CHAOTIC VIBRATION ENERGY HARVESTING CONSIDERING RECTIFIER CIRCUITS COUPLED

Cl audio Henrique Cerqueira Costa Basquerotto Carlos C esar Abrah ao Pinto (in memoriam) F abio Roberto Chavarette Samuel da Silva cbasquerotto@ymail.com; fabioch@mat.feis.unesp.br; samuel@dem.feis.unesp.br UNESP - Univ Estadual Paulista, Faculdade de Engenharia de Ilha Solteira, Departamento de Engenharia Mec anica, Avenida Brasil, n 56, Centro, Zip-Code 15385-000, Ilha Solteira, SP, Brasil. Abstract. The use of piezoelectric devices for energy harvesting through mechanical vibration has been increasing in the last years. This concept is particularly important for remotely operated systems and with limited energy sources. Included in this group, for example, systems for structural health monitoring (SHM) installed in areas with poor accessibility as bridges, pipelines, or even aeronautical structures, among others, satellites and autonomous vehicles (such as aircraft UAVs - Unmanned Aerial Vehicles - and AVMs - Micro Air Vehicles - and land vehicles). In general the common, approaches for energy harvesting have been employing linear systems, however, they are limited for the applications where the excitations are close to the resonant frequency of the system. Thus, this paper a nonlinear energy harvesting device coupled with a half-wave diode bridge rectier, because the electrical current produced to the output of the piezoelectric element is alternate, requiring the rectication of this for storage or immediate use. One can observed that the system has a high value of voltage amplitude, mainly when the system operate with a chaotic behavior. To show the real behavior of the system, computes the Lyapunov exponents by the method of Wolf in order to check the systems are chaotics. Several numerical tests are performed and the results show the advantage and drawbacks of the energy harvesting system. Keywords: Energy harvesting, Nonlinear systems, Half-wave diode bridge rectier, Chaos, Lyapunov exponents, Bifurcation diagram.
CILAMCE 2013 Proceedings of the XXXIV Iberian Latin-American Congress on Computational Methods in Engineering Z.J.G.N Del Prado (Editor), ABMEC, Piren opolis, GO, Brazil, November 10-13, 2013

Chaotic vibration energy harvesting considering rectier circuits coupled

INTRODUCTION

Vibration-based energy harvesting devices have received much attention over the past few years as a possible method for providing power in situations where battery usage is impractical or inconvenient, such as for powering sensor and communication devices in remote structural health monitoring. There are several basic mechanisms to convert vibration in electrical energy. For example, vibration energy can be converted into electrical energy through piezoelectric, electromagnetic and capacitive transducers. Among them, piezoelectric energy harvesting have received much attention, which is evidenced by several publications using this type of mechanism (Shu, Y. C.; Lien, I. C., 2006). The linear devices have been the most common type of generator used in harvesting energy. However, good performance of the generator is limited to a narrow frequency band when the device is optimally tuned so that its natural frequency coincides with the excitation frequency (Ramlan et al., 2010). In order to overcome the bandwidth issue of the conventional cantilever conguration, researchers have considered to utilize nonlinear dynamical systems (Erturk et al., 2010). The research works cited above focus mainly on developing optimal energy harvesting structures. The energy created by the harvesting structure is collected by the harvesting circuit where it is either used immediately to power a device or stored in a capacitor or battery for later use. These researches focused on the maximum power that can be achieved by simplifying the energy harvesting circuit as a resistor or some combination of linear electrical elements (Liao and Sodano, 2009). The harvesting circuit generally is designed to condition the electrical energy for compatibility, which is typically done by converting the alternating current (AC) signal produced by the harvesting structure into a direct current (DC) signal using a rectier containing diodes (Rupp et al., 2010). Based on the above considerations, the main objective of the present work is to show the use of a nonlinear energy harvesting device coupled with a rectier circuit. This paper describes a nonlinear energy harvesting device coupled with a half-wave diode bridge rectier. It is known that the mechanical device can present chaotic behavior (Erturk et al., 2011a). Thus, this work checks if the mechanical system when coupled with rectier circuit is also chaotic. To show the chaos of the system are computed the Lyapunov exponents using time series. Several numerical tests are performed and the results show the advantage and drawback of the energy harvesting system. This paper is organized in four sections. The rst section describes the introduction and goals of the work. Next, it is presented a nonlinear energy harvesting device coupled with a rectication circuit is modeled. The section 3 shows the results found. Finally, it is shown the nal remarks and future proposals for research.

