Evaluation of sensor configurations for robotic surgical instruments

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included.

Hovercraft telemanipulation virtual models and interface design

A control system was designed to allow humans to manually drive an, usually automatic, two wheeled hovercraft. The size, the mass and the way of driving this vehicle proves to be an issue for the everyday, untrained person to achieve. During this thesis several control layouts were designed with the objective of creating an intuitive and easy way of driving such a vehicle. At the end two where usertested using a simulation (also developed during this thesis) of the said hovercraft set against obstacles similar to those expected to be encountered on its real environment. The two layouts are just slightly apart in performance but numerous issues were found that can be used to redesign a better control layout. This means that no definitive winner was found but a foundation for a better design was indeed found.

Uso de modelos i* para enriquecer requisitos em métodos ágeis

The activity of requirements engineering is seen in agile methods as bureaucratic activity making the process less agile. However, the lack of documentation in agile development environment is identified as one of the main challenges of the methodology. Thus, it is observed that there is a contradiction between what agile methodology claims and the result, which occurs in the real environment. For example, in agile methods the user stories are widely used to describe requirements. However, this way of describing requirements is still not enough, because the user stories is an artifact too narrow to represent and detail the requirements. The activities of verifying issues like software context and dependencies between stories are also limited with the use of only this artifact. In the context of requirements engineering there are goal oriented approaches that bring benefits to the requirements documentation, including, completeness of requirements, analysis of alternatives and support to the rationalization of requirements. Among these approaches, it excels the i * modeling technique that provides a graphical view of the actors involved in the system and their dependencies. This work is in the context of proposing an additional resource that aims to reduce this lack of existing documentation in agile methods. Therefore, the objective of this work is to provide a graphical view of the software requirements and their relationships through i * models, thus enriching the requirements in agile methods. In order to do so, we propose a set of heuristics to perform the mapping of the requirements presented as user stories in i * models. These models can be used as a form of documentation in agile environment, because by mapping to i * models, the requirements will be viewed more broadly and with their proper relationships according to the business environment that they will meet

Extensões ao Projeto LVWNet: mobilidade, interação com equipamentos reais, comunicação direta, e registro dinâmico de nós

Due to the constantly increasing use of wireless networks in domestic, business and industrial environments, new challenges have emerged. The prototyping of new protocols in these environments is typically restricted to simulation environments, where there is the need of double implementation, one in the simulation environment where an initial proof of concept is performed and the other one in a real environment. Also, if real environments are used, it is not trivial to create a testbed for high density wireless networks given the need to use various real equipment as well as attenuators and power reducers to try to reduce the physical space required to create these laboratories. In this context, LVWNet (Linux Virtual Wireless Network) project was originally designed to create completely virtual testbeds for IEEE 802.11 networks on the Linux operating system. This paper aims to extend the current project LVWNet, adding to it the features like the ability to interact with real wireless hardware, provides a initial mobility ability using the positioning of the nodes in a space coordinates environment based on meters, with loss calculations due to attenuation in free space, enables some scalability increase by creating an own protocol that allows the communication between nodes without an intermediate host and dynamic registration of nodes, allowing new nodes to be inserted into in already in operation network

Gestão por Competências em Organizações Públicas: O Processo de Transformação Organizacional e seus Impactos Junto aos Servidores na Secretaria Estadual de Administração e Recursos Humanos (SEARH/RN)

The state has changed over time in order to meet a society with increasingly stringent demands. Techniques of private means begin to be employed in an attempt to overcome the dysfunctions entrenched bureaucracy, making the machine faster. By federal law by the People Management Skills was established as a reference for the administration of Human Resources of the public sector in an attempt to develop professionally servers, based mainly on the three pillars of the model: the knowledge, skills and attitudes. This thesis aims at understanding, in the view of employees, the perceived impacts on the organizational changes occurring in the Department of Administration and Human Resources of the State of Rio Grande do Norte in order to implement a People Management Skills-based. It is a simple case study, characterized by the research during a certain period of time, collecting data in a real environment of an organization, in this case SEARH/RN. The procedures used in collecting data were the literature review, documental research and field research. We used a qualitative approach with exploratory and descriptive approach. Every reform was implemented in the institution and reported from there analyzed the impacts observed by the servers. As a result we observed a considerable advance in institutional activities, mainly relating to physical structure / organizational and human resource policies, with minor advances on labor policies, in much the result of the guiding focus of the reform on SEARH/RN. The impacts in total were more positive than negative and direct paths to improvement in public organizations. Making a general analysis of the modernization program implemented in SEARH/RN, we can conclude that there was a distinct change in all dimensions studied, mostly pointing out positive aspects, and contrary to the opinion of some authors, who claim to be very difficult to implement reforms in public organizations, since they are highly institutionalized environments. What was found was a big organization, with gaps and weaknesses, but with a much larger number of hits and recognition from institutional actors

Mobile application as a tool for urban traffic data collection and generation to advanced traveler information systems using Wi-Fi networks available in urban centers

This paper presents an Advanced Traveler Information System (ATIS) developed on Android platform, which is open source and free. The developed application has as its main objective the free use of a Vehicle-to- Infrastructure (V2I) communication through the wireless network access points available in urban centers. In addition to providing the necessary information for an Intelligent Transportation System (ITS) to a central server, the application also receives the traffic data close to the vehicle. Once obtained this traffic information, the application displays them to the driver in a clear and efficient way, allowing the user to make decisions about his route in real time. The application was tested in a real environment and the results are presented in the article. In conclusion we present the benefits of this application. © 2012 IEEE.

