Projeto e implementação de um acionamento elétrico embarcado para auxílio à tração humana em sistemas de transporte de carga

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P❘❖❏❊❚❖ ❊ ■▼P▲❊▼❊◆❚❆➬➹❖ ❉❊ ❯▼

❆❈■❖◆❆▼❊◆❚❖ ❊▲➱❚❘■❈❖ ❊▼❇❆❘❈❆❉❖ P❆❘❆

❆❯❳❮▲■❖ ➚ ❚❘❆➬➹❖ ❍❯▼❆◆❆ ❊▼ ❙■❙❚❊▼❆❙ ❉❊

❚❘❆◆❙P❖❘❚❊ ❉❊ ❈❆❘●❆

▲❡♦♥❛r❞♦ ❆❞♦❧♣❤♦ ❘♦❞r✐❣✉❡s ❞❛ ❙✐❧✈❛

❚❡s❡ ❛♣r❡s❡♥t❛❞❛ ❛♦ Pr♦❣r❛♠❛ ❞❡ Pós✲ ●r❛❞✉❛çã♦

❡♠ ❊♥❣❡♥❤❛r✐❛ ❊❧étr✐❝❛ ❞❛ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧

❞❡ ▼✐♥❛s ●❡r❛✐s ♣❛r❛ ♦ ❡①❛♠❡ ❢✐♥❛❧

❞♦ ❝✉rs♦ ❞❡ ❉♦✉t♦r❛❞♦ ❡♠ ❊♥❣❡♥❤❛r✐❛ ❊❧étr✐❝❛

❖r✐❡♥t❛❞♦r✿ Pr♦❢✳ ❇r❛③ ❞❡ ❏❡s✉s ❈❛r❞♦s♦ ❋✐❧❤♦✱ P❤❉

❉✉r❛♥t❡ ♦ ❞❡s❡♥✈♦❧✈✐♠❡♥t♦ ❞❡st❡ tr❛❜❛❧❤♦ ♦ ❛✉t♦r r❡❝❡❜❡✉ ❛✉①í❧✐♦ ✜♥❛♥❝❡✐r♦ ❞❛ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ❙ã♦ ❏♦ã♦ ❞❡❧ ❘❡✐✱ ❜❡♠ ❝♦♠♦ ❞♦ ▲❛❜♦r❛tór✐♦ ❚❡s❧❛ ❡ ❞♦ ❈❡♥tr♦ ❞❡ P❡sq✉✐s❛ ❡

❉❡s❡♥✈♦❧✈✐♠❡♥t♦ ❡♠ ❊♥❣❡♥❤❛r✐❛ ❊❧étr✐❝❛ ❞❛ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ▼✐♥❛s ●❡r❛✐s

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P❘❖❏❊❚❖ ❊ ■▼P▲❊▼❊◆❚❆➬➹❖ ❉❊ ❯▼

❆❈■❖◆❆▼❊◆❚❖ ❊▲➱❚❘■❈❖ ❊▼❇❆❘❈❆❉❖ P❆❘❆

❆❯❳❮▲■❖ ➚ ❚❘❆➬➹❖ ❍❯▼❆◆❆ ❊▼ ❙■❙❚❊▼❆❙ ❉❊

❚❘❆◆❙P❖❘❚❊ ❉❊ ❈❆❘●❆

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❆❣r❛❞❡❝✐♠❡♥t♦s

❖ ♣r❡s❡♥t❡ tr❛❜❛❧❤♦ é ❞❡❞✐❝❛❞♦ ❡♠ ❣r❛ç❛s ❛ ❉❡✉s✱ ♦ q✉❛❧ ♣r♦✈❡✉ s❛ú❞❡ ❡ ❝♦♥❢♦rt♦ ♥♦s ♠♦♠❡♥t♦s ❞❡ ❡①♣♦s✐çã♦ ❛♦s ♠❡✉s ❧✐♠✐t❡s ❢ís✐❝♦s✱ ✐♥t❡❧❡❝t✉❛✐s ❡ ♣s✐❝♦❧ó❣✐❝♦s✱ ❜❡♠ ❝♦♠♦ ♣r♦✲ ✈❡✉ ♣r♦t❡çã♦ ❛♦s ✐♥❝♦♥tá✈❡✐s r✐s❝♦s ❛♣r❡❝✐❛❞♦s ❡♠ ❛♣r♦①✐♠❛❞❛♠❡♥t❡ ✷✽✳✵✵✵ ❦♠ ❞✐r✐❣✐❞♦s ❡♠ ❡str❛❞❛s ❛té ♦ ♣r❡s❡♥t❡ ❡stá❣✐♦ ❞♦ tr❛❜❛❧❤♦✳

❆❣r❛❞❡ç♦ à ♠✐♥❤❛ ❢❛♠í❧✐❛ ♣❡❧♦ ❛♠♣❧♦ s✉♣♦rt❡ ♣r❡st❛❞♦ ❡♠ t♦❞♦s ♦s ♠♦♠❡♥t♦s ❞✐❢í❝❡✐s✳ ❆♦s ♠❡✉s ♣❛✐s✱ à ●❡ ❡ ❛♦s ♠❡✉s ✐r♠ã♦s✱ ❞❡✐①♦ ♦ ❢♦rt❡ ❛❜r❛ç♦ ❡ ♦ ❞❡s❡❥♦ ❞❡ r❡tr✐❜✉✐çã♦ ❛ t♦❞❛ ❝♦♥s✐❞❡r❛çã♦ ❝♦♠ ♠✐♥❤❛ ♣❡ss♦❛ ✦

❆❣r❛❞❡ç♦ ❛♦ ♣r♦❢❡ss♦r ❇r❛③ ❞❡ ❏❡s✉s ❈❛r❞♦s♦ ❋✐❧❤♦ ♣❡❧❛ ♦r✐❡♥t❛çã♦ ❡ s✉❣❡stõ❡s té❝♥✐❝❛s ✈❛❧✐♦s❛s ♥❛ ❝♦♥❞✉çã♦ ❞♦ tr❛❜❛❧❤♦✳

➚ ❡q✉✐♣❡ ❞❛ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ❙ã♦ ❏♦ã♦ ❞❡❧ ❘❡✐ ❛❣r❛❞❡ç♦ ♣❡❧♦ s✉♣♦rt❡ ♣r♦✜ss✐♦♥❛❧✱ ♣❡ss♦❛❧ ❡ ♠❛t❡r✐❛❧ q✉❡ ♠❡ ❢♦r❛♠ ❞❡❞✐❝❛❞♦s ♥❡ss❡ t❡♠♣♦ ❞❡ tr❛❜❛❧❤♦✳ ❆♦s ♣r♦❢❡ss♦r❡s ▲❛♥❡ ❇❛❝❝❛r✐♥✐✱ ●❧❡✐s♦♥ ❱❛s❝♦♥❝❡❧♦s✱ ▼ár❝✐♦ ❋❛❧❝ã♦ ❡ ❱❛❧ér✐❛ ❑❡♠♣s✱ ♠✉✐t♦ ♦❜r✐❣❛❞♦ ✦

➚ ❡q✉✐♣❡ ❞♦ ❧❛❜♦r❛tór✐♦ ❚❡s❧❛✱ ♠✉✐t♦ ♦❜r✐❣❛❞♦ ♣❡❧❛ ❝♦♥✈❡rs❛ ❛❣r❛❞á✈❡❧ ❡ ❛♠♣❧❛ ❞✐s♣♦♥✐❜✐✲ ❧✐❞❛❞❡ ♣❛r❛ ❛❥✉❞❛ ❡♠ t♦❞♦s ♦s ♠♦♠❡♥t♦s ❞♦ tr❛❜❛❧❤♦✳ ➱ ✉♠ ❣r❛♥❞❡ ♣r❛③❡r ❝♦♥✈✐✈❡r ❝♦♠ ♦s s❡♥❤♦r❡s ❡ s❡♥❤♦r❛s ✦

❆❣r❛❞❡ç♦ t❛♠❜é♠ à ♣r♦♥t❛ ❞✐s♣♦♥✐❜✐❧✐❞❛❞❡ ❡ r❡❝❡♣t✐✈✐❞❛❞❡ ❡♥❝♦♥tr❛❞❛ ♥♦ ❈❡♥tr♦ ❞❡ ❚❡❝✲ ♥♦❧♦❣✐❛ ❞❛ ▼♦❜✐❧✐❞❛❞❡ ✐♥st❛❧❛❞♦ ♥♦ ❉❡♣❛rt❛♠❡♥t♦ ❞❡ ❊♥❣❡♥❤❛r✐❛ ▼❡❝â♥✐❝❛ ❞❛ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ▼✐♥❛s ●❡r❛✐s✳ ❆♦ ♣r♦❢❡ss♦r ❋❛❜rí❝✐♦ P✉❥❛tt✐✱ ♠✉✐t♦ ♦❜r✐❣❛❞♦ ♣❡❧❛s ❤♦r❛s ❞❡❞✐❝❛❞❛s à ♠❛♥✉t❡♥çã♦ ❞♦ ✈❡í❝✉❧♦✱ ♣❡❧❛s ❞✐❝❛s té❝♥✐❝❛s ❡ ♣❡❧❛ ♣r♦♥t❛ ❞✐s♣♦♥✐❜✐❧✐❞❛❞❡ ♥♦ ❛t❡♥❞✐♠❡♥t♦ às ♣❡r❣✉♥t❛s q✉❡ ❧❤❡ ❢♦r❛♠ ❛♣r❡s❡♥t❛❞❛s✳ ❆❣r❛❞❡ç♦ t❛♠❜é♠ à ♦♣♦rt✉♥✐❞❛❞❡ ❞❡ ❛♣r❡♥❞❡r s♦❜r❡ s❡✉ ❡st✐❧♦ ❞❡ ❝♦♥❞✉çã♦ ❤❛r♠ô♥✐❝❛ ❡♥tr❡ ✉♠❛ ✈✐❞❛ ♣r♦✜ss✐♦♥❛❧ ❞❡♥s❛ ❡ ♦ r❡s♣❡✐t♦ ❛ q✉❡♠ ♦ ♣r♦❝✉r❛✳

❆♦s ♣r♦❢❡ss♦r❡s ●✉✐❧❤❡r♠❡ P❡r❡✐r❛ ❡ ▲❡♦♥❛r❞♦ ❚♦rr❡s✱ ❛❣r❛❞❡ç♦ ♣❡❧❛s ♣r❡❝✐♦s❛s ❞✐❝❛s ❞❡ ❝♦♥t❡①t✉❛❧✐③❛çã♦ ❞♦ tr❛❜❛❧❤♦ ❝♦♠ ♦ ❡st❛❞♦ ❞❛ ❛rt❡ ♥❛s ❢❡rr❛♠❡♥t❛s ❞❡ s✐st❡♠❛s r♦❜ót✐❝♦s q✉❡ ❢♦r❛♠ ❛♣❧✐❝❛❞♦s ❛♦ ❱❡❝❛rr✳

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✐✐

❞❡ ❝✉rs♦ ❛ ❡str✉t✉r❛s ❛♣❧✐❝❛❞❛s ❛♦ ❱❡❝❛rr✱ ❞❡✐①♦ ♠❡✉ s✐♥❝❡r♦ ❛❣r❛❞❡❝✐♠❡♥t♦✳ ❆ ❛❥✉❞❛ ❞♦s s❡♥❤♦r❡s ❏ú❧✐♦ ❈és❛r✱ ▲✉✐③❛ ❆❧✈❡s✱ ▼❛r✐❛♥❛ ❙❛❝r❛♠❡♥t♦✱ ❈❛✐♦✱ ❘♦❞♦❧❢♦✱ ❏✉❧✐❛♥❛ ❈✉♥❤❛✱ ❱✐❝t♦r✱ P♦t②❣✉❛r❛✱ ●✉✐❧❤❡r♠❡ ❡ ❈❛r❧♦s ❉❡t♦♠✐ ❛❝❡❧❡r❛r❛♠ ♦ tr❛❜❛❧❤♦ ❡ ♦ t♦r♥❛r❛♠ ♠❛✐s ❛❣r❛❞á✈❡❧✳

