Controlador integrado baseado em conceito híbrido e controle geométrico para embarcações posicionadas dinamicamente.

O conceito de controle híbrido é aplicado à operação de alívio entre um FPWSO e um navio aliviador. Ambos os navios mantêm suas posições e aproamentos pelo resultado da ação do seu Sistema de Posicionamento Dinâmico (SPD). O alívio dura cerca de 24 horas para ser concluído. Durante este período, o estado de mar pode se alterar e os calados estão sendo constantemente alterados. Um controlador híbrido é projetado para permitir modificacões dos parâmetros de controle/observação se alguma alteração significante do estado de mar e/ou calado das embarcações ocorrer. O principal objetivo dos controladores é manter o posicionamento relativo entre os navios com o intuito de evitar perigosa proximidade ou excesso de tensão no cabo. Com isto em mente, uma nova estratégia de controle que atue integradamente em ambos os navios é proposta baseda em geometria diferencial. Observadores não lineares baseados em passividade são aplicados para estimar a posição, a velocidade e as forças externas de mares calmos até extremos. O critério para troca do controle/observação é baseado na variação do calado e no estado de mar. O calado é assumido conhecido e o estado de mar é estimado pela frequência de pico do espectro do movimento de primeira ordem dos navios. Um modelo de perturbação é proposto para encontrar o número de controladores do sistema híbrido. A equivalência entre o controle geométrico e o controlador baseado em Multiplicadores de Lagrange é demonstrada. Assumindo algumas hipóteses, a equivalência entre os controladores geométrico e o PD é também apresentada. O desempenho da nova estratégia é avaliada por meio de simulações numéricas e comparada a um controlador PD. Os resultados apresentam muito bom desempenho em função do objetivo proposto. A comparação entre a abordagem geométrica e o controlador PD aponta um desempenho muito parecido entre eles.

Understanding the multidimensionality of group development

This article presents a three-dimensional definition space of the group development literature that differentiates group development models on three dimensions: content, population, and path dependency. The multidimensional conceptualization structures and integrates the vast group development literature, enabling direct comparison of competing theories. The utility of this definition space is demonstrated by using the relative positioning of two seemingly competing group development models-the punctuated equilibrium model and the integrative model-to demonstrate their complementarity. The authors also show how organizational researchers and practitioners can use the three-dimensional definition space to select an appropriate theoretical model for the group or group process with which they are working.

Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

Moving together – conditions for intercultural development at a highly diverse Swedish school

This thesis is a case study of a primary school in a highly diverse urban neighbourhood in Sweden. Basic pre-conditions for intercultural school development are studied by examining the overall organisation of teaching, learning and opportunities for collaboration in the investigated case. The study focuses on the targeted support measures to enhance learning for students with an immigrant background: Mother tongue instruction, Swedish as a Second Language, and tutoring in the mother tongue, as well as looking at pedagogical support provided by the school library. The latter has a mission to promote learning and inclusion, where non-native speakers of Swedish are a prioritised group. Communities of practice linked to the work organisation at a meso-level are investigated, and the collaborative relationships between professional groups at the school involved in the various support measures. Teacher relationships and categorisations implied by support measures impact the learning spaces that are shaped for students and the teaching spaces within which teachers work. Collaborative opportunities and convergence of concerns in the teaching spaces combine to shape the overall space for intercultural development. The raw data for the case study consists of interviews, national policy documents and additional information on local work organisation gained through documents and observations. Four articles resulted from the case study, each focusing a specific support measure. An overarching analysis is then made of findings from these articles and the other dimensions of the investigation. The analysis describes the organisation in terms of monocultural or intercultural school cultures, pointing to significant characteristics of the landscapes of practice, with respect to their overall implications for the spaces of school development. In the discussion, findings are considered in relation to research on professional development in education, collaboration, democracy and inclusive schooling. The relative positioning of languages and cultures is given particular attention, to ascertain if the school culture is monocultural or intercultural in the sense given by Lahdenperä (2008), and to what extent it could enable intercultural development. Such positioning plays a role interms of affordances for identity, participation and engagement discussed by Wenger (1998). This case study should be understood against the wider background of recent social developments in Europe linked to globalisation and technological changes. It is argued that looking at the concrete specifics which facilitate or obstruct school development, and simultaneously reflecting on how the different forms of teaching interrelate in the overall organisation and in policy may provide a useful vantage point from which structural changes can be contemplated.The discussion underlines the importance of the physical localisation of activities, continuity in personal contacts and time available for joint pedagogical reflection, as basic conditions for effective intercultural dialogue in the organisation. Finally, the impact of policy is considered, looking at connections between levels of policy, expressed in official steering documents, and conditions for teaching and learning at the level of an individual school.

Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

Creating reusable well-structured pdf as a sequence of component object graphic (cog) elements

Portable Document Format (PDF) is a page-oriented, graphically rich format based on PostScript semantics and it is also the format interpreted by the Adobe Acrobat viewers. Although each of the pages in a PDF document is an independent graphic object this property does not necessarily extend to the components (headings, diagrams, paragraphs etc.) within a page. This, in turn, makes the manipulation and extraction of graphic objects on a PDF page into a very difficult and uncertain process. The work described here investigates the advantages of a model wherein PDF pages are created from assemblies of COGs (Component Object Graphics) each with a clearly defined graphic state. The relative positioning of COGs on a PDF page is determined by appropriate "spacer" objects and a traversal of the tree of COGs and spacers determines the rendering order. The enhanced revisability of PDF documents within the COG model is discussed, together with the application of the model in those contexts which require easy revisability coupled with the ability to maintain and amend PDF document structure.

Efeitos diretos e indiretos de parâmetros dos semivariogramas referentes aos atributos químicos do solo sobre a produtividade de grãos de soja

In order to add value to soybens crops, and hence the marketing, medium and large producers have been using precision agriculture techniques (PA), as the Remote Sensing, Geographic Information Systems (GIS) and positioning satellite, to assist the management of crops. Thus, given the economic relevance of that culture to the southwest of Paraná State and Brazil, scientific studies to increase their productivity and profitability are of main importance. The objective of this study was to evaluate the correlation between the chemical soil properties and soybean yield for each estimated parameter of semivariogram (range, nugget and level effect), and the deployment of these correlations in direct and indirect effects, aiming to improve the mapping process of spatial variability of soil chemical properties for use in PA. The hypothesis is that not all attributes of soil used to estimate the semivariogram parameters has a direct effect on productivity, and that even in groups of plants within a larger area it is possible to estimate the parameters of the semivariograms. The experiment was conducted in a commercial area of 19.7 ha, located in the city of Pato Branco - PR, central geographic coordinates 26º 11 '35 "South, 52 43' 05" West longitude, and average altitude of 780 m. The area is planted with soybeans for over 30 years, currently being adopted to cultivate Brasmax Target RR - Don Mario 5.9i, with row spacing of 0.50 m and 13 plants m-1, totaling 260,000 plants ha-1. For georeferencing of the area of study and sampling points was used a couple of topographic ProMarkTM3 receptors, making a relative positioning to obtain the georeferenced coordinates. To collect data (chemical analyzes of soil and crop yield) were sampled 10 blocks in the experimental area, each with an area of 20 m2 (20 meters long x 1 meter wide) containing two spaced adjacent rows of 0.5 m. Each block was divided into 20 portions of 1 m2, and from each were collected four subsamples at a distance of 0.5 m in relation to the lines of blocks, making up a sample depth for 0-10 cm a sample to 10-20 cm for each plot, totaling 200 samples for each depth. The soybean crop was performed on the blocks depending on maturity, and in each block was considered a bundle at each meter. In the data analysis, it was performed a diagnosis of multicollinearity, and subsequently a path analysis of the main variables according to the explanatory variables (range of chemical attributes: pH, K, P, Ca, etc.). The results obtained by the path analysis of the parameters of the semivariogram of soil chemical properties, indicated that only the Fe, Mg, Mn, organic matter (OM), P and Saturation by bases (SB) exerted direct and indirect effects on soybean productivity, although they have not presented spatial variability, indicating that the distribution of blocks in the area was unable to identify the spatial dependence of these elements, making it impossible to draw up maps of the chemical attributes for use in PA.

