Construção de um robô trepador com locomoção através de rodas e adesão através de meios magnéticos

Mestrado em Engenharia Electrotécnica e de Computadores

Emissões de carbono: caracterização do perfil de emissões de gases de efeito de estufa associadas à Monteiro, Ribas - Embalagens Flexíveis, S.A.

A presente dissertação tem como principal objectivo estimar as emissões de carbono resultantes das actividades da Monteiro, Ribas- Embalagens Flexíveis, S.A. A realização do inventário de gases de efeito estufa permite que a Monteiro, Ribas- Embalagens Flexíveis, S.A, identifique quais as suas fontes emissoras e quantifique as emissões de gases de efeito estufa, permitindo criar estratégias de redução das mesmas. A elaboração do inventário foi fundamentada nas directrizes do Greenhouse Gas Protocol, obedecendo aos princípios de relevância, integrabilidade, consistência, transparência e exactidão. A metodologia adoptada utiliza factores de emissão documentados para efectuar o cálculo das emissões de gases de efeito de estufa (GEE). Estes factores são rácios que relacionam as emissões de GEE com dados de actividade específicos para cada fonte de emissão. Como emissões directas (âmbito 1), foram quantificadas as emissões provenientes do uso de gás natural nas caldeiras, consumo de vapor e de água quente, e as emissões do veículo comercial da empresa. Como emissões indirectas de âmbito 2, incluem-se as resultantes da electricidade consumida. As emissões indirectas estimadas de âmbito 3 referem-se, no caso em estudo, ao transporte de resíduos, ao deslocamento de funcionários para a empresa e às viagens de negócio. Face ao tipo de emissões identificadas, criou-se uma ferramenta de cálculo que contém todos os valores de factores de emissão que podem ser utilizados em função das características específicas dos dados de actividade relativos às várias fontes emissoras da Empresa. Esta ferramenta permitirá, no futuro, aperfeiçoar o cálculo das emissões, a partir de uma melhor sistematização da informação disponível. Com este trabalho também foi possível identificar a necessidade de recolher e organizar alguma informação complementar à já existente. O ano base considerado foi 2011. Os resultados obtidos mostram que, neste ano, as actividades da Monteiro, Ribas- Embalagens Flexíveis, S.A serão responsáveis pela emissão de 2968,6 toneladas de CO2e (dióxido de carbono equivalente). De acordo com a Decisão 2007/589/CE da Comissão de 18 de Julho de 2007 conclui-se que a Monteiro, Ribas Embalagens e Flexíveis S.A. se enquadra na categoria de instalações com baixo níveis de emissões pois as suas emissões médias anuais são inferiores a 25000 toneladas de CO2e. Conclui-se que a percentagem maior das emissões estimadas (50,7 %) é proveniente do consumo de electricidade (emissões indirectas, âmbito 2), seguida pelo consumo de gás natural (emissões directas) que representa 39,4% das emissões. Relacionando os resultados obtidos com a produção total da Monteiro, Ribas- Embalagens Flexíveis, S.A, em 2011, obtém-se o valor de 0,65 kg de CO2e por cada quilograma de produto final. Algumas das fontes emissoras identificadas não foram incorporadas no inventário da empresa, nomeadamente o transporte das matérias-primas e dos produtos. Isto deve-se ao facto de não ter sido possível compilar a informação necessária, em tempo útil. Apesar de se tratar de emissões indirectas de âmbito 3, consideradas opcionais, recomenda-se que num próximo trabalho deste tipo, essas emissões possam vir a ser quantificadas. As principais incertezas associadas às estimativas de emissão dizem respeito aos dados de actividade uma vez que foi a primeira vez que a empresa realizou um inventário de gases de efeito de estufa. Há informações mais específicas sobre os dados de actividade que a empresa dispõe e que poderá, de futuro, sistematizar de uma forma mais adequada para a sua utilização com este fim.

