877 resultados para Hyper-redundant manipulators


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2015 kommer Skid-VM att hållas i Falun. TV-bolagen kräver redundant kraft som standard för denna typ av arrangemang. Detta sköts normalt med dieselgeneratorer och eventuellt UPS:er. För att utreda detaljerna kring, och möjligheterna med, att ersätta några eller alla dieselgeneratorer med elkraft från elfordon, har en förstudie gjorts under 2011. Denna studie tittat djupare på några sätt att göra detta. Slutsatsen är att tekniken finns och är mogen nog att klara uppgiften, men intresset hos fordonstillverkarna är svagt.

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This is a note about proxy variables and instruments for identification of structural parameters in regression models. We have experienced that in the econometric textbooks these two issues are treated separately, although in practice these two concepts are very often combined. Usually, proxy variables are inserted in instrument variable regressions with the motivation they are exogenous. Implicitly meaning they are exogenous in a reduced form model and not in a structural model. Actually if these variables are exogenous they should be redundant in the structural model, e.g. IQ as a proxy for ability. Valid proxies reduce unexplained variation and increases the efficiency of the estimator of the structural parameter of interest. This is especially important in situations when the instrument is weak. With a simple example we demonstrate what is required of a proxy and an instrument when they are combined. It turns out that when a researcher has a valid instrument the requirements on the proxy variable is weaker than if no such instrument exists

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Atualmente, a World Wide Web (WWW) já se estabeleceu como um dos meios de divulgação mais difundidos. Sendo um meio de publicação de custo relativamente baixo, muitas iniciativas foram desenvolvidas no sentido de estendê-la e transformá-la também numa ferramenta de apoio. Assim, uma série de pesquisas foi realizada no sentido de promover e facilitar o gerenciamento das informações da WWW, que são estruturadas, em sua maioria, como conjuntos de documentos inter-relacionados. Grafos são estruturas utilizadas para a representação de objetos e seus múltiplos relacionamentos. Nesse sentido, pode-se afirmar que hiperdocumentos podem ser modelados através de grafos, onde uma página representa um nodo e um link para outra página é representado por uma aresta. Considerando estas características, e dada a crescente complexidade dos materiais publicados na WWW, desenvolveu-se, ao longo da última década, o uso de técnicas e recursos de Visualização de Grafos com larga aplicação na visualização da estrutura e da navegação na WWW. Técnicas de visualização de grafos são aplicáveis especificamente para representar visualmente estruturas que possam ser modeladas por meio de objetos relacionados, sendo investigadas técnicas para a abstração de modo a facilitar tanto o processo de compreensão do contexto da informação, quanto a apreensão dos dados relacionados. Este trabalho tem como objetivo a investigação de técnicas de Visualização de Grafos aplicadas a autômatos finitos com saída. Este direcionamento se deve ao fato de alguns autores utilizar a abordagem de autômatos finitos com saída para as estruturas de hiperdocumentos. Se for considerado que um documento da WWW (ou o estado de um autômato) é composto por fragmentos de informação (ou saídas) tais como trechos de texto, imagens, animações, etc e que este documento é relacionado a outros por meio de links (ou transições), tem-se a verificação de sua representatividade por meio destas estruturas. Em trabalho anterior, no âmbito do PPGC da UFRGS, a ferramenta Hyper-Automaton foi desenvolvida com o objetivo de estender o uso da Internet no sentido de prover uma ferramenta de apoio à publicação de materiais instrucionais. Por adotar a notação de autômatos finitos com saída, possibilita, além da criação e gerenciamento de hiperdocumentos, a reutilização de fragmentos de informação sem que haja qualquer interferência de um autômato que utilize este fragmento sobre outro. O Hyper-Automaton foi selecionado como caso de estudo motivador deste trabalho. As técnicas aqui desenvolvidas têm como intuito diminuir a complexidade visual da informação, assim como permitir a navegação através dos autômatos finitos com saída de forma que seja possível visualizar detalhes como as saídas e informações relacionadas a cada uma delas, mantendo a visualização do contexto da informação. Foram analisadas técnicas de agrupamento como forma de redução da complexidade visual, e técnicas do tipo foco+contexto, como alternativa para prover a visualização simultânea do contexto e dos detalhes da informação.