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❘❡s✉♠♦

❙✐❧✈❛✱ ▲✳ ❆✳ ❘✳ Pr♦❥❡t♦ ❡ ■♠♣❧❡♠❡♥t❛çã♦ ❞❡ ✉♠ ❆❝✐♦♥❛♠❡♥t♦ ❊❧étr✐❝♦ ❊♠❜❛r❝❛❞♦ ♣❛r❛ ❆✉①í❧✐♦ à ❚r❛çã♦ ❍✉♠❛♥❛ ❡♠ ❙✐st❡♠❛s ❞❡ ❚r❛♥s♣♦rt❡ ❞❡ ❈❛r❣❛✳ ✷✵✶✸✳ ✶✾✵ ❢✳ ❚❡s❡ ❞❡ ❉♦✉t♦r❛❞♦ ✲ Pr♦❣r❛♠❛ ❞❡ Pós✲●r❛❞✉❛çã♦ ❡♠ ❊♥❣❡♥❤❛r✐❛ ❊❧étr✐❝❛✱ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ▼✐♥❛s ●❡r❛✐s✱ ❇❡❧♦ ❍♦r✐③♦♥t❡✱ ✷✵✶✹✳

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✐✈

tr❛♥s♣♦rt❡✱ s❡♥❞♦ t❛✐s ♠♦❞♦s r❡❧❛❝✐♦♥❛❞♦s à ♣r✐♦r✐③❛çã♦ ❞❡ ✉♠❛ ❞❡♥tr❡ ❞✉❛s ♣r❡♠✐ss❛s✿ ♦ ❝♦♥✲ ❢♦rt♦ ♣❡r❝❡❜✐❞♦ ♥♦ t♦q✉❡ ❞❛ ♣❡ss♦❛ q✉❡ ❝♦♥❞✉③ ♦ ✈❡í❝✉❧♦ ♦✉ ❛ ♣♦ss✐❜✐❧✐❞❛❞❡ ❞❡ s❡ ❞❡s❡♥✈♦❧✈❡r ✈❡❧♦❝✐❞❛❞❡s ✜♥❛✐s ♠❛✐s ❡❧❡✈❛❞❛s✳ ◗✉❛❧q✉❡r ❞❡ss❛s ♦♣çõ❡s é ♣r♦♥t❛♠❡♥t❡ ❛❞❛♣tá✈❡❧ ❛♦ ✈❡í❝✉❧♦✱ ❞❡♠❛♥❞❛♥❞♦ s♦♠❡♥t❡ ✐♥t❡r✈❡♥çõ❡s ❡♠ s♦❢t✇❛r❡ ♦✉ r❡♠♦çã♦ ❞❛ ❝é❧✉❧❛ ❞❡ ❝❛r❣❛✳ ❆❧é♠ ❞✐ss♦✱ ❡♠ q✉❛❧q✉❡r ✉♠ ❞♦s ♠♦❞♦s ♦♣❡r❛❝✐♦♥❛✐s sã♦ ❣❛r❛♥t✐❞❛s ❛s s❡❣✉✐♥t❡s ❝❛r❛❝t❡ríst✐❝❛s✿ ♦ ✈❡í❝✉❧♦ s❡ ❞❡s❧♦❝❛ ♣❡❧❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ❞❡ s❡✉ ❝♦♥❞✉t♦r✱ ❞✐s♣❡♥s❛♥❞♦ tr❡✐♥❛♠❡♥t♦ ❡s♣❡❝í✜❝♦❀ ♦ ✈❡í❝✉❧♦ s❡ ♠❛♥té♠ ♣❛r❛❞♦ ❡♠ s✉♣❡r❢í❝✐❡s ✐♥❝❧✐♥❛❞❛s✱ ♠❡s♠♦ q✉❛♥❞♦ ♦ ✉s✉ár✐♦ ❛❝♦♣❧❛ ♦✉ r❡✲ ♠♦✈❡ ❝❛r❣❛ ❞❡ s✉❛ ❝❛ç❛♠❜❛❀ ♦ ✉s✉ár✐♦ ✐♠♣õ❡ ❞✐♥❛♠✐❝❛♠❡♥t❡ ❛ ✈❡❧♦❝✐❞❛❞❡ ❞❡ ❞❡s❧♦❝❛♠❡♥t♦ ❞♦ s✐st❡♠❛ ❡ ♦ ✈❡í❝✉❧♦ s❡❣✉❡ t❛❧ r❡❢❡rê♥❝✐❛✳

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❆❜str❛❝t

❙✐❧✈❛✱ ▲✳ ❆✳ ❘✳ Pr♦❥❡❝t ❛♥❞ ■♠♣❧❡♠❡♥t❛t✐♦♥ ♦❢ ❛♥ ❊♠❜❡❞❞❡❞ ❊❧❡❝tr✐❝❛❧ ❉r✐✈❡ t♦ ❆✐❞ t❤❡ ❍✉♠❛♥ ❚r❛❝t✐♦♥ ✐♥ ▲♦❛❞ ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s✳ ◗✉❛❧✐❢②✐♥❣ ❡①❛♠ ✲ P❤❉ ❉❡❣r❡❡ ✲ Pr♦❣r❛♠❛ ❞❡ Pós✲●r❛❞✉❛çã♦ ❡♠ ❊♥❣❡♥❤❛r✐❛ ❊❧étr✐❝❛✱ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ▼✐♥❛s ●❡r❛✐s✱ ❇❡❧♦ ❍♦r✐③♦♥t❡✱ ✷✵✶✸✳ P❤❉ ❚❤❡s✐s ✲ ❋❛❝✉❧❞❛❞❡ ❞❡ ❊♥❣❡♥❤❛r✐❛ ❞❛ ❯♥✐✈❡rs✐❞❛❞❡ ❋❡❞❡r❛❧ ❞❡ ▼✐✲ ♥❛s ●❡r❛✐s✱ ❇❡❧♦ ❍♦r✐③♦♥t❡✱ ✷✵✶✸✳

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✈✐

❞❛r② ❝♦♥❞✐t✐♦♥s✿ t❤❡ t♦✉❝❤ ❝♦♠❢♦rt s❡♥s❡❞ ❜② t❤❡ ♣❡rs♦♥ t❤❛t ❝♦♦♣❡r❛t❡s ✇✐t❤ t❤❡ ✈❡❤✐❝❧❡ ♦r t❤❡ ♣♦ss✐❜✐❧✐t② t♦ ❞❡✈❡❧♦♣ ❤✐❣❤❡r ✜♥❛❧ s♣❡❡❞s✳ ❆♥② ♦❢ t❤♦s❡ ♦♣t✐♦♥s ✐s r❡❛❞✐❧② ❛tt❛❝❤❛❜❧❡ t♦ t❤❡ ✈❡❤✐❝❧❡✱ ❞❡♠❛♥❞✐♥❣ ❥✉st s♦❢t✇❛r❡ ♠♦❞✐✜❝❛t✐♦♥s ♦r ❧♦❛❞ ❝❡❧❧ r❡♠♦✈❛❧✴✐♥st❛❧❧❛t✐♦♥✳ ■♥ ❛♥② ♦❢ t❤♦s❡ ♦♣❡r❛t✐♦♥❛❧ ♠♦❞❡s✱ t❤❡r❡ ❛r❡ ❣✉❛r❛♥t❡❡❞ t❤❡ ❢♦❧❧♦✇✐♥❣ ❝❤❛r❛❝t❡r✐st✐❝s✿ t❤❡ ✈❡❤✐❝❧❡ ✐s ♠♦✈❡❞ ❜② t❤❡ ❤✉♠❛♥ ✐♥t❡♥t✐♦♥✱ ❞✐s♣❡♥s✐♥❣ ❛♥② s♣❡❝✐✜❝ tr❛✐♥✐♥❣❀ t❤❡ ✈❡❤✐❝❧❡ ✐s ❦❡♣t st♦♣♣❡❞ ✐♥ ✐♥❝❧✐♥❡❞ s✉r❢❛❝❡s✱ ❡✈❡♥ ✇❤❡♥ t❤❡ ✉s❡r ❡♠❜❡❞ ♦r r❡♠♦✈❡ ❧♦❛❞s ❢r♦♠ ✐ts ❝❤❛rt❀ t❤❡ ✉s❡r ❝❤♦♦s❡ ❞②♥❛♠✐❝❛❧❧② t❤❡ ✈❡❤✐❝❧❡✬s ❞✐s♣❧❛❝❡♠❡♥t s♣❡❡❞✳

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❙✉♠ár✐♦

▲✐st❛ ❞❡ sí♠❜♦❧♦s ①✐

✶ ■♥tr♦❞✉çã♦ ✶

✶✳✶ ❆♣r❡s❡♥t❛çã♦ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶ ✶✳✷ ❘❡❧❡✈â♥❝✐❛ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷ ✶✳✸ ❖❜❥❡t✐✈♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸ ✶✳✹ ❈♦♥tr✐❜✉✐çõ❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹ ✶✳✺ ❖r❣❛♥✐③❛çã♦ ❞♦ t❡①t♦ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✻

✷ ❚❡❝♥♦❧♦❣✐❛s ♣❛r❛ s✐st❡♠❛s ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❡ ♣❛r❛ ❞❡t❡❝çã♦ ❞❛

✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ❞❡ ♣❡ss♦❛s ✾

✷✳✶ ❚❡❝♥♦❧♦❣✐❛s ♣❛r❛ ❞❡t❡❝çã♦ ❞❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✵ ✷✳✶✳✶ ❉❡t❡❝çã♦ ❞❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ❡♠ s✐st❡♠❛s ❞❡ ❞✐r❡çã♦ ❡❧étr✐❝❛ ✳ ✳ ✳ ✶✵ ✷✳✶✳✷ ❉❡t❡❝çã♦ ❞❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ♣♦r ❛❝❡❧❡rô♠❡tr♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✸ ✷✳✶✳✸ ❉❡t❡❝çã♦ ❞❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ♣♦r s✐♥❛✐s ❜✐♦❧ó❣✐❝♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✸ ✷✳✶✳✹ ❉❡t❡❝çã♦ ❞❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ♣♦r ❝â♠❡r❛s ❡ ❧✉✈❛s ❝♦♠ ✜❧♠❡s ❞❡

str❛✐♥✲❣❛❣❡ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✹ ✷✳✶✳✺ ❉❡t❡❝çã♦ ❞❛ ✐♥t❡♥çã♦ ❞❡ ♠♦✈✐♠❡♥t♦ ♣❡❧❛ ❝♦rr❡♥t❡ ❞❡ ♠♦t♦r❡s ❡❧étr✐❝♦s ✳ ✳ ✶✺ ✷✳✷ ❊st❛❞♦ ❞❛ ❛rt❡ ♥❛ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻ ✷✳✷✳✶ ❈❛r❛❝t❡r✐③❛çã♦ ❣❡r❛❧ ❞❛ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻ ✷✳✷✳✷ ❙✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❝♦♠ ❞❡t❡r♠✐♥❛çã♦ ♣ré✈✐❛ ❞❛s tr❛✲

❥❡tór✐❛s ❞❡ r❡❢❡rê♥❝✐❛ ♣❡❧♦ ❝♦♥t❛t♦ ❞❛ ♣❡ss♦❛ ❝♦♠ ♦ r♦❜ô ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✾ ✷✳✷✳✸ ❙✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❝♦♠ r❡❥❡✐çã♦ à ❝♦❧✐sõ❡s ♣♦r ♣r♦❝❡s✲

s❛♠❡♥t♦ ❞✐❣✐t❛❧ ❞❡ ✐♠❛❣❡♥s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✵ ✷✳✷✳✹ ❙✐st❡♠❛s ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❝♦♠ ❛❥✉st❡ ❞✐♥â♠✐❝♦ ❞❛ ✐♠♣❡❞â♥✲

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✈✐✐✐ ❙❯▼➪❘■❖

✷✳✷✳✻ ❙✐st❡♠❛s ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❝♦♠ ✐♥t❡r❛çã♦ ❡①❝❧✉s✐✈❛ ♣❡❧♦s ♦❜✲ ❥❡t♦s ❞❡s❧♦❝❛❞♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✻ ✷✳✸ ❈♦♥❝❧✉sõ❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✷

✸ ❊s♣❡❝✐✜❝❛çã♦ ❞♦s ❡❧❡♠❡♥t♦s ❞❡ ♣♦tê♥❝✐❛ ❞♦ ✈❡í❝✉❧♦ ✸✺ ✸✳✶ ▼❡t♦❞♦❧♦❣✐❛ ♣❛r❛ ❧❡✈❛♥t❛♠❡♥t♦ ❞❡ tr❛❥❡tór✐❛s ♠❡❝â♥✐❝❛s ❡ ❢♦rç❛s ❡①t❡r♥❛s ❛♣❧✐✲

