Desenvolvimento de uma arquitetura programável de controle em tempo real para um servoposicionador pneumático

Este trabalho aborda o desenvolvimento de uma arquitetura de controle em tempo real para servoposicionadores pneumáticos, baseada em computadores pessoais (PCs). Os servoposicionadores pneumáticos são de baixo custo, leves, não poluentes e de fácil utilização. Como apresentam boa relação entre peso e força, são bastante atraentes em aplicações de robótica. Entretanto, devido a suas não linearidades, os servoposicionadores pneumáticos apresentam dificuldades em seu controle. Visando compensá-las, são desenvolvidos algoritmos de controle cada vez mais complexos, necessitando de ferramentas mais robustas quanto ao poder de processamento. Ferramentas com características necessárias para o desenvolvimento de algoritmos e para o controle em tempo real de sistemas custam caro, o que dificulta o desenvolvimento de novas tecnologias de controle de servoposicionadores pneumáticos. Este trabalho apresenta uma revisão das soluções utilizadas na construção de sistemas pneumáticos de posicionamento e daquelas adotadas no controle digital de sistemas automáticos. Descrevese o processo de construção de uma bancada experimental, e o desenvolvimento das soluções em hardware e software para o controle digital é discutido. Visando uma solução economicamente atraente, são utilizados unicamente softwares de código aberto e de livre utilização, assim como hardwares de baixo custo.Para verificar a eficiência da solução proposta, a arquitetura de controle é utilizada para realizar a identificação dos parâmetros do sistema pneumático. Dentre eles, destacam-se a vazão mássica e o atrito, informações importantes para simulação e controle do sistema. Também são utilizados controladores do tipo Proporcional-Integral-Derivativo, implementados para apoiar o estudo do desempenho da arquitetura no controle do servoposicionador pneumático.

O planejamento estratégico do capital humano como fator de desenvolvimento sustentável das organizações na agroenergia: estudo de caso

O objetivo desta tese é analisar, orientar e indicar algumas formas de mensuração de resultados das ações ou programas na área de Gestão de Pessoas ao longo dos anos, bem como de novas tendências no setor de agroenergia. O trabalho procura também propor práticas de planejamento estratégico e, indicadores para as organizações com foco no desenvolvimento e nas mudanças previstas nas organizações, no mercado de trabalho, nos modelos de gestão e de negócios do segmento de produção de cana-de-açúcar para os próximos anos. No estudo são analisados as transformações organizacionais, novos desafios competitivos do presente e do futuro, e a forma como a área de Recursos Humanos nas diversas organizações do setor, tem acompanhado tal processo, verificando o impacto dessas ações em um contexto de mudanças nos processos da cadeia agrícola (mecanização do plantio, colheita,.dentre outros), da cadeia industrial (biorefinarias, etanol de segunda geração, gaseificação...dentre outros), e no desenvolvimento organizacional e humano como parte integrante de um programa de sustentabilidade das organizações. São abordados metodologias, sistemas e ferramentas de planejamento estratégico, e mensuração propostas por certos autores que visam a demonstrar o impacto das estratégias e as ações na Gestão de Pessoas em direção ao cumprimento das metas e objetivos das organizações, em um cenário de forte crescimento interno e global do mercado de bioenergia. Nesse cenário, expõe-se e discute-se como as empresas do setor sucroalcooleiro utilizam, na prática, essas metodologias e os indicadores de performance da área frente às necessidades, e indicam-se as melhores práticas e ferramentas que visam a facilitar os processos decisórios, o uso de métricas de Recursos Humanos para previsão e acompanhamento do Capital Humano, e a otimização dos recursos e dos investimentos frente aos novos desafios do setor. Embora já se notem várias iniciativas visando a tornar a Gestão de Pessoas um fator estratégico para as organizações da agroenergia, a pesquisa identificou que a área de Recursos Humanos está evoluindo nessa direção e pode contribuir de forma efetiva para a melhor performance e sustentabilidade dos negócios. Palavras chaves: Cana-de Açúcar, Estratégia Organizacional, Capital Humano

