80 resultados para Movimentos gurdjieffianos
Resumo:
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
Resumo:
This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal
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This work presents the development of a prototype of an intelligent active orthosis for lower limbs whit an electronic embedded system. The proposed orthosis is an orthopedical device with the main objective of providing walking capacity to people with partial or total loss of lower limbs movements. In order to design the kinematics, dynamics and the mechanical characteristics of the prototype, the biomechanics of the human body was analized. The orthosis was projected to reproduce some of the movements of the human gait as walking in straight forward, sit down, get up, arise and go down steps. The joints of the orthosis are controlled by DC motors equipped with mechanical reductions, whose purpose is to reduce rotational speed and increase the torque, thus generating smooth movements. The electronic embedded system is composed of two motor controller boards with two channels that communicate with a embedded PC, position sensors and limit switches. The gait movements of the orthosis will be controlled by high level commands from a human-machine interface. The embedded electronic system interprets the high level commands, generates the angular references for the joints of the orthosis, controls and drives the actuators in order to execute the desired movements of the user
Resumo:
Several mobile robots show non-linear behavior, mainly due friction phenomena between the mechanical parts of the robot or between the robot and the ground. Linear models are efficient in some cases, but it is necessary take the robot non-linearity in consideration when precise displacement and positioning are desired. In this work a parametric model identification procedure for a mobile robot with differential drive that considers the dead-zone in the robot actuators is proposed. The method consists in dividing the system into Hammerstein systems and then uses the key-term separation principle to present the input-output relations which shows the parameters from both linear and non-linear blocks. The parameters are then simultaneously estimated through a recursive least squares algorithm. The results shows that is possible to identify the dead-zone thresholds together with the linear parameters
Resumo:
The vision is one of the five senses of the human body and, in children is responsible for up to 80% of the perception of world around. Studies show that 50% of children with multiple disabilities have some visual impairment, and 4% of all children are diagnosed with strabismus. The strabismus is an eye disability associated with handling capacity of the eye, defined as any deviation from perfect ocular alignment. Besides of aesthetic aspect, the child may report blurred or double vision . Ophthalmological cases not diagnosed correctly are reasons for many school abandonments. The Ministry of Education of Brazil points to the visually impaired as a challenge to the educators of children, particularly in literacy process. The traditional eye examination for diagnosis of strabismus can be accomplished by inducing the eye movements through the doctor s instructions to the patient. This procedure can be played through the computer aided analysis of images captured on video. This paper presents a proposal for distributed system to assist health professionals in remote diagnosis of visual impairment associated with motor abilities of the eye, such as strabismus. It is hoped through this proposal to contribute improving the rates of school learning for children, allowing better diagnosis and, consequently, the student accompaniment
Resumo:
A model of a solar oven with a reflective surface composed of two mirror segments is presented, constituting a two semi-parabolic surfaces made of fiberglass, applied on a ceramic mold, intended to be used in residential and commercial cooking. The reflective surface of the semi-parable is obtained with the use of multiple plain segments of 2 mm wide mirrors. The semi-parabolic structure has visible movements that are comparable to that of the sun. The technical details of the manufacturing and assembling processes will be presented with an analysis of the viability of thermal, economic, and materials of such prototype. This prototype has important social implications and primordial aspects, which combats the ecological damages caused by the wide-scale use of firewood during cooking. It has been demonstrated that the solar oven has the capacity to cook simultaneous two meals distinct for a family of four
Resumo:
The present work consists in the analysis of tribologycal properties of basic and multifunctional knitted fabrics. This knowledge has fundamental importance for the textile industry since it can quantify, in an objective way, the tactil. The fabrics used were characterized by friction and mechanical tests for determining the viscoelastic region, wear resistance and friction coefficient of the fabrics used. The stress-strain curve was obtained by the method Kawabata, KES-FB1. Wear tests performed with the aid of equipment Martindale. The measurement of friction coefficient, two methods were used and analyzed comparatively. The first was a method already established worldwide known as KES-FB4 and the second was an innovative method called FRICTORQ, developed by the University of Minho. These two methods were compared taking into account the relative motion between the tribologycal pairs are different from each method. While the first motion is translational, the second is rotational. It was formal that the knitted had a multifunctional fabrics tribologycal performance which was better than the basic knitted fabrics, as the viscoelastic region, was laager highlighting a multifunctional structure, with greater wear resistance mainly on the back side of the knitted fabrics and lower friction coefficient. Performing a comparative analysis between two methods used to measure the friction coefficient, it was formal that both methods were consistent in terms of results. In operational terms, the FRICTORQ showed ease of operation and increased reproducibility of results
