Desenvolvimento de Uma Órtese Ativa Para os Membros Inferiores Com Sistema Eletrônico Embarcado

This work presents the development of a prototype of an intelligent active orthosis for lower limbs whit an electronic embedded system. The proposed orthosis is an orthopedical device with the main objective of providing walking capacity to people with partial or total loss of lower limbs movements. In order to design the kinematics, dynamics and the mechanical characteristics of the prototype, the biomechanics of the human body was analized. The orthosis was projected to reproduce some of the movements of the human gait as walking in straight forward, sit down, get up, arise and go down steps. The joints of the orthosis are controlled by DC motors equipped with mechanical reductions, whose purpose is to reduce rotational speed and increase the torque, thus generating smooth movements. The electronic embedded system is composed of two motor controller boards with two channels that communicate with a embedded PC, position sensors and limit switches. The gait movements of the orthosis will be controlled by high level commands from a human-machine interface. The embedded electronic system interprets the high level commands, generates the angular references for the joints of the orthosis, controls and drives the actuators in order to execute the desired movements of the user

Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Construção e controle inteligente de um manipulador robótico com dois graus de liberdade

The present work shows the development and construction of a robot manipulator with two rotary joints and two degrees of freedom, driven by three-phase induction motors. The positions of the arm and base are made, for comparison, by a fuzzy controller and a PID controller implemented in LabVIEW® programming environment. The robot manipulator moves in an area equivalent to a quarter of a sphere. Experimental results have shown that the fuzzy controller has superior performance to PID controller when tracking single and multiple step trajectories, for the cases of load and no load

Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Razão: origem, crise e respostas contemporâneas

The philosophical discussion has been present throughout the whole history of reason, for philosophy and reason have been always closely linked. In the following work, Reason, origin, crises and contemporary answers I go into the history of the rational and demonstrative thought, focusing on how rationality can be thought about in contemporary philosophy. To answer this question I discuss the principle of philosophy, the mythical period and the thoughts of Heraclito , Parmenides , Plato and Aristotle in relation to reason and rationality. Also discussed is the medieval period and the philosophical use of logic and the criticism of Aristotle s thoughts, especially focusing on the criticism of Hegel and Luckasiewicz of the non contradiction principle. Lastly I discuss the development of reason in present day philosophy, mainly how modern logics could be putting at stake Aristotle s model of reason

Da acusação às professoras pelo aprisionamento do sujeito em um diagnóstico a uma interrogação acerca da posição do analista

This study arises with two questionings: what is the usefulness of a diagnosis in school? And what moves that demand for diagnosis? Such questions were drawn up in answer to a diagnostic demand produced in the context of our internship in Scholar/Educational Psychology. On the perspective of working these issues, we conducted a literature research on diagnosis, with regard to its history, as a review of the psychoanalytic literature about the subject. This venture led us to a new interrogation: what are the elaborations that teachers produce from the child diagnosis, which place her as having special educational needs? The need of deciding the method that would lead us to answer such question, taking as reference the psychoanalytic theory, led us to an incursion to the subject research in psychoanalysis. This tracking points us that, according to Freud, on what comes to psychoanalysis, theory and research go together and that psychoanalysis is not a totalitarian world vision. On Lacan, the research is from the analysand, research that always implies the analyst and its praxis. Such path forced us to position a change to question the positions we occupy, in this experience, guided by an analytical listening. To discuss our position, we started from two cases and submitted them to construction and analysis. As a result, we found out that there is no way to know in advance what will be done from a diagnosis, which will be its uses. Point we used to considerate devastating to a child. So, to us, all children that received a diagnosis would be destined to a tragedy and what the research has shown us is that not always, not all of them. Thus, more than knowing what moves the demand, the important is the subject uses and our position towards it so they can generate a work

Reavaliação de critérios estruturais na hidrogeologia de terrenos cristalinos, com ênfase na neotectônica e sensoriamento remoto

