TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Comparative analysis between a CAD model design and physical models obtained by manufacturing additive technologies using optical scan

This article presents a detailed study of the application of different additive manufacturing technologies (sintering process, three-dimensional printing, extrusion and stereolithographic process), in the design process of a complex geometry model and its moving parts. The fabrication sequence was evaluated in terms of pre-processing conditions (model generation and model STL SLI), generation strategy and physical model post-processing operations. Dimensional verification of the obtained models was undertook by projecting structured light (optical scan), a relatively new technology of main importance for metrology and reverse engineering. Studies were done in certain manufacturing time and production costs, which allowed the definition of an more comprehensive evaluation matrix of additive technologies.

Influência do hipoestrogenismo por ooforectomia na adaptação antioxidante em ratas wistar exercitadas regularmente

Post-menopause is a period of women s life cycle that is characterized by estrogen depletion and therefore increasing cardiovascular diseases, neurodegenerative disorders, urogenital atrophy, osteoporosis, hot flushes and sexual discomfort incidences. Estrogen is a hormone with comfirmed antioxidant action and its depletion is related to oxidative stress instalation and damaging various important biomolecules. Regular physical activity has been identified as a factor involved in reducing women s post-menopausal complications in addition to improving antioxidant defense by reducing the oxidative damage and consequently improving life s quality in this part of the population. This study aims to evaluate the influence of hypoestrogenism in antioxidant adaptation due to regular exercise, by determining reduced glutathione (GSH) and Thiobarbituric Acid Reactive Substances (SRAT) concentrations and antioxidant enzymes glutathione peroxidase (GPx), Superoxide Dismutase (SOD) and Catalase (CAT) activities in blood, brain and liver of rats. To achieve this goal we used 50 Wistar rats, weighing 180-250g which were divided into two groups, control - GC (25) and ooforectomized - GO (25). Each group was subdivided into five subgroups: Not-trained - S (5), Not-trained Acute Exercise - SEA (5), regular exercise 30 days - E30 (5), regular exercise 60 days - E60 (5) and regular exercise 90 days - E90 (5). Each of the three subgroups exercised regularly was subjected to acute exercise on the eve and the day of sacrifice to collect biological samples of blood, liver and brain and subsequent determination of SRAT concentration, GSH content and antioxidant enzymes GPx, SOD and CAT activities. The results indicated that the sedentary animals acutely exercised presented oxidative stress and regular physical activity led to antioxidant adaptation. In ooforectomized group the antioxidant adaptation seen in control animals showed to be impaired. Unlike the results from blood and liver, in brain there was a shield against oxidative damage originated by the exercise and that hypoestrogenism led to a loss of this natural antioxidant potential. Therefore, hypoestrogenism interferes negatively in antioxidant adaptation due to regular exercise

Uma avaliação política da política de avaliação da educação superior brasileira

We had as the problem of analysis in this research: what are the assumptions, principles and general content that based the Sistema Nacional de Avaliação da Educação Superior (SINAES). We started from the hypothesis that the general content of SINAES is essentially based on the assumptions and principles of a control/regulatory perspective of evaluation and a summative epistemology, objectivist and quantitativist, constituted by members who prioritize testing and classification of courses and institutions based on market values. The overall goal was to make a political evaluation of SINAES and the specific objectives were: a) apply the concepts of politics evaluation and meta-evaluation, b) identify the role of international organizations in education reform in the 1990s and its impact on superior education in Brazil c) redeem the concept of evaluation, especially in the field of studies in education; and d) investigate the evaluation policies of Brazilian superior education leading to SINAES. As for the technical procedures for collecting and analyzing data, the research was made with bibliography and documents, considering that it was developed by bibliographic sources and official publications. It was developed by crossing sources: texts or documents remitted to others; it was also concentrated: on the role of international organizations in educational and State reforms (in the 1990s); on the policies of evaluation of the Brazilian superior education (1980s and 1990s); on the proposal of the Comissão Especial de Avaliação (CEA); on the Law No. 10.861/2004; on the documents of CONAES; on the Decree No. 5.773/2006, and the MEC Regulatory Ordinances No. 4/2008 and No. 12/2008. It did not stop in the so called purely technical aspects, but in the ideological field itself. The research found that international organizations, notably the World Bank, played a political, intellectual and financial role determinant to the field of education, a fact that reflects in the legal framework. It was also found that the politics of evaluation of the superior education is historically marked by conflict, represented by two distinct perspectives of different natures and emphases. On one hand, the focus is on control / regulation, favoring efficiency, productivity and competitiveness benchmarking and prioritizing the punctual performance and measurement. On the other, it seeks to transform academic perspective in primarily formative / emancipatory, in order to support more institutional improvement. It was concluded that the CEA presented a conception evaluation predominantly formative and emancipatory, which emphasized the idea of system, centered around the institution and repudiated the rankings practices. In the post-formulation period, however, some of its principles were fragmenting and, gradually, the institution was giving way to the courses and the Exame Nacional de Desempenho de Estudantes (ENADE) grew in prominence. With the creation of the Conceito Preliminar de Cursos superiores (CPC) and of the Índice Geral de Cursos da Instituição de Educação Superior (IGC), it was redemeed the practice of evaluation as measurement and control, under the principles of efficiency and productivity. So, SINAES that seemed like a progressive evaluation method has assumed a setting that close resembles the Exame Nacional de Cursos (ENC-Provão). Nevertheless, the survival of institutional formative evaluation, in the superior education evaluation policies, still an issue in dispute

