TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Uma proposta de framework como infra-estrutura de implementação de sistemas informacionais baseados na visão dos FRBR orientado a objetos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Development of an experimental glass ionomer cement containing niobium and fluoride

Glass ionomer cements (GICs) are currently used for various dental applications such as luting cements or as restorative materials. The calcium fluoro-alumino-silicate system is the basis for degradable glasses used to obtain the GICs. The purpose of the present paper is to add niobium to conventional glass system because according to previous papers niobium addition improves the chemical resistance and the mechanical properties of glasses. Therefore, the GICs prepared from these glasses would result in cements with higher chemical and mechanical resistance. The niobium fluoride powders were prepared using the sol-gel process and were characterized by X-ray diffraction, differential thermal analysis (DTA) and Al-27 and Si-29 MAS NMR. The results obtained by XRD showed that the powders prepared by this method are glass-ceramic. In the DTA curve was detected the presence of T-g and T-c temperatures. The analysis of MAS NMR spectra indicated that the framework of the powders is formed by SiO4 and AlO4 linked tetrahedra which are essential structures to yield the cements. Thus, we concluded that niobium fluoride silicate powders can be used in the preparation of GICs. (c) 2005 Elsevier B.V. All rights reserved.

Human development and distance education: how are interactivity and interaction articulated?

Currently the achievements of technology have not been enough to overcome the misery, in which are numerous human groups. Relegated to its background, the human being sees those scenarios, which brings out discussions about its formation, in which values are regarded as the scientific and technological aspects. The educational research inspired by this framework involving the theme of human development, update and re-frame concepts related to the linkage between interactivity and interaction, two important features presented in the process of Distance Education (DE). The research inquired about how these features have been articulated. It conducted a field study in which two professors were interviewed. The results showed that the integration between interactivity and interaction, involving aspects such as autonomy, critical awareness, relationships among students, the sharing of values and worldviews, is at the base of the educational processes of the DE. They also showed that, on these processes, there are shortcomings regarding the development of values and having to be thought the tutor training strategies from an interdisciplinary view.

Multi-Agent Framework for Spatial Load Forecasting

A multi-agent framework for spatial electric load forecasting, especially suited to simulate the different dynamics involved on distribution systems, is presented. The service zone is divided into several sub-zones, each subzone is considered as an independent agent identified with a corresponding load level, and their relationships with the neighbor zones are represented as development probabilities. With this setting, different kind of agents can be developed to simulate the growth pattern of the loads in distribution systems. This paper presents two different kinds of agents to simulate different situations, presenting some promissory results.

TORP: An open standard framework for humanoid robots

Humanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks that can allow distributed development with also some degree of hardware abstraction, allowing software reuse in successive projects. However, computation represents only one of the dimensions in robotics tasks, and the need for reuse and exchange of full robot modules between groups are growing. Large advances could be reached if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a new robot framework, from now on called TORP (The Open Robot Project), that aims to provide a standard architecture in all dimensions (electrical, mechanical and computational) for this collaborative development. This methodology also represents an open project that is fully shared. In this paper, the first robot constructed following the TORP specification set is presented as well as the advances proposed for its improvement. © 2010 IEEE.

Is the environmental policies procedures a barrier to development of inland navigation and port management? A case of study in Brazil

The main objective of this article is to discuss the Brazilian environmental legislation and policies towards the development of navigation and port management. The research illustrated some difficulties faced by the country and make suggestions to overcome it. The construction of the environmental legal framework began in the early 1960s and resulted in a very complex system, as a consequence of policies adopted by the country. Nowadays Brazilian environmental policies are developed in democratic and participative way, although with elevated degree of bureaucracy and lack of integration among the several governmental agencies, which makes the approval of environmental certifications demand several years for new port projects or improvements, which delays the economic development of the country. Efforts have been made to simplify the licensing process. As result of this research two flowchart for environmental licenses of ports installation are shown: The first shows the process until 2009 and the second shows the process nowadays. This become an important issue due the fact that inland navigation is one of the less pollutant modes of transportation, and although, the process of environmental certification was simplified, if compare with 2009, it is still complex and time-consuming, delaying the development of the infrastructure. © 2012 Elsevier Ltd.