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During the 1980¿s and the 1990¿s, the Brazilian federal government started to set up a new public administration policy called ¿managerial¿ conceived of new patterns of efficiency and effectiveness and extremelly concerned about optimizing state administration to grant best results for people. This decision has been taken due to three main reasons; (i) the worst fiscal crisis considering the last decades; (ii) exhaustion on interfering with Brazilian economy due to its opening to globalization, and (iii) extremelly deep-rooted burocratic methods. The Brazilian state reform presented as a diagnosis of the human resource government area: (i) gradual raising costs in payroll, allied to (ii) huge raising inefficiency in public services, and (iii) civil servants are unprepared to improve better responses to currents citizen demands and to adopt new methods of management based on the best professional performance and the best quality of public services. We have concluded that the federal government often tries to make civil servants redundant instead of adopting a real policy of management that would give them better conditions to improve their performance. This paper presents a concrete proposal to improve quality in civil servants performance by taking advantage of information technology and of our assumed country¿s democratization. We suggest that the Brazilian state reform must be and should be a new path of social growth and development not only in economic basis.

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In this thesis, we present a novel approach to combine both reuse and prediction of dynamic sequences of instructions called Reuse through Speculation on Traces (RST). Our technique allows the dynamic identification of instruction traces that are redundant or predictable, and the reuse (speculative or not) of these traces. RST addresses the issue, present on Dynamic Trace Memoization (DTM), of traces not being reused because some of their inputs are not ready for the reuse test. These traces were measured to be 69% of all reusable traces in previous studies. One of the main advantages of RST over just combining a value prediction technique with an unrelated reuse technique is that RST does not require extra tables to store the values to be predicted. Applying reuse and value prediction in unrelated mechanisms but at the same time may require a prohibitive amount of storage in tables. In RST, the values are already stored in the Trace Memoization Table, and there is no extra cost in reading them if compared with a non-speculative trace reuse technique. . The input context of each trace (the input values of all instructions in the trace) already stores the values for the reuse test, which may also be used for prediction. Our main contributions include: (i) a speculative trace reuse framework that can be adapted to different processor architectures; (ii) specification of the modifications in a superscalar, superpipelined processor in order to implement our mechanism; (iii) study of implementation issues related to this architecture; (iv) study of the performance limits of our technique; (v) a performance study of a realistic, constrained implementation of RST; and (vi) simulation tools that can be used in other studies which represent a superscalar, superpipelined processor in detail. In a constrained architecture with realistic confidence, our RST technique is able to achieve average speedups (harmonic means) of 1.29 over the baseline architecture without reuse and 1.09 over a non-speculative trace reuse technique (DTM).

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Esta pesquisa, batizada Astrha (Automata Structured Hyper-Animation), tem suas raízes no projeto “Hyper Seed - Framework, Ferramentas e Métodos para Sistemas Hipermídia voltados para EAD via WWW” que possui, entre seus objetivos e metas: (a) o desenvolvimento de uma fundamentação matemática para a unificação, de maneira coerente e matematicamente rigorosa, de especificações de sistemas hipermídia e animações baseadas na Teoria dos Autômatos; (b) a construção e validação de um protótipo de sistema com suporte à criação de conteúdo multimídia e hipermídia com ênfase em educação assistida por computador; (c) a definição e aplicação de estudos de caso. Atender às demandas acadêmicas e construtoras supra citadas, no que se refere à unificação de especificações de sistemas hipermídia e animações baseadas na Teoria dos Autômatos, em nível conceitual, é o objetivo principal do Astrha. Mais especificamente, unificar conceitos das especificações Hyper-Automaton; Hyper- Automaton: Avaliações Interativas; eXtensible Hyper-Automaton (XHA) e Animação Bidimensional para World Wide Web (AGA). Para resolvê-las, propõe uma solução em cinco fases. A primeira constitui-se numa investigação conceitual sobre unificação de ambientes hipermídia com animações por computador, da qual conclui-se que as hiperanimações são uma resposta adequada ao contexto. Em seguida, um autômato finito não-determinístico, reflexivo, com saídas associadas às transições, denominado Astrha/M, é especializado para modelar, formalmente, estruturas hiper-animadas. Na terceira fase, uma linguagem de quarta geração denominada Astrha/L é proposta com a finalidade de proporcionar semântica à ambientes hiper-animados. Construída a partir da metalinguagem XML, é composta de quatro dialetos: (1) Mealy, que traduz o modelo Astrha/M; (2) Environment, que oferece opções de configuração e documentação; (3) Hyper, linguagem hipermídia, de sintaxe simples, que oferece hiperligações estendidas; (4) Style, especificação de estilos em cascata e de caracteres especiais. A quarta fase é a modelagem e construção do protótipo, denominado Astrha/E, através das linguagens UML e Java, respectivamente, com uso de tecnologias de software livre, resultando em um applet interativo, dinâmico, multimídia, que oferece características e propriedades de uma hiper-animação, traduzindo não-determinismos em escolhas pseudo-aleatórias e reflexividades em inoperabilidades aparentes. Por fim, a quinta fase trata de estudos de caso aplicados em educação a distância, em diversas áreas, de onde se conclui sua validade como conceito, modelo e ferramenta para programas educacionais que utilizam a Internet como meio de auxílio ao aprendizado.