❝❛❞❛s ❛♦ ❱❡❝❛rr ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✻ ✸✳✶✳✶ ❙✐st❡♠❛ ❞❡ ❛q✉✐s✐çã♦ ❞❡ ❞❛❞♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✻ ✸✳✷ ❊s♣❡❝✐✜❝❛çã♦ ❞♦ ♠♦t♦r ❡❧étr✐❝♦ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✶

✸✳✷✳✶ ❆✈❛❧✐❛çã♦ ❞♦s ❝r✐tér✐♦s ❞❡ ❝♦♥❥✉❣❛❞♦ ♠é❞✐♦ q✉❛❞rát✐❝♦ ❡ ♣♦tê♥❝✐❛ ♠é❞✐❛ q✉❛❞rát✐❝❛ ♣❛r❛ ❡s♣❡❝✐✜❝❛çã♦ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦ ❛❞❡q✉❛❞❛ ❛♦ ❱❡❝❛rr ✹✶ ✸✳✷✳✷ ❈r✐tér✐♦s ♣❛r❛ ♦ ❞✐♠❡♥s✐♦♥❛♠❡♥t♦ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦ ❛❞❡q✉❛❞❛ ❛♦

❱❡❝❛rr ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✹ ✸✳✷✳✸ ❊st✐♠❛t✐✈❛ ❞♦s ♣❛râ♠❡tr♦s ❞♦s ❝✐r❝✉✐t♦s ❡❧étr✐❝♦s ❡q✉✐✈❛❧❡♥t❡ ❞❛s ♠á✲

q✉✐♥❛s ❞❡ ✐♥❞✉çã♦ ♣r♦♣♦st❛s ♣❛r❛ ♦ ❱❡❝❛rr✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✺ ✸✳✷✳✹ ❆✈❛❧✐❛çã♦ ❞♦ ♠á①✐♠♦ ❝♦♥❥✉❣❛❞♦ ❞✐s♣♦♥✐❜✐❧✐③❛❞♦ ♣❡❧❛s ♠áq✉✐♥❛s ❝❛♥❞✐✲

❞❛t❛s ❢r❡♥t❡ ❛♦ ♠á①✐♠♦ ♥í✈❡❧ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❡♠❛♥❞❛❞♦ ♥❛ ❛♣❧✐❝❛çã♦ ✳ ✳ ✹✾ ✸✳✷✳✺ ❆✈❛❧✐❛çã♦ ❞❛ r❡❣✐ã♦ ❞❡ ❧✐♥❡❛r✐❞❛❞❡ ❡♥tr❡ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ❡ ❝♦♥❥✉❣❛❞♦

♣❛r❛ ❝❛❞❛ ✉♠ ❞❛s ♠áq✉✐♥❛s ❝❛♥❞✐❞❛t❛s ❛♦ ❛❝✐♦♥❛♠❡♥t♦ ❞♦ ❱❡❝❛rr ✳ ✳ ✳ ✳ ✺✶ ✸✳✷✳✻ ❆✈❛❧✐❛çã♦ ❞❛ t❡♠♣❡r❛t✉r❛ ❛❧❝❛♥ç❛❞❛ ♣❡❧❛s ♠áq✉✐♥❛s ❝❛♥❞✐❞❛t❛s ❛♦ ❛❝✐♦✲

♥❛♠❡♥t♦ ❞♦ ❱❡❝❛rr ❞✉r❛♥t❡ ❛s ❥♦r♥❛❞❛s ♠♦♥✐t♦r❛❞❛s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✷ ✸✳✸ ❊s♣❡❝✐✜❝❛çã♦ ❞♦ ❜❛♥❝♦ ❞❡ ❜❛t❡r✐❛s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✻✻ ✸✳✹ ❊s♣❡❝✐✜❝❛çã♦ ❞❛ tr❛♥s♠✐ssã♦ ♠❡❝â♥✐❝❛ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✼✾ ✸✳✺ ❈♦♥❝❧✉sõ❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✽✶

✹ Pr♦❥❡t♦ ❞♦ ❙✐st❡♠❛ ❞❡ ❈♦♥tr♦❧❡ ✽✺

✹✳✶ ▼♦❞❡❧♦ ❞✐♥â♠✐❝♦ ❞♦ ❱❡❝❛rr ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✽✻ ✹✳✷ ✶a_{Pr♦♣♦st❛ ❞❡ ❈♦♥tr♦❧❡✿ ❛❥✉st❡ ❞♦ s✐st❡♠❛ ♣❛r❛ ❡st❛❜❡❧❡❝✐♠❡♥t♦ ❞❛ ✐♠♣❡❞â♥❝✐❛}

♠❡❝â♥✐❝❛ ❡q✉✐✈❛❧❡♥t❡ ❝♦♠ ♦ ♦❜❥❡t✐✈♦ ❞❡ ♠❡❧❤♦r✐❛ ❞❛ s❡♥s❛çã♦ ❞❡ ❝♦♥t❛t♦ ♥❛ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✵✵ ✹✳✷✳✶ ❉❡s❡♥✈♦❧✈✐♠❡♥t♦ ❞❛ ❡str✉t✉r❛ ❞❡ ❝♦♥tr♦❧❡ ♣❛r❛ ❡♠✉❧❛çã♦ ❞❡ ✐♠♣❡❞â♥❝✐❛

♠❡❝â♥✐❝❛ ❛♠✐❣á✈❡❧ ❛♦ s❡r ❤✉♠❛♥♦ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✵✷ ✹✳✷✳✷ ❆❥✉st❡ ❞♦s ❣❛♥❤♦s ❞❛ ♠❛❧❤❛ ❞❡ ❝♦♥tr♦❧❡ ♣❛r❛ ♦♣❡r❛çã♦ ❞♦ ❱❡❝❛rr ❡♠✉✲

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❙❯▼➪❘■❖ ✐①

✹✳✷✳✸ ❙✐♠✉❧❛çã♦ ❞♦ s✐st❡♠❛ ❞❡ ❝♦♥tr♦❧❡ ♣❛r❛ ♦♣❡r❛çã♦ ❝♦♠ ❡♠✉❧❛çã♦ ❞❛ ✐♠✲ ♣❡❞â♥❝✐❛ ❞✐♥â♠✐❝❛ ♠❡❝â♥✐❝❛ ❞❡s❡❥❛❞❛ ♥♦ ❝♦♥t❛t♦ ❝♦♠ ♦ ✉s✉ár✐♦ ✳ ✳ ✳ ✳ ✳ ✶✶✵ ✹✳✸ ✷a _{♣r♦♣♦st❛ ❞❡ ❝♦♥tr♦❧❡✿ r❡❣✉❧❛çã♦ ❞❡ ❡s❢♦rç♦ ❝♦♥st❛♥t❡ ❛♣❧✐❝❛❞♦ ♣❡❧♦ ❝♦♥❞✉t♦r ✳ ✶✶✺}

✹✳✸✳✶ ❈❛r❛❝t❡r✐③❛çã♦ ❞♦ s✐♥❛❧ ❞❡ ✈❡❧♦❝✐❞❛❞❡ ❞❛s ♣❡r♥❛s ❞❡ s❡r❡s ❤✉♠❛♥♦s ❡♠ ♠♦✈✐♠❡♥t♦s ❛❝❡❧❡r❛❞♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✷✵ ✹✳✸✳✷ ❈❛r❛❝t❡r✐③❛çã♦ ❞♦ s✐♥❛❧ ❞❡ ❢♦rç❛ ✐♠♣♦st♦ ♣♦r s❡r❡s ❤✉♠❛♥♦s ❝♦♠ ✐♥t❡♥çã♦

❞❡ ❞❡s❧♦❝❛♠❡♥t♦ ❞❡ ✉♠ ✈❡í❝✉❧♦ ❞❡ ❝❛r❣❛ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✷✶ ✹✳✸✳✸ ❙✐♥t♦♥✐❛ ❞♦s ❣❛♥❤♦s ❞♦s ❝♦♠♣❡♥s❛❞♦r❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✷✺ ✹✳✸✳✹ ❙✐♠✉❧❛çã♦ ❞♦ s✐st❡♠❛ ❞❡ ❝♦♥tr♦❧❡ ♦♣❡r❛♥❞♦ ❝♦♠ r❡❣✉❧❛çã♦ ❞❡ ❢♦rç❛ ❝♦♥s✲

t❛♥t❡ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✸✵ ✹✳✹ ❈♦♥❝❧✉sõ❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✸✻

✺ ❈♦♥s✐❞❡r❛çõ❡s t❡❝♥♦❧ó❣✐❝❛s ❞♦ ❱❡❝❛rr ✶✸✾

✺✳✶ ❊str✉t✉r❛ ❣❡r❛❧ ❞♦ ✜r♠✇❛r❡ ❞❡ ❝♦♥tr♦❧❡ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✹✵ ✺✳✷ ■♥✈❡rs♦r ❞❡ ❢r❡q✉ê♥❝✐❛ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✹✵ ✺✳✸ P❧❛t❛❢♦r♠❛ ♠✐❝r♦♣r♦❝❡ss❛❞❛ ❜❛s❡❛❞❛ à ❉❙P ❞❡ ♣♦♥t♦ ✜①♦ ❞❛ ❢❛♠í❧✐❛ ❚▼❙✸✷✵▲❋✷✽✶✷✶✹✷ ✺✳✹ ❯♥✐❞❛❞❡ ❞❡ ❝♦♥❞✐❝✐♦♥❛♠❡♥t♦ ♣❛r❛ ✐♥t❡r❢❛❝❡ ❞❡ s✐♥❛✐s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✹✻ ✺✳✺ ❙♦❧✉çõ❡s ♣❛r❛ ❛t❡♥✉❛çã♦ ❞♦s r✉í❞♦s ♥♦ ❱❡❝❛rr ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✹✾ ✺✳✻ ❯♥✐❞❛❞❡ ❞❡ s❡♥s♦r✐❛♠❡♥t♦ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✺✹ ✺✳✼ ❈♦rr❡❧❛çã♦ ❡♥tr❡ ♦s ❣❛♥❤♦s ❞♦s ❝♦♠♣❡♥s❛❞♦r❡s ♥♦ s✐st❡♠❛ ✐♥t❡r♥❛❝✐♦♥❛❧ ❞❡ ✉♥✐✲

❞❛❞❡s ♣❛r❛ ♦s ❣❛♥❤♦s ❡♠ ♣✉ ♥♦ s♦❢t✇❛r❡ ❞♦ ❉❙P ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✺✻ ✺✳✽ ❚r❛♥s❞✉çã♦ ❞♦ ❝♦♠❛♥❞♦ ❞❡ ❝♦rr❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞♦ ❉❙P ♣❛r❛ ♦ ❝♦♥❥✉❣❛❞♦

❡❧❡tr♦♠❛❣♥ét✐❝♦ r❡❛❧ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✺✾ ✺✳✾ ❈♦♥❝❧✉sõ❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻✵

✻ ❆✈❛❧✐❛çã♦ ❞❡ ❉❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ✶✻✸

✻✳✶ ❉❡✜♥✐çã♦ ❞♦s s❡♥t✐❞♦s ❞❡ ❞❡s❧♦❝❛♠❡♥t♦ ✐♠♣♦st♦s ♣❛r❛ ❛✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻✸ ✻✳✷ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❝♦♥tr♦❧❡ ♣♦r ❡♠✉❧❛çã♦ ❞❡ ✐♠♣❡❞â♥❝✐❛

♠❡❝â♥✐❝❛ ❛♠✐❣á✈❡❧ à ❝♦♦♣❡r❛çã♦ ❝♦♠ s❡r❡s ❤✉♠❛♥♦s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻✼ ✻✳✷✳✶ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❞❡s❧♦❝❛♠❡♥t♦s ❡♠ s✉♣❡r❢í❝✐❡s

♥ã♦ ✐♥❝❧✐♥❛❞❛s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻✼ ✻✳✷✳✷ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❞❡s❧♦❝❛♠❡♥t♦s ❡♠ s✉♣❡r❢í❝✐❡s

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① ❙❯▼➪❘■❖

✻✳✷✳✸ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❝♦♠❛♥❞♦s ❜r✉s❝♦s ❞❡ r❡✈❡rsã♦ ✳ ✶✼✼ ✻✳✸ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ♦♣❡r❛çã♦ ❝♦♠ r❡❣✉❧❛çã♦ ❞❡ ❢♦rç❛ ❝♦♥s✲

t❛♥t❡ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✼✾ ✻✳✸✳✶ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❞❡s❧♦❝❛♠❡♥t♦s ❡♠ s✉♣❡r❢í❝✐❡s

♥ã♦ ✐♥❝❧✐♥❛❞❛s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✽✶ ✻✳✸✳✷ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❞❡s❧♦❝❛♠❡♥t♦s ❡♠ s✉♣❡r❢í❝✐❡s