Hydrogeological prospecting in Northeast Brazil and in other crystalline terrains has been developed on the basis of structural and regional geology concepts that date back to the 50-60 decades and, as such, demand a natural re-evaluation and update. In this kind of terrain, the percolation and accumulation of ground water are controlled by fractures and other types of discontinuities, such as foliations and geological contacts that, through weathering, impart porosity and permeability to the rocks, allowing water flow and storage. Several factors should be considered in the process of locating water wells, as discussed in the literature. Among these, the kind of structures, fracture geometry (including aperture and connectivity) and their geological and chronological context. It is important to correlate fracture systems with the regional neotectonic framework. Fractures at low angle (sub parallel) with the principal stress axis (s1) are those which tend to open (actually they work as tension joints) and, in principle, would present major hydric potential; in the opposite side, fractures at high angle to s1 would behave as closed by a compressional component. Fractures diagonal to the compression and tension axes correspond to shear fractures and, due to their connectivity with second fractures, are also important in terms of hydric potential. Uplift followed by terrain denudation leads to decompression and a general tendency to open (aided by weathering processes) fractures and other rock discontinuities, at different orientations. Low angle fractures, formed in this context, are equally important to increase connectivity, collection of water and recharge of the aquifer systems. In a general way, an opening component (neotectonic or by terrain decompression) and several models to increase fracture connectivity correlate with a greater hydric potential of these structures. Together with parallel research, this thesis addresses models of ground water occurrence in crystalline terrains, either improving well established concepts like the (Riacho-Fenda model), but also stressing other possibilities, like the role of alluvium and paleo-regoliths (the Calha Elúvio-Aluvionar model) and of strongly altered, permo-porous zones placed at variable depths below the present surface, flanking several types of discontinuities, especially interconnected fracture arrays (the Bolsões de Intemperismo model). Different methodological approaches are also discussed in order to improve success rates in the location of water wells in crystalline terrains. In this methodological review, a number of case studies were selected in the eastern domain of the State of Rio Grande do Norte, involving the localities of Santa Cruz, Santo Antônio, Serrinha, Nova Cruz, Montanhas, Lagoa de Pedras and Lagoa Salgada. Besides the neotectonic analysis of brittle structures, this Thesis addresses the validation of remote sensing as a tool for ground water prospecting. Several techniques were tested in order to detect and select areas with higher potential for ground water accumulation, using Landsat 5-TM and RADARSAT images, besides conventional aerial photos. A number of filters were tested to emphasize lineaments in the images, improving their discrimination, to identify areas with higher overburden humidity, which could reflect subsurface water accumulation, as well as alluvium and other sedimentary covers that might act as recharge zones. The work started with a regional analysis with the orbital images, followed by analysis of aerial photos, up to a detailed structural study of rock exposures in the terrain. This last step involved the analysis of outcrops surrounding wells (in a ray of approximately 10 to 100 m) with distinct productivities, including dry examples. At the level required for detail, it was not possible to accomplish a statistical approach using the available well data catalogs, which lack the desired specific information. The methodology worked out in this Thesis must undergo a testing phase through location of new water wells. An increase in the success rates as desired will led to a further consolidation step with wider divulgation of the methodology to private companies and governmental agencies involved in ground water prospecting in crystalline terrains

Tecttôniica póss--riifftte na Baciia Pottiiguar

The study of Brazilian sedimentary basins concentrates on their rift phase, whereas the Post-rift phase has been considered a tectonic quiescent period. The post-rift sequence of the Potiguar Basin, in the far northeastern Brazil, was once considered little deformed, however several studies have shown how that it was affected by major fault systems. The purpose of this thesis is to characterize the post-rift tectonic. The specific objectives are: to characterize the Neogene and Quaternary sedimentary units that outcrop of the Potiguar Basin; to show how the NW-SEtrending Afonso Bezerra Faults System deformed outcrop rocks in the Basin; to describe soft-sediment deformation in gravels of the Quaternary Alluvial Deposits from Açu River. Facies analyses, grain-size studies, luminescence dating, remote sensing, structural mapping, shallow geophysics (georadar), paleostress and petrography were carried out. The structural mapping and the georadar sections indicated that the Carnaubais and Afonso Bezerra fault systems formed fractures, silicified and non-silicified faults or deformation bands, affecting mainly the Açu, Jandaíra and Barreiras formations. The petrographic data indicate that the strong silicification resulted in a sealant character of the faults. Paleostress analysis indicates that two stress fields affected the Basin: the first presented N-S-trending compression, occurred from the Neocretaceous to the Miocene; the second stress field presents E-W-trending compression, acts from the Miocene to the present. It was verified once the Afonso Bezerra System Faults was reactivated in periods post-Campanian and affects all post-rift lithostratigraphic units of Potiguar Basin, including Quaternary sedimentary covers. The study about soft-sediment deformation structures indicates that they are similar in morphology and size to modern examples of seismically-induced deformation strutures in coarse sediments. TL and OSL ages indicate that sediment deposition and associated soft-sediment deformation occurred at least six times from ~352 Ka to ~9 Ka. Finally these studies demonstrate how recent is tectonics in the Basin Potiguar

