Um sistema de visão para navegação robusta de uma plataforma robótica semi-autônoma

Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case)

Determinação de Chaveamento para Recomposição do Serviço em Redes de Distribuição de Energia Elétrica em Média Tensão Através de Métodos Baseado em Parâmetros de Sensibilidade

The reconfiguration of a distribution network is a change in its topology, aiming to provide specific operation conditions of the network, by changing the status of its switches. It can be performed regardless of any system anomaly. The service restoration is a particular case of reconfiguration and should be performed whenever there is a network failure or whenever one or more sections of a feeder have been taken out of service for maintenance. In such cases, loads that are supplied through lines sections that are downstream of portions removed for maintenance may be supplied by the closing of switches to the others feeders. By classical methods of reconfiguration, several switches may be required beyond those used to perform the restoration service. This includes switching feeders in the same substation or for substations that do not have any direct connection to the faulted feeder. These operations can cause discomfort, losses and dissatisfaction among consumers, as well as a negative reputation for the energy company. The purpose of this thesis is to develop a heuristic for reconfiguration of a distribution network, upon the occurrence of a failure in this network, making the switching only for feeders directly involved in this specific failed segment, considering that the switching applied is related exclusively to the isolation of failed sections and bars, as well as to supply electricity to the islands generated by the condition, with significant reduction in the number of applications of load flows, due to the use of sensitivity parameters for determining voltages and currents estimated on bars and lines of the feeders directly involved with that failed segment. A comparison between this process and classical methods is performed for different test networks from the literature about networks reconfiguration

Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Uma implementação paralela híbrida para o problema do caixeiro viajante usando algoritmos genéticos, GRASP e aprendizagem por reforço

The metaheuristics techiniques are known to solve optimization problems classified as NP-complete and are successful in obtaining good quality solutions. They use non-deterministic approaches to generate solutions that are close to the optimal, without the guarantee of finding the global optimum. Motivated by the difficulties in the resolution of these problems, this work proposes the development of parallel hybrid methods using the reinforcement learning, the metaheuristics GRASP and Genetic Algorithms. With the use of these techniques, we aim to contribute to improved efficiency in obtaining efficient solutions. In this case, instead of using the Q-learning algorithm by reinforcement learning, just as a technique for generating the initial solutions of metaheuristics, we use it in a cooperative and competitive approach with the Genetic Algorithm and GRASP, in an parallel implementation. In this context, was possible to verify that the implementations in this study showed satisfactory results, in both strategies, that is, in cooperation and competition between them and the cooperation and competition between groups. In some instances were found the global optimum, in others theses implementations reach close to it. In this sense was an analyze of the performance for this proposed approach was done and it shows a good performance on the requeriments that prove the efficiency and speedup (gain in speed with the parallel processing) of the implementations performed

A Influência da observabilidade e da visualização radial no projeto de sistemas de monitoramento de redes de computadores

Este trabalho apresenta um levantamento dos problemas associados à influência da observabilidade e da visualização radial no projeto de sistemas de monitoramento para redes de grande magnitude e complexidade. Além disso, se propõe a apresentar soluções para parte desses problemas. Através da utilização da Teoria de Redes Complexas, são abordadas duas questões: (i) a localização e a quantidade de nós necessários para garantir uma aquisição de dados capaz de representar o estado da rede de forma efetiva e (ii) a elaboração de um modelo de visualização das informações da rede capaz de ampliar a capacidade de inferência e de entendimento de suas propriedades. A tese estabelece limites teóricos a estas questões e apresenta um estudo sobre a complexidade do monitoramento eficaz, eficiente e escalável de redes

Identificação remota de sistemas operacionais utilizando análise de processos aleatórios e redes neurais artificiais

A new method to perform TCP/IP fingerprinting is proposed. TCP/IP fingerprinting is the process of identify a remote machine through a TCP/IP based computer network. This method has many applications related to network security. Both intrusion and defence procedures may use this process to achieve their objectives. There are many known methods that perform this process in favorable conditions. However, nowadays there are many adversities that reduce the identification performance. This work aims the creation of a new OS fingerprinting tool that bypass these actual problems. The proposed method is based on the use of attractors reconstruction and neural networks to characterize and classify pseudo-random numbers generators

