Geração de padrão de marcha adaptável para uma órtese ativa de membros inferiores

Atualmente com o crescente aumento de dispositivos robóticos destinados para aplicação na área de mobilidade de pessoas que sofreram algum tipo de lesão medular, se faz necessário desenvolver novas ferramentas para tornar tais equipamentos mais adaptáveis, seguros e autônomos. Para que as órteses robóticas que auxiliam na locomoção de pessoas paraplégicas possam desempenhar sua função, estas devem ser capazes de reproduzir os movimentos perdidos com o máximo de fidelidade e segurança em ambientes que eventualmente possam conter obstáculos de diferentes tipos como buracos, escadas e calçadas. As órteses robóticas para membros inferiores têm a capacidade de caminhar, subir e descer degraus, todavia, esses movimentos, na maioria das vezes, não se adaptam ao ambiente, sendo assim, para uma órtese robótica que foi projetada para subir um degrau com uma determinada altura ao se deparar com um degrau maior provavelmente não conseguirá realizar essa tarefa com a mesma segurança. Para solucionar esse e outros problemas, esse trabalho apresenta um Sistema de Auxílio à Locomoção (SAL) dotado de um planejador de passos e um gerador de referências angulares com características antropomórficas para a órtese robótica Ortholeg. O SAL utiliza dados antropométricos do usuário para gerar um padrão de marcha personalizado, dessa forma, a órtese em questão é capaz de adaptar o tamanho do passo para não colidir com obstáculos presentes no ambiente e transpor buracos com diversos tamanhos, subir e descer escadas e calçadas com diferentes valores de altura e comprimento. Para desenvolver o sistema de auxílio à locomoção foram adaptadas técnicas de planejamento de caminho, usadas a princípio em robôs bípedes. São apresentados vários experimentos que mostram a órtese Ortholeg realizando alguns movimentos com características antropomórficas para diferentes distâncias de caminhada e três tipos de obstáculos: degrau, buraco e calçada. A autonomia adquirida com a utilização do sistema de planejamento apresentado facilita a utilização de órteses robóticas como também garante uma maior segurança ao usuário.

Inclusão social de catadores de materiais recicláveis: estudo da política nacional de resíduos sólidos e da efetivação do trabalho decente em Natal/RN

The integrated management of municipal solid waste in Brazil is held legally responsible by the city council administration. This is done since the year 2010 with the publication of the National Solid Waste Policy term. According to the policy and law, each city must encourage the implementation of selective collection and the participation of waste picker´s entities aiming social inclusion. However, these actions haven’t yet reached its legal aims. These workers are considered regarding collection actions but are stripped of certain basic labor rights not in conformation with the Decent Work concept. This type of work, according to International Labour Organization, must be seen as work that is properly paid for and must be done regarding conditions of freedom, equity, security and able to provide workers with a dignified life conditions. Thus, this work aims to investigate the implementation process regarding the Solid Waste National Policy in Natal-Rio Grande do Norte in Brazil. This is done considering socio-productive insertion of recyclable material collectors. The research is substantiated by a qualitative approach as well as documental and bibliographical research. A field research considering the cooperatives as well “in locco" observation and semi-structured interviews were carried out between the time span of 2013 and 2014. In order to investigate decent daily working conditions the research emphasized municipal management actions in Natal towards social inclusion that aim to reflect on the progress and difficulties experimented. It is seen that even when these cooperatives receive government support there are still important struggles that need to be overcome. The worker´s tasks are risky, the work environment in not safe or is adequate in terms of health issues. There is the stigma of it being considered an occupational task, the low individual income distancing the activity regarding parameters of the Green Employment and Decent Work concept. On the other hand, the survey showed potential as the relentless pursuit on behalf of the cooperatives that still search better work condition improvement.