Estudo geoquímico e geocronológico Rb-Sr e Sm-Nd em zonas de cisalhamento mineralizadas em ouro e suas relações com as rochas encaixantes e geocronológico Sm-Nd em mineralizações de scheelita na faixa Seridó

Great part of the gold mineralizations are associated with shearing zones through which circulate a great volume of fluids, that interact with the host rocks, originating leaching or precipitation of chemical elements, including gold. The studied mineralizations are inserted in the Seridó Belt. The tungsten mineralization in Brejuí Mine is hosted in calcsilicate rocks from Jucurutu Formation. The São Francisco auriferous mineralization has as host rocks mica-schists from Seridó Formation, while the Ponta da Serra and Fazenda Simpático mineralizations are hosted in orthogneisses of this fold belt basement. The research conducted on these mineralizations had the purpose of integrate the data of chemical elements behavior during the shearing/mineralizing event, and its influence on the isotopic systems Rb-Sr and Sm-Nd. The studies of chemical mobility in the auriferous mineralizations showed that elements that during the shearing displayed in general an immobile behavior were Al, Ti and Zr. Among the elements that were mobilized during the event, K and Rb showed mass gain in ali belts of transformed rocks, while the elements Ca, Na and Sr normally lost mass. Petrographic studies showed that the minerais biotite and plagioclase, in all investigated mineralizations, played an important role in the chemical reactions occurred in the transformed rocks to the generation of muscovite, cordierite and sillimanite, justifying the input of K to the formation of muscovite, and the release of Na and Ca from plagioclase to the fluid phase. In the São Francisco auriferous mineralization, the results of the Rb-Sr isotopic analysis yielded ages of 645 ± 19 Ma and 596 ± 17 Ma, with both samples, from original and transformed rocks. Two ages, 569 ± 20 Ma. and 554 ± 19 Ma., were obtained with samples frem the transformed rocks domain. These ages suggest that there were two metamorphic pulses during the emplacement of the mineralized shearing zone. The Sm-Nd data yielded TDM ages of 1,31 Ga and 1,26 Ga with 3Nd (0,6 Ga) of -0,26 e -0,40 for the original and final transformed rocks, respectively. In case of the orthogneisses of Caicó Complex, e.g. the Ponta da Serra and Fazenda Simpático mineralizations, the Rb-Sr data did not yield ages with geological significance. In the Ponta da Serra mineralization, the Sm-Nd isotopic data yielded T DM ages of 2,56 Ga and 2,63 Ga to the original rocks and of 2,71 Ga to the mineralized sheared rock, and values of 3Nd (2,0 Ga) between -3,70 e -5,42 to the original and sheared rock, respectively. In the Fazenda Simpático, Sm-Nd data yielded TDM between 2,65 and 2,69 Ga with values of 3Nd (2,0 Ga) between -5,25 e -5,52. Considering the Sm-Nd data, the TDM ages may be admitted as the age of the parental magma extraction, producer of the protoliths of the orthogneisses from Ponta da Serra and Fazenda Simpático mineralizations. The chemical mobility studies showed that in the basement hosted mineralizations, Rb achieved mass while Sr lost mass, as Sm as well as Nd were strongly mobilized. The Sm/Nd ratio remained constant, however, confirming the isochemical character of those elements. In the basement mineralizations, Rb-Sr ages are destituted of geological significance, because of the partial opening of the isotopic system during the tectono-metamorphic transformations. In the tungsten mineralization, the diagram Sm-Nd constructed with the whole-rock data of calcsilicatic and the high-temperature paragenesis (garnet, diopside and iron-pargasitic hornblende) indicated an 631 ± 24 Ma age, while with the whole-rock data and low-temperature paragenesis (vesuvianite, epidote and calcite), a 537 ± 107 Ma age was obtained. These ages, associated with the petrographic observations, suggest that there was a time gap among the hydrothernal events responsible by the formation of the high and low temperature paragenesis in the calcsilicatic rocks mineralized in scheelite