Estudo comparativo das propriedades mecânicas em compósitos da fibra modal e poliester

In the present work, three composites with distinct reinforcements (polyester, modal e polyester + modal), all if a unsaturated orthophthalic polyester resin as matrix were used, in order to conduct a comparative study by mechanical tests and water absorption. The fibre mats were prepared in a mat preparatory by immersion developed in the Textile Engineering Laboratory. The composites were manufactured using a closed mould process by compression using an unsaturated orthophthalic polyester resin as matrix and 1% MEK (methyl ethyl ketone peroxide) as an initiator. In each composite twelve samples with the dimensions of 150x25x3 mm were cut randomly for the mechanical analysis (tension x extension, three points bending and water absorption and Scanning Electron Micsroscopy). The mechanical tests were carried out in the Laboratório de Metais e Ensaios Mecânicos UFRN . All the analyses were carried out according to the ASTM norms. The resultant samples from the mechanical analysis were subjected for the Scanning Electron Microscopy analysis. Based on the results obtained, it was observed that the reinforced composite with two fibres (modal + polyester) presented better results in comparison to the other two composites both in the tension/extension as well on the three point bending tests. In the water absorption test, it was possible to observe an equilibrium in the water absorption by the modal and polyester composite, due to the union of the two fibres. In the SEM images, the regions of rupture in the composites as well as the adsorption between the fiber and the matrix could be observed

A imagem do Brasil na mídia impressa portuguesa: um estudo do caso diário de notícias e público

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Análise comparativa dos genes de reparo do DNA em Gluconacetobacter diazotrophicus e Gluconobacter oxydans

Gluconacetobacter diazotrophicus é uma alfa-proteobactéria Gram-negativa, tolerante a meios ácidos, fixadora de nitrogênio atmosférico e foi a primeira bactéria diazotrófica endofítica isolada da cana-de-açúcar. Por sua vez, Gluconobacter oxydans, também alfa-proteobactéria Gram-negativa, possui a capacidade de oxidar incompletamente alcoóis e carboidratos. Ambas de interesse biotecnológico e industrial, essas bactérias tiveram seus genomas seqüenciados completamente em 2007. Desta forma, foi de interesse desse trabalho analisar e comparar os genes de reparo do DNA devido sua importância na manutenção da integridade genômica. Sendo assim, as vias de reparo presentes nos dois organismos foram identificadas, utilizando como base uma terceira alfa-proteobactéria, a Caulobacter crescentus, cujos genes de reparo foram descritos por um trabalho anterior e também os genes bem estabelecidos para o reparo do DNA em Escherichia coli. Para esse estudo, um banco de dados contendo ortólogos para os genes de reparo de DNA encontrados nos organismos foi criado e análises comparativas por similaridade usando o pacote Blast e o software Clustal foram feitas. Este estudo demonstrou que as principais vias de reparo ao DNA reparos por excisão, reparo direto, reparo recombinacional e reparo pelo sistema SOS estão presentes nos organismos analisados, demonstrando, na maioria das vezes, boa similaridade com E. coli. Interessantemente, foram encontradas duplicações gênicas nos quais uma das cópias estava presente no cromossomo e a outra, no plasmídeo, como no caso de UvrD, DnaE e Ssb, possivelmente caracterizando eventos de transferência lateral. Por fim, uma grande novidade foi a identificação de ortólogos para RecB em G. diazotrophicus e G. oxydans e de ortólogos duplicados de RecD em G. diazotrophicus. Até o momento, não havia sido relatada a presença de membros da via de iniciação RecBCD do reparo recombinacional em alfaproteobactérias

Influência do estado nutricional materno em vitamina A sobre os níveis de imunoglobulina A no colostro humano