Detecção e classificação de curto-circuitos em sistemas de distribuição usando rede neural artificial ARTMAP nebulosa

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Navegação de robôs em ambientes internos usando slam

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Realidade virtual aplicada à ergonomia por meio do design participativo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

O uso de objetos de aprendizagem (oa) em ensino de ciências

Pós-graduação em Educação para a Ciência - FC

A realidade aumentada na produção de conteúdos para TV digital

Pós-graduação em Televisão Digital: Informação e Conhecimento - FAAC

Construção de signos matemáticos: uma proposta metodológica para séries iniciais do ensino fundamental

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Proposta de gerenciamento de dados para monitoramento de saúde estrutural utilizando redes de sensores ópticos FBG

Devido às suas características únicas, redes de sensores ópticos têm encontrado aplicação em muitos campos, como em Engenharia Civil, Engenharia Geotécnica, Aeronáutica, Energia e Indústrias de Petróleo & Gás. Soluções de monitoramento baseadas nessa tecnologia têm se mostrado particularmente rentáveis e podem ser aplicadas às estruturas de grande porte, onde centenas de sensores devem ser implantados para medições a longo prazo de diferentes parâmetros mecânicos e físicos. Sensores baseados em Grades de Bragg em fibra (FBGs) são a solução mais comumente utilizada no Monitoramento de Saúde Estrutural (SHM) e as medições são realizadas por instrumentos especiais conhecidos como interrogadores ópticos. Taxas de aquisição cada vez mais elevadas têm sido possíveis utilizando interrogadores ópticos mais recentes, o que dá origem a um grande volume de dados cuja manipulação, armazenamento, gerenciamento e visualização podem demandar aplicações de software especiais. Este trabalho apresenta duas aplicações de software de tempo real desenvolvidas para esses fins: Interrogator Abstraction (InterAB) e Web-based System (WbS). As inovações neste trabalho incluem a integração, sincronização, independência, segurança, processamento e visualização em tempo real, e persistência de dados ou armazenamento proporcionados pelo trabalho conjunto das aplicações desenvolvidas. Os resultados obtidos durante testes em laboratório e ambiente real demonstraram a eficiência, robustez e flexibilidade desses softwares para diferentes tipos de sensores e interrogadores ópticos, garantindo atomicidade, consistência, isolamento e durabilidade dos dados persistidos pelo InterAB e apresentados pelo WbS.

Utilização da opção de diferimento na avaliação de implantação de projeto de mecanismo de desenvolvimento limpo em uma empresa de cerâmica vermelha

A evolução da teoria de precificação de opções considera um conjunto de ferramentas necessárias para gerenciar e explorar o valor advindo da incerteza e da volatilidade que ampliam os parâmetros da geração de valor ao acrescentarem os conceitos de flexibilidade gerencial. Dentro deste contexto, o presente estudo teve como objetivo avaliar economicamente a implantação do Mecanismo de Desenvolvimento Limpo em uma empresa de cerâmica vermelha localizada no Arranjo Produtivo de São Miguel do Guamá, nordeste do Pará. A avaliação pretendeu demonstrar o valor da flexibilidade gerencial de Diferimento conforme adaptações realizadas na metodologia proposta por Copeland & Antikarov (2001), a qual adiciona à avaliação tradicional de fluxo de caixa descontado a Opção Real – OR – que a pesquisa considerou; e que fundamentou-se por meio de revisão de literatura para formulação do método. Essa determinação seguiu um roteiro de etapas essenciais para a análise das variáveis que compreendem o modelo e que possibilitou a ordenação dos resultados quanto aos valores da OR considerada e do valor presente incluindo a flexibilidade gerencial; com a aplicação do método na empresa objeto da pesquisa. Finalmente, como resultado deste estudo conclui-se que a Teoria de Opções Reais por meio da Opção de Diferimento ou Adiamento contribui com informações que auxiliam nas decisões gerenciais de investimento em projetos quando comparados à metodologia tradicional de avaliação visto que são consideradas incertezas inerentes ao projeto, tal como o ambiente real.

Estudio observacional del contexto sociocognitivo de la catalogación de matérias em bibliotecas universitárias

A study of the subject indexing process in university libraries is presented, using a socio-cognitive approach to analyze the procedures, difficulties and perceptions of the librarians, users, and managers that take part in the process. Individual and group verbal protocols were applied in the real environment of the cataloguers, the university libraries. The results were the absence of systematic procedures for book subject analysis and representation, the incompatibility of the indexing language, and problems in subject retrieval from the catalog. It is concluded that there is a tendency in catalogs to act as databases. Therefore, the cataloguer should present a level of commitment in his task similar to that of an indexer who works in the production of bibliographic databases.