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

Análise de desempenho experimental de redes IEEE 802.3.

The Ethernet technology dominates the market of computer local networks. However, it was not been established as technology for industrial automation set, where the requirements demand determinism and real-time performance. Many solutions have been proposed to solve the problem of non-determinism, which are based mainly on TDMA (Time Division Multiple Access), Token Passing and Master-Slave. This work of research carries through measured of performance that allows to compare the behavior of the Ethernet nets when submitted with the transmissions of data on protocols UDP and RAW Ethernet, as well as, on three different types of Ethernet technologies. The objective is to identify to the alternative amongst the protocols and analyzed Ethernet technologies that offer to a more satisfactory support the nets of the industrial automation and distributed real-time application

A formação da força de trabalho marítima no Brasil: cultura e cotidiano, tradição e resistência (1808-1850)

A partir du XVIe siècle, le Brésil surgit comme l'un des éléments centraux du surgissement d'un ordre économique et social dans lequel le navire apparaît comme un espace de luttes et de contradictions entre gouvernements, commandants et marins. Nous examinerons ici le processus de prolétarisation, au Brésil au cours de la premier moitié du XIXe siècle, qui a transformé en main d' uvre de travail maritime des indiens, des petits agriculteurs, des noirs libres et des esclaves.

Escravidão na Vila do Príncipe, província do Rio Grande do Norte (1850/1888)

This dissertation presents a study on the slave population of Vila do Príncipe, from 1850 to 1888, based on the judicial and notarial collection of hand written documents as well as on the Reports of Presidents of the Province of Rio Grande do Norte. The issue that drives the research relates to the reproduction of slavery in a region of cattle breeding colonization. Therefore, the research aims to understand how in a peripheral socio-economic place (in Vila do Príncipe, cattle breeding Seridó) after the prohibition of the African slave trade, the slave relationships subsisted and structured themselves. In the sense, the research analyzed the dynamics of socio-economic slave units and their relationship with space, ownership structure and the slave family.

Desventuras de Hypolita: luta contra a escravidão ilegal no sertão (Crato e Exu, século XIX)

This paper analyses the history of Hypolita Maria das Dores, mulatto woman, free born, was enslaved and, by an act of freedom, appealed to court to prove the illegitimacy of her captivity and regain their freedom and their children. The main scenarios of this social and legal struggle are Crato (Ceará) and Exu (Pernambuco), places where she lived in the 19th century. The main objective of this work is to understand how to set the tensions and alliances involving the struggle for freedom inside and outside justice, in differentiated provincial spaces. An approach that belongs to the field of the social history of slavery, we ll prioritize the narrative of life. In it, Hypolita is taken as the subject of her story, as she faces stately and patriarchal values in a slave society. The documentary corpus that allows such vertical investigative consists of parish registers, we examined the baptisms, marriages and death records; analyzed registry documents of postmortem inventories, petitions and crafts; reports of provincial presidents and, finally, the O Araripe s and O Cearense s journalistic information. The investigation of the case allowed the understanding of how, in space and time specific, freedom was understood, usurped and claimed by various social subjects in the frame of morals and justice institutionalized