ENERGY HARVESTING DEVICE

The nonlinear energy harvesting device (Figure 4) consists of the same aluminum cantilever beam but with two permanent magnets located symmetrically near to the free end. The aluminum beam is 145 mm long (lb ), 25 mm wide (wb ) and 0.26 mm thickness (tb ). A lumped mass (ferromagnetic tip) of 14 grams is attached close to the tip for improved dynamic exibility and to
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C.H.C.C. Basquerotto, C.C.A. Pinto, F.R. Chavarette, S. da Silva

allow the magnets work. Depending on the magnet spacing, the beam may have ve (with three stable), three (with two stable) or one (stable) equilibrium positions. In order to use this device as a piezoelectric energy harvester, it is attached two piezoceramic layers (model PZT-5A - QP16N, Mid e Corporation) onto the root of the cantilever and obtains a bimorph generator.
ip ic iR

vP

CL

RL

vL

Piezoceramic layers (mp)

Acos t

Beam (mb) x Lumped Mass (ml)

Magnets

Figure 1: Nonlinear energy harvesting device coupled with rectier circuit.

and the Figure (2) shows the layout of the beam.

lp tb tp lb ml

Figure 2: Scheme of the beam.

To set the properties of the device, you must rst dene the properties of the piezoelectric material. The following is the constitutive equations of linear piezoelectricity (YANG; TANG, 2009), for the direct and inverse effect respectively T = cE S e T E (1)

D = eS + s E

(2)

where T is the stress in N/m2 , S is the strain m/m, D is the electric displacement C/m2 , E is the electric eld in the material V/m, cE is the tensor of elasticity for constant electric eld in
CILAMCE 2013 Proceedings of the XXXIV Iberian Latin-American Congress on Computational Methods in Engineering Z.J.G.N Del Prado (Editor), ABMEC, Piren opolis, GO, Brazil, November 10-13, 2013

Chaotic vibration energy harvesting considering rectier circuits coupled

Figure 3: Polarization of the piezoelectric material.

N/m2 , e is the dielectric permittivity in C/m2 and mechanical deformation.

is the matrix dielectric constants for constant

After the polarization of the material, an electric eld is applied to the function of contracting or expanding the material. However, this electric eld can be applied in any direction, or the material surface to reach in different potential stress and strain. A convention is adopted to facilitate the application of the electric eld in the three directions (Figure 3). It is assumed that the direction of polarization of the material, the direction of the applied force or electric eld, the parameters are represented by indices aij (where i is the polarization direction and j is the direction of the force or direction of the electric eld) are known (COOK-CHENNAULT et al., 2008). By convention it is assumed that the 3 direction is aligned in the same direction of polarization. After applying the constitutive equations for this case of polarization, obtained the following equations
T T = cE 11 S1 e31 E3

(3)

D = e31 S1 +

s 33 E3

(4)

T=

F Ap

(5)

by replacing eq. (5) in eq. (3) it is possible to obtain the relationship between force (F ) and tension (T) in PZT T= F = cE 11 S1 e31 E3 Ap (6)

the sectional area of the PZT is dened by Ap = wp lp and the electric eld by E3 = vp /tp is given by T= F vp = cE 11 S1 e31 wp tp tp (7)

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C.H.C.C. Basquerotto, C.C.A. Pinto, F.R. Chavarette, S. da Silva

where Ap is the sectional area perpendicular to the axis 2 of the PZT polarization, vp is the voltage in PZT in V, lp is the length of PZT in m, wp is the wide of PZT in m and tp is the thickness of PZT in m. Because of the deformation occurs only in the direction 3 then S1 =0. After manipulating equation (7) F = e31 wp vp and with the coupling factor force-voltage () in N/V = e31 wp with D3 =q/Ap and E3 = vp /tp , it can be obtained the following equation D3 = e31 S1 +
s vp 33 tp

(8)

