Localização e planejamento de caminhos para um robô humanóide e um robô escravo com rodas

This work presents the localization and path planning systems for two robots: a non-instrumented humanoid and a slave wheeled robot. The localization of wheeled robot is made using odometry information and landmark detection. These informations are fused using a Extended Kalman Filter. The relative position of humanoid is acquired fusing (using another Kalman Filter) the wheeled robot pose with the characteristics of the landmark on the back of humanoid. Knowing the wheeled robot position and the humanoid relative position in relation to it, we acquired the absolute position of humanoid. The path planning system was developed to provide the cooperative movement of the two robots,incorporating the visibility restrictions of the robotic system

Caminhos para a universalização dos serviços de água e esgotos no Brasil: a atuação das entidades reguladoras para indução da eficiência dos prestadores de serviços

The deficit of water and sewerage services is a historic problem in Brazil. The introduction of a new regulatory framework, in 2007, presented ways intending to overcome these deficits, among them, the providers efficiency improvement. This thesis aims to analyze the regulators performance regarding its ability to induce the efficiency of the Brazilian water and sewerage services providers. To this end, an analytical approach based on a sequential explanatory strategy was used, and it consists of three steps. In the first step, the Data Envelopment Analysis ( DEA ) was used to measure the providers efficiency in 2006 and 2011. The results show that the average efficiency may be considered high; however significant inefficiencies among the 29 analyzed providers were detected. The ones in the Southeast region showed better performance level and Northeast had the lowest. The local and the private providers were more efficient on average. In 2006 and 2011 the average performance was higher among non-regulated providers. In 2006 the group regulated by local agencies had the best average performance, in 2011, the best performance was the group regulated by the consortium agencies. To analyse the second step was used the Malmquist Index, it pointed that the productivity between 2006 and 2011 dropped. The analysis through decomposing Malmquist Index showed a shift of technical efficiency frontier to a lower level, however was detected a small provider s advance towards the frontier. Only the Midwest region recorded progress in overall productivity. The deterioration in the total factor productivity was higher among regional providers but the local ones and the private agencies moved quickly to the frontier level. The providers regulated from 2007 showed less decrease on the total productivity and the results of the catch up effect were more meaningful. In the last step, the regulators standardization activity analyses noted that there are agencies that had not issued rules until 2011. The most standards topics discussed in the issued rules were the tariff adjustments and the setting of general conditions for the provision and use of services; in another hand, the least covered topics were new technologies incentive and the introduction of efficiency-inducing regulatory mechanisms and productivity gains for price reviews. Regulators created from 2007 were more active proportionately. Even with the advent of the regulatory framework and the creation of new regulatory bodies, the evidence points to a reality in which the actions of these agencies have not been ensuring that providers of water and sewage, regulated by them, has achieved better performance. The non- achievement of regulatory goals can be explained by the incipient level of performance of the Brazilian regulatory authorities, which should be strengthened because of its potential contribution to the Brazilian basic sanitation department

A dimensão sociocultural da reforma psiquiátrica: articulando redes para a consolidação da estratégia de atenção psicossocial