Eletroacupuntura aplicada nas fases precoce e tardia da cicatrização do tendão calcanear comum de coelhos após reparo tardio com peritônio bovino conservado em solução supersaturada de sal: aspectos clínicos

Para avaliar o uso da eletroacupuntura (EA) sobre os aspectos clínicos e deambulatórios, 36 coelhos tiveram o tendão calcanear comum seccionado e, após 30 dias, receberam enxerto de peritônio bovino conservado em solução supersaturada de sal. em seguida, os animais foram distribuídos aleatoriamente em três grupos de igual número: no primeiro grupo, os coelhos foram estimulados pela EA do segundo ao 11° dia de pós-operatório (PO) (E10); no segundo grupo do 11o ao 31o dia de PO (E20) e, no terceiro grupo, os animais não foram estimulados (C). Verificou-se, nos animais do E10, durante o PO, ausência de edema e hiperemia no membro tratado pela EA. Não se observou diferença significativa (P>0,05) entre os grupos quanto ao grau de deambulação dos animais. Todos os coelhos tiveram completa recuperação da deambulação até os 51 dias de PO. A utilização da eletroacupuntura na fase precoce da cicatrização do tendão calcanear comum de coelhos impediu a formação de edema e hiperemia. O tratamento com eletroacupuntura no PO não melhorou o desempenho da deambulação.

Parâmetros de concretização judicial do direito fundamental à saúde no fornecimento de medicamentos

In Brazil, social rights have always been considered secondary legal categories, whose implementation could wait for the pending of political decisions. At the end of the Second World War, International Law emphasizes the protection of human beings, raising his dignity as a legal pillar of the legal orders and one of the main foundations of Constitutions. At the post-positivism Constitutionalism, the realization of social rights receives special attention with the assumption of supremacy and normativity of the Constitutions, while the judiciary participates in the realization of democracy, not only as applicator of laws, but also as the guardian of constitutionality of the acts and administrative omissions, creatively contributing to the constitutional achievement, filling gaps and normative state omissions. In this aspect, the supply of medicines, whose costs can not be supported by the individual, keep a close connection with the right to life, health and dignity of the human being, as the subject of numerous lawsuits directed against the Public Administration. Such phenomenon has caused intense debate regarding judicial activism and legitimacy of these decisions, particularly on the need to define what are the limits and possibilities considering the principle of separation of powers and the principle of reserve of the possible; bieng this the problematic developed in this research. Thus, this research aims to verify the legitimacy of judicial decisions that determines to the Public Administration the compulsory providing of medicine to those who can not afford the cost of their treatment, as well as, contribute to the dogmatic constructions of parameters to be observed by judicial interference. Regarding the methodology, this research has an investigative and descriptive caracter and an theoretical approach based on bibliographical data collection (judicial and doutrine decisions) that received qualitative treatment and dialectical approach. As a result, it is known that the judicial decision that determines the supply of medicines to those individuals who can not afford them with their own resources is legitimate and complies with the democratic principle, not violating the principle of separation of powers and the reserve of the possible, since the judicial decison is not stripped with an uniform and reasonable criteria, failing to contain high burden of subjectivism and witch signifies a possible exacerbation of functions by the judiciary, suffering, in this case, of requirement of legal certainty. It is concluded that the Court decision that determines the government the providing of medicine to those who can not afford the cost of treatment should be based on parameters such as: the protection of human dignity and the minimum existencial principle, the inafastable jurisdiction principle; compliance critique of the possible reserve principle; subsidiarity of judicial intervention; proportionality (quantitative and qualitative) in the content of the decision; the questioning about the reasons for non-delivery of the drug through administrative via; and, finally, the attention not to turn the judiciary into a mere production factor of the pharmaceutical industry, contributing to the cartelization of the right to health