Processamento de Dados GNSS em Modo Cinemático

O princípio do posicionamento por GNSS baseia-se, resumidamente, na resolução de um problema matemático que envolve a observação das distâncias do utilizador a um conjunto de satélites com coordenadas conhecidas. A posição resultante pode ser calculada em modo absoluto ou relativo. O posicionamento absoluto necessita apenas de um recetor para a determinação da posição. Por sua vez, o posicionamento relativo implica a utilização de estações de referência e envolve a utilização de mais recetores para além do pertencente ao próprio utilizador. Assim, os métodos mais utilizados na determinação da posição de uma plataforma móvel, com exatidão na ordem dos centímetros, baseiam-se neste último tipo de posicionamento. Contudo, têm a desvantagem de estarem dependentes de estações de referência, com um alcance limitado, e requerem observações simultâneas dos mesmos satélites por parte da estação e do recetor. Neste sentido foi desenvolvida uma nova metodologia de posicionamento GNSS em modo absoluto, através da modelação ou remoção dos erros associados a cada componente das equações de observação, da utilização de efemérides precisas e correções aos relógios dos satélites. Este método de posicionamento tem a designação Precise Point Positioning (PPP) e permite manter uma elevada exatidão, equivalente à dos sistemas de posicionamento relativo. Neste trabalho, após um estudo aprofundado do tema, foi desenvolvida uma aplicação PPP, de índole académica, com recurso à biblioteca de classes C++ do GPS Toolkit, que permite determinar a posição e velocidade do recetor em modo cinemático e em tempo real. Esta aplicação foi ensaiada utilizando dados de observação de uma estação estática (processados em modo cinemático) e de uma estação em movimento instalada no NRP Auriga. Os resultados obtidos permitiram uma exatidão para a posição na ordem decimétrica e para a velocidade na ordem do cm/s.

Fly by data link: feasibility of a relative navigation solution for aviation relying on a future L-band data link

Trabalho final de Mestrado para obtenção do grau de Mestre em Engenharia de Electrónica e Telecomunicações

How useful is satellite positioning system (GPS) to track gait parameters? A review.

Over the last century, numerous techniques have been developed to analyze the movement of humans while walking and running. The combined use of kinematics and kinetics methods, mainly based on high speed video analysis and forceplate, have permitted a comprehensive description of locomotion process in terms of energetics and biomechanics. While the different phases of a single gait cycle are well understood, there is an increasing interest to know how the neuro-motor system controls gait form stride to stride. Indeed, it was observed that neurodegenerative diseases and aging could impact gait stability and gait parameters steadiness. From both clinical and fundamental research perspectives, there is therefore a need to develop techniques to accurately track gait parameters stride-by-stride over a long period with minimal constraints to patients. In this context, high accuracy satellite positioning can provide an alternative tool to monitor outdoor walking. Indeed, the high-end GPS receivers provide centimeter accuracy positioning with 5-20 Hz sampling rate: this allows the stride-by-stride assessment of a number of basic gait parameters--such as walking speed, step length and step frequency--that can be tracked over several thousand consecutive strides in free-living conditions. Furthermore, long-range correlations and fractal-like pattern was observed in those time series. As compared to other classical methods, GPS seems a promising technology in the field of gait variability analysis. However, relative high complexity and expensiveness--combined with a usability which requires further improvement--remain obstacles to the full development of the GPS technology in human applications.

The positioning of colectomy in the treatment of ulcerative colitis in the era of biologic therapy.

The position of surgery in the treatment of ulcerative colitis (UC) has changed in the era of biologics. Several important questions arise in determining the optimal positioning of surgery in the treatment of UC, which has long been a challenge facing gastroenterologists and surgeons. Surgery is life-saving in some patients and leads to better bowel function and better quality of life in most patients. The benefits of surgery, however, must be weighed against the potential surgical morbidity and compromised functioning that clearly can occur. The introduction of biologic therapy has added further complexity to decisions about medical management, surgery, and the relative timing of these choices. Appropriate medical management of UC may induce and maintain remission and may prevent surgery. However, medical management also carries risks of adverse effects, and recent data suggest that delay of surgery during ineffective medical therapy can increase the chances of negative surgical outcomes. To make individualized timely treatment decisions, early collaboration between gastroenterologists and surgeons is important and more data on predictors of treatment response and positive outcomes are needed. Early identification of patients who would benefit from biologic therapy or surgery is challenging.