Telling stories of culture through literature

Grounded on Raymond Williams‘s definition of knowable community as a cultural tool to analyse literary texts, the essay reads the texts D.H.Lawrence wrote while travelling in the Mediterranean (Twilight in Italy, Sea and Sardinia and Etruscan Places) as knowable communities, bringing to the discussion the wide importance of literature not only as an object for aesthetic or textual readings, but also as a signifying practice which tells stories of culture. Departing from some considerations regarding the historical development of the relationship between literature and culture, the essay analyses the ways D. H. Lawrence constructed maps of meaning, where the readers, in a dynamic relation with the texts, apprehend experiences, structures and feelings; putting into perspective Williams‘s theory of culture as a whole way of life, it also analyses the ways the author communicates and organizes these experiences, creating a space of communication and operating at different levels of reality: on the one hand, the reality of the whole way of Italian life, and, on the other hand, the reality of the reader who aspires to make sense and to create an interpretative context where all the information is put, and, also, the reality of the writer in the poetic act of writing. To read these travel writings as knowable communities is to understand them as a form that invents a community with no other existence but that of the literary text. The cultural construction we find in these texts is the result of the selection, and interpretation done by D.H.Lawrence, as well as the product of the author‘s enunciative positions, and of his epistemological and ontological filigrees of existence, structured by the conditions of possibility. In the rearticulation of the text, of the writer and of the reader, in a dynamic and shared process of discursive alliances, we understand that Lawrence tells stories of the Mediterranean through his literary art.

Alcipe, Nathercia e Tirse: Considerações sobre as luzes no feminino no Portugal de setecentos

O presente artigo desenvolve-se em torno de três damas esclarecidas da sociedade portuguesa de setecentos: D. Leonor de Almeida (1750-1839), ou Alcipe; D. Catarina de Lencastre (1749-1824), ou Nathercia; e D. Teresa de Mello Breyner (1739-1798?), ou Tirse. Sabendo que o século XVIII foi um período marcado por mudança e controvérsia, pela emergência de novos paradigmas, pelo reequacionamento de estruturas mentais e tradições seculares – ainda que em Portugal se experimentasse uma certa resistência às teorias filosóficas emergentes – a questão que lançamos e procuramos analisar é: qual o reflexo destas transformações no universo feminino? Assim, partindo dos três exemplos referidos e a eles tornando, pretendemos problematizar três questões centrais no discurso iluminista – educação, leituras e viagens – observando como estas matérias, assaz discutidas e teorizadas ao longo do século XVIII, se repercutiram na formação feminina em solo português e, por outro lado, analisar o modesto mas expressivo papel que as referidas damas assumiram na propagação da cultura das luzes em Portugal.

A survey of technologies and applications for climbing robots locomotion and adhesion

The interest in the development of climbing robots has grown rapidly in the last years. Climbing robots are useful devices that can be adopted in a variety of applications, such as maintenance and inspection in the process and construction industries. These systems are mainly adopted in places where direct access by a human operator is very expensive, because of the need for scaffolding, or very dangerous, due to the presence of an hostile environment. The main motivations are to increase the operation efficiency, by eliminating the costly assembly of scaffolding, or to protect human health and safety in hazardous tasks. Several climbing robots have already been developed, and other are under development, for applications ranging from cleaning to inspection of difficult to reach constructions. A wall climbing robot should not only be light, but also have large payload, so that it may reduce excessive adhesion forces and carry instrumentations during navigation. These machines should be capable of travelling over different types of surfaces, with different inclinations, such as floors, walls, or ceilings, and to walk between such surfaces (Elliot et al. (2006); Sattar et al. (2002)). Furthermore, they should be able of adapting and reconfiguring for various environment conditions and to be self-contained. Up to now, considerable research was devoted to these machines and various types of experimental models were already proposed (according to Chen et al. (2006), over 200 prototypes aimed at such applications had been developed in the world by the year 2006). However, we have to notice that the application of climbing robots is still limited. Apart from a couple successful industrialized products, most are only prototypes and few of them can be found in common use due to unsatisfactory performance in on-site tests (regarding aspects such as their speed, cost and reliability). Chen et al. (2006) present the main design problems affecting the system performance of climbing robots and also suggest solutions to these problems. The major two issues in the design of wall climbing robots are their locomotion and adhesion methods. With respect to the locomotion type, four types are often considered: the crawler, the wheeled, the legged and the propulsion robots. Although the crawler type is able to move relatively faster, it is not adequate to be applied in rough environments. On the other hand, the legged type easily copes with obstacles found in the environment, whereas generally its speed is lower and requires complex control systems. Regarding the adhesion to the surface, the robots should be able to produce a secure gripping force using a light-weight mechanism. The adhesion method is generally classified into four groups: suction force, magnetic, gripping to the surface and thrust force type. Nevertheless, recently new methods for assuring the adhesion, based in biological findings, were proposed. The vacuum type principle is light and easy to control though it presents the problem of supplying compressed air. An alternative, with costs in terms of weight, is the adoption of a vacuum pump. The magnetic type principle implies heavy actuators and is used only for ferromagnetic surfaces. The thrust force type robots make use of the forces developed by thrusters to adhere to the surfaces, but are used in very restricted and specific applications. Bearing these facts in mind, this chapter presents a survey of different applications and technologies adopted for the implementation of climbing robots locomotion and adhesion to surfaces, focusing on the new technologies that are recently being developed to fulfill these objectives. The chapter is organized as follows. Section two presents several applications of climbing robots. Sections three and four present the main locomotion principles, and the main "conventional" technologies for adhering to surfaces, respectively. Section five describes recent biological inspired technologies for robot adhesion to surfaces. Section six introduces several new architectures for climbing robots. Finally, section seven outlines the main conclusions.

