Robots como ferramenta pedagógica nos primeiros anos

O presente artigo descreve e analisa um projeto realizado com duas turmas do 1o ciclo do ensino básico que trabalharam conjuntamente com robots, tomando a aprendizagem como um fenómeno intrinsecamente ligado à participação em comunidades de prática (Lave, 1996; Lave; Wenger, 1991). Pretende-se caracterizar os intervenientes, a metodologia de trabalho implementada, a descrição dos artefactos utilizados (robots e escrita de uma história) e analisar a relação dos intervenientes com os robots, os padrões de participação que se revelaram com esse tipo de trabalho, procurando enfatizar os contributos que decorrem da participação em ambientes sociais digitais para a aprendizagem dos alunos, tais como a participação e a negociação conjunta de significados, a importância dos robots e da história terem sido “construídos” pelos estudantes e a existência de um reportório partilhado e um empreendimento conjunto.

Monitorização Precoce dos Sinais de Alerta de Agressão em Psiquiatria Forense

Introdução: Cerca de 10% dos doentes desenvolvem comportamentos agressivos tornando-se necessário perceber que variáveis, previamente reconhecidas, contribuem para a ocorrência de agressão e, concomitantemente, que ferramentas atuam como respostas de prevenção e estratégias de gestão e controlo do risco. Metodologia: A adequação das respostas terapêuticas depende de uma correta avaliação precoce dos sinais de alerta de agressão, pelo que se recorreu ao ?Forensic Early Signs of Aggression Inventory? (FESAI) por favorecer a compreensão da dinâmica dos mesmos; e proporcionar o envolvimento do doente na sua monitorização e recuperação, constituindo uma preciosa ajuda para os enfermeiros, quer no sedimentação das relações interpessoais, quer na melhoria da intervenção precoce. Neste sentido, propõe-se desenvolver um estudo quantitativo, exploratório e correlacional, a partir de uma realidade contextualizada num serviço de internamento de psiquiatria forense. Objetivos: Analisar e monitorizar a prevalência dos sinais de alerta precoce de agressão através do uso do FESAI, com a finalidade de averiguar a pertinência da sua implementação na realidade portuguesa e avaliar a influência do diagnóstico clínico nos sinais de alerta precoce de agressão. Resultados: Da amostra utilizada verificou-se que os sinais de alerta precoce de agressão que prevalecem são ?desânimo, ansiedade e isolamento social?, sendo o comportamento agressivo condicionado pelo uso da psicofarmacologia, que conduz a perda de energia e prostração e, consequentemente, a uma inevitável deterioração social. Importa, portanto, equacionar que no contexto da realidade portuguesa os resultados obtidos condicionam a validação do FESAI, quer pela redutibilidade da amostra, quer pela conduta que se assume na psiquiatria forense em Portugal. Conclusão: Apesar das limitações que o estudo apresenta, verificou-se que a relevância clínica do FESAI acentua-se por permitir capturar uma ampla variedade de sinais de alerta individuais, constituindo uma preciosa ajuda aos enfermeiros para auxiliar na gestão de comportamentos perturbadores em contexto de internamento, seja qual for o diagnóstico clínico do doente, pelo que deve ser implementado.

Aplicação de cartas de controlo na monitorização de resultados de ensaios de comparação interlaboratorial

A norma NP EN ISO/IEC 17025 descreve os requisitos gerais para o reconhecimento da competência de um laboratório em realizar ensaios e/ou calibrações, incluindo amostragem, que é utilizada pelos laboratórios para desenvolver os seus sistemas de gestão da qualidade e para as atividades administrativas e técnicas. Além da referência aos procedimentos de controlo da qualidade para monitorizar a validade dos ensaios e calibrações realizadas, é referida a necessidade dos laboratórios participarem em Ensaios de Comparação Interlaboratorial (ECI) como garantia da fiabilidade dos resultados. Neste trabalho, apresentam-se resultados da aplicação de cartas de controlo de qualidade para monitorização da estatística z-score (diferença entre o resultado obtido pelo laboratório participante e o valor de referência dividida pelo erro). Quando os dados analisados apresentam autocorrelação, é testado um modelo apropriado de série temporal, ou seja, um modelo que remova a autocorrelação dos dados aplicando cartas de controlo aos resíduos