Aspectos biológicos de Cycloneda sanguínea (Coleóptera: Coccinellidae) alimentadas con pulgones criados en algodón transgénico Bollgard I

Cycloneda sanguinea is an important biological control agent of aphid cotton. The objective of this study was to evaluate the biological aspects of C. sanguinea fed with nymphs and adults of Aphis gossypii reared in DeltaOPAL and NuOPAL cultivars (Bollgard I). The experiment was conducted in the laboratory under controlled temperature (25 +/- 1 degrees C), humidity (70 +/- 10%) and photophase (12 hours). The experimental design was completely randomized, and treatments aphids fed on the two cultivars, and replicates 40 individuals. Each larva was individually until adult emergence of the predator in Petri dishes of 9 cm in diameter with moistened filter paper. For evaluation of individual adults were five couples newly emerged in plastic pots 12 cm in diameter and 9 cm tall, with filter paper for oviposition. The parameters evaluated were: duration and viability of the larval stage, pupal stage duration and survival, adult longevity, reproductive period, post-reproductive and total number of eggs per female. The duration of the larval stage of C. sanguinea was lower when fed aphids reared on the cultivar NuOPAL, while adult longevity and the reproductive period were higher. The female fertility and egg viability were also lower.

Avaliação microbiológica de um processo de sanificação de galões de água com a utilização do ozônio

O Brasil é o sétimo maior consumidor mundial de águas engarrafadas. Os recipientes mais utilizados, galões plásticos de 20 litros, devem ser submetidos à inspeção individual e posteriormente a sanificação. Recentemente, enfermidades associadas a microrganismos emergentes têm despertado o interesse por novos sanitizantes. Entre estes, o gás ozônio é um dos mais atraentes em virtude da sua segurança e eficácia superiores aos desinfetantes convencionais, não gerando resíduos tóxicos. Neste trabalho, o ozônio foi avaliado como método alternativo na sanificação de galões de água de 20 litros, na cidade de Alfenas, MG. Trinta galões foram avaliados sem tratamento e trinta após a sanificação com água ozonizada (4mg/L/2minutos) quanto à contagem total de microrganismos aeróbios mesófilos heterotróficos, número mais provável (NMP) de coliformes totais e Escherichia coli, Staphyloccocus aureus e Pseudomonas spp. em 100mL de solução enxaguatória. A contagem média de unidades formadoras de colônias (UFC) de microrganismos heterotróficos no estágio de pré-lavagem foi de 5,7/cm² enquanto que o tratamento com a água ozonizada reduziu este valor para 0,003/cm², além de promover a negativação das análises para coliformes Pseudomonas ssp. e somente 13,3% das amostras apresentaram-se positivas para Staphylococcus aureus após a sanificação. Concluiu-se que o tratamento com utilização de ozônio foi eficiente, nas condições testadas.