Resumo:
An alternative box-type solar cooker built starting from the scrap of a tire and a scrap of old office chair is presented, which principles functions are the effect greenhouse and the concentration. The tire served as structure for making of is the baking enclosure where the absorber (roasting pan 20x30cm) of the solar is located, being re-covered for a glass blade for the generation of the greenhouse effect isolated lateral and having deep its and for a composite the plaster base and EPS. Segments of plain mirrors had been placed in the laterals of the oven/cook for the concentration of the radiation and a reflecting parable was introduced in the baking enclosure for the exploitation of the incident reflected radiation inside of the oven/cook. The oven/cook is mobile to allow one better aiming of exactly in relation to the apparent movement of the sun. The thermal economic and of materials viabilities of the stove/cook in study will be demonstrate. The average internal temperature of the absorber was around 152,3°C and the internal temperature around 110°C. Will demonstrate that toits low cost and good thermal performance, represents basic characteristics for the viability of large use of such archetype, mainly for cooking the decreases and averages temperatures. One will reveal that the archetype in study is competitive with the box-type solar cooker conceived in the whole world
Resumo:
In 1998 the first decorticator was developed in the Textile Engineering Laboratory and patented for the purpose of extracting fibres from pineapple leaves, with the financial help from CNPq and BNB. The objective of the present work was to develop an automatic decorticator different from the first one with a semiautomatic system of decortication with automatic feeding of the leaves and collection of the extracted fibres. The system is started through a command system that passes information to two engines, one for starting the beater cylinder and the other for the feeding of the leaves as well as the extraction of the decorticated fibres automatically. This in turn introduces the leaves between a knife and a beater cylinder with twenty blades (the previous one had only 8 blades). These blades are supported by equidistant flanges with a central transmission axis that would help in increasing the number of beatings of the leaves. In the present system the operator has to place the leaves on the rotating endless feeding belt and collect the extracted leaves that are being carried out through another endless belt. The pulp resulted form the extraction is collected in a tray through a collector. The feeding of the leaves as well as the extraction of the fibres is controlled automatically by varying the velocity of the cylinders. The semi-automatic decorticator basically composed of a chassis made out of iron bars (profile L) with 200cm length, 91 cm of height 68 cm of width. The decorticator weighs around 300Kg. It was observed that the increase in the number of blades from 8 to twenty in the beater cylinder reduced the turbulence inside the decorticator, which helped to improve the removal of the fibres without any problems as well as the quality of the fibres. From the studies carried out, from each leaf 2,8 to 4,5% of fibres can be extracted. This gives around 4 to 5 tons of fibres per hectare, which is more than that of cotton production per hectare. This quantity with no doubt could generate jobs to the people not only on the production of the fibres but also on their application in different areas
Resumo:
In machining of internal threads, dedicated tools, known as taps, are needed for each profile type, diameter, and low cutting speed values are used when compared to main machining processes. This restriction in the cutting speed is associated with the difficulty of synchronizing the tool s rotation speed and feed velocity in the process. This fact restricts the flexibility and makes machining lead times longer when manufacturing of components with threads is required. An alternative to the constraints imposed by the tap is the thread milling with helical interpolation technique. The technique is the fusion of two movements: rotation and helical interpolation. The tools may have different configurations: a single edge or multiple edges (axial, radial or both). However, thread milling with helical interpolation technique is relatively new and there are limited studies on the subject, a fact which promotes challenges to its wide application in the manufacturing shop floor. The objective of this research is determine the performance of different types of tools in the thread milling with helical interpolation technique using hardened steel workpieces. In this sense, four tool configurations were used for threading milling in AISI 4340 quenched and tempered steel (40 HRC). The results showed that climb cut promoted a greater number of machined threads, regardless of tool configuration. The upcut milling causes chippings in cutting edge, while the climb cutting promotes abrasive wear. Another important point is that increase in hole diameter by tool diameter ratio increases tool lifetime