Conhecimento e uso das métricas de marketing em instituições de ensino superior

A sociedade evoluiu, a oferta à educação superior aumentou e as instituições de ensino superior (IES) privadas passaram a investir em ações de marketing para se destacarem de seus concorrentes e tentarem obter maior quantidade de alunos matriculados. Esse fato foi responsável por provocar, nos últimos 10 anos, mudanças relevantes e adaptações nas gestões deste segmento, e a profissionalização da gestão de marketing nas IES no Brasil tem sido fonte de pesquisa nos estudos de métricas de marketing. O presente estudo tem como objetivo identificar na literatura métricas em marketing aplicadas aos serviços educacionais, o nível de conhecimento dos gestores de instituições de ensino sobre estas métricas e como estão sendo utilizadas e desenvolvidas. A metodologia utilizada neste estudo de natureza exploratória foi a pesquisa qualitativa por meio de entrevista em profundidade, realizada com oito profissionais dirigentes de marketing de IES privadas, classificadas em pequeno, médio e grande porte, da cidade de Curitiba - PR. Concluiu-se que o conhecimento empírico existe antes do avanço da educação, mas se fazem necessários o uso de métodos concretos e técnicos capazes de identificar os resultados das ações mercadológicas nas instituições. E verificou-se que essas ações começaram a ser praticadas nos últimos cinco anos pela maioria das instituições pesquisadas e a tendência é que exista maior desenvolvimento do mercado no setor da educação superior. Pesquisas futuras são discutidas à luz da teoria de marketing.

Método para avaliação de ambientes de desenvolvimento de software combinando CMM e GQM

Este trabalho de conclusão apresenta um método e uma ferramenta para avaliação da maturidade e da capacitação de ambientes de desenvolvimento de software baseado no uso da abordagem Goal/Question/Metric-GQM combinada aos métodos tradicionais de avaliação já existentes para o modelo Capability Maturity Model-CMM. A aplicação deste método através da ferramenta proposta permitirá a organização avaliada estabelecer o grau de conformidade preliminar dos seus processos em relação às exigências do modelo CMM. Esta avaliação poderá ser utilizada como ponto de partida para o estabelecimento de um processo de melhoria. O modelo CMM descreve uma série de estágios de maturidade que são atingidos através da satisfação de metas estabelecidas para áreas-chave do processo de desenvolvimento de software da organização. A evolução deste modelo, chamada de CMMI, Capability Maturity Model Integrated, possibilita que as organizações optem pela forma de implementação do modelo. Esta opção pode se dar através do uso do CMMI em estágios, vertical utilizando os níveis tradicionais do modelo, ou contínua; horizontal baseada nas áreas-chave de processo. Da mesma forma, a avaliação pode ser realizada sobre qualquer modelo escolhido. O modelo GQM descreve uma estrutura hierárquica baseada na existência de metas de melhoria preestabelecidas das quais são extraídas métricas e questões que as satisfazem. O nível de satisfação dessas metas é obtido através da análise das métricas relativas às questões aplicadas ao foco da avaliação Algumas ferramentas para avaliação dos processos relativos ao modelo CMM são apresentadas, tais como o questionário da maturidade e os modelos existentes para a criação de métodos de avaliação, CMM Apraisal Framework-CAF e Apraisal Requirements for CMMI-ARC. O diferencial apresentado é o estabelecimento de métricas objetivas e regras de interpretação dessas para a definição da satisfação de uma determinada área-chave de processo, ACP, do nível 2 do modelo CMMI. Além dessas contribuições vale destacar o estabelecimento de questões adicionais ao questionário da maturidade com o objetivo de capturar essas métricas e a criação de grafos GQM para cada ACP do nível 2 do CMMI. Esses grafos permitem a visualização do relacionamento existente entre cada ACP do nível 2 do CMMI com suas metas, questões e métricas. A aplicação do método e da ferramenta será demonstrada através da utilização de um estudo de caso aplicado na empresa DWA Informática Ltda.