✐♥❝❧✐♥❛❞❛s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✽✸ ✻✳✸✳✸ ❆✈❛❧✐❛çã♦ ❞❡ ❞❡s❡♠♣❡♥❤♦ ❞♦ ❱❡❝❛rr ♣❛r❛ ❝♦♠❛♥❞♦s ❜r✉s❝♦s ❞❡ r❡✈❡rsã♦ ✳ ✶✾✵ ✻✳✹ ❈♦♥❝❧✉sõ❡s ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✾✷

✼ ❈♦♥❝❧✉sõ❡s ❡ ♣r♦♣♦st❛s ♣❛r❛ tr❛❜❛❧❤♦s ❢✉t✉r♦s ✶✾✺

✽ ❆♣ê♥❞✐❝❡s ✷✵✾

✽✳✶ ❆♣ê♥❞✐❝❡ ❆✳ ❆rt✐❣♦ ♣✉❜❧✐❝❛❞♦ ♥❛ r❡✈✐st❛ ❏♦✉r♥❛❧ ♦❢ ❈♦♥tr♦❧✱ ❆✉t♦♠❛t✐♦♥ ❛♥❞ ❊❧❡❝tr✐❝❛❧ ❙②st❡♠s ✲ ✧▼❡t❤♦❞♦❧♦❣② ❢♦r ❙♣❡❝✐✜❝❛t✐♦♥ ♦❢ ❚❤r❡❡✲P❤❛s❡ ■♥❞✉❝t✐♦♥ ▼♦t♦rs ❆♣♣❧✐❡❞ t♦ ❉r✐✈❡ ❱❡❤✐❝❧❡s ❯s❡❞ ❜② ❈♦❧❧❡❝t♦rs ♦❢ ❘❡❝②❝❧❛❜❧❡ ▼❛t❡r✐❛❧s✧ ✳ ✷✶✵ ✽✳✷ ❆♣ê♥❞✐❝❡ ❇✳ ❆rt✐❣♦ ♣✉❜❧✐❝❛❞♦ ♥♦ ❝♦♥❣r❡ss♦ ■❊❊❊ ■❈❈❱❊✷✵✶✸ ✲ ■♥t❡r♥❛t✐♦♥❛❧

❈♦♥❣r❡ss ♦♥ ❈♦♥♥❡❝t❡❞ ❱❡❤✐❝❧❡s ✷✵✶✸ ✲ ✧❍✉♠❛♥✲❘♦❜♦t ❈♦♦♣❡r❛t✐♦♥ ❙②st❡♠ ✇✐t❤ ▼❡❝❤❛♥✐❝❛❧ ■♠♣❡❞❛♥❝❡ ❈♦♥tr♦❧ ❢♦r ❋r✐❡♥❞❧② ❍✉♠❛♥ P❡r❝❡♣t✐♦♥✧ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✷✸ ✽✳✸ ❆♣ê♥❞✐❝❡ ❈✳ ❆rt✐❣♦ ♣✉❜❧✐❝❛❞♦ ♥♦ ❙❇❆■ ✷✵✶✶ ✲ ❙✐♠♣ós✐♦ ❇r❛s✐❧❡✐r♦ ❞❡ ❆✉✲

t♦♠❛çã♦ ■♥t❡❧✐❣❡♥t❡ ✲ ✧▼❡t♦❞♦❧♦❣✐❛ ♣❛r❛ ❊s♣❡❝✐✜❝❛çã♦ ❞❡ ▼♦t♦r❡s ❞❡ ■♥❞✉çã♦ ❚r✐❢ás✐❝♦s ♣❛r❛ ❚r❛çã♦ ❞❡ ❱❡í❝✉❧♦s ❯t✐❧✐③❛❞♦s ♣♦r ❈❛t❛❞♦r❡s ❞❡ ❘❡sí❞✉♦s ❘❡❝✐✲ ❝❧á✈❡✐s✧ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✷✻ ✽✳✹ ❆♣ê♥❞✐❝❡ ❉✳ ❆rt✐❣♦ ❛❝❡✐t♦ ♣❛r❛ ♣✉❜❧✐❝❛çã♦ ♥♦ ■❊❊❊ ■❚❊❈ ✷✵✶✹ ✲ ❈♦♠♣♦♥❡♥ts✱

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▲✐st❛ ❞❡ sí♠❜♦❧♦s

• α₁✱ α₂✱ α_n ✿ ❢❛t♦r❡s ❞❡ ♠✉❧t✐♣❧✐❝❛çã♦ ❞❡ ❢♦rç❛ ❞❡ ❝❛❞❛ ✉♠ ❞♦s ✧♥✧r♦❜ôs ❡♠ ✉♠ s✐st❡♠❛

♠✉❧t✐✲r♦❜ô✳

• ❱❡❝❛rr✿ ❱❡í❝✉❧♦ ❡❧étr✐❝♦ ♣❛r❛ ❝❛rr❡❣❛♠❡♥t♦ ❀

• ✐_sq✱ ✐_sd✿ ❈♦rr❡♥t❡s ❞❡ ❡st❛t♦r ❡♠ ❡✐①♦ q ❡ ❞✱ r❡s♣❡❝t✐✈❛♠❡♥t❡❀

• ❚_h✱ ❚_b✱ ❚_g✱ ❚❡✿ ❈♦♥❥✉❣❛❞♦s ❞❡s❡♥✈♦❧✈✐❞♦s ♥♦ ❡✐①♦ ❞♦ ❛❝✐♦♥❛♠❡♥t♦ ♣❡❧♦ ❝♦♥❞✉t♦r✱ ❛tr✐t♦✱

❣r❛✈✐❞❛❞❡ ❡ s✐st❡♠❛ ❡❧❡tr♦♠❛❣♥ét✐❝♦✱ r❡s♣❡❝t✐✈❛♠❡♥t❡❀

• ψ_carga ✿ ❛t✐t✉❞❡ ❞❡ ❛r❢❛❣❡♠ ❞♦ ✈❡í❝✉❧♦❀ • ψ ✿ ❛t✐t✉❞❡ ❞❡ ❛r❢❛❣❡♠ ❞❛ r♦❞❛❀

• θ ✿ ❛t✐t✉❞❡ ❞❡ ❣✉✐♥❛❣❡♠ ❞♦ ✈❡í❝✉❧♦❀

• ①✱②✱③ ✿ ♣♦s✐çõ❡s ①✱ ② ❡ ③ ❞♦ ❝❡♥tr♦ ❞❡ ♠❛ss❛ ❞♦ ✈❡í❝✉❧♦ ❝♦♠ r❡❧❛çã♦ ❛♦ r❡❢❡r❡♥❝✐❛❧ ✐♥❡r❝✐❛❧

❞❡ ❡st✉❞♦❀

• ▼✱ ❜ ❡ ❱ ✿ ♠❛tr✐③❡s ❞❡ ♠❛ss❛s ❣❡r❡♥❡r❛❧✐③❛❞❛✱ ❡❧❡♠❡♥t♦s ✈✐s❝♦s♦s ❡ ❢♦rç❛s ❝♦♥s❡r✈❛t✐✈❛s✱

r❡s♣❡❝t✐✈❛♠❡♥t❡❀

• ~τ ✿ ✈❡t♦r ❞❡ ❢♦rç❛s ❣❡♥❡r❛❧✐③❛❞❛s ❞♦ ✈❡í❝✉❧♦❀

• ~q ✿ ✈❡t♦r ❞❡ ❝♦♥✜❣✉r❛çõ❡s ❞♦ ✈❡í❝✉❧♦❀

• ❛✯ ✿ ❛❝❡❧❡r❛çã♦ ❞❡ r❡❢❡rê♥❝✐❛ ❞❛ ✐♠♣❡❞â♥❝✐❛ ♠❡❝â♥✐❝❛ ❛♠✐❣á✈❡❧❀

• ❛_roda ✿ ❛❝❡❧❡r❛çã♦ ❞♦ ❝♦♥❥✉♥t♦ ❡✐①♦✱ r♦❞❛ ❡ ♣♥❡✉ ❞♦ ❱❡❝❛rr❀ • ❛_carga✿ ❛❝❡❧❡r❛çã♦ ❞♦ ❝♦♥❥✉♥t♦ ❝❤❛ss✐s ❡ ❝❛r❣❛ út✐❧ ❞♦ ❱❡❝❛rr❀

• ❛③ ✿ ❛❝❡❧❡r❛çã♦ ❞♦ ✈❡í❝✉❧♦ ♥❛ ❞✐r❡çã♦ ③ ♦✉ ♥❛ ❞✐r❡çã♦ ❞♦ ❝❡♥tr♦ ❞❛ ❚❡rr❛❀

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①✐✐ ▲■❙❚❆ ❉❊ ❙❮▼❇❖▲❖❙

• ❇✶✱ ❇✷✱ ❇✸ ✿ ❝♦❡✜❝✐❡♥t❡s ❞♦ ♥✉♠❡r❛❞♦r ❞♦ ✜❧tr♦ ❞✐❣✐t❛❧ ❞❡ ✷_a ♦r❞❡♠❀

• ❈❞✐❢_carga✱ ❈❞✐❢_des ✿ ❝❛♣❛❝✐tâ♥❝✐❛s ❡q✉✐✈❛❧❡♥t❡s ❞❡ ❝❛r❣❛ ❡ ❞❡s❝❛r❣❛✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ♣❛r❛

❛ r❡❣✐ã♦ ❞❡ ❞✐❢✉sã♦ ❞❛ ❜❛t❡r✐❛❀

• ❈❞▲_carga✱ ❈❞▲_des ✿ ❝❛♣❛❝✐tâ♥❝✐❛s ❡q✉✐✈❛❧❡♥t❡s ❞❡ ❝❛r❣❛ ❡ ❞❡s❝❛r❣❛✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ♣❛r❛

❛ r❡❣✐ã♦ ❞❡ ❝❛♠❛❞❛ ❞✉♣❧❛ ❞❛ ❜❛t❡r✐❛❀

• ❈♠t_des ✿ ❝❛♣❛❝✐tâ♥❝✐❛ ❡q✉✐✈❛❧❡♥t❡s ❞❡ ❞❡s❝❛r❣❛ ♣❛r❛ ❛ r❡❣✐ã♦ ❞❡ tr❛♥s❢❡rê♥❝✐❛ ❞❡ ♠❛ss❛

❞❛ ❜❛t❡r✐❛❀

• ❝_{especif ico,F e} ✿ ❝❛❧♦r ❡s♣❡❝í✜❝♦ ❞♦ ❋❡rr♦❀

• ❈_termica ✿ ❝❛♣❛❝✐tâ♥❝✐❛ tér♠✐❝❛ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀ • ∆✐_sq ✿ ✈❛r✐❛çã♦ ❞❛ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ❡♠ ❡✐①♦ q❀

• ∆ ❛③ ✿ ✈❛r✐❛çã♦ ❞❛ ❛❝❡❧❡r❛çã♦ ❞♦ ✈❡í❝✉❧♦ ♥❛ ❞✐r❡çã♦ ③ ♦✉ ♥❛ ❞✐r❡çã♦ ❞♦ ❝❡♥tr♦ ❞❛ ❚❡rr❛❀

• δI_bat ✿ ❛♠♣❧✐t✉❞❡ ❞❛ ❝♦rr❡♥t❡ ❞❡ ♣❡q✉❡♥♦ s✐♥❛❧ ❞❛ ❜❛t❡r✐❛❀ • δV_bat ✿ ❛♠♣❧✐t✉❞❡ ❞❛ t❡♥sã♦ ❞❡ ♣❡q✉❡♥♦ s✐♥❛❧ ❞❛ ❜❛t❡r✐❛❀

• δ①_repouso ✿ ❞✐stâ♥❝✐❛ ❡♥tr❡ ♦s ❝❡♥tr♦s ❞❡ ♠❛ss❛ ❞♦ ❝❤❛ss✐s ❡ ❡✐①♦ ❞❛ r♦❞❛ ❞♦ ❱❡❝❛rr q✉❛♥❞♦

♦ s✐st❡♠❛ ❡stá ❡♠ r❡♣♦✉s♦❀

• δ①_repouso,cell ✿ ❞✐stâ♥❝✐❛ ❡♥tr❡ ❛ ❜❛rr❛ ❞❡ ❝♦♠❛♥❞♦ ❡ ♦ ❝❤❛ss✐s ❞♦ ❱❡❝❛rr q✉❛♥❞♦ ♥ã♦ ❤á

