem e análise das características da arquitetura, e outras carecem de mais estudos, como por exemplo a exploração de cenários de troca dos dispositivos de S\&A. Neste contexto, é necessário que os projetistas tenham experiência para realizar as atividades que contemplam a seleção, exploração e análise de compatibilidade desses dispositivos, onde a ausência de informações dificultam o desenvolvimento das etapas de projeto. Existem diferentes abordagens na literatura que buscam fornecer um conjunto de etapas e atividades de suporte ao desenvolvimento de CPS. Entretanto, elas não descrevem em detalhes as atividades e ferramentas de suporte ao fluxo de etapas de projeto. Com isso, esta tese apresenta uma abordagem que busca contribuir com o processo de troca de dispositivos de S\&A da arquitetura, e consequentemente guiar os projetistas na realização das atividades. A chamada Engenharia Dirigida por Modelos (Model Driven Engineering – MDE) é utilizada como base da abordagem proposta e fornece suporte à modelagem arquitetural através de linguagens de descrição de arquiteturas (ADLs). Assim, permite a representação dos componentes através de Ontologia e a exploração de dispositivos candidatos, incluindo a análise inicial e a posterior seleção do cenário evoluído. Para tanto, duas abordagens apoiadas por ferramentas foram desenvolvidas ao longo desta tese: OWL2AADL e DevCompatibility. A ferramenta OWL2AADL permite a transformação de modelos de ontologia do domínio de arquitetura de sistemas, descritos em OWL, para modelos arquiteturais AADL. Já a ferramenta DevCompatibility fornece suporte automatizado às atividades de exploração, análise e ranqueamento de cenários da abordagem de evolução de arquiteturas. Para demonstrar a aplicabilidade da proposta, as abordagens e ferramentas desenvolvidas são aplicadas ao projeto de um VANT do tipo tilt-rotor. Os detalhes da abordagem proposta são demonstrados no processo de evolução da arquitetura do VANT em questão.
Defesas
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