Estudo do genoma do vírus causador da mionecrose infecciosa em camarões e desenvolvimento de métodos para detecção de diferentes variantes

Shrimp farming is one of the activities that contribute most to the growth of global aquaculture. However, this business has undergone significant economic losses due to the onset of viral diseases such as Infectious Myonecrosis (IMN). The IMN is already widespread throughout Northeastern Brazil and affects other countries such as Indonesia, Thailand and China. The main symptom of disease is myonecrosis, which consists of necrosis of striated muscles of the abdomen and cephalothorax of shrimp. The IMN is caused by infectious myonecrosis virus (IMNV), a non-enveloped virus which has protrusions along its capsid. The viral genome consists of a single molecule of double-stranded RNA and has two Open Reading Frames (ORFs). The ORF1 encodes the major capsid protein (MCP) and a potential RNA binding protein (RBP). ORF2 encodes a probable RNA-dependent RNA polymerase (RdRp) and classifies IMNV in Totiviridae family. Thus, the objective of this research was study the IMNV complete genome and encoded proteins in order to develop a system differentiate virus isolates based on polymorphisms presence. The phylogenetic relationship among some totivirus was investigated and showed a new group to IMNV within Totiviridae family. Two new genomes were sequenced, analyzed and compared to two other genomes already deposited in GenBank. The new genomes were more similar to each other than those already described. Conserved and variable regions of the genome were identified through similarity graphs and alignments using the four IMNV sequences. This analyze allowed mapping of polymorphic sites and revealed that the most variable region of the genome is in the first half of ORF1, which coincides with the regions that possibly encode the viral protrusion, while the most stable regions of the genome were found in conserved domains of proteins that interact with RNA. Moreover, secondary structures were predicted for all proteins using various softwares and protein structural models were calculated using threading and ab initio modeling approaches. From these analyses was possible to observe that the IMNV proteins have motifs and shapes similar to proteins of other totiviruses and new possible protein functions have been proposed. The genome and proteins study was essential for development of a PCR-based detection system able to discriminate the four IMNV isolates based on the presence of polymorphic sites

Análise e desenvolvimento de controladores preditivos multivariáveis baseados em multi-modelos bilineares

This work addresses issues related to analysis and development of multivariable predictive controllers based on bilinear multi-models. Linear Generalized Predictive Control (GPC) monovariable and multivariable is shown, and highlighted its properties, key features and applications in industry. Bilinear GPC, the basis for the development of this thesis, is presented by the time-step quasilinearization approach. Some results are presented using this controller in order to show its best performance when compared to linear GPC, since the bilinear models represent better the dynamics of certain processes. Time-step quasilinearization, due to the fact that it is an approximation, causes a prediction error, which limits the performance of this controller when prediction horizon increases. Due to its prediction error, Bilinear GPC with iterative compensation is shown in order to minimize this error, seeking a better performance than the classic Bilinear GPC. Results of iterative compensation algorithm are shown. The use of multi-model is discussed in this thesis, in order to correct the deficiency of controllers based on single model, when they are applied in cases with large operation ranges. Methods of measuring the distance between models, also called metrics, are the main contribution of this thesis. Several application results in simulated distillation columns, which are close enough to actual behaviour of them, are made, and the results have shown satisfactory

Desenvolvimento de circuitos planares sobre substratos têxteis

The use of flexible materials for the development of planar circuits is one of the most desired and studied characteristics, lately, by researchers. This happens because the flexibility of the substrate can provide previously impracticable applications, due to the rigidity of the substrates normally used that makes it difficult to fit into the circuits in irregular surfaces. The constant interest in recent years for more lighter devices, increasingly more compacts, flexible and with low cost, led to a new line of research of great interest from both academic and technological views, that is the study and development of textile substrates that can be applied in the development of planar circuits, for applications in the areas of security, biomedical and telecommunications. This paper proposes the development of planar circuits, such as antennas , frequency selective surfaces (FSS) and planar filters, using textile (cotton ticking, jeans and brim santista) as the dielectric substrate and the Pure Copper Polyester Taffeta Fabric, a textile of pure copper, highly conductive, lightweight and flexible, commercially sold as a conductive material. The electrical characteristics of textiles (electric permittivity and loss tangent) were characterized using the transmission line method (rectangular waveguide) and compared with those found in the literature. The structures were analyzed using commercial software Ansoft Designer and Ansoft HFSS, both from the company Ansys and for comparison we used the Iterative Method of Waves (WCIP). For the purpose of validation were built and measured several prototypes of antennas, planar filters and FSS, being possible to confirm an excellent agreement between simulated and measured results

