https://repositorio.ufu.br/handle/123456789/17890 2026-09-30T01:06:44Z https://repositorio.ufu.br/handle/123456789/50448 Title: Desenvolvimento de controle autônomo para execução de manobras acrobáticas em drones Crazyflie utilizando processos gaussianos Abstract: The present work addresses the development of an autonomous control strategy for executing complex aerobatic maneuvers in nano drones, specifically the full backward rotation maneuver in the Crazyflie model. The main objective of the study consists of reproducing and validating a Bayesian optimization algorithm, using Gaussian process surrogate models, to plan and execute the aerobatic maneuver in a high-fidelity simulation environment, employing classic controllers only for basic flight stabilization. The methodology adopts a machine learning approach where the maneuver is segmented into five sequential dynamic phases of motor actuation. The virtual environment allows the algorithm to explore and learn aerodynamic uncertainties through iterative attempts. The system autonomously adjusts actuation times and motor thrust based on a cost function that evaluates spatial precision and recovery stability, comparing the findings with an analytical mathematical model solved separately. The results demonstrate the successful convergence of the optimization algorithm after seven thousand flight iterations, identifying the exact parameters for each stage of the movement. The simulation proves that the vehicle executes the three hundred and sixty-degree rotation contained within the established spatial constraints, compensating for lift losses and chaotic turbulence without the need for exhaustive mathematical modeling of drag forces. Immediately after the rotation, the stabilizing control successfully resumes mechanical authority, dampening the free fall. It is concluded that artificial intelligence, based on statistical probabilistic methods, overcomes the physical limitations of traditional linear models in aggressive flight scenarios. The developed hybrid control architecture proves to be safe, robust, and effective, fully validating the feasibility of subsequently transferring the optimized mathematical parameters for testing on the physical hardware of the aircraft. 2026-08-06T00:00:00Z https://repositorio.ufu.br/handle/123456789/50377 Title: Estudo de caso da tendência de comportamento de consumo de energia aplicado a uma planta industrial de médio porte Abstract: Demand management and tariff classification are essential for medium-voltage industrial units because they help reduce avoidable charges and support energy-efficiency actions. This case study assessed the consumption profile, contracted demand, tariff classification, and capacitor-bank condition of a fuel distribution terminal located in Uberlândia, Minas Gerais, supplied at 13.8 kV. Electricity bills and technical reports covering June 2022 to June 2024 were examined, together with a thermographic inspection report produced in June 2024 with a FLIR E30 camera. The records showed 24 months with contracted-demand exceedances above 170 kW, totaling BRL 26.768,00 A preliminary comparison indicated that the green time-of-use tariff was the most consistent with the predominantly off-peak consumption profile, subject to validation of the tariffs and contracts used. The thermographic report classified two of 39 assets as priority cases; however, the temperature and ΔT values transcribed into the recovered document must be checked against the original radiometric file. The findings support reviewing contracted demand, continuously monitoring load, and maintaining the capacitor bank in accordance with ANEEL Normative Resolution No. 1,000/2021. 2026-07-20T00:00:00Z https://repositorio.ufu.br/handle/123456789/50337 Title: Estimação do comprimento de antenas de microfita utilizando Support Vector Regression Abstract: In this paper, a Machine Learning technique called Support Vector Regression is applied for regression of squared microstrip patch antennas data for operation under its dominant mode 𝑇𝑀10. The simulation data was gathered through Ansys Electronics Desktop 2022, using the high frequency simulation module HFSS. Simulation results are given in both S and Z parameters for 2 different situations. Firstly, the antenna length 𝐿 is changed from 10 mm to 40 mm in steps of 1 mm. After it, the antenna behaviour is simulated and the frequency range is fixed from 1 GHz to 10 GHz, getting 𝐿 values that satisfies the specified frequency range. Both steps are simulated for 5 different dielectric permittivity 𝜖. With these informations, a database is created, and it will contain data that will be cleaned, sorted out and labeled, then feeded to a Support Vector Regression (SVR) algorithm for training and validation. The generated model is capable of predicting, accurately, the value of 𝐿 for any 𝑓𝑟 within the frequency range established. 2026-09-08T00:00:00Z https://repositorio.ufu.br/handle/123456789/50293 Title: Comparação de desempenho entre as modulações otfs e ofdm em canais de alta mobilidade sob condições de ruído impulsivo Abstract: The evolution of mobile communications toward sixth-generation (6G) systems imposes new challenges related to reliability, latency, and performance in environments characterized by high mobility and impulsive noise. In this context, more robust modulation techniques become essential to ensure transmission efficiency and data integrity. This Final Course Project aims to compare the performance of OTFS (Orthogonal Time Frequency Space) and OFDM (Orthogonal Frequency Division Multiplexing) modulations under different channel conditions, with emphasis on scenarios involving high Doppler fading, frequency-selective channels, and the presence of impulsive noise. The modulations are analyzed through computational simulations developed in the MATLAB environment, considering different modulation orders (16-QAM, 64-QAM, and 256-QAM) and variations in the statistical model of impulsive noise, based on Poisson and log-normal distributions. Performance evaluation is carried out using Bit Error Rate (BER) curves, allowing a comparative assessment of the resilience of each technique under different levels of channel degradation. The results indicate that the relative performance of OTFS and OFDM depends on the evaluated scenario: in channels with high mobility, multipath propagation, and more severe impulsive noise, OTFS shows greater robustness, while under static conditions or low-severity impulsive noise, OFDM may present similar or slightly better performance. It is concluded that OTFS is a promising alternative for 6G systems in adverse scenarios due to its ability to maintain robustness against multiple impairments, especially when high-order modulation schemes are employed. 2026-04-24T00:00:00Z