Vicus Judæorum: os judeus e o espaço urbano no Recife neerlandês

This work broaches the participation of the Jewish community in the urban expansion of Recife, Brazil, during the Dutch period (1630-1654). With the arrival of the Dutch, the village of Olinda, former capital of Pernambuco, was destroyed and Recife received the juridical statute of city (stad), becoming the capital of Dutch Brazil or New Holland. It became the main West Indians Company s entrepot in South Atlantic, serving as naval base, port of call for ships, and point of export of the sugar production of Pernambuco, and import of European goods and African slaves. In order to such administrative, military and economic functions be carried out, the sand isthmus where Recife used to stay, and the fluvial island of Antônio Vaz, received improvements of many sort. The Dutch hydraulic technology was put in practice, with a posture of opposition between civilization and nature. Among military works and production of urban equipments, the rivers shores were land-filled, canals were built, bridges were lifted, and hundreds of buildings were erected. The civil Dutch population of Recife engaged in the process of production of physical space, which brought a sense of collective action towards the formation of the urban, or burgher, community. From the physical to the social space, there was an effort towards Dutch cultural standards in the urban environment. The Zur Israel Jewish community, formed by private civilians, it is, nonemployees of the WIC, engaged in those processes. It produced physical space through the land-filling and improvement of non healthy areas, and was also responsible for the construction of a significant section of the town s buildings and some of urban equipments, such as stores, markets and slave-warehouses, making more dynamic their economical activities. But their social traffic was due to the adaptation of their behavior to the standards of Dutch sociability. Thus, the community body made itself part of the social body. Disposing of internal selfregulation, it produced spaces with their cultural references cemetery, synagogue, texts enjoying benefits of the government. Zur Israel inscribed itself in the universal history of the Jews as the first community of Americas, and had a fundamental part on the emancipation of Jews within Western society

Synchronization: Stability and duration time

We consider the problem of stability and duration of the synchronization process between self-excited oscillators, both in their regular and chaotic states. Making use of the properties of Hill equation describing the deviation between the slave and the master, we derive the stability conditions and expressions of the synchronization time. A fairly good agreement is obtained between the analytical and numerical results.

Branch and bound algorithm for transmission system expansion planning using a transportation model

A method for optimal transmission network expansion planning is presented. The transmission network is modelled as a transportation network. The problem is solved using hierarchical Benders decomposition in which the problem is decomposed into master and slave subproblems. The master subproblem models the investment decisions and is solved using a branch-and-bound algorithm. The slave subproblem models the network operation and is solved using a specialised linear program. Several alternative implementations of the branch-and-bound algorithm have been rested. Special characteristics of the transmission expansion problem have been taken into consideration in these implementations. The methods have been tested on various test systems available in the literature.

Planejamento de Fontes Reativas em Sistemas de Energia Elétrica utilizando a técnica de Decomposição de Benders e o algoritmo de Branch-and-Bound

This paper presents the Benders decomposition technique and Branch and Bound algorithm used in the reactive power planning in electric energy systems. The Benders decomposition separates the planning problem into two subproblems: an investment subproblem (master) and the operation subproblem (slave), which are solved alternately. The operation subproblem is solved using a successive linear programming (SLP) algorithm while the investment subproblem, which is an integer linear programming (ILP) problem with discrete variables, is resolved using a Branch and Bound algorithm especially developed to resolve this type of problem.

A literatura latino-americana e as alegorias nacionais de concierto Barroco

The problematical identity of Latin America is reflected on the recurrence of the theme in the literature created in this part of the continent. The images of Caliban and anthropophagy and the attribution of a Baroque meaning to the Latin American experience characterize an expressive part of such literature. By means of the character Amo, Carpentier's Concierto Barroco exemplifies the difficulties of the Creole elite in finding a nobleorigin for themselves in their ancestors' Europe, and in identifying themselves with it. The slave musician Filomeno and Amo naturalizes narrative, whereas Filomeno provocativelytransits between the hierarchies, turning the Baroque meaning of identity into an allegory. Jazz is a Creole, anthropophagic and Baroque product whose erased origin was replaced by the fabled narrative in the Spirituals that renewed modern music. It is important to emphasize that Carpentier created, by means of Filomeno, the unity of the American experience whose frontier is Mexico.

Desenvolvimento e implementação de um sistema de controle de posição e velocidade de uma esteira transportadora usando inversor de frequência e microcontrolador

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Sistema de gerenciamento automático de reatores eletrônicos com ajuste do nível de luminosidade para múltiplas lâmpadas fluorescentes

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Webjornalismo e violações de direitos da cidadania: análise de coberturas sobre trabalho escravo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Bainha de segurança para acondicionamento de facão canavieiro durante sua vida útil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

A poverty profile and functional aspects of Brazilian labour markets

Includes bibliography