(9)

q Ap

(10)

where q electric charge in the PZT. As S1 = 0 and Ap = wp /lp , is obtained q = wp lp

s vp 33 tp

(11)

by replacing q = cp vp (where cp is the piezoelectric capacitance in F) in equation (11) have wp lp cp = tp

s 33

(12)

If is considered a bimorph topology the capacitance is given by cp = 2( wp lp tp

s 33

(13)

The equivalent mass can be calculated by (RAO, 2009) m= 30 (mb + 2mp ) + ml 140 (14)

where mb is the mass of the beam in kg, mp is the mass of each PZT in kg and ml the lumped mass in kg. To calculate the equivalent stiffness, it was necessary to obtain the value of other parameters such as moment of inertia of the beam (Ib in m4 ), the moment of inertia equivalent to the composite beam (Ieq in m4 ) and the modulus of elasticity equivalent (Eeq in N/m2 ). The moment of inertia of the beam is computed by Ib = wb t3 b 12 c11 p c11 v (15)

and the moment of inertia equivalent to the beam with PZT is given by Ieq = 2( wb t3 b + wp tp b2 ) + Iv 12 b= tp tv + 2 2 = (16)

CILAMCE 2013 Proceedings of the XXXIV Iberian Latin-American Congress on Computational Methods in Engineering Z.J.G.N Del Prado (Editor), ABMEC, Piren opolis, GO, Brazil, November 10-13, 2013

Chaotic vibration energy harvesting considering rectier circuits coupled

where b is the distance between the center of the beam and the center of the PZT in m and is the ratio of the Youngs modulus of the PZT and the beam in N/m2 . Finally the modulus of elasticity equivalent can be found by Eeq =
11 2tp c11 p + tb cb 2tp + tb

(17)

and the beams equivalent stiffness computed by Euler-Bernoulli beam element. After dening the equations of eletromechanical properties, the nonlinear mechanical device is described by x + c k1 k2 x x + x3 vp = Acost m m m m (18)

cp vp + x = ip

(19)

where m is the mass in kg, x is the displacement in m, c is the damping in Ns/m, k1 is the linear stiffness in N/m, k2 is the nonlinear stiffness in N/m3 , is the electromechanical coupling in N/V, vp is the voltage in piezoelectric in V, A is the excitation force due to base acceleration in g = 9.81 m/s2 , is the excitation frequency in Hz, cp is the piezoelectric capacitance in F and ip is the the electric current in the piezoelectric in A. The current in A through the capacitor (CL in F) is called iC and iR and the current through the resistive load RL in . Therefore, by Kirchhoffs law ip = iC + iR (20)

In the rectication cycle, when the capacitor is discharging there is no current passing through the diode, |vp | < vD + vL . Where vD is the voltage in V drop across the diode and vL the load voltage resistive in V. The current in A of piezoelectric layers is dened by ip = CL vL + vL RL (21)

in the positive half cycle |vp | > vD + vL . The current of piezoelectric layers is dened by ip = vp vD vL RD (22)

where RD is the internal resistance of diode in .

RESULTS

This section presents the analytical results used to illustrate the proposal. For the resolution of ordinary differential equations was used the iterative method of Runge-Kutta. The values used
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C.H.C.C. Basquerotto, C.C.A. Pinto, F.R. Chavarette, S. da Silva

in the parameters of the nonlinear energy harvesting can be seen in Table (1). It were used the same properties of the linear and nonlinear device studied in Erturk et al., 2010; Erturk and Inman, 2011a; Erturk and Inman, 2011b, but without consideration of the half-wave diode bridge.

Table 1: Coefcients in constitutive relations

Constitutive relation Mass Length of the beam Wide of the beam Thickness of the beam Mass of the beam Length of the PZT Wide of the PZT Thickness of the PZT Mass of PZT Damping Linear stiffness Nonlinear stiffness Piezoelectric coupling Piezoelectric capacitance Resistance of load Frequency Capacitance of the capacitor Resistance of diode

Nomenclature m lb wb tb mb lp wp tp mp c k1 k2 cp RL CL RD

Value 0.0155 145 25 0.26 0.0078 50.8 25.4 0.254 0.0019 0.0041 2.72 3.0 0.38 1.258e-11 1000 8 0.3 250