Avaliação do sensor óptico de vegetação OptRx® na monitorização da variabilidade espacial e temporal de pastagens

estimativa da produtividade das pastagens constitui uma etapa fundamental para o gestor agrícola em termos de planeamento do encabeçamento animal, organização dos lotes de animais e avaliação das necessidades de suplementação alimentar ao longo do ano. O objectivo principal deste trabalho consistiu na avaliação de um sensor óptico activo (“OptRx”, que mede o índice NDVI, “Normalised Difference Vegetation Index”) para monitorizar de forma expedita aspectos relacionados com a variabilidade da pastagem e apoiar a tomada de decisão do gestor agrícola. Os resultados obtidos demonstraram o potencial que apresenta o índice NDVI para monitorizar a evolução do padrão espacial e temporal do estado vegetativo de uma pastagem biodiversa. Índices mais elevados foram registados à medida que a pastagem se aproximava do seu maior vigor vegetativo, notando-se uma quebra significativa destes índices no final da Primavera, quando a pastagem começou a secar em virtude da conjugação de temperaturas mais elevadas com a redução dos teores de humidade no solo. Este índice foi também efectivo na identificação de diferentes famílias botânicas (gramíneas/leguminosas) e diferentes produtividades na pastagem. Por outro lado, foi possível desenvolver equações de calibração do NDVI com a produção de matéria verde e de matéria seca (em kg/ha), tendo sido evidenciada uma relação inversa deste índice com o teor de matéria seca (em %) de pastagens de sequeiro do Alentejo.

Tecnologia GNSS de baixo custo na monitorização de ovinos em pastoreio

Extensive livestock production is supported by natural and biodiverse pastures, characterized by marked seasonal variation of biomass, plant species and growth stage. The use of the food resources and the occupation of grazing space can be very heterogeneous in such conditions due to ruminants grazing behaviour. Successful grazing and pasture management requires an understanding of the adjustment mechanisms behind the grazing behaviour that enables adaptation to grazing conditions. Use of GNSS technology allows a quick and effective grazing data collection which is, however expensive, limiting its application to research purposes. This paper reviews the principles for the application of GNSS technology and evaluates the use of inexpensive commercial GNSS receivers (commercial of the shelf - COTS: CatTrackTM”). Six receivers were used for six data collection period over two months of continuous grazing on a natural pasture. The measured static and dynamic accuracy of the receivers is 14m and 40m, respectively. The precision was 3m and the reliability 80%. The tested equipment allows the differentiation between animal activities (grazing, resting and transit). It also determines sheep locations, allowing the characterization of patterns, pathways and preferred areas. It is concluded that the COTS equipment has a high quality / price ratio, so it can become an important support decision tool essential to a more precise pasture management.