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In the first essay, "Determinants of Credit Expansion in Brazil", analyzes the determinants of credit using an extensive bank level panel dataset. Brazilian economy has experienced a major boost in leverage in the first decade of 2000 as a result of a set factors ranging from macroeconomic stability to the abundant liquidity in international financial markets before 2008 and a set of deliberate decisions taken by President Lula's to expand credit, boost consumption and gain political support from the lower social strata. As relevant conclusions to our investigation we verify that: credit expansion relied on the reduction of the monetary policy rate, international financial markets are an important source of funds, payroll-guaranteed credit and investment grade status affected positively credit supply. We were not able to confirm the importance of financial inclusion efforts. The importance of financial sector sanity indicators of credit conditions cannot be underestimated. These results raise questions over the sustainability of this expansion process and financial stability in the future. The second essay, “Public Credit, Monetary Policy and Financial Stability”, discusses the role of public credit. The supply of public credit in Brazil has successfully served to relaunch the economy after the Lehman-Brothers demise. It was later transformed into a driver for economic growth as well as a regulation device to force private banks to reduce interest rates. We argue that the use of public funds to finance economic growth has three important drawbacks: it generates inflation, induces higher loan rates and may induce financial instability. An additional effect is the prevention of market credit solutions. This study contributes to the understanding of the costs and benefits of credit as a fiscal policy tool. The third essay, “Bayesian Forecasting of Interest Rates: Do Priors Matter?”, discusses the choice of priors when forecasting short-term interest rates. Central Banks that commit to an Inflation Target monetary regime are bound to respond to inflation expectation spikes and product hiatus widening in a clear and transparent way by abiding to a Taylor rule. There are various reports of central banks being more responsive to inflationary than to deflationary shocks rendering the monetary policy response to be indeed non-linear. Besides that there is no guarantee that coefficients remain stable during time. Central Banks may switch to a dual target regime to consider deviations from inflation and the output gap. The estimation of a Taylor rule may therefore have to consider a non-linear model with time varying parameters. This paper uses Bayesian forecasting methods to predict short-term interest rates. We take two different approaches: from a theoretic perspective we focus on an augmented version of the Taylor rule and include the Real Exchange Rate, the Credit-to-GDP and the Net Public Debt-to-GDP ratios. We also take an ”atheoretic” approach based on the Expectations Theory of the Term Structure to model short-term interest. The selection of priors is particularly relevant for predictive accuracy yet, ideally, forecasting models should require as little a priori expert insight as possible. We present recent developments in prior selection, in particular we propose the use of hierarchical hyper-g priors for better forecasting in a framework that can be easily extended to other key macroeconomic indicators.