This thesis aims to discuss on articulations that have been produced on the socio-cultural field in the Psychiatric Reform process and its pertinence to the streghtening of Psychosocial Care Strategy (EAPS) in Fortaleza/CE. Such interest has been justified by the need to promote not only the production of these networks, but also interfaces to enable strategies of support and sociability from the perspective of deinstitutionalization of madness. We were inspired by the cartography perspective of Deleuze e Guattari, and determined as objectives: 1) to discuss the complexity of Psychiatric Reform process and analyze the EAPS as a model for the current Mental Health policy in the country; 2) to map socio-cultural strategies connected to the CAPS network in the city, investigating experiences that already exist or may be constituted as everyday social support networks; 3) from that mapping to start, define and discuss some aspects that converge to the accomplishment for this new mental health paradigm, drawing a cartography of the issues and movements in progress. The mapping was carried out in 2009 and consisted of semi-structured interviews with the coordinators of the 14 existent CAPS and with some people connected to the Coordination of Mental Health. Besides, during the whole development of the study, we have taken part in public events that brought us clues on the connection between mental health and culture. From the survey produced, we defined three vectors for discussion (Art, Labour and Partnership with Social Movements) which have been highlighted as effective possibilities of intervention in the socio-cultural field of Psychiatric Reform in Fortaleza and reveal important paths on the fulfillment process of a new pattern of care. For each of these axes, we chose a field of empirical research (Projeto Arte e Saúde, COOPCAPS e MSMCBJ) in which we could better understand their strengths and difficulties, starting from open interviews with some of their actors and the production of a diary of sensations in 2010. We have seen that they are articulated with the proposal of EAPS, being part of the concerns to the National Mental Health Policy and also the municipal administration. However, we have noticed to be necessary to promote those dimensions further, focusing on its complexity at the macro and micro policies, with the purpose of leading the Psychiatric Reform process

Prática de coordenação pedagógica e concepções acerca da atuação em psicologia escolar: desvendando um contexto, repensando caminhos

Considering the necessary approaches with the quotidian of the pedagogical field mentioned in the recent productions in Psychology about the insertion of psychologists in the school field, the objective of this work was to know and to understand the dynamics of functioning of a team of pedagogical coordination, intending to produce reflections on the possibilities of action in school psychology with these professionals. Our field of research was the Municipal School Teacher Emília Ramos (EMPER), considering its peculiar history, distinguished by a constant effort of achievement of the school success by its pupils. As subject of the study, six pedagogical coordinators participated, who worked at the school in the diurne turns, where regular classrooms of 1º cycle of basic education functioned. As procedures, we use participant observations and open interviews, focusing the activities performed by the coordinators and its possible demands to psychology. We use the analysis of content for the production of results. These results evidenced a work of coordination realized on a structured routine, but flexible, centered around the activity of conduction of groups of studies with the teachers. We grouped the demands to psychology in four thematic groups: diagnosis and attending the pupils; orientation to the families, contribution in the formation of the professionals and clinical listening of the professionals of the school. In this way, it is made clear that, in a context where happens a well articulated and consistent pedagogical work, the possible performance in school psychology is not scrumbled or confused with social and pedagogical practical others which many times takes attendance. With these information, we expect to contribute for the theoretical and practical elaborations, in Psychology and the Pedagogy, compromised with the success of the educative work realized in the public schools

Caminhos e descaminhos da adesão ao tratamento anti-hipertensivo :um estudo com usuários do Pacha (Programa de Assistência e Cuidado da Hipertensão Arterial) do Hospital Universitário Onofre Lopes

The high blood pressure is a multifactorial chronic disease which possesses emotional and social features in the illness appearance and evolution and in the adherence to the treatment which involves a decision-making through patient so that he or she process the necessary changes on harmful living habits. Adhesion, traditionally, it is referred to the patient to answer to the doctor orientations or of other health professional, about the appearance to the appointment with a doctor, about the use of medicine or lifestyle changes and maintaining this adhesion is the main problem to be overcame. It is expected the adhesion will ever be a continual, stable and satisfactory action, disregarding the complexity of subjectivity processes which permeate the sicken. This research aimed to investigate the difficulties which the person with high blood pressure has to adhere to the treatment, from the signification processes which give sense to the actions dealing with the adhesion. The study was carried out with 48 users of assistance program to the high blood pressure patient from Hospital Universitário from Natal RN, between 40-65 age. The answers were submitted to a double analysis process: 1) answer systematization in categories and codes and admission in statistical program SPSS (Statistical Package of Social Science), for generation of descriptive statistics; 2) Sense and signification analysis which permeated the deepener statement and interpretatively. The greater difficulties found are present on low-salt and law-calorie diets, in the dealing with everyday feeling and stress, being these factors cited as direct motive to the high blood pressure, regardless of interviewee s sex. It is observed there is not adhesion, but adhering, as an experienced everyday process. This work contributes with its results, assessing the used strategies by program with the aim of increasing the adhesion rates