Mothers with good vitamin A nutritional status during gestation and lactation are better able to nourish and protect their infant with maternal milk. Our hypothesis is that women with more serum retinol have more retinol and secretory immunoglobulin A in colostrum. 190 healthy puerperal women from a Brazilian public maternity were recruited and divided according to the cutoff point for serum retinol (30 μg/dL). A number of the women was supplemented with 200000 UI (60 mg) of retinyl palmitate in the immediate postpartum. Serum and colostrum were collected on the 1st day postpartum and colostrum again on the following day. Retinol (serum and colostrum) was analyzed by HPLC and SIgA (colostrum) by turbidimetry. The mothers presented with adequate biochemical indicators of nutritional status, according to serum retinol (44.6 μg/dL). There were significant differences (p= 0.0017 and p= 0.043, respectively) in retinol and SIgA levels in the colostrum of mothers with serum retinol > 30 μg/dL and < 30 μg/dL. The concentration of SIgA in the colostrum of non-supplemented mothers on the 1st day postpartum was 822.6 mg/dL, decreasing after 24 hours to 343.7 mg/dL. Supplemented mothers showed levels of SIgA in colostrum of 498.9 mg/dL on the 2nd day postpartum (p= 0.00006). The colostrum of women with good vitamin A nutritional status had more retinol and SIgA. Additionally, maternal supplementation increases the levels of SIgA in colostrum. The higher levels of SIgA on the 1st day postpartum showed the importance of early breastfeeding, given that it provides considerable immunological benefits to newborn infants

Participação e ação política dos psicólogos frente à política de saúde mental no Piauí

It is intended to problematize forms of participation and political action of psychologists toward mental health policy in Piauí. The study was motivated through challenges faced by the local Psychiatric Reform movement, and the one underway in the country, which needs support technical-assistence and sociopolitical to guarantee accomplishments and to move on with the complete reversion of the asylum to psychosocial model. The method was based on institutional analysis and counted with three insertion moments for the field research: a) to identify historical and political events that configure the local Psychiatric Reform (documental research/oral memory) and to identify psychologists that act in Mental Health; b) to realize participant observation and semi-structured interview with 33 psychologists which act in Mental Health in Teresina; c) to follow the sociopolitical contexts/events of the local Psychiatric Reform (participant observation and conversation circles). The data were analyzed considering four discussion axes, achieved through categorization of the collected material: 1) ways of professional insertion of psychologists in mental health; 2) knowledge and practices used to act in this work context of the profession; 3) political professional movements of workers of the reformist local process; 4) political action of psychologists toward the course of Piauí mental health policy. We concluded identifying that the participation of psychologists in Piauí mental health finds strength by the conduction of its macro and micropolitical professional action. The first one follows oriented by the lemma of social commitment, despite this movement doesn t have equivalence in the transformation of practices and political-professional postures of psychologists in the daily of services. The second is constituted in the every day of work, standing to the political action of the profession implicated with the preservation of the classic modus operandi of being psychologist. Therefore, it is about the actions that give little sustainability technicalassistance to the Psychiatric Reform underway in the State, and why not say in the country

A ação do psicólogo na assistência social: interiorização da profissão e combate a pobreza

A pobreza, como uma das manifestações da questão social , é elemento constitutivo do padrão de desenvolvimento capitalista, extremamente desigual, em que convivem acumulação e miséria. Nas últimas décadas, sob a égide do ideário neoliberal, verifica-se um incremento em políticas de combate à pobreza no Brasil, de caráter focalizado e compensatório, tanto por meio de ações diretas de transferência de renda, quanto pelo fortalecimento de serviços e programas voltados às populações pobres, com a estruturação do Sistema Único de Assistência Social, hierarquizado em Proteção Social Básica e Especial. A participação do psicólogo nas equipes profissionais do CRAS constitui um importante elemento para a discussão da inserção desse profissional no campo das políticas sociais no Brasil, considerando os limites estruturais postos pelo caráter compensatório dessas políticas, e a construção de estratégias que possam resultar em uma mudança efetiva nas condições de vida das camadas mais pobres da sociedade. Aliado a isso, por meio do ingresso na política de assistência social, um número significativo de profissionais psicólogos passa a atuar em cidades pequenas e médias, fora dos tradicionais centros urbanos, constituindo um movimento de interiorização da profissão . O objetivo do presente trabalho é analisar a ação profissional do psicólogo na assistência social no contexto nas políticas de combate à pobreza em municípios do interior do Rio Grande do Norte. Realizou-se entrevistas semiestruturadas com psicólogos atuantes nos CRAS de 17 municípios de pequeno e médio porte do estado. As informações foram sistematizadas com auxílio do software QDA Miner v. 3.2. A perspectiva defendida neste trabalho refere-se à funcionalidade das práticas psicológicas no contexto das políticas de combate à pobreza brasileiras na atualidade, ao reforçar os ideais neoliberais de naturalização da questão social e responsabilização dos indivíduos pela sua condição social, além de, em grande parte, desconsiderar as particularidades e singularidades que marcam os territórios de ação. Todavia, é possível depreender alguns modos de ação profissional que estão na contramão dos mais frequentemente encontrados nesse campo. Esses modos se revelam no cotidiano do CRAS como formas diferentes de compreensão do saber fazer profissional, resultados de um posicionamento político e de uma formação profissional que buscam romper com o tradicionalismo e conservadorismo da Psicologia e do campo da assistência social