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O comércio de etanol entre Brasil e Estados Unidos é fortemente guiado por uma assimetria regulatória, que agrega valor ao etanol brasileiro ao gerar uma de-manda americana pelo produto derivado da cana de açúcar. A demanda advém dos mandatos de consumo de biocombustíveis estabelecidos no programa americano conhecido como Renewable Fuel Standard (RFS). A assimetria emerge pelo fato de RFS dar ao etanol brasileiro a classificação de Biocombustível Avançado, tornando-o para os Estados Unidos um produto mais nobre que o etanol derivado do amido de milho produzido domesticamente. Apesar dos processos produtivos tornarem os dois produtos diferenciados quanto ao teor de emissão de CO2 em seus ciclos de vida, o produto final é o mesmo: etanol anidro combustível. Portanto, quando a aquisição de etanol brasileiro pelos Estados Unidos é tal que torna o balanço do-méstico de oferta e demanda deficitário no Brasil, faz-se necessária a importação brasileira de etanol americano. Esse vai e vem do produto ocorre de forma simultâ-nea e, por isso, considera-se a existência de um fluxo redundante de etanol, geran-do custos logísticos, transacionais e emissões de CO2 que poderiam ser evitados. Dado que o objeto do interesse americano pelo produto brasileiro é o baixo índice de emissões de CO2 no ciclo de vida do etanol de cana de açúcar, o fluxo redun-dante de etanol pode ser substituído por transações de Créditos de Biocombustível Avançado, uma nova ideia que é desenvolvida ao longo deste trabalho. Para cada Crédito transacionado, os Estados Unidos contabilizarão em seu balanço a emissão de CO2 correspondente ao volume equivalente de etanol de cana de açúcar, trans-ferindo para o Brasil as emissões correspondentes ao mesmo volume de etanol de-rivado do amido de milho. A substituição do fluxo físico pela transação de contratos é a fonte de economia proposta no título deste trabalho.

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Generalized hyper competitiveness in the world markets has determined the need to offer better products to potential and actual clients in order to mark an advantagefrom other competitors. To ensure the production of an adequate product, enterprises need to work on the efficiency and efficacy of their business processes (BPs) by means of the construction of Interactive Information Systems (IISs, including Interactive Multimedia Documents) so that they are processed more fluidly and correctly.The construction of the correct IIS is a major task that can only be successful if the needs from every intervenient are taken into account. Their requirements must bedefined with precision, extensively analyzed and consequently the system must be accurately designed in order to minimize implementation problems so that the IIS isproduced on schedule and with the fewer mistakes as possible. The main contribution of this thesis is the proposal of Goals, a software (engineering) construction process which aims at defining the tasks to be carried out in order to develop software. This process defines the stakeholders, the artifacts, and the techniques that should be applied to achieve correctness of the IIS. Complementarily, this process suggests two methodologies to be applied in the initial phases of the lifecycle of the Software Engineering process: Process Use Cases for the phase of requirements, and; MultiGoals for the phases of analysis and design. Process Use Cases is a UML-based (Unified Modeling Language), goal-driven and use case oriented methodology for the definition of functional requirements. It uses an information oriented strategy in order to identify BPs while constructing the enterprise’s information structure, and finalizes with the identification of use cases within the design of these BPs. This approach provides a useful tool for both activities of Business Process Management and Software Engineering. MultiGoals is a UML-based, use case-driven and architectural centric methodology for the analysis and design of IISs with support for Multimedia. It proposes the analysis of user tasks as the basis of the design of the: (i) user interface; (ii) the system behaviour that is modeled by means of patterns which can combine Multimedia and standard information, and; (iii) the database and media contents. This thesis makes the theoretic presentation of these approaches accompanied with examples from a real project which provide the necessary support for the understanding of the used techniques.

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The xeroderma pigmentosum complementation group B (XPB) protein is involved in both DNA repair and transcription in human cells. It is a component of the transcription factor IIH (TFIIH) and is responsible for DNA helicase activity during nucleotide (nt) excision repair (NER). Its high evolutionary conservation has allowed identification of homologous proteins in different organisms, including plants. In contrast to other organisms, Arabidopsis thaliana harbors a duplication of the XPB orthologue (AtXPB1 and AtXPB2), and the proteins encoded by the duplicated genes are very similar (95% amino acid identity). Complementation assays in yeast rad25 mutant strains suggest the involvement of AtXPB2 in DNA repair, as already shown for AtXPB1, indicating that these proteins may be functionally redundant in the removal of DNA lesions in A. thaliana. Although both genes are expressed in a constitutive manner during the plant life cycle, Northern blot analyses suggest that light modulates the expression level of both XPB copies, and transcript levels increase during early stages of development. Considering the high similarity between AtXPB1 and AtXPB2 and that both of predicted proteins may act in DNA repair, it is possible that this duplication may confer more flexibility and resistance to DNA damaging agents in thale cress. (C) 2004 Elsevier B.V. All rights reserved.