Contribuições aos Processos de Clustering com Base em Métricas não-Euclidianas

In this work we present a new clustering method that groups up points of a data set in classes. The method is based in a algorithm to link auxiliary clusters that are obtained using traditional vector quantization techniques. It is described some approaches during the development of the work that are based in measures of distances or dissimilarities (divergence) between the auxiliary clusters. This new method uses only two a priori information, the number of auxiliary clusters Na and a threshold distance dt that will be used to decide about the linkage or not of the auxiliary clusters. The number os classes could be automatically found by the method, that do it based in the chosen threshold distance dt, or it is given as additional information to help in the choice of the correct threshold. Some analysis are made and the results are compared with traditional clustering methods. In this work different dissimilarities metrics are analyzed and a new one is proposed based on the concept of negentropy. Besides grouping points of a set in classes, it is proposed a method to statistical modeling the classes aiming to obtain a expression to the probability of a point to belong to one of the classes. Experiments with several values of Na e dt are made in tests sets and the results are analyzed aiming to study the robustness of the method and to consider heuristics to the choice of the correct threshold. During this work it is explored the aspects of information theory applied to the calculation of the divergences. It will be explored specifically the different measures of information and divergence using the Rényi entropy. The results using the different metrics are compared and commented. The work also has appendix where are exposed real applications using the proposed method

Desenvolvimento de monopolos quase-espirais para aplicações em sistemas UWB

This work is the analysis of a structure of the microstrip antenna designed for application in ultra wide band systems (Ultra Wideband - UWB). This is a prospective analytical study where they tested the changes in the geometry of the antenna, observing their suitability to the proposed objectives. It is known that the UWB antenna must operate in a range of at least 500 MHz, and answer a fractional bandwidth greater than or equal to 25%. It is also desirable that the antenna meets the specifications of track determined by FCC - Federal Communication Commission, which regulates the system in 2002 designating the UWB bandwidth of 7.5 GHz, a range that varies from 3.1 GHz to 10, 6 GHz. by setting the maximum power spectral density of operation in -41.3 dB / MHz, and defining the fractional bandwidth by 20%. The study starts of a structure of geometry in the form of stylized @, which evolves through changes in its form, in simulated commercial software CST MICROWAVE STUDIO, version 5.3.1, and then tested using the ANSOFT HFSS, version 9. These variations, based on observations of publications available from literature referring to the microstrip monopole planar antennas. As a result it is proposed an antenna, called Monopole Antenna Planar Spiral Almost Rectangular for applications in UWB systems - AMQEUWB, which presents simulated and measured results satisfactory, consistent with the objectives of the study. Some proposals for future work are mentioned

Desenvolvimento de software para simulação de motores com dispositivos de partida baseada na integração do atp com o toprede

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Desenvolvimento de um middleware para comunicação via web services e sua aplicação em sistemas de aquisição de dados industriais

The control of industrial processes has become increasingly complex due to variety of factory devices, quality requirement and market competition. Such complexity requires a large amount of data to be treated by the three levels of process control: field devices, control systems and management softwares. To use data effectively in each one of these levels is extremely important to industry. Many of today s industrial computer systems consist of distributed software systems written in a wide variety of programming languages and developed for specific platforms, so, even more companies apply a significant investment to maintain or even re-write their systems for different platforms. Furthermore, it is rare that a software system works in complete isolation. In industrial automation is common that, software had to interact with other systems on different machines and even written in different languages. Thus, interoperability is not just a long-term challenge, but also a current context requirement of industrial software production. This work aims to propose a middleware solution for communication over web service and presents an user case applying the solution developed to an integrated system for industrial data capture , allowing such data to be available simplified and platformindependent across the network

Desenvolvimento de métodos construtivos e de novos materiais empregados na confecção de cartuchos de próteses de membros inferiores

