Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots

Sistema automatizado para o aproveitamento de água cinza e azul, com controle de PH utilizando lógica fuzzy

Every day, water scarcity becomes a more serious problem and, directly affects global society. Studies are directed in order to raise awareness of the rational use of this natural asset that is essential to our survival. Only 0.007% of the water available in the world have easy access and can be consumed by humans, it can be found in rivers, lakes, etc... To better take advantage of the water used in homes and small businesses, reuse projects are often implemented, resulting in savings for customers of water utilities. The reuse projects involve several areas of engineering, like Environmental, Chemical, Electrical and Computer Engineering. The last two are responsible for the control of the process, which aims to make gray water (soapy water), and clear blue water (rain water), ideal for consumption, or for use in watering gardens, flushing, among others applications. Water has several features that should be taken into consideration when it comes to working its reuse. Some of the features are, turbidity, temperature, electrical conductivity and, pH. In this document there is a proposal to control the pH (potential Hydrogen) through a microcontroller, using the fuzzy logic as strategy of control. The controller was developed in the fuzzy toolbox of Matlab®

Controlador adaptativo por posicionamento de pólos e estrutura variável aplicado ao controle de geradores eólicos baseados em máquina de indução duplamente alimentada

In the last decade, the renewable energy sources have present a major propulsion in the world due to several factors: political, environmental, financial and others. Within this context, we have in particular the energy obtained through wind, wind energy - that has highlighted with rapid growth in recent years, including in Brazil, mostly in the Northeast, due to it s benefit-cost between the clean energies. In this context, we propose to compare the variable structure adaptive pole placement control (VS-APPC) with a traditional control technique proportional integral controller (PI), applied to set the control of machine side in a conversion system using a wind generator based on Double-Fed Induction Generator (DFIG). Robustness and performance tests were carried out to the uncertainties of the internal parameters of the machine and variations of speed reference.

Estudo térmico de um sistema solar de aquecimento de água residencial para duas configurações de superfície absorvedora

It presents a solar collector to be used in a system for heating water for bathing, whose main characteristics are its low cost and easy manufacturing and assembly. The absorbing surface of the collector is formed by an aluminum plate with eight flaps where they lodge PVC pipes. The catchment area of solar radiation corresponds to 1.3 meters. The collector box was made of wood, is covered by transparent glass and thermal insulation of tire chips and expanded polystyrene (EPS). Absorber tubes were connected in parallel through the use of PVC fittings and fixed to the plate by the use of metal poles and rivets. The entire absorber received paint flat black for better absorption of sunlight. The system worked on a thermosiphon assembly and absorber of the collector has been tested in two configurations: with the tubes facing up, directly exposed to the impact of sunlight and facing down, exchanging heat with the plate by conduction. It was determined the most efficient configuration for the correct purpose. The solar collector was connected to a thermal reservoir, also alternative, low-cost forming the system of solar water heating. We evaluated thermal parameters that proved the viability of the heating system studied

Projeto, construção e análise de eficiência térmica de um sistema de aquecimento solar de água de baixo custo

We studied the feasibility of using a system of Solar Water Heating (SAS) with low cost, for three configurations. In configurations I and II have the collector grid absorber composed of six PVC tubes placed in parallel on the tile cement. In configuration II, the PVC tubes were transparent cover made of plastic bottles. Configuration III uses a collector composed of 12 black HDPE pipes, supported on four cement tiles 2.44 m x 0.50 m, two by two overlapping and interspersed with a filling of glass wool, comprising an area exposed to the global radiation incident of 2.44 m2, with the top two tiles painted matte black. In this configuration, the HDPE pipes replace conventional PVC pipes painted black. The total cost of SAS for configuration III, the most economical, was around $ 150.00. For the configurations tested the system of operation was thermosyphon collector. The study showed that the proposed systems have good thermal efficiency, are easy to install and handle and have low cost compared to conventional.

Análise da viabilidade econômica de um sistema de aquecimento solar de água para uma empresa do setor hoteleiro

This paper presents an analysis of technical and financial feasibility of the use of a solar system for water heating in a fictitious hotel located in the Northeast region. Thereunto it is used techniques of solar collectors´ sizing and methods of financial mathematics, such as Net Present Value (NPV), Internal Rate of Return (IRR) and Payback. It will also be presented a sensitivity analysis to verify which are the factors that impact the viability of the solar heating. Comparative analysis will be used concerning three cities of distinct regions of Brazil: Curitiba, Belém and João Pessoa. The viability of using a solar heating system will be demonstrated to the whole Brazil, especially to the northeast region as it is the most viable for such an application of solar power because of its high levels of solar radiation. Among the cities examined for a future installation of solar heating systems for water heating in the hotel chain, João Pessoa was the one that has proved more viable.