Climbing robots: a survey of technologies and applications

The interest in the development of climbing robots is growing rapidly. Motivations are typically to increase the operation efficiency by obviating the costly assembly of scaffolding or to protect human health and safety in hazardous tasks. Climbing robots are starting to be developed for applications ranging from cleaning to inspection of difficult to reach constructions. These robots should be capable of travelling on different types of surfaces, with varying inclinations, such as floors, walls, ceilings, and to walk between such surfaces. Furthermore, these machines should be capable of adapting and reconfiguring for various environment conditions and to be self-contained. Regarding the adhesion to the surface, they should be able to produce a secure gripping force using a light-weight mechanism. This paper presents a survey of different applications and technologies proposed for the implementation of climbing robots.

Viva@Matemática project: a different way to see math

Viva@Mat is a project developed by four Math teachers from the School of Industrial Studies and Management (ESEIG) that was born with the fundamental objective of engaging ESEIG students with different math backgrounds in Math challenging activities. Some of these activities were transformed into real palpable materials and others into small interactive ones, being the great majority of them proposed by ESEIG’ students themselves. This small project rapidly grew into something we didn’t expect – it did flow over the walls of our institution to the general involving community – specifically to pre-university schools through the Viva@Math Exhibits – Orange, Blue and Green (the fourth, the Purple one is still in development). Nowadays, Viva@Math Exhibits – the public face of the Project – are itinerant and have been travelling between several, and different institutions (pre-university schools, preparatory schools, libraries, among others), around ESEIG and IPP area of influence and having registered visitors/participants of all ages. In this article we will describe the Viva@Math Project, its different activities that are categorized in some “great groups” like Numerical Trivia, Logic Activities and Mental Calculation, Puzzles, Geometric Curiosities, Magic Tricks, among others, designed to challenge students to use the underlying logical-mathematical reasoning to any ordinary and everyday activity. We will give specific and concrete examples of some of the activities developed and, also, reproduce of the general stimulating feedback the Project receives from the enrolled “actors” (teachers, students and their relatives, institutions, among others). We feel that this Project has become a small “bridge” between the pre-university schools and Higher Education Institutions (HEI), in trying to shorten the “gap” between the institutions of different levels of education and bring them to work together.

Which “place and non-place” do women occupy in social economy organisations?

Scientific literature has strengthened the perpetuation of inequality factors in the labour market based on gender, despite the on-going endeavour of various political bodies and legal norms against the vertical and horizontal segregation of women. National and European statistical data shows the relevance and timeless features of theories of market segmentation associated with the labour market dating back to the 70’s of the 20th century. Hence, the European Community considers as a priority in the Europe 2020 strategy, the definition of “policies to promote gender equality […] to increase labour force participation thus adding to growth and social cohesion”. If we consider that on the one hand, social economy is fairly recognised to be equated with market actors and the State for its economic and social role in tackling the current crisis, and on the other hand, that the ideals of the sector, systematised in the “Framework Law of Social Economy” (Law no. 30/2013 8th of May), particularly in article 5 proposing “the respect for the values […] of equality and non-discrimination […], justice and equity […]”, we aim to reflect on indicators that uncover a vertical and horizontal segregation in the labour market. Departing from a mixed methodological approach (extensive and intensive), subject to the topic of "Social Entrepreneurship in Portugal" in social economy organisations, we detect very high rates of employment feminisation, with a ratio of 1 man (23%) for every 3 women (77%). Women are mainly earmarked for technical and operational activities, arising from the privileged intervention areas, namely education, training, health, elderly, families, poverty, ultimately being underrepresented in statutory boards and, as such, far removed from deliberations and strategic resolutions. This is particularly visible in the existing hierarchy of functions and management practices of the responsibility of male members. Thus, it seems easily verified that the sector is travelling away from the ideals of justice and social equity, which can crystallise the "non-place" of women in the definition of a strategic direction of social economy and in the most invisible/private “place” of the organisational setting.