Unit kg mm mm mm kg mm mm mm kg Ns/m N/m N/m3 N/V F Hz F

These gures are obtained from tests with 1.784.400 data points due to a sampling frequency of 2000 Hz and a simulation time of 100 seconds. The voltage in the time domain is shown in Figure (4(a)), it may be noted that the voltage presents a preliminary qualitative chaotic behavior in a rst view. Figure (4(b)) shows the phase portrait of the velocity as a function of displacement.
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Chaotic vibration energy harvesting considering rectier circuits coupled

40 30 20 Voltage [V] 10 0 10 20 30 40 0 20 40 60 Time [s] 80 100

1.5 1 0.5 0 0.5 1 1.5 0.02

0.01

0.01

0.02

(a) Voltage of PZT in time-domain

(b) Displacement (m)Velocity (m/s)

Figure 4: Excitation: 0.5 g (where g is the gravitational acceleration: g = 9.81 m/s2 ) at 8 Hz.

If the excitation amplitude is increased to 0.8 g (at the same frequency), the structure goes from transient chaos into a large-amplitude periodic motion with a strong improvement in the voltage response as shown in Figure (5a). It can be observed that by changing the initial condition, the system changes the response that is caused by the matter that the system is in chaos.
40 30 20 Voltage [V] 10 0 10 20 30 40 0 20 40 60 Time [s] 80 100 1 1.5 0.02 0.5 0 0.5 1.5 1

0.01

0.01

0.02

(a) Voltage of PZT in time-domain

(b) Displacement (m)Velocity (m/s)

Figure 5: Excitation: 0.5 g (where g is the gravitational acceleration: g = 9.81 m/s2 ) at 8 Hz.

Lyapunov exponents becomes by the method of Wolf. Thus, an alternative is to calculate the Lyapunov exponents by time series (collection of observations made sequentially over time), which only uses the system response and not the equations that describe the model. Figure (6) presents the validation of the algorithm used for this calculation. It is calculated the Lyapunov exponent only for the mechanical device (without rectier) based on the device of Erturk et al., 2011a using the method of Wolf (Figure 6a). Figure (6b) shows the calculation of the Lyapunov exponent of the same device, but calculated for time series. It may be noted that the method is valid.
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C.H.C.C. Basquerotto, C.C.A. Pinto, F.R. Chavarette, S. da Silva

0.4 0.3 0.2 0.1

1=0.11351 2=0.05103 3=0.13248

0.4 0.3 0.2 0.1

1 = 0.10452 2 = 0.10516 3 = 0.24541

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Samples 2000 2500

0 0.1 0.2 0.3 0.4 0 200 400 600 Samples 800 1000

(a) Lyapunov exponent calculated by (b) Lyapunov exponent calculated by ordinary differential equations time series Figure 6: Validation of the algorithm that calculates the Lyapunov exponent using time series.
0.4 0.3 0.2 0.1 1 = 0.0075 2 = 0.0077 3 = 0.0121 4 = 0.0868 0.4 0.3 0.2 0.1 1 = 0.0010 2 = 0.0432 3 = 0.0729 4 = 0.1085 0.4 0.3 0.2 0.1 1 = 0.0914 2 = 0.0649 3 = 0.1216 4 = 0.1447

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

(a) A=0.2 g
0.4 0.3 0.2 0.1 1 = 0.1370 2 = 0.0779 3 = 0.1216 4 = 0.1737 0.4 0.3 0.2 0.1

(b) A=0.3 g
1 = 0.1370 2 = 0.0557 3 = 0.0912 4 = 0.1240 0.4 0.3 0.2 0.1

(c) A=0.4 g
1 = 0.1175 2 = 0.0649 3 = 0.1216 4 = 0.1737

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

(d) A=0.5 g
0.4 0.3 0.2 0.1 1 = 0.0206 = 0.0195
2

(e) A=0.6 g
0.4 0.3 0.2 0.1 1 = 0.0274 = 0.0260
2

(f) A=0.7 g
0.4 0.3 0.2 0.1 1 = 0.0001 = 0.0155
2

3 = 0.0405 = 0.0868
4

3 = 0.0456 = 0.0724
4

3 = 0.0243 = 0.0578
4

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s] 2000 2500

(g) A=0.8 g

(h) A=0.9 g Figure 7: Lyapunov exponents calculated from time series.