Controlo e monitorização do efluente de uma indústria vitivinícola

O tema deste trabalho é "Controlo e monitorização do efluente de uma indústria vitivinícola" e teve lugar na Adega Cooperativa de Reguengos de Monsaraz - CARMIM. O controlo e monitorização, bem como a caracterização físico-química do efluente deste tipo de indústrias, especialmente na CARMIM, pretendem representar um instrumento importante no sentido da necessidade de se construir uma estação de pré-tratamento de águas residuais, antes destas fazerem parte do sistema de águas residuais municipais. A monitorização do efluente ocorreu em duas épocas distintas, a Época Baixa e a Época de Campanha. Em cada uma das épocas foram monitorizadas operações distintas, como a lavagem dos filtros de terras de diatomáceas, a higienização do equipamento de filtração tangencial, a higienização das cubas de inox, lavagens de cubas de vinho tinto e lavagens de depósitos de vinho branco. Foi também monitorizado o efluente resultante do edifício de engarrafamento, da Adega Velha e da caixa colectora global. Acompanhou-se em cada operação e caixas colectoras, o pH, temperatura e caudal, sempre que possível. Para cada amostra foi efectuada uma caracterização físico-química, que inclui os seguintes parâmetros: carência química em oxigénio, azoto total, fósforo total, nitratos, sólidos suspensos totais e metais como ferro, cobre e manganês. ABSTRACT: "Winery wastewater control and monitoring" is the main theme of all this work. All this occurred in CARMIM - Cooperativa Agrícola de Reguengos de Monsaraz. The control and monitoring, as well as physical and chemistry features of this type of wastewater, particularly related with CARMIM, intend to represent an important instrument towards the necessity of building a pre-treatment wastewater station, before they are part of the municipal wastewater system. The wastewater monitoring took place in two different seasons, the non-vintage and vintage season. ln both seasons there were checked different operations such as, the washing of earth filtering equipment, red and white wine tanks and finally inox tank caustic washing. At the same time, there was also possible monitoring the final wastewater resulting from the bottling line facility, "Old “Cellar (Adega Velha) and global drain boxes. There was preformed a physical chemistry feature for each sample. These features comprehend several parameters: Chemical oxygen demand, total nitrogen, total phosphorous, nitrates, total suspended solids and metals such as iron, cupper and manganese.

Dynamics of undeactuated cable-driven parallel robots

This thesis focuses on the dynamics of underactuated cable-driven parallel robots (UACDPRs), including various aspects of robotic theory and practice, such as workspace computation, parameter identification, and trajectory planning. After a brief introduction to CDPRs, UACDPR kinematic and dynamic models are analyzed, under the relevant assumption of inextensible cables. The free oscillatory motion of the end-effector (EE), which is a unique feature of underactuated mechanisms, is studied in detail, from both a kinematic and a dynamic perspective. The free (small) oscillations of the EE around equilibria are proved to be harmonic and the corresponding natural oscillation frequencies are analytically computed. UACDPR workspace computation and analysis are then performed. A new performance index is proposed for the analysis of the influence of actuator errors on cable tensions around equilibrium configurations, and a new type of workspace, called tension-error-insensitive, is defined as the set of poses that a UACDPR EE can statically attain even in presence of actuation errors, while preserving tensions between assigned (positive) bounds. EE free oscillations are then employed to conceive a novel procedure aimed at identifying the EE inertial parameters. This approach does not require the use of force or torque measurements. Moreover, a self-calibration procedure for the experimental determination of UACDPR initial cable lengths is developed, which consequently enables the robot to automatically infer the EE initial pose at machine start-up. Lastly, trajectory planning of UACDPRs is investigated. Two alternative methods are proposed, which aim at (i) reducing EE oscillations even when model parameters are uncertain or (ii) eliminate EE oscillations in case model parameters are perfectly known. EE oscillations are reduced in real-time by dynamically scaling a nominal trajectory and filtering it with an input shaper, whereas they can be eliminated if an off-line trajectory is computed that accounts for the system internal dynamics.

Geometrico-static modelling of continuum parallel robots

In this thesis, we explore three methods for the geometrico-static modelling of continuum parallel robots. Inspired by biological trunks, tentacles and snakes, continuum robot designs can reach confined spaces, manipulate objects in complex environments and conform to curvilinear paths in space. In addition, parallel continuum manipulators have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability and strength of rigid-links parallel robots. Subsequently, the foundation of our work is performed on slender beam by applying the Cosserat rod theory, appropriate to model continuum robots. After that, three different approaches are developed on a case study of a planar parallel continuum robot constituted of two connected flexible links. We solve the forward and inverse geometrico-static problem namely by using (a) shooting methods to obtain a numerical solution, (b) an elliptic method to find a quasi-analytical solution, and (c) the Corde model to perform further model analysis. The performances of each of the studied methods are evaluated and their limits are highlighted. This thesis is divided as follows. Chapter one gives the introduction on the field of the continuum robotics and introduce the parallel continuum robots that is studied in this work. Chapter two describe the geometrico-static problem and gives the mathematical description of this problem. Chapter three explains the numerical approach with the shooting method and chapter four introduce the quasi-analytical solution. Then, Chapter five introduce the analytic method inspired by the Corde model and chapter six gives the conclusions of this work.