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Entitled Joana s several mask: the melancholy in Perto do coração selvagem, the work is divided in six parts: the first one consists of the elaboration of a theoretical sketch about the melancholy that it offers the presuppositions that orientate the work, it is a short introduction about the study of the melancholy, a report until our time, the against-depressive ones and the arrival of the melancholy in Brazil and their particularities; the second part raises the theme of the melancholy, deepening its conception until what is called creative melancholy spread by Walter Benjamin, it serves as anchor for Clarice s writing and as a potential force for the processes lived by the characters of this writer; the third part examines Clarice Lispector s method emphasizing important points of production related to the theme of the melancholy, her style is the psychological analysis; the last one parts (fourth, fifth and sixth parts) are divided in topics that illustrate the conflicts, in most of the time contradictory, of the protagonist Joana, as well as, her difficult interaction with the things and the people that surround her. The fragmentary writing, the being's essential searches, the proximity with the death, the multiplicity of voices of feminine, De profundis, surrealist images, the incessant search for the thing , trips, epiphany, the flaw in the language, the taste of the badly, everything starting from melancholy - transformation and creation tool. The work about melancholy (Freud, Benjamin, Kristeva), it s place of ambiguous and contradictory movements. It is a trip that leads to several corporal and psychological sensations of Joana, enigma-scenes to be deciphered and conflicting images that make you wake up for a critical vision of the modern society. Since the beginning, something pulses without stopping, an incessant memory and the search for something that is lost. We are before recyclings of the interior/exterior, pain/pleasure, visions, abyss, ecstasy in the future and an exit through the melancholic light
Resumo:
Esta disertación aborda la lectura e interpretación de las obras Grande Sertão: Veredas, de João Guimarães Rosa y Del Ingenioso Hidalgo Don Quijote de la Mancha, de Miguel de Cervantes Y Saavedra, enfocando aspectos relacionados a las acciones de los caballeros andantes Riobaldo, el jagunço de Rosa y don Quijote, el Caballero de Cervantes, las cuales tuvieron decisiva influencia en su estado de espíritu melancólico. En la base teórica de este trabajo, investigamos la noción de melancolía, sistematizada por Kristeva y Freud, así como los estudios de la melancolía y de la alegoría a la luz del pensamiento de Walter Benjamin. Este estudio se concentra, sobre todo, en el aspecto que denominamos de alegoría de la circularidad, que permea las dos novelas, mientras expresión de cosas inacabadas que sugiere la idea de movimientos de espiralamento. Se percibió que lo retorno es consagrado en ambas las obras, es decir diferente el igual, dicho que consagra la diferencia y cierra las puertas para la repetición literal de sentido. En tal comprensión, ese movimiento no puede ser concebido como metáfora del mismo, pues sugiere la travesía que permanece inacabada y tortuosa, su estatuto de repetición no se honda en el encuentro de las dos puntas del ovillo, porque gira en el interior de aquello que repite como diferencia y liberación
Resumo:
In the context of late modernity, the socio-cultural transformations established new social practices which corroborate discursive changes in dialectic movements, contributing to the order of the educational discourses to be more and more affected by typical market discourses and values which are covered by ideologies, hegemonic struggles and power relations. In this sense, this research study, which is based on the theoretical tenets of the Critical Discourse Analysis in its interdisciplinary branch (FAIRCLOUGH, 2006; ORMUNDO, 2010; PEDROSA, 2010; RAMALHO E RESENDE, 2011), aims at discussing how the sociocultural changes in the context of private education interact with the market proposal of neoliberal and economical policies. The research was methodologically based on the qualitative approach (CHIZZOTTI, 1991; BOGDAN e BIKLEN, 1994; MINAYO, 1994), especially on the principles of contemporary Applied Linguistics (SIGNORINI, 1998; MOITA-LOPES, 2006; MENEZES, SILVA, GOMES, 2009). Data were gathered from advertisements used in campaigns by private educational institutions and agencies in Natal/RN; the advertisements were collected in primary and secondary levels and in language courses from October to December, 2010. The data analysis indicate that education, in the context of globalization and late modernity, has become a market agency and that the new face of the educational discourse of private institutions is interwoven with a social representation of education as a site of struggle and hegemonic dispute. Therefore, the research leads us to infer that, as the educational public policies based on hegemonic economy and on ideological assumptions of international agents (Global Bank, FMI, etc.) have become widespread, education has become an arena of dispute and a powerful economic product to the market of cultural and commercial industry, thus emphasizing a society in which everything is economically based