A rank aggregation framework for video multimodal geocoding

This paper proposes a rank aggregation framework for video multimodal geocoding. Textual and visual descriptions associated with videos are used to define ranked lists. These ranked lists are later combined, and the resulting ranked list is used to define appropriate locations for videos. An architecture that implements the proposed framework is designed. In this architecture, there are specific modules for each modality (e.g, textual and visual) that can be developed and evolved independently. Another component is a data fusion module responsible for combining seamlessly the ranked lists defined for each modality. We have validated the proposed framework in the context of the MediaEval 2012 Placing Task, whose objective is to automatically assign geographical coordinates to videos. Obtained results show how our multimodal approach improves the geocoding results when compared to methods that rely on a single modality (either textual or visual descriptors). We also show that the proposed multimodal approach yields comparable results to the best submissions to the Placing Task in 2012 using no extra information besides the available development/training data. Another contribution of this work is related to the proposal of a new effectiveness evaluation measure. The proposed measure is based on distance scores that summarize how effective a designed/tested approach is, considering its overall result for a test dataset. © 2013 Springer Science+Business Media New York.

Interaction between GIS and hydrologic model: a preliminary approach using ArcHydro Framework Data Model

In different regions of Brazil, population growth and economic development can degrade water quality, compromising watershed health and human supply. Because of its ability to combine spatial and temporal data in the same environment and to create water resources management (WRM) models, the Geographical Information System (GIS) is a powerful tool for managing water resources, preventing floods and estimating water supply. This paper discusses the integration between GIS and hydrological models and presents a case study relating to the upper section of the Paraíba do Sul Basin (Sao Paulo State portion), situated in the Southeast of Brazil. The case study presented in this paper has a database suitable for the basin's dimensions, including digitized topographic maps at a 50,000 scale. From an ArcGIS®/ArcHydro Framework Data Model, a geometric network was created to produce different raster products. This first grid derived from the digital elevation model grid (DEM) is the flow direction map followed by flow accumulation, stream and catchment maps. The next steps in this research are to include the different multipurpose reservoirs situated along the Paraíba do Sul River and to incorporate rainfall time series data in ArcHydro to build a hydrologic data model within a GIS environment in order to produce a comprehensive spatial-temporal model.

Product-portfolio management: A framework based on Methods, Organization, and Strategy

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Geoparks in Brazil-strategy of Geoconservation and Development

Within the framework of the potential of geopark development and the interest of the geological community in creating new areas for geoconservation in Brazil, the aim of this contribution is to show the importance of geoscience education as a strategy for both geoconservation and development, and for the success and maintenance of new geoparks. A historical and evolutionary approach to the theme reveals the current status of geoscience education in Brazil and offers a panorama of the challenges inherent in preparing for the creation of new geoconservation areas. Proposals that aim to promote geoconservation and sustainability in Brazil include projects that capitalize on geological heritage and its relationship with local communities, proposals that form partnerships between the government, universities, businesses, and non-governmental organizations for the development of education, and changes in the law specifically aimed at geoconservation. Improvement in the educational system, including Earth science education, is undoubtedly one of the best strategies to promote the preservation of our natural heritage, and a cultural change in education will certainly promote changes in other areas.

Green product development and performance of Brazilian firms: measuring the role of human and technical aspects

The goal of this study is to present and test a conceptual framework that describes the technical aspects (TA), human/organizational aspects (HOA) of the adoption of green product development (GPD) practices and the effect of these practices on firms'environmental (EP), operational (OP) and market performance (MP). To this end, after reviewing the literature on these themes, a conceptual framework with 5 hypotheses is proposed. These hypotheses were tested on 62 Brazilian companies through structural equation modeling using SmartPLS 2.0M3. The main results of this study are as follows: (a) in general, the proposed framework obtained adequate goodness of fit statistics (GoF); (b) technological factors are shown to have an influence on the adoption of GPD practices, and those practices are related to company EP, OP and MP, thus confirming 4 hypotheses of the study; and (c) one of the study's hypotheses is not validated, indicating that the relationship of human/organizational aspects to GPD must be further analyzed. This work extends the literature because: (a) the conceptual framework tested in this study establishes several concepts that have been only partially tested in the previous literature; (b) this work presents evidence about Brazil, where the themes addressed herein have not been yet been thoroughly investigated; and (c) the non-validation of the hypothesis regarding the relationship between human/ organizational aspects with respect to the adoption of product-related environmental practices requires attention. (C) 2014 Elsevier Ltd. All rights reserved.