Estudos sedimentológicos e o contexto estrutural da formação Serra do Martins, nos platôs de Portalegre, Martins e Santana/RN

This dissertation deals with sedimentological and structural framework of the siliciclastic rock of the Serra do Martins Formation (FSM) in the Portalegre, Martins and Santana plateau, located to the south of Potiguar Basin, in the southwest and central Rio Grande do Norte state. This formation, regarded as of Oligo-Miocene age based on intrusive relations of the Miocene Macau volcanics, has a still disputable age due to the lack of appropriate bio and/or chronostratigraphic markers. The FSSM deposits crop out along 650 to 750 m high plateau, as a remanescent sedimentary cover directly overlying topographically uplifted pre-cambrian crystalline rocks. During the last decades, these deposits were interpreted according to a Tertiary paleoclimatic evolutionary model, associated to pedogenetic processes. The sedimentological characterization of the FSM was done through a detailed study of its facies, petrography and diagenetic features. The facies study was based on description of field relations, textures and structures, the piling up of the strata and their lateral variations. The FSM was deposited by an anastomosing to coarse-meandering fluvial system, including deposits of lag, cannel-fill, ouver-bank and flood plain. The petrographic composition of the sediments, coupled to their facies and paleocurrent directions, suggest a rather distal sourcearea, to the south of the present plateau. The diagenetic study identified an incipient grain mechanical compaction, pronounced dissolution of the framework, matrix and/or cement components, intense precipitation of kaolinite, silic and, eventually, iron oxides, besides mechanical infiltration of the clays. Most of these events, regarded in the literature as associated to near-surface conditions (eo or telodiagenesis), indicate the FSM sediments were never deeply buried. Topographic relations along longitudinal and transversal sections reaching the Potiguar Basin to the north identified regional dips that allow to discuss stratigraphic correlations between the FSM and the basin formations. The sedimentological features of the different units and the intrusive relations of the Macau volcanics were also considered in these correlations,which support the Oligo-Miocene age previously accepted for the FSM. Concerning the tectonic framework of the FSM, this work investigated the pre-cambrian to cretaceous heritage and the cenozoic deformation, allowing the recognition of pre-, sin and post-FSM structures. The crystalline basement, belonging to the Seridó Belt, displays NE and WNW foliation trends related to the Brasiliano-age ductile shear zones. In this terrain, brittle-ductile and brittle NE- and NW-trending structures, associated with extensional joints filled with pegmatites and quartz veins, are related to an E-W compression by the end of Brasiliano Cycle. The E-W joints and NE-trending fractures were reactivated by N-S to N-S to NW extension during late Jurassic to Cretaceous times, controlling the emplacement of the Rio Ceará-Mirim basic dyke swarm and the opening of the Potiguar rift basin

Mapeamento da zona costeria protegida por arenitos de praia (Beachrocks) em Nísia Floresta - RN

The goal of this work comprises the detailed mapping of the coastal zone of the south coast of the State of Rio Grande do Norte. The emphasis of the study is the units of beachrocks and the features of the physical environment associated. The mapping of the beachrocks and of the adjacent coastal features is justified, among other aspects, by the fact that the beachrocks constitute an important protection agent against the sea erosion. By one side, they dissipate the energy of the sea waves and make possible the imprisonment of sediments in the foreshore. The beachrocks in the studied area are constituted of discontinuous strips, parallel to the coast line presenting emerged in some places, even in the highest tides, entirely submerged or partially buried by coastal sediments. These sandstones compose the landscape of big part of the coast and they are responsible for the partial dissipation of the energy of the waves on the studied coast. The methodology used in this work consisted of different techniques were used, as the use of aerial pictures of small format (FAPEFs), acquisition of data of system of global positioning (GPS) and later elaboration of thematic maps and of digital models of soil (MDTs). The results obtained in the mapping of the use and occupation of the soil, demonstrate the existence of strong human pressure in the coastal area (built lots and no built), occupying about 54,74% of built areas. This problem has been taking to degradation risks due to the inconsequent expansion of divisions into lots and tourist enterprises. The MDT came as an excellent resource, as visual as functional, being possible to visualize several angles and to act in three dimensions the relief of the area in study, as well as to identify the present features in the coastal area. By the importance of the bodies of beachrocks as a protection agent against the coastal erosion, faces were delimited in the sandstones based in geometric criteria, classifying them in, central face, outside face, inside face, break and undermiming. These last two associates to the erosion and washout in the base of these bodies. Field data indicate clearly that the most important process in the fracturing of the bodies is associated with mechanisms related to the gravity, being the joints formed by processes of gravitational sliding. Finally, the mapping of the coastal zone starting from aerial pictures of small format it made possible the identification of the elements that compose the beach strip, for accomplishing with larger detailed level and by presenting a better monitoring of the dynamics of the coastal zone

