Terapia comunitária integrativa: construção de um espaço de escuta para os trabalhadores na atenção básica da saúde

This research, which appears in the form of a dissertation, entitled: Integrative Therapy Community: construction of a listening space to health care workers in primary care, addresses the Integrative Community Therapy (ICT) as a tool to create meeting spaces between health professionals where they can be receptive among one another. With the completion of this study aimed to analyze the ICT as a therapeutic approach and space of listening and speaking for health professionals cited here in order to identify their anxieties, doubts, worries and uncertainties arising from the context of labor relations and the impact of therapeutic experiences under the view of the participants. It was developed as an action-science research, involving several steps. The field of research was the ICT meetings of workers from the units under the Family Health Strategy of Northern Health Districts I and II of the city of Natal, using a qualitative approach. The interpretation of data collected was based on content analysis proposed by Bardin. Finally, this study showed the ICT as a space for dialogue and sharing, with repercussions on labor relations and expansions beyond the ICT meetings, reaching out to family and social relationships, contributing to creating bonds and solidarity networks. Under the view of the participants it was recognized as an experience that optimized the socialization, promoting the alleviation of suffering and increasing the well-being. Based on the study findings, it is inferred that ICT can be considered a viable tool for the receptiveness and humanized care of health care workers.

Impactos da adoção da INTERNET na hotelaria : a percepção dos gerentes de hotéis de médio e grande porte de Natal / RN

The hotel industry is increasingly using the Internet like a management and operational tool. That way, the hotels will be more prepared to offer quality services to their guests and increase their profits as well. However, many managers seem don t perceive the advantages brought from this new digital environment. This thesis analyse the effects of the hotel managers perceptions as for the Internet effectiveness, Internet access, Internet as a communication tool, future importance of the Internet, benefits and drawbacks of the Internet, according to property type (simple, medium comfort and luxe), property size (quantity of the apartaments), age and hotel industry experience of the managers. The methodology utilized was a survey about the hotels that had at least 40 apartments (medium and big property size), were working in Natal-RN and classified in categories in the Guia Quatro Rodas Brasil, totalizing 35 hotels. Through the analysis of variance (ANOVA) and Tukey test, the results showed that the hotel managers with more than 50 apartments, the managers of the hotel more comfortable, the younger managers and the managers less experient in the hotel industry, demonstrated more conscious about the importance of the adoption of the Internet than the rest of the others. The contribution of this work is to offer more knowledge to the hotel executives about how they can use the Internet and show the importance of the web adoption in their properties

Controle adaptativo robusto para um modelo desacoplado de um robô móvel

This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text

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

Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Localização de um robô móvel usando odometria e marcos naturais

Several methods of mobile robot navigation request the mensuration of robot position and orientation in its workspace. In the wheeled mobile robot case, techniques based on odometry allow to determine the robot localization by the integration of incremental displacements of its wheels. However, this technique is subject to errors that accumulate with the distance traveled by the robot, making unfeasible its exclusive use. Other methods are based on the detection of natural or artificial landmarks present in the environment and whose location is known. This technique doesnt generate cumulative errors, but it can request a larger processing time than the methods based on odometry. Thus, many methods make use of both techniques, in such a way that the odometry errors are periodically corrected through mensurations obtained from landmarks. Accordding to this approach, this work proposes a hybrid localization system for wheeled mobile robots in indoor environments based on odometry and natural landmarks. The landmarks are straight lines de.ned by the junctions in environments floor, forming a bi-dimensional grid. The landmark detection from digital images is perfomed through the Hough transform. Heuristics are associated with that transform to allow its application in real time. To reduce the search time of landmarks, we propose to map odometry errors in an area of the captured image that possesses high probability of containing the sought mark

Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot

Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Avaliação tribológica dos polímeros NBR, PTFE e PTFE gravitado em contato com aço AISI 52100

Low cost seals are made of NBR, Nitrile Butadiene Rubber, a family of unsaturated copolymers that is higher resistant to oils the more content of nitrile have in its composition, although lower its flexibility. In Petroleum Engineering, NBR seal wear can cause fluid leakage and environmental damages, promoting an increasing demand for academic knowledge about polymeric materials candidate to seals submitted to sliding contacts to metal surfaces. This investigation aimed to evaluate tribological responses of a commercial NBR, hardness 73 ± 5 Sh A, polytetrafluoroethylene (PTFE), hardness 60 ± 4 HRE and PTFE with graphite, 68 ± 6 HRE. The testings were performed on a sliding tribometer conceived to explore the tribological performance of stationary polymer plane coupons submitted to rotational cylinder contact surface of steel AISI 52100, 20 ± 1 HRC Hardness, under dry and lubricated (oil SAE 15W40) conditions. After screening testings, the normal load, relative velocity and sliding distance were 3.15 N, 0.8 m/s and 3.2 km, respectively. The temperatures were collected over distances of 3.0±0.5 mm and 750±50 mm far from the contact to evaluate the heating in this referential zone due to contact sliding friction by two thermocouples K type. The polymers were characterized through Thermogravimetric Analysis (TGA), Differential Scanning Calorimetry (DSC) and Dynamic Mechanical Analysis (DMA). The wear mechanisms of the polymer surfaces were analyzed by Scanning Electron Microscopy (SEM) and EDS (Energy-Dispersive X-ray Spectroscopy). NBR referred to the higher values of heating, suggesting higher sliding friction. PTFE and PTFE with graphite showed lower heating, attributed to the delamination mechanism