❞❡❢♦r♠❛çã♦ ♥❛ ❝é❧✉❧❛ ❞❡ ❝❛r❣❛❀

• ❋ ✿ s✐♥❛❧ ❞❡ ❢♦rç❛ ❤✉♠❛♥❛ ❝♦♥❞✐❝✐♦♥❛❞♦ ❡ ❞✐s♣♦♥í✈❡❧ ♥❛ ❡♥tr❛❞❛ ❛♥❛❧ó❣✐❝❛ ❞♦ ❉❙P❀

• ❋_a ✿ ❢♦rç❛ ❞❡ ❛tr✐t♦ ❡♥tr❡ ♦ ♣♥❡✉ ❡ ♦ s♦❧♦ ♥❛ r♦❞❛ tr❛❝✐♦♥❛❞❛❀ • ❋_A1 ✿ ❢♦rç❛ ❞❡ ❛tr✐t♦ ❡♥tr❡ ♦ ♣♥❡✉ ❡ ♦ s♦❧♦ ♥❛ r♦❞❛ ♥ã♦ tr❛❝✐♦♥❛❞❛❀

• ❋_c ✿ ❢♦rç❛ ❞❡ ❝♦♥tr❛t♦ ❡♥tr❡ ♦ ❡✐①♦ ❡ ♦ ♠❛♥❝❛❧ ❞♦ ❱❡❝❛rr❀

• ❋_ClulaDeCarga ✿ s✐♥❛❧ ❞❡ ❢♦rç❛ ❤✉♠❛♥❛ ♠❡❞✐❞♦ ♣❡❧❛ ❝é❧✉❧❛ ❞❡ ❝❛r❣❛❀ • ❋_ext ✿ ❢♦rç❛ ❞❡s❡♥✈♦❧✈✐❞❛ ♣❡❧♦ ❛♠❜✐❡♥t❡ ❡①t❡r♥♦❀

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①✐✐✐

• ❋_L ✿ ❢♦rç❛ ❡❢❡t✐✈❛ ❞❛ ❝❛r❣❛ ❡①t❡r♥❛ s♦❜r❡ ✉♠ ❡①♦❡sq✉❡❧❡t♦❀ • ❋_N ✿ ❢♦rç❛ ♥♦r♠❛❧ ❛t✉❛♥❞♦ s♦❜r❡ ❛ r♦❞❛ ♥ã♦ tr❛❝✐♦♥❛❞❛❀

• ❋_robo₁✱ ❋_robo₂✱ ❋_robon ✿ ❢♦rç❛s ❡❢❡t✐✈❛s ❞❡s❡♥✈♦❧✈✐❞❛s ♣❡❧♦s ✧♥✧r♦❜ôs q✉❡ ❛t✉❛♠ ❡♠ ✉♠

s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ♠✉❧t✐✲r♦❜ô❀

• ❣ ✿ ❛❝❡❧❡r❛çã♦ ❞❛ ❣r❛✈✐❞❛❞❡❀

• ●_a ✿ ❣❛♥❤♦ ❞♦ ❛t✉❛❞♦r ❡♠ ✉♠ ❛t✉❛❞♦r ♠❡❝❛trô♥✐❝♦ ❞❡ ✉♠ ❡①♦❡sq✉❡❧❡t♦❀

• ●_amb ✿ ❢✉♥çã♦ ❞❡ ❣❛♥❤♦ ❞♦ ❛♠❜✐❡♥t❡ ❛ q✉❛❧ r❡❧❛❝✐♦♥❛ ❛s ❝♦♥✜❣✉r❛çõ❡s ✐♠♣♦st❛s ♣❡❧♦

♠❡s♠♦ ❝♦♠ s✉❛s ❢♦rç❛s ❡❢❡t✐✈❛s❀

• ●_at ✿ ❢✉♥çã♦ ❞❡ ❣❛♥❤♦ ❞♦ ❛t✉❛❞♦r ❛ q✉❛❧ r❡❧❛❝✐♦♥❛ ❛s ❝♦♥✜❣✉r❛çõ❡s ✐♠♣♦st❛s ♣❡❧♦ ♠❡s♠♦

❝♦♠ s✉❛s ❢♦rç❛s ❡❢❡t✐✈❛s ❀

• ●_F ✿ ❣❛♥❤♦ ❡♥tr❡ ♦s ❝♦♠❛♥❞♦s ❞❡ ♣♦s✐❝✐♦♥❛♠❡♥t♦ ❞♦ ❝ér❡❜r♦ ❤✉♠❛♥♦ ❡ ❛ s✉❛ ❢♦rç❛

♠✉s❝✉❧❛r❀

• ●_h ✿ ❢✉♥çã♦ ❞❡ ❣❛♥❤♦ ❞♦ s❡r ❤✉♠❛♥♦ ❛ q✉❛❧ r❡❧❛❝✐♦♥❛ ❛s ❝♦♥✜❣✉r❛çõ❡s ✐♠♣♦st❛s ♣❡❧♦

♠❡s♠♦ ❝♦♠ s✉❛s ❢♦rç❛s ❡❢❡t✐✈❛s ❀

• ❍₁ ✿ ❢✉♥çã♦ ❞♦s ❣❛♥❤♦s ❞❡ s❡♥s♦r❡s ❡ ❝♦♥tr♦❧❛❞♦r❡s q✉❡ ♠♦♥✐t♦r❛♠ ❡ r❡❣✉❧❛♠ ♦ ❡❢❡✐t♦ ❞❛

❢♦rç❛ ❤✉♠❛♥❛ ❡♠ ✉♠ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❀

• ❍₂ ✿ ❢✉♥çã♦ ❞♦s ❣❛♥❤♦s ❞❡ s❡♥s♦r❡s ❡ ❝♦♥tr♦❧❛❞♦r❡s q✉❡ ♠♦♥✐t♦r❛♠ ❡ r❡❣✉❧❛♠ ♦ ❡❢❡✐t♦ ❞♦

❛♠❜✐❡♥t❡ ❡①t❡r♥♦ ❡♠ ✉♠ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô ❀

• ✐_{F e}✱ ✐_M✱ ✐_r✱ ✐_s✱ ✐_x✿ ❝♦rr❡♥t❡s ♥❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦ ❝✐r❝✉❧❛♥❞♦✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ♥❛ r❡✲

s✐stê♥❝✐❛ ❞❡ ♣❡r❞❛s ♥♦ ❋❡rr♦✱ ♥❛ ✐♥❞✉tâ♥❝✐❛ ❞❡ ♠❛❣♥❡t✐③❛çã♦✱ ♥♦ r♦t♦r✱ ♥♦s t❡r♠✐♥❛✐s ❞❡ ❡st❛t♦r ❡ ♥❛ ✐♥❞✉tâ♥❝✐❛ ❞❡ ❞✐s♣❡rsã♦ ❞♦ ❡st❛t♦r❀

• ✐_sa✱ ✐_sb ❡ ✐_sc ✿ ❝♦rr❡♥t❡s ♥❛s ❢❛s❡s ❆✱ ❇ ❡ ❈ ❞❡ ❡st❛t♦r❀

• ✐_sd✱ ✐_sd✯ ❡ ✐_sd,nom✿ r❡s♣❡❝t✐✈♦s ✈❛❧♦r❡s r❡❛❧✱ ❞❡ r❡❢❡rê♥❝✐❛ ❡ ♥♦♠✐♥❛❧ ♣❛r❛ ❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ❡♠ ❡✐①♦ ❞❀

• ✐_sq✱ ✐_sq✯✿ r❡s♣❡❝t✐✈♦s ✈❛❧♦r❡s r❡❛❧ ❡ ❞❡ r❡❢❡rê♥❝✐❛ ♣❛r❛ ❛ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ❡♠ ❡✐①♦ q❀ • ✐_sq∗_{P W M}✿ r❡❢❡rê♥❝✐❛ ❞❛ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ❡♠ ❡✐①♦ q ❛♣❧✐❝❛❞❛ ❝♦♠♦ s✐♥❛❧ ♠♦❞✉❧❛♥t❡ ♥❛

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①✐✈ ▲■❙❚❆ ❉❊ ❙❮▼❇❖▲❖❙

• ✐_{s,M ax}✿ ♠á①✐♠❛ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r s✉♣♦rt❛❞❛ ♣❡❧❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀ • ✐_s,vazio✿ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦ ❛ ✈❛③✐♦❀

• ✐_termica ✿ ❝♦rr❡♥t❡ ❡✜❝❛③ ❡♠ ✉♠ ❝✐❝❧♦ ❞❡ ✈❛r✐á✈❡❧ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀ • ❏ ✿ ♠♦♠❡♥t♦ ❞❡ ✐♥ér❝✐❛ ❞♦ ❡✐①♦✱ ♣♥❡✉ ❡ r♦❞❛ ❞♦ ❱❡❝❛rr❀

• ❏_motor✱ ❏_{poliaM aior}✱ ❏_{poliaM enor} ✿ ♠♦♠❡♥t♦s ❞❡ ✐♥ér❝✐❛ ❞♦ r♦t♦r ❞♦ ♠♦t♦r✱ ❞❛ ♣♦❧✐❛ ♠❛✐♦r ❞♦

s✐st❡♠❛ ❞❡ tr❛♥s♠✐ssã♦ ❡ ❞❛ ♣♦❧✐❛ ♠❡♥♦r ❞♦ s✐st❡♠❛ ❞❡ tr❛♥s♠✐ssã♦❀

• ❏_θ ✿ ♠♦♠❡♥t♦ ❞❡ ✐♥ér❝✐❛ ❞♦ ✈❡í❝✉❧♦ ♣❛r❛ ❣✉✐♥❛❣❡♥s❀

• ❑_c ✿ ❢✉♥çã♦ ❞❡ s❡♥s♦r✐❛♠❡♥t♦ ❡♥tr❡ ❛s ❝♦♥✜❣✉r❛çõ❡s ❞♦ s❡r ❤✉♠❛♥♦ ❡ ❞♦ ❡①♦❡sq✉❡❧❡t♦❀ • ❦_cell ✿ ❝♦♥st❛♥t❡ ❡❧ást✐❝❛ ❞❛ ❝é❧✉❧❛ ❞❡ ❝❛r❣❛❀

• ❑_contato ✿ ❝♦♥st❛♥t❡ ❡❧ást✐❝❛ ♥♦ ❝♦♥t❛t♦ ❞♦ ♠❛♥❝❛❧ ❝♦♠ ♦ ❡✐①♦ ❞❛ r♦❞❛ ❞♦ ❱❡❝❛rr❀

• ❦_dF✱ ❦_pF ❡ ❦_iF ✿ ❣❛♥❤♦s ❞❡r✐✈❛t✐✈♦✱ ♣r♦♣♦r❝✐♦♥❛❧ ❡ ✐♥t❡❣r❛❧ ❛♣❧✐❝❛❞♦s ❛♦ r❡❣✉❧❛❞♦r ❞❡ ❢♦rç❛

❤✉♠❛♥❛❀

• ❦_iIsd ❡ ❦_pIsd ✿ ❣❛♥❤♦s ♣r♦♣♦r❝✐♦♥❛❧ ❡ ✐♥t❡❣r❛❧ ❞❛ ♠❛❧❤❛ ♣❛r❛ r❡❣✉❧❛çã♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ❡♠ ❡✐①♦ ❞❀

• ❦_iIsq ❡ ❦_pIsq ✿ ❣❛♥❤♦s ♣r♦♣♦r❝✐♦♥❛❧ ❡ ✐♥t❡❣r❛❧ ❞❛ ♠❛❧❤❛ ♣❛r❛ r❡❣✉❧❛çã♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ❡♠ ❡✐①♦ q❀

• ❦_pω ❡ ❦_iω ✿ ❣❛♥❤♦s ♣r♦♣♦r❝✐♦♥❛❧ ❡ ✐♥t❡❣r❛❧ ❞❛ ♠❛❧❤❛ ♣❛r❛ r❡❣✉❧❛çã♦ ❞❡ ✈❡❧♦❝✐❞❛❞❡❀ • ❑_{T e} ❡ Kˆ_{T e} ✿ ✈❛❧♦r❡s r❡❛❧ ❡ ❡st✐♠❛❞♦ ♣❛r❛ ❛ ❝♦♥st❛♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ❞❛

♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• ▲_Lr ✱ ▲_Ls ✿ ✐♥❞✉tâ♥❝✐❛s ❞❡ ❞✐s♣❡rsã♦ ❞♦ r♦t♦r ❡ ❡st❛t♦r ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀ • ▲_s✱ Lˆ_s ✿ ✈❛❧♦r❡s r❡❛❧ ❡ ❡st✐♠❛❞♦ ♣❛r❛ ❛ ✐♥❞✉tâ♥❝✐❛ ❞❡ ❡st❛t♦r❀