Reflexões sobre a construção e evolução de conceitos geométricos nas séries intermediárias do ensino fundamental

This thesis represents a didactic research linked to the Post-graduation Programme in Education of the Universidade Federal do Rio Grande do Norte which aimed to approach the construction of the geometrical concepts of Volume of the Rectangular Parallelepiped, Area and Perimeter of the Rectangle adding a study of the Area of the Circle. The research was developed along with students from the 6th level of the Elementary School, in a public school in Natal/RN. The pedagogical intervention was made up of three moments: application of a diagnostic evaluation, instrument that enabled the creation of the teaching module by showing the level of the geometry knowledge of the students; introduction of a Teaching Module by Activities aiming to propose a reflexive didactic routing directed to the conceptual construction because we believed that such an approach would favor the consolidation of the learning process by becoming significant to the apprentice, and the accomplishment of a Final Evaluation through which we established a comparison of the results obtained before and after the teaching intervention. The data gathered were analyzed qualitatively by means of a study of understanding categories of mathematical concepts, in addition to using descriptive statistics under the quantitative aspect. Based on the theory of Richard Skemp, about categorization of mathematical knowledge, in the levels of Relational and Instrumental Understanding were achieved in contextual situations and varied proportions, thus enabling a contribution in the learning of the geometrical concepts studied along with the students who took part in the research. We believe that this work may contribute with reflections about the learning processes, a concern which remained during all the stages of the research, and also that the technical competence along with the knowledge about the constructivist theory will condition the implementation of a new dynamics to the teaching and learning processes. We hope that the present research work may add some contribution to the teaching practice in the context of the teaching of Mathematics for the intermediate levels of the Elementary School

Implante de tubo de silicone com e sem colágeno na regeneração de nervos em eqüinos

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

O(s) saber(es) e o(s) fazer(es) do professor formador :reflexões sobre a prática docente

This study, developed in conjunction to the Pedagogical Practice research line and the Curriculum of Post-graduation in Education Program of UFRN is about investigations on formation of professors and teaching knowledge. Its objective is to analyze fundamental concepts for lecturing and the relationship that establishes between those concepts and the practice of forming professors. We adopted as referential the principles of social-historical approach, in the context of concepts making and development (Vygotsky, Luria and Rubinstein), and of collaborative theoric-methodological approach (Jacullo-Noto, Kemmis and Ibiapina). Collaboration with professors was mediated by diary writing, collaborative observation and conceptual network creation, essential to perceiving the given meanings to concepts that sustain the practice of 06 (six) forming professors from the UFPI Pedagogy Course. Teresina Campus. This way, reflections with collaborator professors allowed to build conceptual networks, in which prominence was given to the meanings of concepts that gave sustaining to their lecturing practices in the referred course, showing a fragmentation and disarticulation between theory and forming practice. They also indicate a need to give new concepts to the meanings of teaching concepts, learning and lecturing of these professors, in a meaning of a greater understanding about those concepts for their effective practice. On the context of collaborative reflection about conceptual networks, it was evident the conflict generated between the meanings attributed by professors and the practice developed in class, pointing to the need of rethinking the articulation between theory and practice not only on the formative process developed, but also on the continual formation of forming professors and on the construction of discussing spaces and materialization of the curricular principles of the Pedagogy Course

Tornar-se professor formador pela experiência formadora: vivências e escritas de si

This thesis describes and analyzes the trajectory of education of an educator-teacher group to become tutor of memorials (final work of the course Normal Superior in Instituto de Educação superior President Kennedy IFESP-Natal-RN). The writing of memorials (self-biographical writing) propitiates to the pupil that writes a reflection on his/her student and professional life, and to whom guides an evolution in his/her professional education. From the methodological point of view, we adopt an etnomethodological perspective of qualitative approach which describes the reality of real citizens inserted in a real situation of education. It is constituted of participants of the research of 32 educator-teachers, deriving of three different areas of academic formation. The instruments of data collection consist of eight life histories, 32 contextualization applications of the participants of the research, interviews with two consultants of the project, as well as some documents. The results of the analyses put in evidence that the education of the educator-teacher goes for two parallel ways: the first deals with the experiences, interactions and elements of daily practice; the second with the academy experiences where the educator-teacher searches the post-graduation courses. The integration of these two ways defines the educator-teacher identity with foundation in knowings that constitute in the exercise of guidance of memorials. The teachers knowings are considered insufficient by the majority and others knowings are mobilized to the knowing to be educator-teacher, memorial tutor. The thesis concludes that the trajectory of the educator-teacher constitutes an educator experience, in the direction of that implies an articulation among the learnings, abilities and knowings, to support the pupil in self-discovery, and that these multiple experiences favor the education of these teachers

