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.

Classificação das amostras do ensaio de Baumann através do processamento digital de imagens.

O presente trabalho apresenta uma alternativa ao processo de classificação do defeito da segregação central em amostras de aço, utilizando as imagens digitais que são geradas durante o ensaio de Baumann. O algoritmo proposto tem como objetivo agregar as técnicas de processamento digital de imagens e o conhecimento dos especialistas sobre o defeito da segregação central, visando a classificação do defeito de referência. O algoritmo implementado inclui a identificação e a segmentação da linha segregada por meio da aplicação da transformada de Hough e limiar adaptativo. Adicionalmente, o algoritmo apresenta uma proposta para o mapeamento dos atributos da segregação central nos diferentes graus de severidade do defeito, em função dos critérios de continuidade e intensidade. O mapeamento foi realizado por meio da análise das características individuais, como comprimento, largura e área, dos elementos segmentados que compõem a linha segregada. A avaliação do desempenho do algoritmo foi realizada em dois momentos específicos, de acordo com sua fase de implementação. Para a realização da avaliação, foram analisadas 255 imagens de amostras reais, oriundas de duas usinas siderúrgicas, distribuídas nos diferentes graus de severidade. Os resultados da primeira fase de implementação mostram que a identificação da linha segregada apresenta acurácia de 93%. As classificações oriundas do mapeamento realizado para as classes de criticidade do defeito, na segunda fase de implementação, apresentam acurácia de 92% para o critério de continuidade e 68% para o critério de intensidade.

Pràctica 4. Estils de referència

La utilització de referències és una pràctica molt normal en las disciplines que generen coneixement. L’adopció d’un estil de referència compartit facilita l’elaboració i redacció de treballs, així com la comprensió per part d’altres professionals interessats per disciplines afins. Per això, és imprescindible que els futurs professionals de l’educació tinguen habilitats per a referenciar treballs elaborats per altres autors en els seus informes i dossiers.

Calibración de cámaras de tiempo de vuelo: ajuste adaptativo del tiempo de integración y análisis de la frecuencia de modulación

La percepción de profundidad se hace imprescindible en muchas tareas de manipulación, control visual y navegación de robots. Las cámaras de tiempo de vuelo (ToF: Time of Flight) generan imágenes de rango que proporcionan medidas de profundidad en tiempo real. No obstante, el parámetro distancia que calculan estas cámaras es fuertemente dependiente del tiempo de integración que se configura en el sensor y de la frecuencia de modulación empleada por el sistema de iluminación que integran. En este artículo, se presenta una metodología para el ajuste adaptativo del tiempo de integración y un análisis experimental del comportamiento de una cámara ToF cuando se modifica la frecuencia de modulación. Este método ha sido probado con éxito en algoritmos de control visual con arquitectura ‘eye-in-hand’ donde el sistema sensorial está compuesto por una cámara ToF. Además, la misma metodología puede ser aplicada en otros escenarios de trabajo.

Um estudo sobre o perfil sexual e reprodutivo das adolescentes de um serviço de referência no município de Natal/RN

Adolescence is seen as a phase of life marked by a series of physical and behavioral changes, which leads to certain risk situations, such as early sexual activity, pregnancy and the occurrence of sexually transmitted diseases. Based on this statement, this research aimed generally: meet the sexual and reproductive adolescents of a reference service in Natal profile. Specifically describe the socioeconomic, sexual and reproductive individual and family characteristics of the population in question, but also verify possible association between pregnancy and age of onset of sexual activity with the socioeconomic aspects. The sectional study conducted in the database from the records of 463 adolescents seeking care in a referral center in Sexual and Reproductive Health in the period March 2011 to June 2012. The data collected were subjected to analysis by Excel 2007 and Statistical Package for Social Sciences (SPSS) 17.0. For data analysis, descriptive statistics, with absolute numbers and percentages was used, and its presentation by means of distribution and frequency tables. Results showed that the parents of these adolescents (65.7% - father; 57.8% - mother), had primary education; family income less than two minimum wages (66.2%); any type of chemical dependency in the family (33.5%) and presence of domestic violence (20.6%). A higher probability of pregnancy was verified when the mother had only primary education (26.3%), persons other than the father or mother contributed to family income (33.3%) and (26%) when there was substance abuse in the family early onset of sexual activity was observed when the mother had primary education (57.3%), persons other than the father or mother contributed to family income (63.1%) and the use of drugs / alcohol as a problem family (67.6%). It was concluded that such vulnerabilities appear as a reflection of the low social status of these young people, aggravated by emotional inheritance that is offered to every individual from birth. These findings may perhaps, support public health surveillance policies for adolescents in several areas

Determinação da energia de ativação e pureza de medicamentos de referência, genérico e similar utilizando técnicas termoanalíticas