Estudo do aproveitamento de resíduos PAE no desenvolvimento de materiais cerâmicos

This work presents a new ceramic material obtained through the incorporation of solid waste from the steel industry and known as dedusting powder PAE - in ceramic formulations based on clay, potassium and sodium feldspars, kaolin and talc. Formulations were prepared with ceramic residue levels of 0% (basic mass - MB), 2%, 4% and 8%, subjected to firing at temperatures of 1000 ° C, 1050ºC, 1100ºC and 1150ºC for periods of 15 min. and 120 min. The physicchemical and mechanical properties of these ceramic formulations were determined based on the firing temperature, residence time in the oven and the percentage of waste. Since the physicochemical and mechanical properties of the sintered materials were evaluated by chemical analysis techniques (fluorescence X-rays - FRX), particle size distribution, specific surface area, apparent density, structural analysis by diffraction of X-rays (DRX) and characterization of surface by scanning electron microscopy (SEM). The magnetic response characteristics and the pattern of magnetic ferrites of the samples were analyzed in the assay conditions, having noticed that the saturation magnetic susceptibility depend on the sintering temperature of the material and it is associated with its crystal structure. From the analysis results, it was concluded that the ceramic material with better physical and mechanical properties is obtained when the 8% from PAE residue is added to standard formulation under the burn time of 15 minutes and temperature of 1150ºC.

Otimização de parâmetros mecânicos e microestruturais dos moldes em areia de sílica ligados quimicamente pelo processo de cura a frio em fundição de aço

Surface defects on steel parts borne costs of smelting industries due to the need of rework. Sand molds are frequently used in foundry industries and largely responsible for providing surface defects. This study aims to optimize the levels of the molding process variables to minimize the occurrence of surface defects in steel castings in silica sand molds chemically linked by cold cure process. The methodology used the experimental design with split plot, being considered in the study the resin percentage factors in the mold formulation, addition of iron oxide, type of paint, the paint application method, amount of ink layers, use of hot air along the lines and waiting time of the mold before casting. They were analyzed as response variables erosion defects, sand inclusion, penetration, porosity and surface finish. Tensile strength tests were performed to evaluate the influence of factors on mechanical parameters and the microstructural parameters were carried out the analysis of X-ray diffraction, scanning electron microscopy (SEM) and thermal analysis (TG / DSC / dilatometry). The results elucidate that for the faulty erosion, the only significant factor with a 95% confidence level was the type of ink and the ink alumina-based superior results obtained. For the sand inclusion of defect, there were three significant factors, with best results obtained with alumina-based paint and spray applied using hot air in the mold before casting the metal. For the defect penetration, there were four significant factors, the best results being achieved with 0.8% of resin and addition of iron oxide in the molding formulation, the paint being applied by brush and standby time of 24 hours before leak. For the defect porosity with a 95% confidence level, no significant factors. For the defect surface finish, the best results were achieved with the 0.8% formulation of the resin in the mold and application of the paint brush. To obtain the levels of the factors that optimize all defects simultaneously, we performed a weighted average of the results of each type of fault, concluding that the best levels of the factors were: 0.8% resin and addition of iron oxide in the formulation of the template, application of two coats of paint applied with a brush or spray, using hot air in the mold before casting and 24 hours of waiting ready the mold before casting. These levels of the optimized factors were used in an experiment to confirm that ratified the results, helping to reduce rework and consequently reducing costs of cast steel parts.

Materiais a base de estruturas carbonáceas para a remoção de ácidos húmicos em soluções aquosas através da adsorção e oxidação

O presente estudo aborda a utilização de carvão ativado comercial na remoção de ácidos húmicos em meio aquoso. O objetivo principal é desenvolver e caracterizar materiais carbonáceos visando aplicações de remoção de ácidos húmicos em meio aquoso por processos de adsorção e oxidação. Testes de remoção do poluente foram desenvolvidos com a utilização do carvão comercial, carvão modificado a partir de tratamentos ácidos e compósito confeccionado com a impregnação de ferro no carvão. Espumas de carbono com dispersões de carvão ativado e óxidos de ferro também foram desenvolvidas buscando aplicações de remoção do poluente através de processos eletroquímicos. Os resultados das caracterizações demonstraram ganho de área superficial a partir do tratamento ácido, a presença dispersa de ferro em todo carvão na forma de fase maghemita com a introdução do metal, e ganho de estabilidade eletroquímica na espuma, com a presença de dispersões de carvão ativados impregnados com ferro. O processo oxidativo Fenton, foto assistido por radiação UV, demonstrou maior eficiência para remoção do ácido húmico em água.