Famílias privadas de liberdade: a saga da violência vivenciada por adolescentes que trilham os áridos caminhos da criminalidade

This paper has as its main focus the relation between the infringement act and the adolescents families social economical problematic, who obey the social educational deprivation of freedom at CEDUC in the district of Pitimbu RN, establishing in the theme Children and Adolescents, with the objective of showing how these families breed in the social economical and cultural political aspect. It also seizes who those adolescents are and their family members in their social aspect and as those families face their daily activities. The focus on the social matter, family, adolescent, infringement act, exclusion, inclusion formed the analysis categories which made myths and reality possible, taking into consideration the infringement act in our society. The data collection showed that those families conditions of life are of poverty. Families originated from low social classes, 62.5 % coming from the countryside and living with a daily income ranging from R$ 0,31 to R$ 8,31. Their level of education is low; there is lack of human and citizenship rights and no professional qualification whatsoever. It questions the degrading social exclusion suffered by millions of Brazilian people due to social, political and infringement economical problems. Has this favored the infringement practice? How to confirm the families lack of competence having the social vulnerability? Are the Public Political Institutions really performing the way they should? Are they really carrying out their role as they should? We have noticed that from then on, the necessity of understanding the exclusion/inclusion suffered not only in an imprecise and empty way, but understood as processes of integrative exclusion or ways of delinquency, where the excluding is not only the only one who has lack of material care but the one who is seen or recognized as a person, is not being treated as one. The effort of this paper provided an approach to our object, and the seizing of a close relation between the infringement act and the exclusion process or inclusion suffered, which are submitted to families of those adolescents who deprive of freedom

Os caminhos da transição agroecológica: uma análise das experiências da agricultura familiar camponesa no território dos Vales do Curu e aracatiaçu-CE

This study examines peasant family farming from an agroecological perspective. It intends to analyze the changes resulting from the transition from conventional to agro-ecological agriculture in the daily practices of farmers articulated associated with the Network of Agroecological and Solidarity Farmers of the Curu and Aracatiaçu Valleys Territory, the locus of this empirical research, and a space which has highlighted the social dynamics of agroecological innovation, as well as articulating environmental exchanges and knowledge development. As a way to further that goal, we seek to identify the forms of social organization previously present in the daily lives of these subjects, in addition to grasping the determinants that lead or led them to adopt agroecology, noting the need to verify the forms of resistance, and the strategies adopted by farmers and how they articulate collectively. Through the historical and dialectical methods, we seek to take the implications of technical modernization of agriculture under the conditions of production and reproduction of peasants and thus situate the emergence of agroecology, a focus that is born as a counterpoint to conventional patterns of agricultural development based on the paradigm of the Green Revolution. We structured this study around the trajectory of agroecological farmers that developed and internalized agroecological practices, processes, and organizational forms. For the analysis, we used theoretical and methodological frameworks from literature related to field research. The systematization and analysis of experiments revealed that agroecological transition is a broad process of change, not restricted to technical matters. We observed changes in production practices, diversification of production and feeding practices, ecological awareness, production autonomy, and organizations formed to face the challenges resulting from the imposition of the dominant agricultural development model that combines environmental degradation, land ownership concentration, and wealth concentration

Interfaces cultural, política e organizacional do projeto caminhos do frio rota cultural no contexto da regionalização do turismo no brejo paraibano

