An optical flow-based sensing system for reactive mobile robot navigation

This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.

Entre mortificações e resistências : a saúde e o psicotrópico no sistema prisional

A saúde e o uso do psicotrópico no sistema prisional habitam um paradoxo. O sistema penitenciário, nas últimas décadas, passou por algumas transformações. No mundo, as estatísticas apontam crescimento populacional carcerário e prisões superlotadas, em condições precárias. No Brasil, a situação não é diferente: em 10 anos a população prisional brasileira duplicou e as condições de confinamento são paupérrimas, o que acaba contribuindo para a prevalência de doenças infectocontagiosas. Diante desta realidade, em 2003 homologou-se o Plano Nacional de Saúde no Sistema Penitenciário (PNSSP) que, em consonância com os princípios do Sistema Único de Saúde, visa garantir a integralidade e a universalidade de acesso aos serviços de saúde para a população penitenciária. O estado do Espírito Santo aderiu ao PNSSP e formulou o Plano Operativo Estadual de Atenção Integral à Saúde da População Prisional (2004), contudo, foi a partir de 2010 que se efetivou o acesso aos serviços de saúde prisional capixaba. Neste contexto, a pesquisa de mestrado buscou investigar as práticas de saúde no sistema prisional e as formas de usos do psicotrópico por presos da Penitenciária de Segurança Máxima II (PSMA II), localizada no Complexo Penitenciário de Viana, Espírito Santo. Para tanto, foi necessário habitar o sistema penitenciário capixaba e realizar entrevistas semiestruturadas com profissionais da gestão de saúde prisional da Secretaria Estadual de Justiça do Espírito Santo, com profissional da área da medicina psiquiátrica e com presos da PSMA II. Dessa forma, foi possível observar que a saúde no sistema penitenciário, bem como os usos do psicotrópico, encontram-se em um espaço poroso. As práticas de saúde podem fortalecer estratégias de controle e produzir mortificação, como podem escapar dos investimentos biopolíticos e produzir resistência. O uso do medicamento psicotrópico por sujeitos privados de liberdade encontra-se nessa mesma ambivalência: podem servir como instrumentos regularizadores de captura, como podem produzir autonomia nas suas formas de uso pelos presos. Por fim, entre mortificações e resistências, afirma-se que é o próprio preso que administrará os tensionamentos desse paradoxo e irá produzir vida, potência de vida.

As políticas da insegurança : da Scuderie Detetive Le Cocq às masmorras do novo Espírito Santo

A presente dissertação tem como objetivo a análise das políticas de segurança pública e justiça criminal no Espírito Santo entre 1989 e 2013, utilizando metodologia historiográfica e observando a distância entre os objetivos oficiais e as consequências práticas. No primeiro capítulo, me concentro na contextualização histórica das políticas criminais, analisando a formação organizacional do sistema punitivo brasileiro. Coloco ênfase, de um lado, no processo de militarização, isto é, a adoção de hierarquia, disciplina e formação militares nas agências de segurança pública, e de outro lado, e nas sucessivas legislações penais aprovadas pelo Congresso Nacional. Tais processos nacionais se refletem no Espírito Santo, onde se difundiram “grupos de extermínio” como a Scuderie Le Cocq, mas não havia política de segurança pública. A primeira surge em meio a grave crise política, entre 1999 e 2002. Mas os seus propósitos são mais avançados com o processo de reforma administrativa após 2003, quando o governo se esforça por impôr modelos de gestão empresariais e parcerias público privadas à administração estadual, incluindo a segurança pública e sistema penitenciário. Com isto, ocorre uma rápida expansão do encarceramento seletivo em condições extremas de superlotação e violência, desenvolvendo uma indústria carcerária. No segundo capítulo, realizo uma análise na qual relaciono informações criminais, penitenciárias, econômicas e demográficas, tanto no contexto do Brasil quanto do Espírito Santo. Constato que a repressão estatal tem “preferência” por homens, negros, jovens e de baixa escolaridade; por crimes de drogas e contra o patrimônio, com a utilização cada vez maior da prisão provisória. No Espírito Santo o encarceramento seletivo cresce em maior velocidade que na média nacional, o que se reflete no perfil da população carcerária, sendo esta ainda mais negra, jovem, de baixa escolaridade e presa por tráfico e drogas e em regime provisório, com frequentes denúncias fundamentadas de torturas, mortes e desaparecimentos forçados entre as populações criminalizadas.

Educação física e cidadania : a gestão da Secretaria de Educação do município de Vitória

O objetivo da presente pesquisa é compreender quais são as ações da Secretaria Municipal de Educação de Vitória (Seme) para que a Educação Física, enquanto componente curricular, atue no sentido de promover e garantir a cidadania. A relevância da pesquisa está na importância em se discutir a cidadania na formação escolar e em levantar dados que apontem as ações da gestão educacional do Município no sentido de garantir que a Educação Física cumpra um de seus objetivos, a saber, a formação de cidadãos. Trata-se de uma pesquisa qualitativa, de abordagem exploratória/descritiva. Para coleta de dados, utilizou-se documentos da Seme, bem como a realização de uma entrevista coletiva na qual estavam presentes professores de Educação Física que atuam administrativamente na Secretaria. O desenvolvimento do estudo se procedeu em três etapas: no primeiro momento, foi realizado um levantamento bibliográfico; na segunda etapa, efetivou-se a análise documental nas Diretrizes Curriculares da Prefeitura Municipal de Vitória (PMV) e na Lei 4747/98 que institui o Sistema de Ensino do Município; na última etapa, realizamos uma entrevista coletiva com gestores da Seme com formação em Educação Física. A técnica utilizada para a tabulação dos dados foi a análise de conteúdo, que nos permitiu efetivar um recorte dos textos de acordo com os conteúdos mais significativos, para o posterior agrupamento e categorização das unidades de respostas. Mediante o percurso metodológico descrito acima, foi possível compreender a organização/funcionamento da Coordenação de Desportos da Secretaria, assim como suas ações voltadas para que a Educação Física se reconheça enquanto promotora de cidadania e colabore com a formação cidadã. Constatou-se que expressões como “cidadania”, “direito”, “participação” e “emancipação” aparecem mais no discurso dos gestores, e menos nos documentos e nas ações. Desse modo, pontuamos que se torna evidente que poucas são as estratégias sistematizadas por meio da Seme para que a Educação Física, enquanto componente curricular, possa cooperar com a formação cidadã.