Direct Kinematics of Underactuated Cable-Driven Parallel Robots: Sensitivity to Redundant Measurements

Underactuated cable-driven parallel robots (UACDPRs) shift a 6-degree-of-freedom end-effector (EE) with fewer than 6 cables. This thesis proposes a new automatic calibration technique that is applicable for under-actuated cable-driven parallel robots. The purpose of this work is to develop a method that uses free motion as an exciting trajectory for the acquisition of calibration data. The key point of this approach is to find a relationship between the unknown parameters to be calibrated (the lengths of the cables) and the parameters that could be measured by sensors (the swivel pulley angles measured by the encoders and roll-and-pitch angles measured by inclinometers on the platform). The equations involved are the geometrical-closure equations and the finite-difference velocity equations, solved using the least-squares algorithm. Simulations are performed on a parallel robot driven by 4 cables for validation. The final purpose of the calibration method is, still, the determination of the platform initial pose. As a consequence of underactuation, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained by means of forward kinematics only. Hence, a direct-kinematics algorithm for a 4-cable UACDPR using redundant sensor measurements is proposed. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. Then, we study the performance of the direct-kinematics algorithm through the computation of the sensitivity of the direct-kinematics solution to measurement errors. Furthermore, position and orientation error upper limits are computed for bounded cable lengths errors resulting from the calibration procedure, and roll and pitch angles errors which are due to inclinometer inaccuracies.

Mechanical design and hybrid control strategies for overconstrained cable-driven parallel robots

Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. They are attractive for many industrial tasks to be performed on a large scale, such as handling and manufacturing, without a substantial increase in costs and mechanical complexity with respect to a small-scale application. However, since cables can only sustain tensile stresses, cable tensions must be kept within positive limits during the end-effector motion. This problem can be managed by overconstraining the end-effector and controlling cable tensions. Tension control is typically achieved by mounting a load sensor on all cables, and using specific control algorithms to avoid cable slackness or breakage while the end-effector is controlled in a desired position. These algorithms require multiple cascade control loops and they can be complex and computationally demanding. To simplify the control of overconstrained cable-driven parallel robots, this Thesis proposes suitable mechanical design and hybrid control strategies. It is shown how a convenient design of the cable guidance system allows kinematic modeling to be simplified, without introducing geometric approximations. This guidance system employs swiveling pulleys equipped with position and tension sensors and provides a parallelogram arrangement of cables. Furthermore, a hybrid force/position control in the robot joint space is adopted. According to this strategy, a particular set of cables is chosen to be tension-controlled, whereas the other cables are length-controlled. The force-controlled cables are selected based on the computation of a novel index called force-distribution sensitivity to cable-tension errors. This index aims to evaluate the maximum expected cable-tension error in the length-controlled cables if a unit tension error is committed in the force-controlled cables. In practice, the computation of the force-distribution sensitivity allows determining which cables are best to be force-controlled, to ensure the lowest error in the overall force distribution when a hybrid force/position joint-space strategy is used.

Trajectory planning of single and dual-arm robots for time-optimal handling of liquids and objects