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The prevalence of obesity has been increased in the last three decades. It is already considered as epidemic by the World Health Organization and reaches around 300 million people worldwide. The weight gain in all ages is related to a sedentary way of life and hyper caloric food ingestion at the modern society. Obesity is a chronic disease and leads to high blood pressure, diabetes, cardiovascular diseases and cancer. The aim of this study was to evaluate the prevalence of weight excess among student in Natal schools and to analyze its association with age, gender, school category and geographic localization in city zones. This was a transversal study which enrolled 1927 children. 1084 of these were between 6 and 8 years-old (group 1) and 843 were 9 to 10 years-old (group 2). 895 of the total children studied in private schools and 1032 studied in public schools. 33,6% of the students had body mass index equal or above the 85th percentile and were considered as having weight excess. There was no statistical difference in this prevalence considering neither gender nor age. The weight excess prevalence in private schools was 54,5% and in public ones was 15,6% (p<0,01; OR=6,49). Weight excess was also more prevalent in the south and east city zones (41,3%) which have better quality of life index than in the north and west zones (28,4%) (p<0,01). In conclusion, the weight excess prevalence among students is found to be high in Natal and programs of intervention and prevention of obesity are necessary. The higher prevalence in private schools as in the wealthier city zones reflects the link between obesity and high socioeconomic level found in countries in developing. This was an interdisciplinary work with participation of epidemiology, child nutrition and pediatric endocrinology following the recommendations and principles of the Post graduation Program in Health Sciences of the Federal University of Rio Grande do Norte

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A cytogenetic study was carried out with 5-azacytidine (5-azaC) and etoposide (VP-16) in CHO-K1 and XRS-5 (mutant cells deficient for double-strand break rejoining) cell lines to verify the interaction effects of the drugs in terms of induction of chromosomal aberrations. 5-azaC is incorporated into DNA causing DNA hypomethylation, and VP-16 (inhibitor of topoisomerase 11 enzyme) is a potent clastogenic agent. Cells in exponential growth were treated with 5-azaC for I h, following incubation for 7 h, and posttreatment with VP16 for the last 3 h. In K1 cells, the combined treatments induced a significant reduction in the aberrations induced in the X and A (autosome) chromosomes, which are the main target for 5-azaC. However, in XRS-5 cells, the drug combination caused a significant increase in the aberrations induced in those chromosomes, but with a concomitant reduction in the randomly induced-aberrations. In addition, each cell line presented characteristic cell cycle kinetics; while the combined treatment induced an S-arrest in K1 cells, alterations in cell cycle progression were not found for XRS-5, although each drug alone caused a G2-arrest. The different cell responses presented by the cell lines may be explained on the basis of the evidence that alterations in chromatin structure caused by 5-aza-C probably occur to a different extent in K1 and XRS-5 cells, since the mutant cells present a typical hyper-condensed chromosome structure (especially the X- and A chromosomes), but, alternatively, 5-aza-C could induce reactivation of DNA repair genes in XRS-5 cells. Teratogenesis Carcinog. Mutagen. Suppl. 1:171-186, 2003. (C) 2003 Wiley-Liss, Inc.

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The approach that undertakes this work revolves around the emergence of iconic structures on reflecting about the meaning of different methods of image representation through which the contemporaneity reveals itself. At baseline, three aspects are considered looking for an analytical ontology of the act of representation and imagery: the transition of representation in the oral culture of societies for writing, from these to typography, and finally the creation of a representation device. Resorted to, therefore, the argument by some genealogy reference points that technological instances such as writing, printing and photography, the evolution of this process, correspond, in itself, a consequent shift technique, for each representation precedent. In the area of the image, the most salient aspect of this change in foward process is the emergence of hyper-reality: the instances of hyper-realistic representation. In the Western context, the 'simulation of the world' - essential idea of mimesis is the work of an autonomous an conventional system. It should be noted, then the fact that under unreflective of the post-industrial societies, the mass-media image is coating with natural or fake code including - according to Baudrillard - tends to replace the real world in the "perpetuation of a large chain of simulacra." Hence in modern times, in the postindustrial society, during the crisis of the representation regimen and perception, centered in the referent. In this limit, new settings are established by aesthetic representations of imagery in contemporary culture: establishing spaces of simulation [Jean Baudrillard] the spectacle [Guy Debord] and hypermodernity [Gilles Lipovetsky] in which they operate. In these assemblages, saps the emergence of Hyper-reality Representation Instances - as seen in this study aesthetic events to configure itineraries of a new sensibility. It is the nature of this practice sign-iconic, ingrained in the creation of current artistic expression, which this research engaged in peering: the hyper-realistic setting, taking empirical support central to contemporary imagery production, diverse formats of analog representation.

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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