Materiais bionanocompósitos a base de argilominerais e hidróxidos duplos lamelares como sistemas de liberação de fármacos

Bionanocomposites systems clay base (montmorillonite and sepiolite), layered double hidroxides and biopolymers (carboxymethylcellulose and zein) were evaluated as topical delivery systems with antibacterial activity and as oral delivery systems. For this study, neomycin, a topical antibiotic, indicated mainly for open wound infections. The drug amoxicillin, an antibiotic indicated mainly for throat infections, were also used in this study. Both antibiotics were used as model drugs. Initially, drugs were incorporated directly into the biopolymer matrix, comprising the combination of carboxymethylcellulos and zein, being conformed as movies and balls and evaluated for their antibacterial activity and controlled release simulating gastrointestinal fluids. Moreover, hybrids materials have been prepared where the neomycin drug was incorporated into the lamellar inorganic solids, such as montmorillonite by ion exchange reaction, and the fibrous type, such as sepiolite by adsorption in aqueous solution. But the drug amoxicillin was incorporated into layered double hydroxides by anion exchange and montmorillonite by cation exchange. The resulting hybrids were in turn combined with the biopolymer matrix yielding bionanocomposites shaped materials such as films were tested for their antibacterial activity, and the shaped materials beads were tested for their release in the gastrointestinal fluids. Through the analysis of various physico-chemical techniques, we observed the interactions between the studied materials, the formation of hybrids materials, obtaining the bionanocomposites materials and material efficiency when applied in controlled release of drugs both topical and use oral mainly influenced by the presence of zein, are promising as topical delivery systems and oral drugs.

Análise de microestrutura e de características geotécnicas de misturas de resíduo de polimento de porcelanato e solo

Brazil is a country in development, rich in natural resources. In order to grow sustainably, it is necessary to Brazil to preserve its environment, which is an expressive challenge, especially to industries, such as those producing ceramic materials. This study was developed using Porcelain Tile Polishing Residue (RPP) in blends with soil to build compacted fills. This residue is a slurry generated during the polishing process of porcelain tiles and contains powdery material from the polished tile, the abrasives used during the process and cooling water. The RPP was collected from a private company located in Conde/PB and it was mixed with a sandy-clayey soil, to build the fills. Laboratorial tests were conducted with pure soil, pure RPP and blends in proportions of 5%, 10%, 15% and 20% of RPP in addition to the dry mass of pure soil. The Chemical and Physical Characterization tests performed were: specific solid weight, grain size distribution, laser analysis of grain size distribution, Atterberg limits, X ray fluorescence, X ray diffraction, scanning electron microscopy and soil compaction,. The materials and blends were also compacted and direct shear tests and plate load tests were performed. Plate load tests were conducted using a circular plate with 30 cm diameter, on specimens of pure soil and 5% blend, compacted in a metallic box inside the Soil Mechanics Laboratory of the Federal University of Rio Grande do Norte, Brazil. Both mechanical tests performed were conducted under inundated conditions, willing to reduce the influence of soil suction. An evaluation of the results of the tests performed shows that RPP is a fine material, with grain size distribution smaller than 0,015mm, composed mainly of silica and alumina, and particles in angular shape. The soil was characterized as a clayey sand, geologically known as a lateritic soil, with high percentages of alumina and iron oxide, and particles with rounded shape. Both the Soil and the blends presented low plasticity, while the residue showed a medium plasticity. Direct shear tests showed that the addition of RPP did not cause major changes into blends’ friction angle data, however, it was possible to note that, for the proportions studied, that is a tendency of obtain lower shear stresses for higher percentages of RPP in the blends. Both pure soil and 5% mixture showed a punching disruption for the Plate load test. For this same test, the allowable stress for 5% mixture was 44% higher than the pure soil, and smaller vertical settlement results for all stresses.