O Psicólogo no campo do Bem-Estar: cartografias de práticas na saúde e assistência social

The study focuses on the psychology and Social Well-being Policy encounters. The objective is to understand how the psychologists in the health services of Natal, RN, specifically in the Basic Health Units and social assistance, experience their daily practices. The methodology included observation and interviews of 13 psychologists regarding their daily activities and forms of practice in these services. We utilized an interview protocol directed at the affective memory and the professional life history of these technicians. Field notes were used to produce a cartography of the encounter intensities experienced by the researcher in the investigated context. The data analysis enabled the construction of the following analytic axes: 1) Work processes and proximity/ distancing points between these fields; 2) Forms of government and life management in the well-being context; 3) Experiments of self in the daily services. The first axis showed the precariousness of working conditions (remuneration issues, lack of structure, of training and autonomy for the activities). In the second axis the identified care forms produced in these fields indicated an adherence to the production of ideal subjects characterized as autonomous, productive, healthy and aware of own rights . These were considered normative insofar as they express attempts to break with the established patterns. In the third axis, many technicians experienced constraint with the daily activities because they found themselves in contexts that were adverse to the habitual forms of action. This situation provoked two distinct forms of positioning: a) action expressed by compassion, pity and resentment; b) investment in the practices themselves, so as to overcome its limits and to respond innovatively to the difficulties and/or challenges that these contexts provoke

Gestão pública em saúde mental: um estudo em CAPS com gerência pública e privada do Rio Grande Do Norte

Currently, several models of management services from the public administration are in operation in Brazil following a global trend. Besides the traditional public management operated in SUS, there are ongoing experiments of privately management in the public health services. Accordingly, we have developed an investigation into two Psychosocial Care Centers operating between these two forms of financial resources management: the first is the CAPS II - PAR situated in the municipality of Parnamirim whose form is private and the second is the CAPS II West Christmas is that the municipal government. We seek to know the workings of services, planning forms and criteria for use of financial resources, identify differences between departments on ways to run and see how technicians and users participate in the planning and management of these resources. Documentary Research was conducted by the municipal Christmas and the financial administration of the CAPS service in Parnamirim. Were conducted an interview with manager (mental health coordinator of Natal) and another interview with an employee of planning department in the Health Department of Natal, an interview with the coordinator and financial administrator of CAPS - PAR and two groups of discussion taped conversation with semi structured script interviews with six technicians in CAPS PAR and six professionals crowded in CAPS - West.Differences were observed in the management of resources funded from four blocks of discussion and analysis of results, where the privately-run service for the direct management and bureaucracy without being discussed and planned spending on staff, as well as through meetings with users, the use of the financial resources available in box; already in service with municipal public administration there is a hierarchy, this answering the coordination of mental health and the local health department that centralizes resources and defines their spending. There are meetings with patients and families, but the demands are limited as to what can be sued because of the manager s authorization. Such differentiation would be related to differences in the articulation of public management with the different types of possible management in public services, where from the implementation of new public administration in the Brazilian s State Management Reform initiated in the second half of the 1990s, benefit management services with private regime, with autonomy and direct transfer of resources

Indicadores de transtornos de estresse pós-traumático em bombeiros militares

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