In this work, the reference drugs, generic and similar to the active ingredients acetylsalicylic acid, paracetamol, captopril, hydrochlorothiazide and mebendazole were purchased from local pharmacies and studied by thermogravimetry (TG) and Differential Scanning Calorimetry (DSC). Thermal decomposition was assessed to obtain from the Ozawa method the activation energy in inert atmosphere (nitrogen), using three different heating ratios (5, 10 and 20 o C min-1). The pharmaceutical formulation of the AAS reference was the one who presented different from the others (generic and similar) Thermogravimetric profile indicating likely interaction between the active ingredient and excipients. Was observed at the heating rate of the inverse temperature that no linearity of the data, ie, there was no correlation between the percentage of mass loss and the activation energy involved in the thermal decomposition of the pharmaceutical formulation of the AAS reference log graph. The analysis by differential scanning calorimetry was performed in nitrogen atmosphere with a heating rate of 10 ° C min-1. In the analysis of these same drugs, the data curves found on the melting point were, except for hydrochlorothiazide, are consistent with the literature. Hydrochlorothiazide presented a melting point well below that found in the literature, which may be justified due to the interaction of the active ingredient with the excipient lactose. In the study of purity, using the Van't Hoff equation, the reference drugs hydrochlorothiazide and mebendazole reference generic and showed similar impurity content below the limit established that this equation must be greater than 2.5 mol%

O Centro de Referência da Assistência Social e a Psicanálise: efeitos de uma escuta singularizada

This paper emerged from an experience of 18 months in the CRAS – Reference Center for Social Assistance – which aroused a question about the listening of the singularity in the professional practice of Psi in the context of social assistance. The literature review revealed, on the one hand, a series of studies that aim to a discussion about of the process of professional integration of psychologists in the field of social welfare, proposing and / or analyzing practices directed towards the psychosocial assistance directed to the group and for the assurance of rights, forming citizen subjects. On the other hand, supported by a psychoanalytic perspective, we found studies that point to the importance of the singularity listening considering the subjectivity and symbolic resources of those who seek help in Basic Assistance Service. In this perspective, we aim to analyze, in a posteriori, the effects of offering a singularized listening in the context of CRAS and discuss its implications for the Psi professional practice in social institution. This is a theoretical and clinical research, based on Freudian and Lacanian psychoanalysis, in which two cases, placed as investigation boosters, are analyzed in the light of the concept of the subject. We conclude that a singularized listening allowed a significant sliding and the consequent repositioning of the subject, in each case, front to their suffering. The effects collected allowed us to affirm the importance of a singular listening in the treatment of the demands that appear within the institutional framework

Uma linguagem de descrição arquitetural baseada em uma arquitetura de referência para sistemas ubíquos

A computação ubíqua é um paradigma no qual dispositivos com capacidade de processamento e comunicação são embutidos nos elementos comuns de nossas vidas (casas, carros, máquinas fotográficas, telefones, escolas, museus, etc), provendo serviços com um alto grau de mobilidade e transparência. O desenvolvimento de sistemas ubíquos é uma tarefa complexa, uma vez que envolve várias áreas da computação, como Engenharia de Software, Inteligência Artificial e Sistemas Distribuídos. Essa tarefa torna-se ainda mais complexa pela ausência de uma arquitetura de referência para guiar o desenvolvimento de tais sistemas. Arquiteturas de referência têm sido usadas para fornecer uma base comum e dar diretrizes para a construção de arquiteturas de softwares para diferentes classes de sistemas. Por outro lado, as linguagens de descrição arquitetural (ADLs) fornecem uma sintaxe para representação estrutural dos elementos arquiteturais, suas restrições e interações, permitindo-se expressar modelo arquitetural de sistemas. Atualmente não há, na literatura, ADLs baseadas em arquiteturas de referência para o domínio de computação ubíqua. De forma a permitir a modelagem arquitetural de aplicações ubíquas, esse trabalho tem como objetivo principal especificar UbiACME, uma linguagem de descrição arquitetural para aplicações ubíquas, bem como disponibilizar a ferramenta UbiACME Studio, que permitirá arquitetos de software realizar modelagens usando UbiACME. Para esse fim, inicialmente realizamos uma revisão sistemática, de forma a investigar na literatura relacionada com sistemas ubíquos, os elementos comuns a esses sistemas que devem ser considerados no projeto de UbiACME. Além disso, com base na revisão sistemática, definimos uma arquitetura de referência para sistemas ubíquos, RA-Ubi, que é a base para a definição dos elementos necessários para a modelagem arquitetural e, portanto, fornece subsídios para a definição dos elementos de UbiACME. Por fim, de forma a validar a linguagem e a ferramenta, apresentamos um experimento controlado onde arquitetos modelam uma aplicação ubíqua usando UbiACME Studio e comparam com a modelagem da mesma aplicação em SySML.