Análise de microestrutura e de características geotécnicas de misturas de resíduo de polimento de porcelanato e solo

Brazil is a country in development, rich in natural resources. In order to grow sustainably, it is necessary to Brazil to preserve its environment, which is an expressive challenge, especially to industries, such as those producing ceramic materials. This study was developed using Porcelain Tile Polishing Residue (RPP) in blends with soil to build compacted fills. This residue is a slurry generated during the polishing process of porcelain tiles and contains powdery material from the polished tile, the abrasives used during the process and cooling water. The RPP was collected from a private company located in Conde/PB and it was mixed with a sandy-clayey soil, to build the fills. Laboratorial tests were conducted with pure soil, pure RPP and blends in proportions of 5%, 10%, 15% and 20% of RPP in addition to the dry mass of pure soil. The Chemical and Physical Characterization tests performed were: specific solid weight, grain size distribution, laser analysis of grain size distribution, Atterberg limits, X ray fluorescence, X ray diffraction, scanning electron microscopy and soil compaction,. The materials and blends were also compacted and direct shear tests and plate load tests were performed. Plate load tests were conducted using a circular plate with 30 cm diameter, on specimens of pure soil and 5% blend, compacted in a metallic box inside the Soil Mechanics Laboratory of the Federal University of Rio Grande do Norte, Brazil. Both mechanical tests performed were conducted under inundated conditions, willing to reduce the influence of soil suction. An evaluation of the results of the tests performed shows that RPP is a fine material, with grain size distribution smaller than 0,015mm, composed mainly of silica and alumina, and particles in angular shape. The soil was characterized as a clayey sand, geologically known as a lateritic soil, with high percentages of alumina and iron oxide, and particles with rounded shape. Both the Soil and the blends presented low plasticity, while the residue showed a medium plasticity. Direct shear tests showed that the addition of RPP did not cause major changes into blends’ friction angle data, however, it was possible to note that, for the proportions studied, that is a tendency of obtain lower shear stresses for higher percentages of RPP in the blends. Both pure soil and 5% mixture showed a punching disruption for the Plate load test. For this same test, the allowable stress for 5% mixture was 44% higher than the pure soil, and smaller vertical settlement results for all stresses.

Estudo comparativo da queima rápida com a queima tradicional nas propriedades de materiais cerâmicos de base argilos

Dutra, R. P. S.; Varela,M. L.; Nascimento, R. M. ; Gomes, U. U. ; Martinelli1, A. E. ; Paskocimas, C. A. Estudo comparativo da queima rápida com a queima tradicional nas propriedades de materiais cerâmicos de base argilosa. Cerâmica [online]. 2009, vol.55, n.333, pp. 100-105. ISSN 0366-6913. doi:Disponivem em: ://www.scielo.br/scielo.php?pid=S0366-69132009000100014&script=sci_abstract&tlng=pt>. Acesso em: 04 out. 2010.