The manufacture of prostheses for lower limb amputees (transfemural and transtibial) requires the preparation of a cartridge with appropriate and custom fit to the profile of each patient. The traditional process to the patients, mainly in public hospitals in Brazil, begins with the completion of a form where types of equipment, plugins, measures, levels of amputation etc. are identified. Currently, such work is carried out manually using a common metric tape and caliper of wood to take the measures of the stump, featuring a very rudimentary, and with a high degree of uncertainty geometry of the final product. To address this problem, it was necessary to act in two simultaneously and correlated directions. Originally, it was developed an integrated tool for viewing 3D CAD for transfemoral types of prostheses and transtibial called OrtoCAD I. At the same time, it was necessary to design and build a reader Mechanical equipment (sort of three-dimensional scanner simplified) able to obtain, automatically and with accuracy, the geometric information of either of the stump or the healthy leg. The methodology includes the application of concepts of reverse engineering to computationally generate the representation of the stump and/or the reverse image of the healthy member. The materials used in the manufacturing of prostheses nor always obey to a technical scientific criteria, because, if by one way it meets the criteria of resistance, by the other, it brings serious problems mainly due to excess of weight. This causes to the user various disorders due to lack of conformity. That problem was addressed with the creation of a hybrid composite material for the manufacture of cartridges of prostheses. Using the Reader Fitter and OrtoCAD, the new composite material, which aggregates the mechanical properties of strength and rigidity on important parameters such as low weight and low cost, it can be defined in its better way. Besides, it brings a reduction of up steps in the current processes of manufacturing or even the feasibility of using new processes, in the industries, in order to obtain the prostheses. In this sense, the hybridization of the composite with the combination of natural and synthetic fibers can be a viable solution to the challenges offered above

Adaptação eletrônica de um leitor mecânico de coto, investigação e desenvolvimento de interface CAD

Due to advances in the manufacturing process of orthopedic prostheses, the need for better quality shape reading techniques (i.e. with less uncertainty) of the residual limb of amputees became a challenge. To overcome these problems means to be able in obtaining accurate geometry information of the limb and, consequently, better manufacturing processes of both transfemural and transtibial prosthetic sockets. The key point for this task is to customize these readings trying to be as faithful as possible to the real profile of each patient. Within this context, firstly two prototype versions (α and β) of a 3D mechanical scanner for reading residual limbs shape based on reverse engineering techniques were designed. Prototype β is an improved version of prototype α, despite remaining working in analogical mode. Both prototypes are capable of producing a CAD representation of the limb via appropriated graphical sheets and were conceived to work purely by mechanical means. The first results were encouraging as they were able to achieve a great decrease concerning the degree of uncertainty of measurements when compared to traditional methods that are very inaccurate and outdated. For instance, it's not unusual to see these archaic methods in action by making use of ordinary home kind measure-tapes for exploring the limb's shape. Although prototype β improved the readings, it still required someone to input the plotted points (i.e. those marked in disk shape graphical sheets) to an academic CAD software called OrtoCAD. This task is performed by manual typing which is time consuming and carries very limited reliability. Furthermore, the number of coordinates obtained from the purely mechanical system is limited to sub-divisions of the graphical sheet (it records a point every 10 degrees with a resolution of one millimeter). These drawbacks were overcome by designing the second release of prototype β in which it was developed an electronic variation of the reading table components now capable of performing an automatic reading (i.e. no human intervention in digital mode). An interface software (i.e. drive) was built to facilitate data transfer. Much better results were obtained meaning less degree of uncertainty (it records a point every 2 degrees with a resolution of 1/10 mm). Additionally, it was proposed an algorithm to convert the CAD geometry, used by OrtoCAD, to an appropriate format and enabling the use of rapid prototyping equipment aiming future automation of the manufacturing process of prosthetic sockets.

Desenvolvimento de um protótipo de um atlas escolar interativo: projeto e produção

This paper aims at presenting an Interactive School Atlas prototype which was developed for cartography and environmental education. The methodology was based on the theoretical study about child mental development of Piaget theory, in order to elaborate strategies that allow the student a better comprehension about the spatial information understanding. It was defined as study case of sixth grade students, because they belong to the Formal Operation stage, in which the children reach the needed mental operations for understanding cartographic key concepts. This Atlas was developed in two stages: cartographic design and Atlas production. The Atlas implementation was developed seeking the use of Multimedia Cartography and animation resources that may attract students and teachers, instigating them to explore the tools and strategies to lead users to a correct interpretation of map contents. The Atlas was implemented by using the Macromedia Flash and Visual Basic softwares and the MapObjects library. Though the map has bot been evaluated yet, one should point out that it was designed according to the theoretical and methodological knowledge of the cognitive development and its relationship to cartographic conceptions, aiming at adapting the product to children cognitive skills.