Análise de tendência e caracterização sazonal e interanual da evapotranspiração de referência para o sudoeste da amazônia brasileira: Acre, Brasil

The objective of this research was to investigate monthly climatological, seasonal, annual and interdecadal of the reference evapotranspiration (ETo) in Acre state in order to better understand its spatial and temporal variability and identify possible trends in the region. The study was conducted with data from Rio Branco municipalities, the state capital, Tarauacá and Cruzeiro do Sul considering a 30-year period (1985-2014), from monthly data from weather stations surface of the National Institute of Meteorology. The methodology was held, first, the consistency of meteorological data. Thus, it was made the gap filling in the time series by means of multivariate techniques. Subsequently were performed statistical tests trend (Mann-Kendall) and homogeneity, by Sen's estimator of the magnitude of this trend is estimated, as well as computational algorithms containing parametric and non-parametric tests for two samples to identify from that year the trend has become significant. Finally, analysis of variance technique (ANOVA) was adopted in order to verify whether there were significant differences in average annual evapotranspiration between locations. The indirect method of Penman-Montheith parameterized by FAO was used to calculate the ETo. The results of this work through examination of the descriptive statistics showed that the ETo the annual average was 3.80, 2.92 and 2.86 mm day-1 year, to Rio Branco, Tarauacá and Cruzeiro do Sul, respectively. Featuring quite remarkable seasonal pattern with a minimum in June and a maximum in October, with Rio Branco to town one with the strongest signal (amplitudes) on the other hand, the Southern Cross presented the highest variability among the studied locations. By ANOVA it was found that the average annual statistically different for a significance level of 1% between locations, but the annual average between Cruzeiro do Sul and Tarauacá no statistically significant differences. For the three locations, the 2000s was the one with the highest ETo values associated with warmer waters of the North Atlantic basin and the 80s to lower values, associated with cooler waters of this basin. By analyzing the Mann-kendall and Sen estimator test, there was a trend of increasing the seasonal reference evapotranspiration (fall, winter and spring) on the order of 0.11 mm per decade and that from the years of 1990, 1996 and 2001 became statistically significant to the localities of Cruzeiro do Sul Tarauacá and Rio Branco, respectively. For trend analysis of meteorological parameters was observed positive trend in the 5% level of significance, for average temperature, minimum temperature and solar radiation.

Estimativas, variabilidade e análise de tendência da evapotranspiração de referência em perímetros irrigados, no semiárido do nordeste brasileiro

The variability / climate change has generated great concern worldwide, is one of the major issues as global warming, which can is affecting the availability of water resources in irrigated perimeters. In the semiarid region of Northeastern Brazil it is known that there is a predominance of drought, but it is not enough known about trends in climate series of joint water loss by evaporation and transpiration (evapotranspiration). Therefore, this study aimed to analyze whether there is increase and / or decrease evidence in the regime of reference evapotranspiration (ETo), for the monthly, annual and interdecadal scales in irrigated polo towns of Juazeiro, BA (9 ° 24'S, 40 ° 26'W and 375,5m) and Petrolina, PE (09 ° 09'S, 40 ° 22'W and 376m), which is the main analysis objective. The daily meteorological data were provided by EMBRAPA Semiárido for the period from 01.01.1976 to 31.12.2014, estimated the daily ETo using the standard method of Penman-Monteith (EToPM) parameterized by Smith (1991). Other methods of more simplified estimatives were calculated and compared to EToPM, as the ones following: Solar Radiation (EToRS), Linacre (EToL), Hargreaves and Samani (EToHS) and the method of Class A pan (EToTCA). The main statistical analysis were non-parametric tests of homogeneity (Run), trend (Mann-kendall), magnitude of the trend (Sen) and early trend detection (Mann-Whitney). The statistical significance adopted was 5 and / or 1%. The Analysis of Variance - ANOVA was used to detect if there is a significant difference in mean interdecadal mean. For comparison between the methods of ETo, it were used the correlation test (r), the Student t test and Tukey levels of 5% significance. Finally, statistics Willmott et al. (1985) statistics was used to evaluate the concordance index and performance of simplified methods compared to the standard method. It obtained as main results that there was a decrease in the time series of EToPM in irrigated areas of Juazeiro, BA and Petrolina, PE, significant respectively at 1 and 5%, with an annual magnitude of -14.5 mm (Juazeiro) and -7.7 mm (Petrolina) and early trend in 1996. The methods which had better for better agreement with EToPM were EToRS with very good performance, in both locations, followed by the method of EToL with good performance (Juazeiro) and median (Petrolina). EToHS had the worst performance (bad) for both locations. It is suggested that this decrease of EToPM can be associated with the increase in irrigated agricultural areas and the construction of Sobradinho lake upstream of the perimeters.

