Localização de robôs móveis em ambientes fechados utilizando câmeras montadas no teto

The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. Algorithms applied to the images search for the mark on top of the robot and by finding the mark they are able to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of the last years changed that situation and enabling the development and execution of such algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire the images, all in real time, intending to improve the robot localization process inside the environment. Being a localization method that takes just actual information in its calculations, the robot localization using images fit into the needs of this kind of place. Besides, it enables more accurate results and in real time, what is exactly the museum application needs.

Capacidades estatais para implementação de políticas públicas em ambientes federativos: o caso do Programa Bolsa Família

This thesis aims to understand the extent to which state capacities of state governments explain the effectiveness of the implementation of Programa Bolsa Família (PBF) in the Northeast, adopting the implementation of the theory as the main theoretical lens and more specifically the concept of state capacity. Methodologically is a study of public policy evaluation, and categorized as a process of evaluation study or implementation. Given the specificity of the object is classified as a multi case study research covering the states of Sergipe, Rio Grande do Norte and Bahia. In addition to using secondary data, the study used semi-structured interviews with members of Intersectoral Committees responsible for the actions of PBF and the Cadastro Único at the state level, composed of representatives of the areas of the state government of Social Welfare, Education and Health. the main findings related to technical and administrative capacities and policies were found: infrastructure with weakness in human resources, technological and financial resources; intra-governmental coordination with boundaries between PBF and Unified Social Assistance System , and the actions of conditionality of health and Health Unic System Basic Attention; intergovernmental coordination carried out mostly by the distance limitations of displacement and incipient regional decentralization of actions; based monitoring in the municipalities of lower performance and from the parameters placed by the federal government and political capacities; representative political system is hardly accessed by instances of program management; minor social participation and low articulation with related issues advice to PBF; audit control by any outside agencies. The thesis concludes that depending on the capabilities found implementing weaknesses are not unique to the program's actions, but from the very institutional capacity of the systems in which it operates that are the Unified Social Assistance System, the Health Unic System and the Educational System. In other words limitations of their own state capacities of the state governments and the municipal governments of each territory, such as quantitative insufficiency and qualification of human resources, financial and institutional resources, lack instance promoting decentralization (Intergovernmental and intra-governmental) as well the weakness or absence of a network of local social services are also factors that explain the program management performance and state capabilities of arrangements formed by states and municipalities in the PBF, only to partially deal with the complexity of joints involving Implementation of the program with regard to inter and intra-governmental action.

Capacidades estatais para implementação de políticas públicas em ambientes federativos: o caso do Programa Bolsa Família

This thesis aims to understand the extent to which state capacities of state governments explain the effectiveness of the implementation of Programa Bolsa Família (PBF) in the Northeast, adopting the implementation of the theory as the main theoretical lens and more specifically the concept of state capacity. Methodologically is a study of public policy evaluation, and categorized as a process of evaluation study or implementation. Given the specificity of the object is classified as a multi case study research covering the states of Sergipe, Rio Grande do Norte and Bahia. In addition to using secondary data, the study used semi-structured interviews with members of Intersectoral Committees responsible for the actions of PBF and the Cadastro Único at the state level, composed of representatives of the areas of the state government of Social Welfare, Education and Health. the main findings related to technical and administrative capacities and policies were found: infrastructure with weakness in human resources, technological and financial resources; intra-governmental coordination with boundaries between PBF and Unified Social Assistance System , and the actions of conditionality of health and Health Unic System Basic Attention; intergovernmental coordination carried out mostly by the distance limitations of displacement and incipient regional decentralization of actions; based monitoring in the municipalities of lower performance and from the parameters placed by the federal government and political capacities; representative political system is hardly accessed by instances of program management; minor social participation and low articulation with related issues advice to PBF; audit control by any outside agencies. The thesis concludes that depending on the capabilities found implementing weaknesses are not unique to the program's actions, but from the very institutional capacity of the systems in which it operates that are the Unified Social Assistance System, the Health Unic System and the Educational System. In other words limitations of their own state capacities of the state governments and the municipal governments of each territory, such as quantitative insufficiency and qualification of human resources, financial and institutional resources, lack instance promoting decentralization (Intergovernmental and intra-governmental) as well the weakness or absence of a network of local social services are also factors that explain the program management performance and state capabilities of arrangements formed by states and municipalities in the PBF, only to partially deal with the complexity of joints involving Implementation of the program with regard to inter and intra-governmental action.