Expressão em superfície do sistema de falhas Poço Verde-caraúbas, Bacia Potiguar

The structural knowledge of the western portion of the Potiguar Basin is still in its infancy, especially these related to NW-trending fault systems. This paper analyzes the Poço Verde-Caraúbas Fault System, which was initially recognized in subsurface. The activities involved in this study correspond to remote-sensing analysis and, in particular, to the geometric and kinematic analysis of post-rift sequences of the basin. In addition, the study aimed to determine the stress fields operating in the area. The studies were carried out in an area of 1,000 km², located in the western portion of Potiguar Basin along the Poço Verde-Caraúbas Fault System, Rio Grande do Norte State. The remote sensing imagery indicates a predominance of NW-SE-trending lineaments, consistent with the fault system under study, followed by the NE-SW, N-S and E-W directions. The tectonic structures mapped were analyzed only in outcrops of the Jandaíra Formantion. They are joints (filled or not) in all directions, but with predominance of the NW-trending joints. Faults are usually N-S-trending normal faults and NW-SE and NE-SW-trending strike-slip faults. Geodynamic analysis identified two tectonic stress fields: the first field, "Field 1" is represented by an N-S-trending horizontal compression and E-W-trending horizontal extension. This field affected the Potiguar Basin at least until the Miocene. The second field, "Field 2", is represented by an E-W-trending horizontal compression and N-S-trending horizontal extension. This is the present-day stress field and has affected the Potiguar basin since the Pliocene

Sistemas orbitais e aéreos aplicados à análise multi-escala da tectônica rúptil atuante na borda sudeste da Bacia do Parnaíba

The tectonics activity on the southern border of Parnaíba Basin resulted in a wide range of brittle structures that affect siliciclastic sedimentary rocks. This tectonic activity and related faults, joints, and folds are poorly known. The main aims of this study were (1) to identify lineaments using several remotesensing systems, (2) to check how the interpretation based on these systems at several scales influence the identification of lineaments, and (3) to contribute to the knowledge of brittle tectonics in the southern border of the Parnaíba Basin. The integration of orbital and aerial systems allowed a multi-scale identification, classification, and quantification of lineaments. Maps of lineaments were elaborated in the following scales: 1:200,000 (SRTM Shuttle Radar Topographic Mission), 1:50,000 (Landsat 7 ETM+ satellite), 1:10,000 (aerial photographs) and 1:5,000 (Quickbird satellite). The classification of the features with structural significance allowed the determination of four structural sets: NW, NS, NE, and EW. They were usually identified in all remote-sensing systems. The NE-trending set was not easily identified in aerial photographs but was better visualized on images of medium-resolution systems (SRTM and Landsat 7 ETM+). The same behavior characterizes the NW-trending. The NS-and EW-trending sets were better identified on images from high-resolution systems (aerial photographs and Quickbird). The structural meaning of the lineaments was established after field work. The NEtrending set is associated with normal and strike-slip faults, including deformation bands. These are the oldest structures identified in the region and are related to the reactivation of Precambrian basement structures from the Transbrazilian Lineament. The NW-trending set represents strike-slip and subordinated normal faults. The high dispersion of this set suggests a more recent origin than the previous structures. The NW-trending set may be related to the Picos-Santa Inês Lineament. The NS-and EW-trending sets correspond to large joints (100 m 5 km long). The truncation relationships between these joint sets indicate that the EW-is older than the NS-trending set. The methodology developed by the present work is an excellent tool for the understanding of the regional and local tectonic structures in the Parnaíba basin. It helps the choice of the best remote-sensing system to identify brittle features in a poorly known sedimentary basin

Estudo microestrutural e resistência à corrosão de uma liga de Au soldada a laser, empregada em prótese sobre implantes

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