Intervalos de referência do zinco sérico e sua relação com os indicadores dietéticos, funcionais e bioquímicos em crianças saudáveis

Objective: To determine the zinc status and reference intervals for serum zinc concentration considering dietary, functional, and biochemical indicators in healthy children in the Brazilian Northeast. Methods: The study included 131 healthy children, 72 girls and 59 boys, between 6-9 years old. Anthropometric assessment was made by BMI/age; dietary assessment by prospective 3-day food register, and evaluation of total proteins was performed. Zinc in serum samples were analyzed in triplicate in the same assay flame using atomic absorption spectrophotometry. Results: All subjects were eutrophic according to BMI/age classification. With respect to dietary assessment, only the intake of fiber and calcium were below the recommendations by age and gender. Biochemical parameters were all within the normal reference range. Reference intervals for basal serum zinc concentration 0.70-1.14 μg/mL in boys, 0.73-1.17 μg/mL in girls, and 0.72-1.15 μg/mL in total population. Conclusions: This study presents pediatric reference intervals for serum zinc concentration, which are useful to establish the zinc status in the population or in specific groups.

Contribuições para estratégia de controle aplicada à geração fotovoltaica interconectada à rede elétrica

Generation systems, using renewable sources, are becoming increasingly popular due to the need for increased use of electricity. Currently, renewables sources have a role to cooperate with conventional generation, due to the system limitation in delivering the required power, the need for reduction of unwanted effects from sources that use fossil fuels (pollution) and the difficulty of building new transmission and/or distribution lines. This cooperation takes place through distributed generation. Therefore, this work proposes a control strategy for the interconnection of a PV (Photovoltaic) system generation distributed with a three-phase power grid through a connection filter the type LCL. The compensation of power quality at point of common coupling (PCC) is performed ensuring that the mains supply or consume only active power and that his currents have low distorcion. Unlike traditional techniques which require schemes for harmonic detection, the technique performs the harmonic compensation without the use of this schemes, controlling the output currents of the system in an indirect way. So that there is effective control of the DC (Direct Current) bus voltage is used the robust controller mode dual DSMPI (Dual-Sliding Mode-Proportional Integral), that behaves as a sliding mode controller SM-PI (Sliding Mode-Proportional Integral) during the transition and like a conventional PI (Proportional Integral) in the steady-state. For control of current is used to repetitive control strategy, which are used double sequence controllers (DSC) tuned to the fundamental component, the fifth and seventh harmonic. The output phase current are aligned with the phase angle of the utility voltage vector obtained from the use of a SRF-PLL (Synchronous Reference Frame Phase-Locked-Loop). In order to obtain the maximum power from the PV array is used a MPPT (Maximum Power Point Tracking) algorithm without the need for adding sensors. Experimental results are presented to demonstrate the effectiveness of the proposed control system.

Atuação de psicólogos em Centros de Referência de Assistência Social na região amazônica do Marajó

This study investigated the role of psychologists in Social Assistance Reference Centres in the Amazon region of Marajó, considering its specificities: extensive territory, spread population and presence of native communities. Eleven interviews were conducted in 10 out of the total 16 cities. There’s a context of fragile economies and poor housing; incomplete or disarticulated public services; bad working conditions. The activities are ad hoc or asystematic. Promising experiences bet on decentralized and intersectoral services. Experiences from other groups point to the importance of long-term work. We conclude that a powerful way of action is to strengthen the sociability that is characteristic of the native peoples, valuing their knowledge and developing their social protagonism.

Referência e contra referência em saúde bucal: regulação do acesso aos centros de especialidades odontológicas

Objective Based on the system of reference and counter-reference and comprehensiveness in oral health care, we aimed to examine ways of refering users to Specialized Dental Care Centers (SDCC) and the interface between them and Primary Care. Methods This is a cross-sectional study carried out with users and dentists of SDCC in a metropolitan region of Northeast of Brazil. Analyses were descriptive, and the association test was done with chi-square. Results Six forms of entry to specialized service were identified: free demand (13.8 %) and reference by the Primary Care dentist (63.2 %) were most frequent. Users referred by the basic health unit dentist had more interest in making a counter-reference than the others (p<0.001, PR=4.65, 95 % CI: 2.74 to 7.91), while individuals without this referral had 1.49 times more difficulty obtaining care (95 % CI: 1.02 to 2.17). Referral procedures are a decisive factor for counter-references. However, the high demand for primary care services and the short supply these services can offer in the face of needs make SDCC performance difficult. Conclusion The analysis of oral health practices from the perspective of network modeling points to the service's need to establish protocols for regulation in a bid to improve access to and the quality of care provided.