• ▼ ✿ ✐♥❞✉tâ♥❝✐❛ ♠út✉❛ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• ▼_alteres ✿ ♠❛ss❛ ❞♦s ❛❧t❡r❡s ✉t✐❧✐③❛❞♦s ♣❛r❛ ❝❛r❛❝t❡r✐③❛çã♦ ❞♦ ❝♦♥❥✉❣❛❞♦ ❈♦✉❧♦♠❜✐❛♥♦

❡stát✐❝♦ ❞♦ ❱❡❝❛rr❀

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①✈

• ▼_motor ✿ ♠❛ss❛ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• ▼✭q✱q˙✮✳q¨✱ ❜✭q✱q˙✮✳q˙✱ ❦✭q✱q˙✮ ✿ ♠❛tr✐③❡s ❞❡ t❡r♠♦s ✐♥❡r❝✐❛✐s✱ ✈✐s❝♦s♦s ❡ ♣♦t❡♥❝✐❛✐s ❞♦ ♠♦❞❡❧♦

❞❛ ❝❛r❣❛ út✐❧ ❞❡s❧♦❝❛❞❛ ❡♠ ✉♠ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô❀

• ▼_e✱ ❜_e❡ ❦_e✿ ♠❛tr✐③❡s ❞❡ t❡r♠♦s ✐♥❡r❝✐❛✐s✱ ✈✐s❝♦s♦s ❡ ♣♦t❡♥❝✐❛✐s ❞♦ ♠♦❞❡❧♦ ❞♦ ❡①♦❡sq✉❡❧❡t♦❀ • ▼_eq✱ ❜_eq ❡ ❦_eq ✿ ♠❛ss❛✱ ❝♦❡✜❝✐❡♥t❡ ❞❡ ❛tr✐t♦ ✈✐s❝♦s♦ ❡ ❝♦❡✜❝✐❡♥t❡ ❡❧ást✐❝♦ ❞❡ ✉♠❛ ✐♠♣❡✲

❞â♥❝✐❛ ♠❡❝â♥✐❝❛ ❛♠✐❣á✈❡❧❀

• ▼_h✱ ❜_h ❡ ❦_h ✿ ♠❛tr✐③❡s ❞❡ t❡r♠♦s ✐♥❡r❝✐❛✐s✱ ✈✐s❝♦s♦s ❡ ♣♦t❡♥❝✐❛✐s ❞♦ ❝♦r♣♦ ❞❡ ✉♠ s❡r

❤✉♠❛♥♦❀

• ▼_roda ✿ ♠❛ss❛ ❞♦ ❝♦♥❥✉♥t♦ ❡✐①♦✱ r♦❞❛ ❡ ♣♥❡✉ ❞♦ ❱❡❝❛rr❀ • ♥_transm ✿ r❡❧❛çã♦ ❞❡ tr❛♥s♠✐ssã♦ ❞❛ r❡❞✉t♦r❛ ❞♦ ✈❡í❝✉❧♦❀

• ω ❡ω✯✿ ✈❡❧♦❝✐❞❛❞❡s ❛♥❣✉❧❛r❡s r❡❛❧ ❡ ❞❡ r❡❢❡rê♥❝✐❛ ❞♦ ❛❝✐♦♥❛♠❡♥t♦ ♥♦ ❡✐①♦ ❞❛ r♦❞❛❀

• ω_e ✿ ❢r❡q✉ê♥❝✐❛ ❞❡ ❛❧✐♠❡♥t❛çã♦ ❞♦ ❛❝✐♦♥❛♠❡♥t♦ ❡❧étr✐❝♦❀

• ω_motor ✿ ✈❡❧♦❝✐❞❛❞❡ ❛♥❣✉❧❛r r❡❛❧ ❞♦ ❛❝✐♦♥❛♠❡♥t♦ ♥♦ ❡✐①♦ ❞♦ ♠♦t♦r❀

• ω_r ✿ ✈❡❧♦❝✐❞❛❞❡ ❛♥❣✉❧❛r ❞♦ ❛❝✐♦♥❛♠❡♥t♦ r❡❢❡r✐❞♦ ❛♦s t❡r♠✐♥❛✐s ❡❧étr✐❝♦s ❞❛ ♠áq✉✐♥❛ ❞❡

✐♥❞✉çã♦❀

• ω_ref ✿ ✈❡❧♦❝✐❞❛❞❡ ❛♥❣✉❧❛r ❞❡ r❡❢❡rê♥❝✐❛ ❞♦ ❛❝✐♦♥❛♠❡♥t♦❀ • P_carga✭t✮ ✿ ♣♦tê♥❝✐❛ ✐♥st❛♥tâ♥❡❛ ❞❡♠❛♥❞❛❞❛ ♣❡❧❛ ❝❛r❣❛❀ • P_perdas ✿ ♣♦tê♥❝✐❛ ❞❡ ♣❡r❞❛s ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• P_perdas,max ✿ ♠á①✐♠❛ ♣♦tê♥❝✐❛ ❞❡ ♣❡r❞❛s s✉♣♦rt❛❞❛ ♣❡❧❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀ • P_rms ✿ ♣♦tê♥❝✐❛ ❡✜❝❛③ ❞❡♠❛♥❞❛❞❛ ♣❡❧❛ ❝❛r❣❛ ❡♠ ✉♠ ❝✐❝❧♦ ❞❡ ♦♣❡r❛çã♦❀ • ψ_carga ✿ â♥❣✉❧♦ ❞❡ ❛r❢❛❣❡♠ ❞♦ ✈❡í❝✉❧♦❀

• q~_B2 ✿ ✈❡t♦r ❞❡ ❝♦♥✜❣✉r❛çõ❡s ❞♦ ❱❡❝❛rr ♥♦ s❡✉ ♣rór♣r✐♦ r❡❢❡r❡♥❝✐❛❧❀

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①✈✐ ▲■❙❚❆ ❉❊ ❙❮▼❇❖▲❖❙

• ❘❞✐❢_carga✱ ❘❞✐❢_des ✿ r❡s✐stê♥❝✐❛s ❡q✉✐✈❛❧❡♥t❡s ❞❡ ❝❛r❣❛ ❡ ❞❡s❝❛r❣❛✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ♣❛r❛ ❛

r❡❣✐ã♦ ❞❡ ❞✐❢✉sã♦ ❞❛ ❜❛t❡r✐❛❀

• ❘❞▲_carga✱ ❘❞▲_des ✿ r❡s✐stê♥❝✐❛s ❡q✉✐✈❛❧❡♥t❡s ❞❡ ❝❛r❣❛ ❡ ❞❡s❝❛r❣❛✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ♣❛r❛ ❛

r❡❣✐ã♦ ❞❡ ❝❛♠❛❞❛ ❞✉♣❧❛ ❞❛ ❜❛t❡r✐❛❀

• ❘❡❧❡_carga✱ ❘❡❧❡_des ✿ r❡s✐stê♥❝✐❛s ❡q✉✐✈❛❧❡♥t❡s ❞❡ ❝❛r❣❛ ❡ ❞❡s❝❛r❣❛✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ♣❛r❛ ❛

r❡❣✐ã♦ ❞❡ ❝♦♥t❛t♦ ❡❧❡tr♦❞♦✲❡❧❡tró❧✐t♦ ♥❛ ❜❛t❡r✐❛❀

• ❘♠t_des ✿ r❡s✐stê♥❝✐❛ ❡q✉✐✈❛❧❡♥t❡ ❞❡ ❞❡s❝❛r❣❛ ♣❛r❛ ❛ r❡❣✐ã♦ ❞❡ tr❛♥s❢❡rê♥❝✐❛ ❞❡ ♠❛ss❛ ❞❛

❜❛t❡r✐❛❀

• r_{F e} ✱ r_r ✿ r❡s✐stê♥❝✐❛s ❞❡ ♣❡r❞❛s ♥♦ ❋❡rr♦ ❡ ❞♦ r♦t♦r ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• r_s✱ rˆ_s ✿ r❡s♣❡❝t✐✈♦s ✈❛❧♦r❡s r❡❛❧ ❡ ❡st✐♠❛t✐✈❛ ♣❛r❛ ❛ r❡s✐stê♥❝✐❛ ❞❡ ❡st❛t♦r ❞❛ ♠áq✉✐♥❛ ❞❡

✐♥❞✉çã♦❀

• r_roda ✿ r❛✐♦ ❞♦ ❝♦♥❥✉♥t♦ r♦❞❛✲♣♥❡✉ ❞❡ tr❛çã♦❀

• ❘_termica ✿ r❡s✐stê♥❝✐❛ tér♠✐❝❛ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀ • s ✿ ❡s❝♦rr❡❣❛♠❡♥t♦ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• s1✱ s2✱ s3✿ ❝♦♠❛♥❞♦s ♣❛r❛ ♦s ❜r❛ç♦s ❞❛s ❢❛s❡s ❆✱ ❇ ❡ ❈ ❞♦ ✐♥✈❡rs♦r tr✐❢ás✐❝♦❀

• σ ✿

• ❙_h ✿ ❢✉♥çã♦ ❞❡ s❡♥s✐❜✐❧✐❞❛❞❡ ❡♥tr❡ ❛s ❝♦♥✜❣✉r❛çõ❡s ❞♦ ❝♦r♣♦ ❡ ❛ s✉❛ ❢♦rç❛ ❡❢❡t✐✈❛ s♦❜r❡ ♦

s❡r ❤✉♠❛♥♦❀

• ❙_amb ✿ ❢✉♥çã♦ ❞❡ s❡♥s✐❜✐❧✐❞❛❞❡ ❡♥tr❡ ❛s ❝♦♥✜❣✉r❛çõ❡s ❞♦ ❝♦r♣♦ ❡ ❛ s✉❛ ❢♦rç❛ ❡❢❡t✐✈❛ s♦❜r❡

♦ ❛♠❜✐❡♥t❡❀

• s_polo₁ ✿ ♣ó❧♦ ❞❡ ♠❛✐♦r ✈❛❧♦r ❛❜s♦❧✉t♦ ❛♣❧✐❝❛❞♦ à ✶_a ❡str❛té❣✐❛ ❞❡ ❝♦♥tr♦❧❡ ❞♦ ❱❡❝❛rr❀ • s_polo₂ ✿ ♣ó❧♦ ❞❡ ♠❡♥♦r ✈❛❧♦r ❛❜s♦❧✉t♦ ❛♣❧✐❝❛❞♦ à ✶_a ❡str❛té❣✐❛ ❞❡ ❝♦♥tr♦❧❡ ❞♦ ❱❡❝❛rr❀ • ✉_h ✿ ❢♦rç❛ ♠✉s❝✉❧❛r ❞❡s❡♥✈♦❧✈✐❞❛ ♣❡❧♦ s❡r ❤✉♠❛♥♦❀

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①✈✐✐

• τ_c✱ τ_Z✱ τ_ref✱ τ_L✱ τ_a ✿ ❢♦rç❛s ❡❢❡✐t✈❛s ❞❡s❡♥✈♦❧✈✐❞❛s ❡♠ ✉♠ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲

❡①♦❡sq✉❡❧❡t♦ ❡ r❡s♣❡❝t✐✈❛♠❡♥t❡ ❛♣❧✐❝❛❞❛s ♣❡❧❛ ♣❡ss♦❛✱ ♣❡❧♦ ❝♦♠♣❡♥s❛❞♦r q✉❡ r❡❣✉❧❛ ❛ ❢♦rç❛ ❞❛ ♣❡ss♦❛✱ ♣❡❧♦ ❝♦♠♣❡♥s❛❞♦r q✉❡ r❡❣✉❧❛ ❛ ❛çã♦ ❞♦ ❛♠❜✐❡♥t❡ ❡①t❡r♥♦✱ ♣❡❧♦ s✐st❡♠❛ ❞❡ ❝♦♥tr♦❧❡ ❝♦♠♣❧❡t♦ ❡ ♣❡❧♦ ❛t✉❛❞♦r❀

• τ_R ✿ ❝♦♥st❛♥t❡ ❞❡ t❡♠♣♦ ❞♦ r♦t♦r❀

• ❚_atrito ✿ ❝♦♥❥✉❣❛❞♦ ❞❡ ❛tr✐t♦ ❡♥tr❡ ♦ ♣♥❡✉ ❞♦ ❱❡❝❛rr ❡ ♦ s♦❧♦❀ • ❚_b ✿ ❝♦♥❥✉❣❛❞♦ ❞❡ ❛tr✐t♦ ✈✐s❝♦s♦ ❞♦ ♠❛♥❝❛❧ ❞♦ ❱❡❝❛rr❀ • ❚_e ✿ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦❀

• ❚_e,motor ✿ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ❞❡ r❡❢❡rê♥❝✐❛ ❞♦ ♠♦t♦r❀

• ❚_e,rms ✿ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ❡✜❝❛③ ❞❡s❡♥✈♦❧✈✐❞♦ ♣♦r ✉♠❛ ✉♠❛ ♠áq✉✐♥❛ ❡❧étr✐❝❛❀ • ❚_estatico ✿ ❝♦♥❥✉❣❛❞♦ ❞❡ ❛tr✐t♦ ❈♦✉❧♦♠❜✐❛♥♦ ❡stát✐❝♦ ❞♦ s✐st❡♠❛ ❞❡ ♠❛♥❝❛✐s ❞♦ ❱❡❝❛rr❀ • θ ✿ â♥❣✉❧♦ ❞❡ ❣✉✐♥❛❣❡♠ ❞♦ ❱❡❝❛rr❀

• θ_d✱_d✱_d✿ ♣♦s✐çã♦✱ ✈❡❧♦❝✐❞❛❞❡ ❡ ❛❝❡❧❡r❛çã♦ ❞❡ r❡❢❡rê♥❝✐❛ ❞❡s❡♥✈♦❧✈✐❞♦s ♣❡❧♦ ❝ér❡❜r♦ ❤✉♠❛♥♦

♣❛r❛ ❝♦♦♣❡r❛çã♦ ❝♦♠ ✉♠ ❡①♦❡sq✉❡❧❡t♦❀

• θ_h ✿ ❝♦♥✜❣✉r❛çõ❡s ❞♦ ❝♦r♣♦ ❤✉♠❛♥♦ ❡♠ ✉♠ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❝♦♠ ❡①♦❡sq✉❡❧❡t♦❀ • θ_e ✿ ❝♦♥✜❣✉r❛çõ❡s ❞♦ ❡①♦❡sq✉❡❧❡t♦ ❡♠ ✉♠ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❝♦♠ s❡r ❤✉♠❛♥♦❀ • ❚_max ✿ ♠á①✐♠❛ t❡♠♣❡r❛t✉r❛ s✉♣♦rt❛❞❛ ♣❡❧❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

• ❚_motor ✿ t❡♠♣❡r❛t✉r❛ ❞❛ ♠áq✉✐♥❛ ❡❧étr✐❝❛❀

• ✈✯ ✿ ✈❡❧♦❝✐❞❛❞❡ ❞❡ r❡❢❡rê♥❝✐❛ ❞❛ ✐♠♣❡❞â♥❝✐❛ ♠❡❝â♥✐❝❛ ❛♠✐❣á✈❡❧❀

• ❱_bat ✿ t❡♥sã♦ ❞❛ ❜❛t❡r✐❛❀ • ❱_bat

oc ✿ t❡♥sã♦ ❞❡ ❝✐r❝✉✐t♦ ❛❜❡rt♦ ❞❛ ❜❛t❡r✐❛❀

• ✈_{F e}✱ ✈_M✱ ✈_S ✿ t❡♥sõ❡s ♠❡❞✐❞❛s✱ r❡s♣❡❝t✐✈❛♠❡♥t❡✱ ❡♥tr❡ ♦s t❡r♠✐♥❛✐s ❞❛ r❡s✐stê♥❝✐❛ ❞❡

♣❡r❞❛s ♥♦ ❋❡rr♦✱ ♥❛ ✐♥❞✉tâ♥❝✐❛ ❞❡ ♠❛❣♥❡t✐③❛çã♦ ❡ ♥♦ ❡st❛t♦r ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦❀

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①✈✐✐✐ ▲■❙❚❆ ❉❊ ❙❮▼❇❖▲❖❙

• ✇ ✿ s✐♥❛❧ ❞♦ ❡♥❝♦❞❡r ❝♦♥❞✐❝✐♦♥❛❞♦ ❡ ❛♣❧✐❝❛❞♦ às ❡♥tr❛❞❛s ◗❊P ❞♦ ❉❙P❀

• ①✯ ✿ ♣♦s✐çã♦ ❞❡ r❡❢❡rê♥❝✐❛ ❞❛ ✐♠♣❡❞â♥❝✐❛ ♠❡❝â♥✐❝❛ ❛♠✐❣á✈❡❧❀

• ①_carga ✿ ♣♦s✐çã♦ ❞♦ ❝❡♥tr♦ ❞❡ ♠❛ss❛ ❞♦ ❝♦♥❥✉♥t♦ ❝❛r❣❛ út✐❧ ❡ ❝❤❛ss✐s ❞♦ ❱❡❝❛rr❀ • ①_roda ✿ ♣♦s✐çã♦ ❞♦ ❝❡♥tr♦ ❞❡ ♠❛ss❛ ❞♦ ❡✐①♦ ❞❛ r♦❞❛ ❞♦ ❱❡❝❛rr❀

• ①_s ✿ ❡✐①♦ ① ❞♦ r❡❢❡r❡♥❝✐❛❧ ✐♥❡r❝✐❛❧❀

• ①_veiculo ✿ ♣♦s✐çã♦ ❞♦ ❝❡♥tr♦ ❞❡ ♠❛ss❛ ❞♦ ❱❡❝❛rr❀ • ②_s ✿ ❡✐①♦ ② ❞♦ r❡❢❡r❡♥❝✐❛❧ ✐♥❡r❝✐❛❧❀

• ③_s ✿ ❡✐①♦ ③ ❞♦ r❡❢❡r❡♥❝✐❛❧ ✐♥❡r❝✐❛❧❀

• ❩ ✿ ❢✉♥çã♦ ❞❡ s❡♥s♦r✐❛♠❡♥t♦ ❡ r❡❣✉❧❛çã♦ ❞❛ ❢♦rç❛ ❤✉♠❛♥❛ ❞❡s❡♥✈♦❧✈✐❞♦s ♣❡❧♦ s✐st❡♠❛

♠❡❝❛trô♥✐❝♦ ❡♠ ✉♠ ❡①♦❡sq✉❡❧❡t♦❀

• ❩_arc₁✱ ❩_arc₂ ✿ ✐♠♣❡❞â♥❝✐❛ ❡♠ ❛r❝♦ ❞❛ ❜❛t❡r✐❛ ♣❛r❛ r❡❣✐õ❡s ❞❡ ❜❛✐①❛ ❡ ❛❧t❛ ❢r❡q✉ê♥❝✐❛✱

r❡s♣❡❝t✐✈❛♠❡♥t❡❀

(21)

▲✐st❛ ❞❡ ❋✐❣✉r❛s

✷✳✶ ❙✐st❡♠❛ ❞❡ ❞✐r❡çã♦ ❡❧étr✐❝❛ r❡♣r♦❞✉③✐❞♦ ❞❡ ❩❤❛♥❣ ❡t ❛❧ ❬✸✻❪ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✶ ✷✳✷ ❈♦♥tr✐❜✉✐çõ❡s ❞♦ ❤♦♠❡♠✱ ❞♦ r♦❜ô ❡ ❞❛ ❝❛r❣❛ ❡①t❡r♥❛ ♣❛r❛ ♦ ♣♦s✐❝✐♦♥❛♠❡♥t♦ ❞❡

✉♠ ♣♦♥t♦ ❞❡ ❝♦♥tr♦❧❡ ❡♠ ✉♠❛ ♣♦s✐çã♦ ✏①✑✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✼ ✷✳✸ ❉✐❛❣r❛♠❛ ❞❡ ❜❧♦❝♦s ❞❡st❛❝❛♥❞♦ ❛s ❝♦♥tr✐❜✉✐çõ❡s ❞♦ ❤♦♠❡♠✱ ❞♦ r♦❜ô ❡ ❞♦ ❛♠✲

❜✐❡♥t❡ ❡①t❡r♥♦ ♣❛r❛ ♦ ♣♦s✐❝✐♦♥❛♠❡♥t♦ ❞❡ ✉♠ ♣♦♥t♦ ❞❡ ❝♦♥tr♦❧❡ ♥♦ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲r♦❜ô✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✽ ✷✳✹ ❈♦♠♣❡♥s❛çã♦ ❞✐♥â♠✐❝❛ ❞♦ ❛tr✐t♦ ✈✐s❝♦s♦ ❡q✉✐✈❛❧❡♥t❡ ❞♦ r♦❜ô ✭❜r✮ ♣❛r❛ ❣❛r❛♥t✐r

❛ ❡st❛❜✐❧✐❞❛❞❡ ❞♦ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❢r❡♥t❡ à ✈❛r✐❛çõ❡s ♥❛ ❝♦♥st❛♥t❡ ❡❧ást✐❝❛ ❞♦ ❜r❛ç♦ ❤✉♠❛♥♦ ✭❑h✮✳ ❆❞❛♣t❛❞♦ ❞❡ ❚s✉♠✉❣✐✇❛ ❡t ❛❧ ❬✼✾❪ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✷

✷✳✺ ❉✐❛❣r❛♠❛ ❞❡ ❜❧♦❝♦s ❞♦ s✐st❡♠❛ ❞❡ ❝♦♦♣❡r❛çã♦ ❤♦♠❡♠✲❡①♦❡sq✉❡❧❡t♦✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✸ ✷✳✻ ■❧✉str❛çã♦ ❞❛ t♦♣♦❧♦❣✐❛ ❞❛ ♣❡r♥❛ ❡①♦❡sq✉❡❧❡t♦ ❞❡s❡♥✈♦❧✈✐❞❛ ♥♦ ▼■❚ ♣♦r ❲❛❧s❤

❬✽✷❪✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✺ ✷✳✼ ▼♦❞❡❧♦ ❞❛ ❧✉✈❛ ❡①♦❡sq✉❡❧❡t♦ ♣r♦❞✉③✐❞❛ ♣♦r ■q❜❛❧ ❬✸✾❪ ♣❛r❛ ❛✉①í❧✐♦ à tr❛t❛♠❡♥t♦s

✜s✐♦t❡rá♣✐❝♦s✳ ❘❡♣r♦❞✉③✐❞❛ ❞❡ ■q❜❛❧ ❬✸✾❪✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✼ ✷✳✽ ❋♦t♦ ❡ ♠♦❞❡❧♦ ❞♦ ✐❈❆❘❚ ❛♣❧✐❝❛❞♦ ♣❛r❛ tr❛♥s♣♦rt❡ ❝♦♦♣❡r❛t✐✈♦ ❞❡ ❝❛r❣❛ ❛tr❛✈és

❞❡ ♠ú❧t✐♣❧♦s r♦❜ôs✳ ❉❡s❡♥✈♦❧✈✐❞♦ ❡ r❡♣r♦❞✉③✐❞♦ ❞❡ ❑❛s❤✐✇❛③❛❦✐ ❬✹✸❪✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✾

✸✳✶ ❆rr❛♥❥♦ ❞❡ ♠♦♥t❛❣❡♠ ❞❛ ❝é❧✉❧❛ ❞❡ ❝❛r❣❛ ❛♦ ✈❡í❝✉❧♦ ❞✉r❛♥t❡ ♦ ♠♦♥✐t♦r❛♠❡♥t♦ ❞❛ r♦t✐♥❛ ❞❡ ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✼ ✸✳✷ ❉✐❛❣r❛♠❛ ❞❡ ❜❧♦❝♦s ❝♦♥t❡♥❞♦ ❛ ✐♥t❡r❢❛❝❡ ❞❡ s✐♥❛✐s ❞♦ s✐st❡♠❛ ❞❡ ❛q✉✐s✐çã♦ ❞❡

❞❛❞♦s ❈❊❋❆❉❙✉ ✉t✐❧✐③❛❞♦ ♣❛r❛ ❛q✉✐s✐çã♦ ❞❡ ❞❛❞♦s ♥❛ r♦t✐♥❛ ❞❡ ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✾ ✸✳✸ ❋♦t♦❣r❛✜❛ ❞♦s ❝♦♠♣♦♥❡♥t❡s ❡❧❡trô♥✐❝♦s ❡♠❜❛r❝❛❞♦s ♣❛r❛ r❡❣✐str♦ ❞♦s s✐♥❛✐s ❞❡