This study is the analysis of cultural, political and organizational interfaces of "Caminhos do Frio Rota Cultural" Project in the context of tourism regionalization in Brejo Paraibano and it presents the characterization, routing and inventory of six municipalities of the Project, as well as the identification of cultural elements used for tourist in the routing of the pond, the investigation of political and organizational articulation and the verification of participation of each producing agent in the development of tourism resulting from the swamp of Paraiba. This is a qualitative descriptive and exploratory study, which makes use of the interpretive paradigm to perform an analysis of the environment where occurs the regionalization of tourism in Brejo of Paraíba and the social actors involved in this process in order to pursue development of the region through culture and tourism, with the collection spot in the six counties of the Project participants collected through interviews with managers, community, government agencies and tourist trade, and the use of the technique of direct observation. This time, with the data analysis it was possible to establish the production situation and its cultural and tourist development in the region of Brejo (PB), where culture has become a developmental tool within the tourism industry due to its innovation potential. It was possible to ratify the undisputed vocation of cultural tourism in the region in question, since other projects being developed with the use of cultural resources with a strong influence on the policies of regional tourism. Thus, the main result was that was seen is that the regional development has triggered a refunctionalisation / reappropriation of space just rebuilding a new territorial organization through the development of a regional autonomy of management, a capacity of collective ownership and the use of economic surplus, a spontaneous process of social inclusion as well as awareness and mobilization tourist (even if initial and shy), an appreciation of natural and cultural assets for all stakeholders and especially identification of the population with its region and its culture, as to achieve regional development is not enough to increase the economic, but above all the promotion of endogenous social factors such as changes in social and cultural values and the integration of social actors in this process. Finally, taking into account the definitions of sustainability, it is considered that cannot be said that the development model seen in the swamp of Paraiba is sustainable, but it is a model of regional development based on the unique characteristics that each municipality has and create a regional identity and have correponded expectations / desired results and therefore the viability of the region through the development of cultural tourism was proven

Computação em nuvem no governo: caminhos para a formação de uma agenda governamental

This work aims to understand how cloud computing contextualizes the IT government and decision agenda, in the light of the multiple streams model, considering the current status of public IT policies, the dynamics of the agenda setting for the area, the interface between the various institutions, and existing initiatives on the use of cloud computing in government. Therefore, a qualitative study was conducted through interviews with a group of policy makers and the other group consists of IT managers. As analysis technique, this work made use of content analysis and analysis of documents, with some results by word cloud. As regards the main results to overregulation to the area, usually scattered in various agencies of the federal government, which hinders the performance of the managers. Identified a lack of knowledge of standards, government programs, regulations and guidelines. Among these he highlighted a lack of understanding of the TI Maior Program, the lack of effectiveness of the National Broadband Plan in view of the respondents, as well as the influence of Internet Landmark as an element that can jam the advances in the use of computing cloud in the Brazilian government. Also noteworthy is the bureaucratization of the acquisition of goods to IT services, limited, in many cases, technological advances. Regarding the influence of the actors, it was not possible to identify the presence of a political entrepreneur, and it was noticed a lack of political force. Political flow was affected only by changes within the government. Fragmentation was a major factor for the theme of weakening the agenda formation. Information security was questioned by the respondents pointed out that the main limitation coupled with the lack of training of public servants. In terms of benefits, resource economy is highlighted, followed by improving efficiency. Finally, the discussion about cloud computing needs to advance within the public sphere, whereas the international experience is already far advanced, framing cloud computing as a responsible element for the improvement of processes, services and economy of public resources

Processos criativos com alunos-atores idosos: caminhos de uma dramaturgia de pertencimento

The present work is to present an experience artistic and pedagogical means of a laboratory-developed with senescent students from their memory files. Unlike other works developed with students of the third age, we make use of the archives of memory, where the drama takes from improvisations developed memories, in other words, the text is built not just recollected by students. Our work, however, is built by a look from the outside. The affective memories narrated by students serve as an engine for text construction and spectacle titled Vamos Falar de Amor. In this experiment the teacher-director also becomes an dramaturgista, and uses her imagination, that also comes filled with her own memories, in order to complete the gaps of the narrative, in a hybrid process in which the collective memory interlace the individual memory, transforming epic into dramatic. Here the route designed to get to the construction of the text and left the text for the second scripture, the spectacle. We want to show that old age is comprised of various hues, and that this phase of human development brings aspects that differ from old to old, and that education and theater can be a resumption of the social role of the elderly in contemporary surroundings. Therefore, the dramaturgy of memory creates the dramaturgy of belonging, facilitating in many aspects the Scenic Play with the elderly ones.