Estudo da introdução de resíduo de britagem de rocha calcária e cinza de biomassa de cana-de-açúcar em formulações de argamassas colantes

The adhesive mortars are a mixture of cement, sand, and additives to polymers that retain the mixing water and promotes adherence, being used in setting on various ceramic substrates. The sand used in the production of these mortars is from the riverbeds, and with the increasing restriction of these sands extraction by environmental agencies, and often having to be transported over long distances to the consumer center. This work aims to design and physical and mechanical characterization of ecological adhesive mortar with total replacement of natural sand by sand from the crushing of limestone, and the addition of mineral ash biomass of cane sugar in partial replacement cement used in the production of adhesive mortar , aiming compositions that meet the regulatory specifications for use adhesive mortar. Standardized tests to determine the tensile bond strength (NBR 14081-4), determination of open time (NBR 14081-3) and determination of slip (NBR 14081-5) were performed. Were also conducted trials squeeze flow in different formulation, the mortar with addition of 15 % gray biomass of cane sugar for cement mortars as well as the total replacement of natural sand by sand limestone crushing, got the best performance among the mortars studied, it was found that the addition of biomass to replace cement is perfectly feasible due to its pozzolanic activity, which contributed to this reduction in the cement matrix formation of adhesive mortar

Análise tribológica de um sistema de acionamento alternativo de pigs para a indústria do petróleo

It is analyzed through the concepts of tribology and mechanical contact and damage the suggestion of implementing a backup system for traction and passage of Pipeline Inspection Gauge (Pig) from the inside of pipelines. In order to verify the integrity of the pipelines, it is suggested the possibility of displacement of such equipment by pulling wires with steel wires. The physical and mechanical characteristics of this method were verified by accelerated tests in the laboratory in a tribological pair, wire versus a curve 90. It also considered the main mechanisms of wear of a sliding system with and without lubricant, in the absence and presence of contaminants. To try this, It was constructed a test bench able to reproduce a slip system, work on mode back-and-forth ("reciprocation"). It was used two kinds of wires, a galvanized steel and other stainless steel and the results achieved using the two kinds of steel cables were compared. For result comparative means, it was used steel cables with and without coating of Poly Vinyl Chloride (PVC). The wires and the curves of the products were characterized using metallographic analysis, microhardness Vickers tests, X-ray diffraction (XRD), X-Ray Refraction (XRF) and tensile tests. After the experiments were analyzed some parameters that have been measurable, it demonstrates to the impracticality of this proposed method, since the friction force and the concept of alternating request at the contact between the strands of wire and the inner curves that are part ducts caused severe wear. These types of wear are likely to cause possible failures in future products and cause fluid leaks

Mecanismos de desgaste de poliuretano em ensaios de microabrasão

Wear mechanisms and thermal history of two non-conforming sliding surfaces was investigated in laboratory. A micro-abrasion testing setup was used but the traditional rotative sphere method was substituted by a cylindrical surface of revolution which included seven sharp angles varying between 15o to 180o. The micro-abrasion tests lead to the investigation on the polyurethane response at different contact pressures. For these turned counterfaces with and without heat treatment. Normal load and sliding speeds were changed. The sliding distance was fixed at 5 km in each test. The room and contact temperatures were measured during the tests. The polyurethane was characterized using tensile testing, hardness Shore A measurement, Thermogravimetric Analysis (TGA), Differential Scanning Calorimetry (DSC) and Thermomechanical Analyze (TMA). The Vickers micro-hardness of the steel was measured before and after the heat treatment and the metallographic characterization was also carried out. Worn surface of polyurethane was analysed using Scanning Electron Microscope (SEM) and EDS (Electron Diffraction Scanning) microanalyses. Single pass scratch testing in polyurethane using indenters with different contact angles was also carried out. The scar morphology of the wear, the wear mechanism and the thermal response were analyzed in order to correlate the conditions imposed by the pressure-velocity pair to the materials in contact. Eight different wear mechanisms were identified on the polyurethane surface. It was found correlation between the temperature variation and the wear scar morphology.