Uma plataforma adaptável para localização em ambientes internos

Location systems have become increasingly part of people's lives. For outdoor environments, GPS appears as standard technology, widely disseminated and used. However, people usually spend most of their daily time in indoor environments, such as: hospitals, universities, factories, buildings, etc. In these environments, GPS does not work properly causing an inaccurate positioning. Currently, to perform the location of people or objects in indoor environments no single technology could reproduce for indoors the same result achieved by GPS for outdoors environments. Due to this, it is necessary to consider use of information from multiple sources using diferent technologies. Thus, this work aims to build an Adaptable Platform for Indoor location. Based on this goal, the IndoLoR platform is proposed. This platform aims to allow information reception from diferent sources, data processing, data fusion, data storage and data retrieval for the indoor location context.

Uma plataforma adaptável para localização em ambientes internos

Location systems have become increasingly part of people's lives. For outdoor environments, GPS appears as standard technology, widely disseminated and used. However, people usually spend most of their daily time in indoor environments, such as: hospitals, universities, factories, buildings, etc. In these environments, GPS does not work properly causing an inaccurate positioning. Currently, to perform the location of people or objects in indoor environments no single technology could reproduce for indoors the same result achieved by GPS for outdoors environments. Due to this, it is necessary to consider use of information from multiple sources using diferent technologies. Thus, this work aims to build an Adaptable Platform for Indoor location. Based on this goal, the IndoLoR platform is proposed. This platform aims to allow information reception from diferent sources, data processing, data fusion, data storage and data retrieval for the indoor location context.

Instrumento de avaliação de processos cognitivos para a aprendizagem de subestações de energia em ambientes 2D e realidade virtual

This study describes the development of a prototype to evaluate the potential of environments based on two-dimensional modeling and virtual reality as power substations learning objects into training environments from a central operation and control of power utility Cemig. Initially, there was an identification modeling features and cognitive processes in 2D and RV, from which it was possible to create frames that serve to guide the preparation of a checklist with assigning a metric weight for measuring cognitive potential learning in the study sites. From these contents twenty-four questions were prepared and each was assigned a weight that was used in the calculation of the metric; the questions were grouped into skill sets and similar cognitive processes called categories. Were then developed two distinct environments: the first, the prototype features an interactive checklist and your individual results. And, second, a system of data management environment for the configuration and editing of the prototype, and the observation and analysis of the survey results. For prototype validation, were invited to access the virtual checklist and answer it, five professionals linked to Cemig's training area. The results confirmed the validity of this instrument application to assess the possible potential of modeling in 2D and RV as learning objects in power substations, as well as provide feedback to developers of virtual environments to improve the system.

Uma metodologia para geração otimizada de ambientes virtuais baseados em usinas hidrelétricas

Based on the possibility of real-time interaction with three-dimensional environments through an advanced interface, Virtual Reality consist in the main technology of this work, used in the design of virtual environments based on real Hydroelectric Plants. Previous to the process of deploying a Virtual Reality System for operation, three-dimensional modeling and interactive scenes settings are very importante steps. However, due to its magnitude and complexity, power plants virtual environments generation, currently, presents high computing cost. This work aims to present a methodology to optimize the production process of virtual environments associated with real hydroelectric power plants. In partnership with electric utility CEMIG, several HPPs were used in the scope of this work. During the modeling of each one of them, the techiniques within the methodologie were addressed. After the evaluation of the computional techniques presented here, it was possible to confirm a reduction in the time required to deliver each hydroelectrical complex. Thus, this work presents the current scenario about development of virtual hydroelectric power plants and discusses the proposed methodology that seeks to optimize this process in the electricity generation sector.

Laboratorios Virtuales de Sistemas de Control de Procesos en Labview y en Matlab-Simulink

El objetivo general de este proyecto es desarrollar unas prácticas de laboratorio de control de procesos en un entorno virtual, que permita a los alumnos interaccionar con el mismo de manera activa y cercana a situaciones reales que se pueden encontrar en su vida laboral o profesional.