On determining spectral parameters, tracking jitter, and GPS positioning improvement by scintillation mitigation

A method of determining spectral parameters p (slope of the phase PSD) and T (phase PSD at 1 Hz) and hence tracking error variance in a GPS receiver PLL from just amplitude and phase scintillation indices and an estimated value of the Fresnel frequency has been previously presented. Here this method is validated using 50 Hz GPS phase and amplitude data from high latitude receivers in northern Norway and Svalbard. This has been done both using (1) a Fresnel frequency estimated using the amplitude PSD (in order to check the accuracy of the method) and (2) a constant assumed value of Fresnel frequency for the data set, convenient for the situation when contemporaneous phase PSDs are not available. Both of the spectral parameters (p, T) calculated using this method are in quite good agreement with those obtained by direct measurements of the phase spectrum as are tracking jitter variances determined for GPS receiver PLLs using these values. For the Svalbard data set, a significant difference in the scintillation level observed on the paths from different satellites received simultaneously was noted. Then, it is shown that the accuracy of relative GPS positioning can be improved by use of the tracking jitter variance in weighting the measurements from each satellite used in the positioning estimation. This has significant advantages for scintillation mitigation, particularly since the method can be accomplished utilizing only time domain measurements thus obviating the need for the phase PSDs in order to extract the spectral parameters required for tracking jitter determination.

Improving the GNSS positioning stochastic model in the presence of ionospheric scintillation

Ionospheric scintillations are caused by time-varying electron density irregularities in the ionosphere, occurring more often at equatorial and high latitudes. This paper focuses exclusively on experiments undertaken in Europe, at geographic latitudes between similar to 50 degrees N and similar to 80 degrees N, where a network of GPS receivers capable of monitoring Total Electron Content and ionospheric scintillation parameters was deployed. The widely used ionospheric scintillation indices S4 and sigma(phi) represent a practical measure of the intensity of amplitude and phase scintillation affecting GNSS receivers. However, they do not provide sufficient information regarding the actual tracking errors that degrade GNSS receiver performance. Suitable receiver tracking models, sensitive to ionospheric scintillation, allow the computation of the variance of the output error of the receiver PLL (Phase Locked Loop) and DLL (Delay Locked Loop), which expresses the quality of the range measurements used by the receiver to calculate user position. The ability of such models of incorporating phase and amplitude scintillation effects into the variance of these tracking errors underpins our proposed method of applying relative weights to measurements from different satellites. That gives the least squares stochastic model used for position computation a more realistic representation, vis-a-vis the otherwise 'equal weights' model. For pseudorange processing, relative weights were computed, so that a 'scintillation-mitigated' solution could be performed and compared to the (non-mitigated) 'equal weights' solution. An improvement between 17 and 38% in height accuracy was achieved when an epoch by epoch differential solution was computed over baselines ranging from 1 to 750 km. The method was then compared with alternative approaches that can be used to improve the least squares stochastic model such as weighting according to satellite elevation angle and by the inverse of the square of the standard deviation of the code/carrier divergence (sigma CCDiv). The influence of multipath effects on the proposed mitigation approach is also discussed. With the use of high rate scintillation data in addition to the scintillation indices a carrier phase based mitigated solution was also implemented and compared with the conventional solution. During a period of occurrence of high phase scintillation it was observed that problems related to ambiguity resolution can be reduced by the use of the proposed mitigated solution.

Second and Third Order Ionospheric Effects on GNSS Positioning: A Case Study in Brazil

The Global Positioning System (GPS) transmits signals in two frequencies. It allows the correction of the first order ionospheric effect by using the ionosphere free combination. However, the second and third order ionospheric effects, which combined may cause errors of the order of centimeters in the GPS measurements, still remain. In this paper the second and third order ionospheric effects, which were taken into account in the GPS data processing in the Brazilian region, were investigated. The corrected and not corrected GPS data from these effects were processed in the relative and precise point positioning (PPP) approaches, respectively, using Bernese V5.0 software and the PPP software (GPSPPP) from NRCAN (Natural Resources Canada). The second and third order corrections were applied in the GPS data using an in-house software that is capable of reading a RINEX file and applying the corrections to the GPS observables, creating a corrected RINEX file. For the relative processing case, a Brazilian network with long baselines was processed in a daily solution considering a period of approximately one year. For the PPP case, the processing was accomplished using data collected by the IGS FORT station considering the period from 2001 to 2006 and a seasonal analysis was carried out, showing a semi-annual and an annual variation in the vertical component. In addition, a geographical variation analysis in the PPP for the Brazilian region has confirmed that the equatorial regions are more affected by the second and third order ionospheric effects than other regions.

POSITIONING DURING RESISTANCE ELBOW FLEXOR EXERCISE AFFECTS ELECTROMYOGRAPHIC ACTIVITY, HEART RATE, and PERCEIVED EXERTION

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)