A incorporação de preceitos ambientais no sistema de gestão de resíduos sólidos do município de João Câmara - RN Brasil

The reality points to the global environmental sustainability as the only viable option for addressing the crisis at hand. The move towards sustainability calls for the generation / evaluation systems in their direction, through the incorporation of environmental requirements and in line with the National Policy on Solid Waste. Therefore, the proposed research supports the importance of social and environmental vision, complementing the technical view, the system for management of solid waste from East London, which is a municipality that has a system whose inadequacies are configured in environmental risk and health. Therefore, by observing, applying the model of sustainability indicators and content analysis of interviews, this research proposes to investigate the principles of sustainability and social participation are presented and what is the perception of risk about the inadequacies in the system. The results confirmed the hypotheses of the study and draw a picture of worrying data, such as very unfavorable indicators of sustainability, lack of channels of participation, uncommitted investments with the management system, devaluation of the collector of waste and differing perceptions about the risk by making actors act in isolation. This worrying situation is eased by the appearance of a series of elements are configured as opportunities for the integration of environmental principles in the system. And despite the inability of managers to participate in the research system, yet it behaves as an opportunity to implement public policies in the area of solid waste such as: the preparation of the municipal waste, the institutionalization of selective collection and organization of cooperative with the support of companies present in the city and educational institutions as the Federal Institute. The research is an opportunity for the implementation of policies in the area of solid waste and will collaborate with the building instruments for the quality of life of residents, for the socioeconomic conditions of collectors and the move towards a sustainable society

Os efeitos do reconhecimento da diversidade sexual como um direito humano pelo sistema interamericano de proteção

La diversidad sexual emerge en las Américas como una de las cuestiones más importantes en relación con la protección y promoción de los derechos humanos. A partir de la democratización de la mayor parte de los Estados Sudamericanos en los años 80, se ha iniciado una discusión acerca de la ampliación del concepto de igualdad con el fin de introducir el derecho a la diferencia como otra expresión de la dignidad de la persona humana, cuyos estudios fueron encabezado de lo que se llamaba La hermenéutica de la Diversidad. En este escenario, el Derecho Internacional de los Derechos Humanos aparece como el principal responsable por el proceso de reconocimiento de la diversidad sexual como un derecho humano, lo que permite la asignación de temas tales como la sexualidad y el género en la agenda de los principales órganos regionales de protección de derechos humanos, así como en la agenda de algunos Estados, que por su promoción de políticas de diversidad han llegado a ser considerados empresarios normativos en relación con el libre ejercicio de la sexualidad humana. En este sentido, se pretende con esta tesis analizar el proceso de reconocimiento de la diversidad sexual como un derecho humano en el marco del sistema interamericano de protección, comprobando el potencial normativo de Argentina, Brasil y Uruguay con respecto a la adopción de normas internas promoción de la diversidad sexual. También tenemos la intención de analizar la norma internacional llamada Convención Interamericana contra todas las formas de discriminación e intolerancia como el primer tratado producido por el sistema interamericano para la protección de la sexualidad como un derecho digno de protección. La investigación ha demostrado que después de la posición adoptada por la Comisión y la Corte Interamericana respecto al ejercicio de la sexualidad, países como Argentina, Brasil y Uruguay promovieron un progreso significativo en el campo de las libertades individuales y en el campo de las políticas públicas de asignación de la sexualidad como un derecho que necesita de una protección efectiva del Estado

Lei Maria da Penha: da convivência com as práticas do sistema de justiça no submédio do Vale do São Francisco

The inequalities that mark the women’s lives in societies around the world have been the subject of intense discussion by the feminist movement, with developments in questioning about possibilities of full citizenship. In this scenario the Brazilian feminist movement has achieved steadily, in recent decades, an effort to participate in the formulation of the public policy agenda, as well as the realization of demands to institutionalize the legal parameters as regulations for the issue of violence against women. On the grounds of social justice, many discourses are made with a focus on reframing the institutional role of the state in the areas of constitutional law and criminal law. Considering these discourses, proposals were reformulated and the action of the state was resized, what ended in the enactment of Law 11,340 / 2006 (Maria da Penha Law), with a great impact on the Brazilian criminal justice system. Taking this perspective as its starting point, this research is focused on understanding the struggles for access to the legal field regarding the implementation of the Maria da Penha Law. This qualitative and quantitative research analyses the way the social practices and social representations which involve activists of the feminist movement and operators from the justice system are established in Juazeiro/ BA and Petrolina/PE before the institutional reshuffles of the state. As a result, it was revealed that, despite inconsistencies in the performance of the criminal justice system, the positioning of feminist activism is grounded on the assumption.