Perspectiva ecológica de la actividad física : Influencia de los ambientes construidos en la actividad física comunitaria

Las estrategias para incrementar la actividad física enfatizan en políticas que propicien cambios ambientales. Las recomendaciones se basan en modelos ecológicos que describen relaciones entre conductas de salud y subsistemas interpersonales, organizacionales, comunitarios y sociales, con un abordaje interdisciplinario basado en la complejidad. El cambio de un estilo de vida rural a urbano se asocia a menos oportunidades para la actividad física y mayor riesgo de ECNT, por lo que mejoras en el diseño urbano, el transporte público, y las instalaciones recreativas, estimulan comunidades activas. El Estudio Internacional de Actividad Física y Ambientes Construidos (IPEN methods) propone una metodología común a ser aplicada en distintos países para generar insumos importantes para quienes diseñan y ejecutan políticas públicas. Se presenta el desarrollo metodológico del estudio ?Porteño?, a realizarse en la C.A.B.A., y los resultados preliminares, y no representativos, así como la discusión, del plan piloto desarrollado en el barrio de Flores, para describir la información que resulta del procesamiento y análisis de datos obtenidos a través de mediciones objetivas y subjetivas de la actividad física. Estos hallazgos informan acerca de intervenciones, basadas en la evidencia, para incrementar los niveles de actividad física, para prevenir la obesidad y las ECNT

Perspectiva ecológica de la actividad física : Influencia de los ambientes construidos en la actividad física comunitaria

Las estrategias para incrementar la actividad física enfatizan en políticas que propicien cambios ambientales. Las recomendaciones se basan en modelos ecológicos que describen relaciones entre conductas de salud y subsistemas interpersonales, organizacionales, comunitarios y sociales, con un abordaje interdisciplinario basado en la complejidad. El cambio de un estilo de vida rural a urbano se asocia a menos oportunidades para la actividad física y mayor riesgo de ECNT, por lo que mejoras en el diseño urbano, el transporte público, y las instalaciones recreativas, estimulan comunidades activas. El Estudio Internacional de Actividad Física y Ambientes Construidos (IPEN methods) propone una metodología común a ser aplicada en distintos países para generar insumos importantes para quienes diseñan y ejecutan políticas públicas. Se presenta el desarrollo metodológico del estudio ?Porteño?, a realizarse en la C.A.B.A., y los resultados preliminares, y no representativos, así como la discusión, del plan piloto desarrollado en el barrio de Flores, para describir la información que resulta del procesamiento y análisis de datos obtenidos a través de mediciones objetivas y subjetivas de la actividad física. Estos hallazgos informan acerca de intervenciones, basadas en la evidencia, para incrementar los niveles de actividad física, para prevenir la obesidad y las ECNT

Perspectiva ecológica de la actividad física : Influencia de los ambientes construidos en la actividad física comunitaria

Las estrategias para incrementar la actividad física enfatizan en políticas que propicien cambios ambientales. Las recomendaciones se basan en modelos ecológicos que describen relaciones entre conductas de salud y subsistemas interpersonales, organizacionales, comunitarios y sociales, con un abordaje interdisciplinario basado en la complejidad. El cambio de un estilo de vida rural a urbano se asocia a menos oportunidades para la actividad física y mayor riesgo de ECNT, por lo que mejoras en el diseño urbano, el transporte público, y las instalaciones recreativas, estimulan comunidades activas. El Estudio Internacional de Actividad Física y Ambientes Construidos (IPEN methods) propone una metodología común a ser aplicada en distintos países para generar insumos importantes para quienes diseñan y ejecutan políticas públicas. Se presenta el desarrollo metodológico del estudio ?Porteño?, a realizarse en la C.A.B.A., y los resultados preliminares, y no representativos, así como la discusión, del plan piloto desarrollado en el barrio de Flores, para describir la información que resulta del procesamiento y análisis de datos obtenidos a través de mediciones objetivas y subjetivas de la actividad física. Estos hallazgos informan acerca de intervenciones, basadas en la evidencia, para incrementar los niveles de actividad física, para prevenir la obesidad y las ECNT

Gestão do Conhecimento em ambientes de teletrabalho

O presente estudo buscou verificar se há diferenças significativas na utilização de práticas e ferramentas voltadas à gestão do conhecimento na opinião de trabalhadores presenciais e de teletrabalhadores. Para tanto, este estudo descritivo-quantitativo aplicou um questionário a 319 colaboradores, sendo 180 trabalhadores presenciais e 139 teletrabalhadores, todos atuantes em quinze empresas de porte médio ou grande da indústria de software no Brasil. Os resultados encontrados indicam que os teletrabalhadores pesquisados atestaram maior utilização de práticas e de ferramentas voltadas à gestão do conhecimento em suas rotinas de trabalho, em comparação aos trabalhadores presenciais analisados na pesquisa.