O ambientalismo econômico no discurso da reciclagem dos materiais

O modelo civilizatório da sociedade global fundamenta-se na produção à larga escala e no aumento exponencial e diversificado do consumo. Este modelo impacta o meio ambiente já que demanda grandes quantidades de recursos naturais e provoca contaminação ambiental. No leque desta contaminação, a geração de resíduos sólidos surge como uma das principais devido a seus efeitos nocivos serem sentidos de forma imediata pelas pessoas. Em países como o Brasil, uma das soluções requeridas para se minimizar e/ou equacionar a problemática engendrada pelos resíduos sólidos é a reciclagem dos materiais. A justificativa oficial pelo esforço à reciclagem está nas características da atividade já que o uso de materiais reciclados reduz a demanda por recursos naturais em processos produtivos industriais, aumenta o tempo de vida útil dos aterros sanitários (local de destino final dos resíduos), além de gerar emprego e renda para os catadores, sujeitos que sobrevivem da coleta e separação dos materiais recicláveis. A partir de uma ética ambiental, a pergunta que deve ser feita quando nos propomos a analisar as implicações da geração dos resíduos é: por que a sociedade global gera resíduos sólidos de maneira acentuada? Contudo, à luz dos pressupostos mercadológicos do capitalismo, a pergunta que move as discussões acerca da problemática dos resíduos sólidos é: o que fazer com a crescente geração de resíduos sólidos? O presente artigo se propõe a uma reflexão dos elementos justificativos dessa ode à reciclagem. Em nossa perspectiva, a reciclagem fomenta ao que denominamos de ambientalismo econômico, no qual o discurso pró-reciclagem se apropria dos elementos e potencialidades ambientais da atividade da reciclagem para justificar as ações de caráter econômico no que se refere ao que fazer com os resíduos gerados diariamente.

Fucana ativa via das Map quinases e inibe a proliferação de células de ovário de hamster chinês (CHO)

Fucan is a term used to denominate L-fucose rich sulfated polysaccharides. The fucans have been studied due their pharmacological activities like antithrombotic, antiproliferative and antioxidant. We have extracted three fucan fractions from the brown seaweed Spatoglossum schröederi. These fucans were denominated Fuc B 1, Fuc B 1.5 and Fuc B 2. The chemical analyzes show that the fucans have very similar composition as demonstrated by agarose electrophoresis gel, sugar and sulfate content. The antiproliferative effect was determined by MTT and BrdU methodologies in CHO cells. The inhibition of proliferation effect of the three fractions was about 40%. Therefore this we proceed just with the Fuc B 2 due the higher yield. There is no apoptosis indication using the anexin V/propidium iodide test. We found a cell cycle phase G1 arrest. The western blotting show that the PKC; pFAK; pERK 1/2 are activated when the cells were treated with fucans. The treatement with inhibitor of MAPK PD98059 extinguished the fucan effect. These results indicates that fucan act by the ERK pathway inducing the cell death.

Síntese, caracterização e estudo da regeneração do silicoaluminofosfato-11 (SAPO-11)

heterogeneous catalyst such as a silicoaluminophosphate, molecular sieve with AEL (Aluminophosphate eleven) structure such as SAPO-11, was synthesized through the hydrothermal method starting from silica, pseudoboehmite, orthophosphoric acid (85%) and water, in the presence of a di-isopropylamine organic template. For the preparation of SAPO-11 in a dry basis it was used as reactants: DIPA; H3PO4; SiO4; Pseudoboehmite and distilled water. The crystallization process occurred when the reactive hydrogel was charged into a vessel and autoclaved at 200ºC for a period of 72 hours under autogeneous pressure. The obtained material was washed, dried and calcined to remove the molecular sieves of DIPA. The samples were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), infrared spectroscopy (FT-IR), nitrogen adsorption (BET) and thermal analysis (TG/DTG). The acidic properties were determined using adsorption of nbutylamine followed by programmed thermodessorption. This method revealed that SAPO-11 shows an acidity that ranges from weak to moderate. However, a small quantity of strong acid sites could be detected there. The deactivation of the catalysts was conducted by artificial coking followed by the cracking of the n-hexane in a fixed bed with a continuous flow micro-reactor coupled on line to a gas chromatograph. The main products obtained were: ethane, propane, isobutene, n-butane, n-pentane and isopentane. The Vyazovkin (model-free) kinetics method was used to determine the regeneration and removal of the coke

Síntese, caracterização e cinética da decomposição térmica dos materiais cerâmicos PrMO3 (M = Ni ou Co)