Resumo:
Nowadays, technology has a direct influence on the relationship student and teacher have with language. The internet is a powerful tool in helping work with the language and, through it, the knowledge comes to the student easily and intensely. Furthermore, this facility has enhanced and made visible what has been called, within the University community, "plagiarism generation." This work assumes that this generation has, in their written texts, symbolic movements similar to those of "copy and paste" applied to research work carried out by high school students. Taking this as starting point, this dissertation aims to analyze how high school students of the 1st year from a school in Natal (RN) construct texts, under the movements known as "Ctrl + c" and "Ctrl + v", with reference to the text of the "other". More specific issues are behind the general objective, namely: 1. how the student appropriates the source-text when he copies and pastes? 2. What are the categories of analysis that allow us to look analytically and theoretically for the "ctrl + c / ctrl + v" practice made by the student? 2. how the studies developed in the fields of "Genetic Criticism" (Grésillon, 1987), the "school manuscripts" (Calil, 2004) and "paraphrase" (Fuchs, 1982) may help in working with writing in the classroom standing as a possible way to minimize the copy and paste effects in the students texts? Thus, we observe the categories of analysis that allow us to look, theoretically and analytically, for the symbolic ritual of the "ctrl + c" (copy) and "ctrl + v" (paste) in high school. Our study shows that the student text is a "hybrid body" whose writing is a drawing entanglement because of the presence of the foreign text, verbatim, and the presence of linguistic elements to paraphrase the original text.This textual embodiment has, behind it, certain operations, namely: replacing, moving, adding and deleting statements. Given the specificity of the data and the research objectives, this study aligns with qualitative research methods (SILVERMAN, 2009) and falls within the knowledge field of Applied Linguistics, which is characterized especially by investigating problems, phenomena in which language in a real situation is taken as central (BRUMFIT, 1995).Theoretically, our work follows the approach of studies on the paraphrase (Fuchs, 1982, 1994a, 1994b; DAUNAY, 1997, 1999, 2002a, 2002b), the studies developed in the field of Genetic Criticism (Grésillon, 1987, 1994, 1992, 2008 ) and those developed by Eduardo Calil (2004) on "school manuscripts"
Resumo:
Los cambios sociales y culturales que caracterizan el mundo contemporáneo sorprendieron estudiosos de todas las áreas. Los avances tecnológicos principalmente en el área de transmisión de informaciones revolucionaron las nociones de tiempo y espacio. Nuevos medios de comunicación, favorecidos principalmente por la llegada de Internet, abrieron espacios de expresión para ciudadanos deseosos de ser oídos. Aún coexistiendo con los medios de comunicación tradicionales, los nuevos espacios representan una oportunidad de libertad de expresión, de interacción sin mediaciones y de construcción de contenidos independientes. Movimientos sociales se organizan a través de estos nuevos medios de comunicación y desarrollan un activismo que comienza en forma virtual y se extiende a movilizaciones presenciales. Castells (2009) llama de auto comunicación de masas a ese proceso de producir y difundir informaciones que antes era propiedad exclusiva de los medios de comunicación tradicionales. Natal, fue escenario de la gestación y articulación virtual de un movimiento denominado Fora Micarla cuyo objetivo ha sido lograr el impeachment de la alcaldesa de la ciudad, Micarla de Souza. Aunque el objetivo principal no fue alcanzado, el movimiento formó parte de los procesos de cambio social que llevaron los ciudadanos al ciberactivismo. El Fora Micarla se constituye también como un cambio social en sí mismo al colaborar en la consolidación de la identidad colectiva de un grupo de jóvenes universitarios en busca de justicia social. El Twitter fue el principal canal de expresión del grupo y responsable por la rápida expansión de las movilizaciones. El Abordaje Sociológico y Comunicacional del Discurso (ASCD) ha aportado el marco teórico de referencia utilizado en esta investigación. La Comunicación para el Cambio Social (GUMUCIO, 2008) y la Sociología Aplicada al Cambio Social (SACO, 2006) así como los estudios del sujeto y de las identidades (BAJOIT, 2006) forman la base de la ASCD para un estudio más completo de las prácticas discursivas. Considerando que el objeto de estudio son las manifestaciones discursivas de los usuarios simpatizantes del Movimiento Fora Micarla , y que la ASCD es un brazo del Análisis Crítico del Discurso, se hace necesario un análisis lingüístico de los textos. La Gramática Sistémica Funcional, a través del Sistema de Evaluación desarrollado por Martin and White (2004), ofrece los recursos para evaluar las manifestaciones por medio de tuítes de los integrantes del movimiento. La representación de los actores sociales (VAN LEUWEEN, 1998) complementa el análisis discursivo crítico de la ASCD. El empoderamiento ciudadano se materializa por medio de los cambios conquistados a través de los nuevos medios