(i) A=1.0 g

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Chaotic vibration energy harvesting considering rectier circuits coupled

After validation of the method, the rectier was coupled to the mechanical system and the Lyapunov exponents was calculated. Analyzing the values of Lyapunov exponents (Figure 7), it can be seen that the system is chaotic for certain values of the excitation amplitude and frequency. For a range of amplitude values between 0.3 g and 0.9 g the systems are in chaos, for other values outside this range, the system is not chaotic. A very important tool in a temporal analysis was developed by Henry Poincar e, called Poincar e mapping. It shows the ow of the solution in the phase portrait. The number of points in the Poincar e map of the permanent solution of a forced system shows the frequency response. When the points on the map repeats, they are called xed points and the response is periodic, when there is an innite number of them, the answer may be chaotic or quasi-periodic. As can be seen in gure (7), there are a large number of points, indicating that the system is chaotic from 0.3 g to 0.9 g.
2 2 2

1 Velocity Velocity

1 Velocity 2 1 0 1 Displacement 2

0 1 Displacement

0 1 Displacement

(a) A=0.2 g
2 2

(b) A=0.3 g
2

(c) A=0.4 g

1 Velocity Velocity

1 Velocity 2 1 0 1 Displacement 2

0 1 Displacement

0 1 Displacement

(d) A=0.5 g
2 2

(e) A=0.6 g
2

(f) A=0.7 g

1 Velocity Velocity

1 Velocity 2 1 0 1 Displacement 2

0 1 Displacement

0 1 Displacement

(g) A=0.8 g

(h) A=0.9 g Figure 8: Phase portrait with Poincar es map.

(i) A=1.0 g

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C.H.C.C. Basquerotto, C.C.A. Pinto, F.R. Chavarette, S. da Silva

Figure (9a) shows the Lyapunov exponents calculated for the voltage generated in the piezoelectric and Figure (9b) shows the DFT (Discrete Fourier Transform) of the signal of voltage in PZT. Figure (10a) show the Lyapunov exponents calculated for the voltage generated at the output of the rectier and Figure (10b) shows the DFT of the signal of voltage in output of the rectier. It can be observed that the output in the load presents a periodic behavior, which can be explained by the coupling with the rectier circuit. By analyzing the FFT of the load voltage, one can see that the system is periodic, with only one frequency value. After analysing the results, it can be observed that the mechanical device coupled to the rectication circuit is chaotic for certain values of amplitude. But when checking the voltage rectied, it was noted that this had a periodic behavior understanding how the rectication circuit would serve as a controller.
0.4 0.3 0.2 vPZT [V] 500 1000 1500 Time [s] 2000 2500 0.1 v 35 = 0.173654 30 25 20 15 10 5 0 0 50 100 Frequency [Hz] 150 200

PZT

0 0.1 0.2 0.3 0.4 0

(a)

(b)

Figure 9: (a) Lyapunov exponents and (b) spectrum frequency calculated for time series (x(0)=0, x (0)=0, v=0, =8 Hz and A=0.5 g).

0.4 0.3 0.2 0.1 0 0.1 0.2 0.3 0.4 0 500 1000 1500 Time [s]

v = 0.000434
L

0.5

0.4

vL [V] 2000 2500

0.3

0.2

0.1

0 0

50

100 Frequency [Hz]

150

200

(a)

(b)

Figure 10: (a) Lyapunov exponents and (b) spectrum frequency calculated for time series (x(0)=0, x (0)=0, v=0, =8 Hz and A=0.5 g).