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①① ▲■❙❚❆ ❉❊ ❋■●❯❘❆❙

✸✳✺ ❋♦t♦❣r❛✜❛ ❞❛ ❜❛rr❛ ❞❡ ❝♦♠❛♥❞♦s ❡ ❝é❧✉❧❛ ❞❡ ❝❛r❣❛ ❡♠❜❛r❝❛❞♦s ❛♦ ✈❡í❝✉❧♦ ❞♦s ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✵ ✸✳✻ ■❧✉str❛çã♦ ❞♦ ❝♦♥❥✉❣❛❞♦ ❞❡♠❛♥❞❛❞♦ ❡♠ ✉♠ ❝✐❝❧♦ ❞❡ tr❛❜❛❧❤♦ ❞❡ ✉♠❛ ❛♣❧✐❝❛çã♦

❣❡♥ér✐❝❛✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✷ ✸✳✼ ❈✐r❝✉✐t♦ ❡q✉✐✈❛❧❡♥t❡ ❡♠ r❡❣✐♠❡ ♣❡r♠❛♥❡♥t❡ ❞❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦ tr✐❢ás✐❝❛✳ ✳ ✹✸ ✸✳✽ ❈✐r❝✉✐t♦ s✐♠♣❧✐✜❝❛❞♦ ♣❛r❛ ❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦ ♠❛✐♦r q✉❡ ✶✵❝✈ ❡♠ r❡❣✐♠❡

♣❡r♠❛♥❡♥t❡✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✸ ✸✳✾ ❈♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ✈❡❧♦❝✐❞❛❞❡ ♣❛r❛ t❡♥t❛t✐✈❛s ❞❡ ❡st✐♠❛çã♦ ❞❛s r❡s✐s✲

tê♥❝✐❛s ❞❡ r♦t♦r ❞♦ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✹✻ ✸✳✶✵ P♦tê♥❝✐❛ ❞❡ ❡st❛t♦r ① ✈❡❧♦❝✐❞❛❞❡ ♣❛r❛ ❛s t❡♥t❛t✐✈❛s ❞❡ ❡st✐♠❛t✐✈❛ ❞❛ r❡s✐stê♥❝✐❛s

❞❡ r♦t♦r ❞♦ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✼ ✸✳✶✶ ❈♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ✈❡❧♦❝✐❞❛❞❡ ♣❛r❛ ❛s t❡♥t❛t✐✈❛s ❞❡ ❡st✐♠❛t✐✈❛ ❞❛s

✐♥❞✉tâ♥❝✐❛s ❞❡ ❞✐s♣❡rsã♦ ❞♦ ❡st❛t♦r ❡ r♦t♦r ❞♦ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✼ ✸✳✶✷ ❋❛t♦r ❞❡ ♣♦tê♥❝✐❛ ① ✈❡❧♦❝✐❞❛❞❡ ♣❛r❛ ❛s t❡♥t❛t✐✈❛s ❞❡ ❡st✐♠❛t✐✈❛ ❞❛ ✐♥❞✉tâ♥❝✐❛

❞❡ ♠❛❣♥❡t✐③❛çã♦ ❞♦ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✹✽ ✸✳✶✸ ❊✜❝✐ê♥❝✐❛ ① ✈❡❧♦❝✐❞❛❞❡ ♣❛r❛ ❛s t❡♥t❛t✐✈❛s ❞❡ ❧❡✈❛♥t❛♠❡♥t♦ ❞❛ r❡s✐stê♥❝✐❛ ❞❡

♣❡r❞❛s ♥♦ ❢❡rr♦ ♣❛r❛ ♦ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✹✽ ✸✳✶✹ ❘❡❢❡rê♥❝✐❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① t❡♠♣♦ ♣❛r❛ ❛ ♠á①✐♠❛ ❞❡♠❛♥❞❛ ❞❡

❝♦♥❥✉❣❛❞♦ ♠❡❞✐❞❛ ♥❛ r♦t✐♥❛ ❞♦s ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧ ❡ ❝♦♥s✐❞❡r❛♥❞♦ ❛ r❡❞✉t♦r❛ ❛♣❧✐❝á✈❡❧ à ♠áq✉✐♥❛s ❞❡ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✵ ✸✳✶✺ ❘❡❢❡rê♥❝✐❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① t❡♠♣♦ ♣❛r❛ ❛ ♠á①✐♠❛ ❞❡♠❛♥❞❛ ❞❡

❝♦♥❥✉❣❛❞♦ ♠❡❞✐❞❛ ♥❛ r♦t✐♥❛ ❞♦s ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧ ❡ ❝♦♥s✐❞❡r❛♥❞♦ ❛ r❡❞✉t♦r❛ ❛♣❧✐❝á✈❡❧ à ♠áq✉✐♥❛s ❞❡ ✻ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✵ ✸✳✶✻ ❘❡❢❡rê♥❝✐❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① t❡♠♣♦ ♣❛r❛ ❛ ♠á①✐♠❛ ❞❡♠❛♥❞❛ ❞❡

❝♦♥❥✉❣❛❞♦ ♠❡❞✐❞❛ ♥❛ r♦t✐♥❛ ❞♦s ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧ ❡ ❝♦♥s✐❞❡r❛♥❞♦ ❛ r❡❞✉t♦r❛ ❛♣❧✐❝á✈❡❧ à ♠áq✉✐♥❛s ❞❡ ✽ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✶ ✸✳✶✼ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✷ ✸✳✶✽ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✸✼✵❲✱ ✷✷✵❱✱ ✻ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✸ ✸✳✶✾ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

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▲■❙❚❆ ❉❊ ❋■●❯❘❆❙ ①①✐

✸✳✷✵ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✺✺✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✹ ✸✳✷✶ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✺✺✵❲✱ ✷✷✵❱✱ ✻ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✹ ✸✳✷✷ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✺✺✵❲✱ ✷✷✵❱✱ ✽ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✺ ✸✳✷✸ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✼✺✵❲✱ ✷✷✵❱✱ ✹ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✺ ✸✳✷✹ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✼✺✵❲✱ ✷✷✵❱✱ ✻ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✻ ✸✳✷✺ ❈✉r✈❛ ❞❡ ❝♦♥❥✉❣❛❞♦ ❡❧❡tr♦♠❛❣♥ét✐❝♦ ① ❝♦♠♣♦♥❡♥t❡ ❞❡ ❝♦♥❥✉❣❛❞♦ ❞❛ ❝♦rr❡♥t❡ ❞❡

❡st❛t♦r ♣❛r❛ ♠♦t♦r ❲❊● ❛❧t♦ r❡♥❞✐♠❡♥t♦ ✼✺✵❲✱ ✷✷✵❱✱ ✽ ♣ó❧♦s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✻ ✸✳✷✻ ❈✐r❝✉✐t♦ tér♠✐❝♦ ❡q✉✐✈❛❧❡♥t❡ ♣❛r❛ ❛ ♠áq✉✐♥❛ ❞❡ ✐♥❞✉çã♦✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✼ ✸✳✷✼ ◆í✈❡✐s ♠á①✐♠♦s ❞❡ ❝♦rr❡♥t❡ ❞❡ ❡st❛t♦r ① ✈❡❧♦❝✐❞❛❞❡ ❞❡ ♦♣❡r❛çã♦ ♣❛r❛ ♠♦t♦r❡s ❞❡

✐♥❞✉çã♦ tr✐❢ás✐❝♦s✱ ❛✉t♦✲✈❡♥t✐❧❛❞♦s ❡ ❝♦♠ r♦t♦r ❡♠ ❣❛✐♦❧❛✳ ❈♦♣✐❛❞❛ ❞♦ ♠❛♥✉❛❧ ❞♦ ✉s✉ár✐♦ ✲ ✐♥✈❡rs♦r ❲❊● ❈❋❲✵✾✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✾ ✸✳✷✽ ❉✐❛❣r❛♠❛ ❞❡ ❜❧♦❝♦s ♣❛r❛ s✐♠✉❧❛çã♦ ❞❛s ♠áq✉✐♥❛s ❡❧étr✐❝❛s ❝❛♥❞✐❞❛t❛s à tr❛çã♦

❞♦ ❱❡❝❛rr✱ ❝♦♥s✐❞❡r❛♥❞♦ ❛s ❞❡♠❛♥❞❛s ❞❡ ❢♦rç❛ ❡ ✈❡❧♦❝✐❞❛❞❡ r❡❛✐s ♠❡❞✐❞❛s ♥❛ r♦t✐♥❛ ❞❡ tr❛❜❛❧❤♦ ❞♦s ❝❛t❛❞♦r❡s ❞❡ ♣❛♣❡❧✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✻✸ ✸✳✷✾ ❈✉r✈❛ ❞❛ ♠á①✐♠❛ t❡♠♣❡r❛t✉r❛ ♦❜s❡r✈❛❞❛ ❞❡♥tr❡ t♦❞♦s ♦s ♠♦t♦r❡s ❝❛♥❞✐❞❛t♦s✳ ✳ ✻✺ ✸✳✸✵ ❙♦♠❛ ❞❛ ❡♥❡r❣✐❛ t♦t❛❧ ❝♦♥s✉♠✐❞❛ ♣♦r ❝❛❞❛ ♠♦t♦r ❝❛♥❞✐❞❛t♦ ♥❛s ✾ r♦t✐♥❛s ❞❡

tr❛❜❛❧❤♦ ♠♦♥✐t♦r❛❞❛s ♥❛s r✉❛s ❞❡ ❙ã♦ ❏♦ã♦ ❞❡❧ ❘❡✐✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✻✼ ✸✳✸✶ ❈✐r❝✉✐t♦ ❡❧étr✐❝♦ ❡q✉✐✈❛❧❡♥t❡ ❞❛ ❜❛t❡r✐❛✳ ❚♦❞♦s ♦s ♣❛râ♠❡tr♦s ♣❛ss✐✈♦s sã♦ ♥ã♦

❧✐♥❡❛r❡s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✼✵ ✸✳✸✷ ■♠♣❡❞â♥❝✐❛ ❡q✉✐✈❛❧❡♥t❡ ❞❡ ♣❡q✉❡♥♦s s✐♥❛✐s ♣❛r❛ ✉♠❛ ❜❛t❡r✐❛ ❝❤✉♠❜♦ á❝✐❞♦ ❞❡

✸✻❬❱❪✱ ✷✼✱✺❬❆✳❤❪✱ ❝♦♠ ✼✵✪ ❞❡ ♥í✈❡❧ ❞❡ ❝❛r❣❛✱ ♦♣❡r❛♥❞♦ à t❡♠♣❡r❛t✉r❛ ❞❡ ✷✺o_❬❈❪

❡ ❝♦rr❡♥t❡s ❉❈ ❞❡ ❞❡s❝❛r❣❛ ❞❡ ✶✱✸✺ ❡ ✷✱✼✵❬❆❪✳ ❘❡♣r♦❞✉③✐❞♦ ❞❡ ❇✉❧❧❡r ❬✶✺❪✳ ✳ ✳ ✳ ✳ ✼✶ ✸✳✸✸ ■♠♣❡❞â♥❝✐❛ ❡q✉✐✈❛❧❡♥t❡ ❞❡ ♣❡q✉❡♥♦s s✐♥❛✐s ♣❛r❛ ✉♠❛ ❜❛t❡r✐❛ ❝❤✉♠❜♦ á❝✐❞♦ ❞❡

✸✻❬❱❪✱ ✷✼✱✺❬❆✳❤❪✱ ❝♦♠ ✼✵✪ ❞❡ ♥í✈❡❧ ❞❡ ❝❛r❣❛✱ ♦♣❡r❛♥❞♦ à t❡♠♣❡r❛t✉r❛ ❞❡ ✷✼o_❬❈❪

❡ ❞✐❢❡r❡♥t❡s ♥í✈❡✐s ❞❡ ❝♦rr❡♥t❡s ❉❈ ❞❡ ❞❡s❝❛r❣❛✳ ❘❡♣r♦❞✉③✐❞♦ ❞❡ ❇✉❧❧❡r ❬✶✺❪✳ ✳ ✳ ✼✶ ✸✳✸✹ ■♠♣❡❞â♥❝✐❛ ❡q✉✐✈❛❧❡♥t❡ ❞❡ ♣❡q✉❡♥♦s s✐♥❛✐s ♣❛r❛ ✉♠❛ ❜❛t❡r✐❛ ❝❤✉♠❜♦ á❝✐❞♦ ❞❡

✸✻❬❱❪✱ ✷✼✱✺❬❆✳❤❪✱ ❝♦♠ ✼✵✪ ❞❡ ♥í✈❡❧ ❞❡ ❝❛r❣❛✱ ♦♣❡r❛♥❞♦ à t❡♠♣❡r❛t✉r❛ ❞❡ ✷✼o_❬❈❪