Uma linguagem para descrição de missões em sistema-de-sistemas

Sistema-de-sistemas (System-of-Systems - SoS) é um tipo emergente de sistema computacional formado por um grupo de sistemas constituintes, que são independentes e heterogêneos e se unem para compor um sistema de larga escala visando alcançar uma missão global. Cada sistema constituinte possui seus próprios objetivos, missões individuais, e colaboram para a realização da missão do SoS, chamada missão global. Existe uma complexidade inerente no conjunto de missões que estão envolvidas em um SoS, esse deve-se principalmente à natureza independente dos sistemas constituintes, que tendem a evoluir independentemente, potencialmente mantidos por organizações distintas, além dos conflitos de interesse que podem surgir com essa evolução. Com isso, torna-se essencial prover uma linguagem bem definida para descrição e avaliação dessas missões, relacionando-as entre si e provendo um documento comum que possa ser utilizado por todas as partes envolvidas. Essa linguagem deve ser capaz de expressar as missões individuais e globais, dando suporte a todos os relacionamentos existentes entre essas missões, além de expressar informações relacionadas a realização dessas missões. O objetivo desse trabalho é apresentar e avaliar uma linguagem para descrição de missões. Visando a definição dessa linguagem, esse trabalho apresenta um mapeamento sistemático acerca dos mecanismos existentes para descrição de missões em SoS, identificando os elementos-chave que compõem a descrição de uma missão nesse contexto. A partir desse mapeamento, propõe-se um modelo conceitual para missões e uma linguagem para descrição de missões. Essa linguagem independe de documentos de arquitetura e outros tipos de modelos de software, visando possibilitar a integração da linguagem de definição de missões em diferentes modelos de desenvolvimento.

Avaliação do acesso aos serviços de reabilitação física para vítimas de acidentes de trânsito: caminhos para melhoria da qualidade do sistema de saúde

The Physical Rehabilitation services (PR) are of fundamental importance in combating the global epidemic of Traffic Accidents (TA). Considering the numerous physical and social consequences of the survivors, quality problems in access to PR are a hazard to recovery of victims. It is necessary to improve the management of quality of services, assessing priority dimensions and intervening in their causes, to ensure rehabilitation available in time and suitable conditions. This study aimed to identify barriers to access to rehabilitation considering the perception of TA victims and professionals. The aim is also to estimate the access to rehabilitation and their associated factors. This is a qualitative and quantitative study of exploratory nature developed in Natal / RN with semi-structured interviews with 19 health professionals and telephone survey to 155 victims of traffic accidents. To explore barriers to access the speeches were transcribed and analyzed using the Alceste software (version 4.9). During the interviews used the following guiding question: “What barriers hinder or prevent access to physical rehabilitation for victims of traffic accidents?”. The names of classes and axes resulting from Alceste was performed by ad hoc query to three external researchers with subsequent consensus of the most representative name of analysis. We conducted multivariate analysis of the influence of the variables of the accident, sociodemographic, clinical and assistance on access to rehabilitation. Associations with p <0.20 in the bivariate analysis were submitted to logistic regression, step by step, with p <0.05 and confidence interval (CI) of 95%. The main barriers identified were: “Bureaucratic regulation”, “Long time to start rehabilitation”, “No post-surgery referral” and “inefficiency of public services”. These barriers were divided into a theoretical model built from the cause-effect diagram, in which we observed that insufficient access to rehabilitation is the product of causes related to organizational structure, work processes, professional and patients. Was constructed two logistic regression models: “General access to rehabilitation” and “Access to rehabilitation to public service”. 51.6% of patients had access to rehabilitation, and 32.9% in public and 17.9% in the private sector. The regression model “General access to rehabilitation” included the variables Income (OR:3.7), Informal Employment (OR:0.11), Unemployment (OR:0.15), Perceived Need for PR (OR:10) and Referral (OR: 27.5). The model “Access to rehabilitation in the public service” was represented by the “Referral to Public Service” (OR: 23.0) and “Private Health Plan” (OR: 0.07). Despite the known influence of social determinants on access to health services, a situation difficult to control by the public administration, this study found that the organizational and bureaucratic procedures established in health care greatly determine access to rehabilitation. Access difficulties show the seriousness of the problem and the factors suggest the need for improvements in comprehensive care for TA survivors and avoid unnecessary prolongation of the suffering of the victims of this epidemic.