In this work have been studied the preparation, characterization and kinetic study of decomposition of the polymerizing agent used in the synthesis under non-isothermal condition ceramics PrMO3 of general formula (M = Co and Ni). These materials were obtained starting from the respective metal nitrates, as a cations source, and making use of gelatin as polymerizing agent. The powders were calcined at temperatures of 500°C, 700°C and 900°C and characterized by X-ray Diffraction (XRD), Thermogravimetric Analysis (TG / DTG/ DTA), Infrared Spectroscopy (FTIR), Temperature Programmed Reduction (TPR) and Scanning Electron Microscopy (SEM). The perovskite phase was detected in all the X-rays patterns. In the infrared spectroscopy observed the oxide formation as the calcination temperature increases with the appearance of the band metal - oxygen. The images of SEM revealed uniform distribution for the PrCoO3 and particles agglomerated as consequence of particle size for PrNiO3. From the data of thermal analysis, the kinetics of decomposition of organic matter was employed using the kinetics methods called Model Free Kinetics and Flynn and Wall, in the heating ratios 10, 20 and 30° C.min-1 between room temperature and 700°C. Finally, been obtained the values of activation energy for the region of greatest decomposition of organic matter in samples that were determined by the degree of conversion (α)

Adição de cascalho de perfuração da bacia potiguar em argilas para uso em materiais cerâmicos: influência da concentração e temperatura de queima.

One of waste produced on large scale during the well drilling is the gravel drilling. There are techniques for the treatment of the same, but there isn t consensus on what are the best in terms of economic and environmental. One alternative for disposal of this waste and objective of this paper is the incorporation and immobilization of gravel clay matrix to assess their technological properties. The Raw Materials used were characterized by the following techniques: Chemical Analysis by X-ray fluorescence (XRF), mineralogical analysis by X-ray Diffraction (XRD), Grain Size Analysis (FA) and Thermal Analysis by Thermogravimetry (TG) and thermodiferential (DTA). After characterizing, samples were formulated in the following percentages: 0, 5, 10, 15, 25, 50, 75, 100% (weight) of gravel drilling, then the pieces were pressed, dried (110 ° C) and sintered at temperatures of 850, 950 and 1050 ° C. After sintering, samples were tested for water absorption, linear shrinkage, flexural strength, porosity, density, XRD and test color. The results concluded that the incorporation of gravel drilling is a viable possibility for solid masonry bricks and ceramic blocks manufacture at concentrations and firing temperature described here. Residue incorporation reduces an environmental problem, the cost of raw materials for manufacture of ceramic products

Influência do uso de combustíveis alternativos na síntese por combustão via microondas para a produção de materiais cerâmicos com estrutura espinélio

The development and study of detectors sensitive to flammable combustible and toxic gases at low cost is a crucial technology challenge to enable marketable versions to the market in general. Solid state sensors are attractive for commercial purposes by the strength and lifetime, because it isn t consumed in the reaction with the gas. In parallel, the use of synthesis techniques more viable for the applicability on an industrial scale are more attractive to produce commercial products. In this context ceramics with spinel structure were obtained by microwave-assisted combustion for application to flammable fuel gas detectors. Additionally, alternatives organic-reducers were employed to study the influence of those in the synthesis process and the differences in performance and properties of the powders obtained. The organic- reducers were characterized by Thermogravimetry (TG) and Derivative Thermogravimetry (DTG). After synthesis, the samples were heat treated and characterized by Fourier Transform Infrared Spectroscopy (FTIR), X-ray Diffraction (XRD), analysis by specific area by BET Method and Scanning Electron Microscopy (SEM). Quantification of phases and structural parameters were carried through Rietveld method. The methodology was effective to obtain Ni-Mn mixed oxides. The fuels influenced in obtaining spinel phase and morphology of the samples, however samples calcined at 950 °C there is just the spinel phase in the material regardless of the organic-reducer. Therefore, differences in performance are expected in technological applications when sample equal in phase but with different morphologies are tested