Formação do profissional sanitarista: caminhos e percalços

The public health is a project that struggles for a fair, resolutive and democratic health and that aims to help the collective and social bodies starting from their real needs, being totally involved with inequality and social determination issues. Thus, it is of fundamental importance to form a professional commited to this project. This current study aims to understand the perception of teachers/militants of Public Health about the graduation of Healthcare professionals. Therefore, we look forward answering the following question: Which elements are relevant to the formation of the sanitarian professional? This is a field research, descriptive and exploratory, with a qualitative approach. For data collection, we used a semi-structured interview technique with veteran professionals as sanitarians and teachers of Public Health area. The data were analyzed based on the technique of thematic analysis of subject. This technique consists in structuring the text in units, in categories according analogic reunification. In this sense, were organized three analysis categories, whose titles were guided according to the study objectives, namely: "The Institutional Formation of Sanitarians"; "Elements that contribute to the Sanitarian formation " and "Possible Paths in Sanitarian Formation". Four main elements of sanitarian formation were emphasized: technical capacity to develop a sanitation work, based on three conceptual pillars of Public Health; Framework, foundation and support on Social Sciences, in the social concepts of health; Life history of the student, implication of this with the Public Health object; Field operation, in the territory, directly integrated to the service and the health system. The intervieweds imagine a path to the sanitarian formation: the Public Health should be well explored in its theory and practice in graduation, in any health area and obviously in the graduation of Public Health; the Lato Sensu courses, especially residency, would need a theoretical upgrading, given the creation of undergraduate courses on the area; the Stricto Sensu courses, while forming researchers and teachers in the area, should develop productions involved with the health system and the object of Public Health, in order to bring an effective return, in terms of applicability, in the health system. It is suggested that such a path should be complementary, in a sense of adding knowledge as it travels through graduation, postgraduation Lato Sensu and post-graduation Stricto Sensu. The idea, in general, is that the graduate-residence set / specialization-mastering / PhD compose a linear formation, ascending and complementary. To follow all this process effectively, it is necessary, and urgent, to think of regulation strategies of the formating procedures. It is also recommended that more studies are conducted in this area, specially a more careful evaluation of the undergraduate courses in Public Health, which is a current and relatively new issue on formation in the area.

Caminhos para a avaliação da formação em odontologia: desenvolvimento, validação e aplicação de critérios