This Thesis studies the optimal control problem of single-arm and dual-arm serial robots to achieve the time-optimal handling of liquids and objects. The first topic deals with the planning of time-optimal anti-sloshing trajectories of an industrial robot carrying a cylindrical container filled with a liquid, considering 1-dimensional and 2-dimensional planar motions. A technique for the estimation of the sloshing height is presented, together with its extension to 3-dimensional motions. An experimental validation campaign is provided and discussed to assess the thoroughness of such a technique. As far as anti-sloshing trajectories are concerned, 2-dimensional paths are considered and, for each one of them, three constrained optimizations with different values of the sloshing-height thresholds are solved. Experimental results are presented to compare optimized and non-optimized motions. The second part focuses on the time-optimal trajectory planning for dual-arm object handling, employing two collaborative robots (cobots) and adopting an admittance-control strategy. The chosen manipulation approach, known as cooperative grasping, is based on unilateral contact between the cobots and the object, and it may lead to slipping during motion if an internal prestress along the contact-normal direction is not prescribed. Thus, a virtual penetration is considered, aimed at generating the necessary internal prestress. The stability of cooperative grasping is ensured as long as the exerted forces on the object remain inside the static-friction cone. Constrained-optimization problems are solved for 3-dimensional paths: the virtual penetration is chosen among the control inputs of the problem and friction-cone conditions are treated as inequality constraints. Also in this case experiments are presented in order to prove evidence of the firm handling of the object, even for fast motions.

Contributions to the performance analysis of continuum parallel robots

Continuum parallel robots (CPRs) are manipulators employing multiple flexible beams arranged in parallel and connected to a rigid end-effector. CPRs promise higher payload and accuracy than serial CRs while keeping great flexibility. As the risk of injury during accidental contacts between a human and a CPR should be reduced, CPRs may be used in large-scale collaborative tasks or assisted robotic surgery. There exist various CPR designs, but the prototype conception is rarely based on performance considerations, and the CPRs realization in mainly based on intuitions or rigid-link parallel manipulators architectures. This thesis focuses on the performance analysis of CPRs, and the tools needed for such evaluation, such as workspace computation algorithms. In particular, workspace computation strategies for CPRs are essential for the performance assessment, since the CPRs workspace may be used as a performance index or it can serve for optimal-design tools. Two new workspace computation algorithms are proposed in this manuscript, the former focusing on the workspace volume computation and the certification of its numerical results, while the latter aims at computing the workspace boundary only. Due to the elastic nature of CPRs, a key performance indicator for these robots is the stability of their equilibrium configurations. This thesis proposes the experimental validation of the equilibrium stability assessment on a real prototype, demonstrating limitations of some commonly used assumptions. Additionally, a performance index measuring the distance to instability is originally proposed in this manuscript. Differently from the majority of the existing approaches, the clear advantage of the proposed index is a sound physical meaning; accordingly, the index can be used for a more straightforward performance quantification, and to derive robot specifications.

Feedback control of underactuated cable-driven parallel robots

In this work an Underactuated Cable-Driven Parallel Robot (UACDPR) that operates in the three dimensional Euclidean space is considered. The End-Effector has 6 degrees of freedom and is actuated by 4 cables, therefore from a mechanical point of view the robot is defined underconstrained. However, considering only three controlled pose variables, the degree of redundancy for the control theory can be considered one. The aim of this thesis is to design a feedback controller for a point-to-point motion that satisfies the transient requirements, and is capable of reducing oscillations that derive from the reduced number of constraints. A force control is chosen for the positioning of the End-Effector, and error with respect to the reference is computed through data measure of several sensors (load cells, encoders and inclinometers) such as cable lengths, tension and orientation of the platform. In order to express the relation between pose and cable tension, the inverse model is derived from the kinematic and dynamic model of the parallel robot. The intrinsic non-linear nature of UACDPRs systems introduces an additional level of complexity in the development of the controller, as a result the control law is composed by a partial feedback linearization, and damping injection to reduce orientation instability. The fourth cable allows to satisfy a further tension distribution constraint, ensuring positive tension during all the instants of motion. Then simulations with different initial conditions are presented in order to optimize control parameters, and lastly an experimental validation of the model is carried out, the results are analysed and limits of the presented approach are defined.

Praticas socioculturais, poder e diferenciação em Bico, Cuiamucu e Canela-Fina - comunidades amazonicas

Universidade Estadual de Campinas . Faculdade de Educação Física

Em busca da formação de individuos autonomos nas aulas de educação fisica

Universidade Estadual de Campinas . Faculdade de Educação Física