CILAMCE 2013 Proceedings of the XXXIV Iberian Latin-American Congress on Computational Methods in Engineering Z.J.G.N Del Prado (Editor), ABMEC, Piren opolis, GO, Brazil, November 10-13, 2013

Chaotic vibration energy harvesting considering rectier circuits coupled

FINAL REMARKS

This paper analyzed a mechanical chaotic proposed by Erturk et al., (2011a) by we considered to couple a half-wave diode bridge rectier. The Lyapunov exponents were calculated for time series and the results showed that the system is sensitive to initial conditions, which can be explained by the calculation of Lyapunov exponents. It was observed that the behavior of the mechanical system, even coupled to a rectifying device, is chaotic for certain values of A. Another test was performed to verify the rectier circuit change some property of the mechanical system. As can be seen, the mechanical device continues to show the same chaos coupled with the rectication circuit. But when calculating the Lyapunov exponent for voltage output and the PZT voltage rectied, it may be noted that the vL presents a periodic behavior can act as a chaos controller. The main advantage for using a mechanical device with chaotic behavior is to reach higher energy when compared to devices that do not exhibit chaotic behavior. However, based on these initial numerical results, this type of device seems to present some disadvantages with relation the difculty of if having a real model of this device, moreover, so that the device is in chaos should be able specic excitation frequency and amplitude. The values outside these conditions make the system does not display chaotic behavior. Additionally, the current provided must be rectied for practical use and the type of signal produced by chaotic behavior need to be proposed for real-world applications.

ACKNOWLEDGEMENTS
o de Aperfeic The rst author would like to thank the Coordenac a oamento de Pessoal de N vel Superior (CAPES) for his scholarship. The authors are also thankful the National Council for Scientic and Technological Development (CNPq) for the nancial support provided to the grant number 301582/2010-6 and 301769/2012-5 and the S ao Paulo Research Foundation (FAPESP) for the nancial support provided by the grant number 12/09135-3. This paper is dedicate to our colleague Carlos C. A. Pinto who passed way in a tragic accident in May 2013. We miss him very much.

REFERENCES
Burrow, S. G., Mitcheson, P. D., & Stark, B. H., 2013. Power Conditioning Techniques for Energy Harvesting. In Advances in Energy Harvesting Methods (pp. 323-343). Springer New York. Cook-Chennault, K. A., Thambi, N., Bitetto, M. A., & Hameyie, E. B. 2008. Piezoelectric Energy Harvesting a Green and Clean Alternative for Sustained Power Production. Bulletin of Science, Technology and Society, 28(6), 496-509. Erturk, A. & Inman, D., 2011a. Broadband piezoelectric power generation on high-energy orbits of the bistable Dufng oscillator with electromechanical coupling. Journal of Sound and Vibration, Vol. 330, No. 10, pp. 2339 2353. Erturk, A. & Inman, D., 2011b. Piezoelectric Energy Harvesting. Wiley.
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C.H.C.C. Basquerotto, C.C.A. Pinto, F.R. Chavarette, S. da Silva

Erturk, A., Vieira, W., De Marqui, C. & Inman, D., 2010. On the energy harvesting potential of piezoaeroelastic systems. Applied Physics Letters, Vol. 96, No. 18, p. 184103. Liao, Y., Sodano, H. A., 2009. Optimal parameters and power characteristics of piezoelectric energy harvesters with an RC circuit. Smart Materials and Structures, 18(4), 045011. Engineering Smart Technologies, www.mide.com. MIDE Ramlan, R., Brennan, M., Mace, B. & Kovacic, I., 2010. Potential benets of a non-linear stiffness in an energy harvesting device. Nonlinear dynamics, Vol. 59, No. 4, pp. 545558. es Mec RAO, S. Vibrac o anicas. [S.l.]: ed. S ao Paulo: Pearson - Prentice Hall, 2009. Rupp, C. J., Dunn, M. L., Maute, K., 2010. Analysis of piezoelectric energy harvesting systems with non-linear circuits using the harmonic balance method. Journal of Intelligent Material Systems and Structures, 21(14), 1383-1396. Shu, Y. C., Lien, I. C., 2006. Analysis of power output for piezoelectric energy harvesting systems. Smart Materials and Structures, 15(6), 1499. Wolf, A., Swift, J.B., Swinney, H.L. & Vastano, J.A., 1985. Determining lyapunov exponents from a time series. Physica D: Nonlinear Phenomena, Vol. 16, No. 3, pp. 285317.

PERMISSION
The authors are the only responsible for the printed material included in this paper.

CILAMCE 2013 Proceedings of the XXXIV Iberian Latin-American Congress on Computational Methods in Engineering Z.J.G.N Del Prado (Editor), ABMEC, Piren opolis, GO, Brazil, November 10-13, 2013