Registro global de nuvens de pontos RGB-D em tempo real usando fluxo óptico e marcadores

Registration of point clouds captured by depth sensors is an important task in 3D reconstruction applications based on computer vision. In many applications with strict performance requirements, the registration should be executed not only with precision, but also in the same frequency as data is acquired by the sensor. This thesis proposes theuse of the pyramidal sparse optical flow algorithm to incrementally register point clouds captured by RGB-D sensors (e.g. Microsoft Kinect) in real time. The accumulated errorinherent to the process is posteriorly minimized by utilizing a marker and pose graph optimization. Experimental results gathered by processing several RGB-D datasets validatethe system proposed by this thesis in visual odometry and simultaneous localization and mapping (SLAM) applications.

Proposta de um sistema de avaliação de desempenho para o Restaurante Universitário da UFRN

The aim of this study was to propose a Performance Evaluation System for outsourced employees of the University Restaurant of the Federal University of Rio Grande do Norte to supply the lack of evaluative instruments. According to Provision of Services Contract nº050/2010 and nº055/2011 of FURN with SAFE LOCAÇÃO DE MÃO DE OBRA LTDA ME, it is the hired company to promote periodic functional performance evaluation of the outsourced employees, but this is not done. The performance evaluation process serves to evaluate if the employees are making their tasks according to the organizations’ objectives and goals, besides that helps to find service failures and capacity of employees demands, thus contributing to improve work conditions and the global performance of the organizations. To elaborate the proposal of evaluation, it was chosen an action research with the participation of all stakeholders, employees and managers from UR. On data collect, first, outsourced employees and management servers were interviewed, in order to raise existing perceptions about performance evaluation aspects. From these data and the work routine observation, a proposal of performance evaluation was elaborated, that was appreciated, criticized and adjusted by the actors involved (employees and managers) to the final formulation of the instrument. This study also presents the necessary steps to the implementation of the Performance Evaluation System. The proposed Performance Evaluation System can be applied to the FURN assuming this process, after modification of contract terms and the approval by the ADCON. It also can serve as an example to others units that works with the provision of outsourced services, enabling so the performance evaluation to be part of the management policy of all people working in FURN.

Extração de metais (K, Mg, Ba, Ca, Cr, Mn, Li, Fe) de água produzida utilizando sistema microemulsionado

The produced water is a byproduct formed due to production of petroleum and carries with it a high amount of contaminants such as oil particles in suspension, organic compounds and metals. Thus, these latter pollutants are very difficult to treat because of its high solubility in water. The objective of this work is to use and evaluate a microemulsioned system to remove metals ( K , Mg , Ba , Ca , Cr , Mn , Li , Fe ) of synthetic produced water. For the extraction of metals, it was used a pseudoternary diagram containing the following phases: synthetic produced water as the aqueous phase (AP), hexane as organic phase (OP), and a cosurfactant/surfactant ratio equal to four (C/S = 4) as the third phase, where the OCS (saponified coconut oil) was used as surfactant and n-butanol as cosurfactant. The synthetic produced water was prepared in a bench scale and the region of interest in the diagram for the removal of metals was determined by experimental design called. Ten points located in the phase Winsor II were selected in an area with a large amount of water and small amounts of reagents. The samples were analyzed in atomic absorption spectrometer, and the results were evaluated through a statistical assesment, allowing the efficiency analysis of the effects and their interactions. The results showed percentages of extraction above 90% for the metals manganese, iron, chromium, calcium, barium and magnesium, and around 45% for metals lithium and potassium. The optimal point for the simultaneous removal of metals was calculated using statistical artifact multiple response function (MR). This calculation showed that the point of greatest extraction of metals occurs was the J point, with the composition [72% AP, 9% OP, 19% C/S], obtaining a global extraction percentage about 80%. Considering the aspects analyzed, the microemulsioned system has shown itself to be an effective alternative in the extraction of metals on synthetic produced water remediation