A participação das mães no conselho escolar do CMEI Amor de Mãe

This research aims to study the participation of mothers in the School Council of the Centro Municipal de Educação Infantil Amor de Mãe. The goal is to understand the relationship among concepts that mothers have and their practices as advisors. The historical-philosophical approach taken along the research permitted working with real people and not those derived or idealized ones. It searched an approximation of the mode of being and living of the councilor mothers in their homes, and the concepts and practices in the School Council. It was inspired by ethnographic researches to describe data, habits, cultural practices, meanings and values of people involved. As sources of research, we used: interviews with mothers and school staff; documentary and photographic collection of CMEI Amor de Mãe; local and national legislation; notebooks of the National Program for the Strengthening of School Council (2004); data bank of dissertations and theses of the Post-Graduate Program in Education of the UFRN dealing with democratic management and the relationship school and family. The study indicates the existence of a narrative of the school community that shows mothers as "missing" or "passive" and a practice that point out to how people participate actively in the school routine. This contradiction reveals the existence of a historically constructed school mindset that is rooted in a model of family and school that differs from the reality found in CMEI Amor de Mãe and how families served by CMEI Amor de Mãe organize themselves. It is recommended that the school community and families reorganize the conceptions that guide their practices in educating and caring for children with whom they live and work to make progress together in managing this process

Vivência do homem no puerpério

After the birth of a child, during the post-partum period, the exercise of fatherhood, the sexual relationships either marital or sexual as well as the definition of the male role are all aspects that can change. These changes are guarded and can contribute to strengthen the familiar bond or deprive it. Thus, this study aims to understand the male experience during the partner s puerperal period. In this period, the male interacts and participates according to his understanding of the post-partum period. The male experiences different situations with his partner, family and social environment. This research is descriptive-exploratory and has a qualitative approach. It was developed with 15 men that live with their live with their partners during the puerperal period. The data was collected through a semi-structured interview. These data was treated according to content analysis proposed by Bardin. These were analyzed through Symbolic Interacionism according to Blumer. Thus, three themes emergedshares of care in the home environment, meanings attributed to the puerperium, emotions emerged during the post-partum - the seven subcategories-taking care of the wife and child, supporting the family, moment to rest, fulfillment through fatherhood, sense of joy, feeling of concern and sense of exclusion. It was seen that the subjects experience post-partum mainly by taking care of their partner and child and providing support of the family. Besides the mentioned aspects, there was meaning attributed to the puerperal period, considering it a period of rest for the partner and above all, fatherhood. Thus, even understanding that it is excluded, the subjects expressed joy and worriness towards the child s future, related to the insecurity in which the country goes through in current conjuncture

Efeito da adição de agentes tróficos na dieta de leitões desmamados sobre a estrutura e ultraestrutura do intestino delgado e sobre o desempenho

Foram estudados os efeitos da glutamina, dos ácidos graxos poli-insaturados e da parede celular de levedura (PCL) sobre a estrutura e ultraestrutura do intestino delgado e o desempenho de leitões. Foram utilizados 45 leitões, desmamados aos 21 dias de idade, para testar os seguintes tratamentos: T1 - dieta basal; T2 - dieta basal + 1% de glutamina; T3 - dieta basal + 0,2% de PCL; T4 - dieta basal + 5% de óleo de peixe. Nos dias sete e 14 pós-desmame, foram abatidos cinco leitões de cada tratamento. Os aditivos testados não alteraram a altura e a densidade dos vilos nem a profundidade das criptas do intestino delgado. Foi observado efeito de idade, mostrando redução na altura e na densidade dos vilos e na profundidade das criptas após o desmame. No duodeno e jejuno, foram observados maiores valores de relação vilo:cripta, que aumentaram com a idade pós-desmame. Ocorreram redução da altura dos microvilos do duodeno aos sete dias e aumento da largura dos microvilos do jejuno aos 14 dias pós-desmame. A área de superfície apical dos enterócitos não foi alterada pelos fatores estudados. Os aditivos estudados não foram eficientes em prevenir a atrofia da mucosa intestinal do jejuno, ao não interferir na sua ultraestrutura. Os aditivos incluídos na dieta não influenciaram o desempenho dos leitões no pós-desmame.