The need for universal access to health and the failure of the pedagogical model centered on the transmission of knowledge has led to changes in the training of health professionals. The objective of this study was to provide a new alternative for evaluating dental students through the development, validation and application of evaluation criteria based on the National Curriculum Guidelines (DCN in Brazil). Therefore, the study was conducted in three phases: development and validation of evaluation criteria of Dentistry courses based on the DCN; a pilot study to verify the applicability of the validated criteria and evaluation of the dentistry courses in the Northeast. In the first stage, a logical model was formulated, allowing for the construction of a criteria matrix, validated by a modified Delphi consensus technique. The validated matrix has the following dimensions: Profile of graduates, health care guidance, teaching and service integration, and pedagogical approach. The pilot study was conducted in five dental courses through a documentary study of the pedagogical project course (PPC), and application of validated questionnaires and interviews with course coordinators. The results of the pilot study indicate the possibility of being verified by means of validated criteria and using different methodological proposals, advances and curricular limitations facing the proposed reorientation of training recommended by DCN. The evaluation of Northeast Dentistry courses was carried out by applying a questionnaire validating a matrix of 30 course coordinators, including public and private institutions. The data were submitted to descriptive analysis, and also tested the difference between means and the correlation between the assessment of the coordinators in the dimensions and sub-dimensions with each other, among the general evaluation of courses and between the following variables: administrative category, time since last curriculum updating, participation in reorienting the training of health professionals programs, ENADE and CPC (Preliminary Concepts of the Course) scores in the year 2013. Positive correlation (p <0.01) was found between the means obtained by the perception of the coordinators in most dimensions, and also between them and the overall performance of the course. There were no significant differences between the coordinators’ perception about course performance and the administrative category (public / private). This difference is slightly higher when the average performance is compared with respect to time due to the last curriculum update, getting better performance in courses with the latest updated curriculum, even with there not 11 being this significant difference between dimensions. Better averages of performance were obtained in courses that do not participate in reorientation programs of professional training, with a significant difference (p<0.05) for the overall score and for all dimensions except the dimensions of teaching-service Integration (p = 0.064). There was no significant correlation between the assessment of coordinators in all dimensions, in the overall assessment or ENADE and CPC scores in 2013. The final instrument proposed in this study is a different alternative assessment for health training of both dentists and other professionals, considering that the DCN providing for the training and graduation of professionals is focused on the health needs of the population, integrated with the SUS (the National Brazilian Health System) and based on student-centered learning.

Semeando a cultura audiovisual no Rio Grande do Norte: a experiência das oficinas de vídeos do Coletivo Caminhos, Comunicação & Cultura

The audiovisual media is an instrument of communication that plays an important role in the cultural, social and political understanding of society. This survey was done intenting to identify the contribution of the audiovisual media to the culture in the Rio Grande do Norte and trying to understand the process of producing audiovisual in this state. To reach the aim, a case report was done regard the activities of Caminhos, Comunicação & Cultura – CC&C – a group that conducts cultural activities in the state since 2006 and has 76% of its activities related to audiovisual production, in which 47% of them, are video workshops. The video workshop project "Sowing Culture", held by the group in the city of Venha Ver/RN in January 2013, was observed and analised from its conception to its realization. The research pursued to reveal how the initiatives of independent producers, such as the CC&C group, can promote the access to audiovisual culture in regions where such knowledge is limited or nonexistent, due to the poor state policies related to the culture. Methodologically, the research was structured by performing a historical and descriptive analysis of hypothetical-deductive method through participant observation. For the conceptual and theoretical development, it was addressed the Sociability, Ethnography and media activism. The research proved that the independent audiovisual producers are promoting changes in the RN audiovisual practices. Before the background featured in the research, it is proposed a prognostic from researching to opening the RN Audiovisual Observatory, a communicational tool projected as space of sharing information, thinking, speaking, contacting and promoting the audiovisual productions of the state.

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.

Contribuições em escalonamento e análise de desempenho de redes WirelessHART

Wireless Communication is a trend in the industrial environment nowadays and on this trend, we can highlight the WirelessHART technology. In this situation, it is natural the search for new improvements in the technology and such improvements can be related directly to the routing and scheduling algorithms. In the present thesis, we present a literature review about the main specific solutions for Routing and scheduling for WirelessHART. The thesis also proposes a new scheduling algorithm called Flow Scheduling that intends to improve superframe utilization and flexibility aspects. For validation purposes, we develop a simulation module for the Network Simulator 3 (NS-3) that models aspects like positioning, signal attenuation and energy consumption and provides an link individual error configuration. The module also allows the creation of the scheduling superframe using the Flow and Han Algorithms. In order to validate the new algorithms, we execute a series of comparative tests and evaluate the algorithms performance for link allocation, delay and superframe occupation. In order to validate the physical layer of the simulation module, we statically configure the routing and scheduling aspects and perform reliability and energy consumption tests using various literature topologies and error probabilities.