Climate governance in an international system under conservative hegemony: the role of major powers

In the last five years, climate change has been established as a central civilizational driver of our time. As a result of this development, the most diversified social processes - as well as the fields of science which study them - have had their dynamics altered. In International Relations, this double challenge could be explained as follows: 1) in empirical terms, climate change imposes a deepening of cooperation levels on the international community, considering the global common character of the atmosphere; and 2) to International Relations as a discipline, climate change demands from the scientific community a conceptual review of the categories designed to approach the development of global climate governance. The goal of this article is to discuss in both conceptual and empirical terms the structure of global climate change governance, through an exploratory research, aiming at identifying the key elements that allow understanding its dynamics. To do so, we rely on the concept of climate powers. This discussion is grounded in the following framework: we now live in an international system under conservative hegemony that is unable to properly respond to the problems of interdependence, among which - and mainly -, the climate issue.

Between system maker and privileges taker: the role of China in the Greater Mekong Sub-region

Utilizing China's leadership projects in the Great Mekong Sub-Region (GMS) as a case study, this paper aims to investigate whether China qualifies as an international leader. This work argues that its geographic position and economic rise allow China to be a "system maker and privilege taker," which is a dual role forming in economic-political relations in the GMS in the last ten years. China is among major driving forces to set up an economic zone in GMS. Growing Chinese regional power is intimately related to the creation of various hubs connecting regional transportation, communication and energy systems that foster the economic development of this region. However, China also proves dark sides of rising powers which take advantage of their privileges to gain benefits. As a "system maker" with its own position and capability, China has notably benefited from building hydropower systems. More importantly, while China is pursuing its benefits and privileges, its hydropower projects have caused some negative effects for the ecosystem in the region. The inflation of dam constructions in both China and GMS countries is raising concerns about using natural resources of the Mekong River. Our concluding part addresses the pressing need to start a serious discussion on the balance between national interests and regional solidarity within the formulation of Chinese foreign policy in GMS.

Environmental issues and international relations, a new global (dis)order - the role of International Relations in promoting a concerted international system

Is it possible to talk about the rise of a new global (dis)order founded on the challenges posed by environmental issues? Through the review of the state of the art on the subject, this article analyzes the growing importance of the environment, and natural resources in particular, in international relations; and aims to raise awareness among International Relations scholars to the potential positive impact of the development of the discipline in integration with global environmental change studies.

Evaluation of respiratory parameters in minimally processed lettuce grown under organic or conventional system

The increased preference for minimally processed vegetables has been attributed to the health benefits associated with fresh produce and the demand for ready-to-eat salads. In this paper, lettuce (Lactuca sativa L.) was evaluated for the effects of different cropping systems on the respiratory properties. Lettuce was packaged in low density polyethylene bags and stored in a refrigerator at 4 ºC. The concentration of carbon dioxide and oxygen inside the package was monitored during the storage at zero, three, six, eight, ten and twelve days by gas chromatography. Dry matter variation was measured gravimetrically up to day fourteen of storage. Values of respiratory rate for conventional lettuce increased from day 1 to 3 and remained low, while respiratory rate of the organic lettuce increased three-fold up to day 8, stabilizing at a high level. Variation in dry matter during storage also resulted from differences between the two cultivation systems. The highest content of dry matter was achieved by organic lettuce.

Lime and fertilizer recommendation system for coconut trees

Fertilizer recommendation to most agricultural crops is based on response curves. Such curves are constructed from field experimental data, obtained for a particular condition and may not be reliable to be applied to other regions. The aim of this study was to develop a Lime and Fertilizer Recommendation System for Coconut Crop based on the nutritional balance. The System considers the expected productivity and plant nutrient use efficiency to estimate nutrient demand, and effective rooting layer, soil nutrient availability, as well as any other nutrient input to estimate the nutrient supply. Comparing the nutrient demand with the nutrient supply the System defines the nutrient balance. If the balance for a given nutrient is negative, lime and, or, fertilization is recommended. On the other hand, if the balance is positive, no lime or fertilizer is needed. For coconut trees, the fertilization regime is divided in three stages: fertilization at the planting spot, band fertilization and fertilization at the production phase. The data set for the development of the System for coconut trees was obtained from the literature. The recommendations generated by the System were compared to those derived from recommendation tables used for coconut crop in Brazil. The main differences between the two procedures were for the P rate applied in the planting hole, which was higher in the proposed System because the tables do not pay heed to the pit volume, whereas the N and K rates were lower. The crop demand for K is very high, and the rates recommended by the System are superior to the table recommendations for the formation and initial production stage. The fertilizer recommendations by the System are higher for the phase of coconut tree growth as compared to the production phase, because greater amount of biomass is produced in the first phase.

Critical behavior of a three-dimensional hardcore-cylinder composite system

In this work the critical indices β, γ , and ν for a three-dimensional (3D) hardcore cylinder composite system with short-range interaction have been obtained. In contrast to the 2D stick system and the 3D hardcore cylinder system, the determined critical exponents do not belong to the same universality class as the lattice percolation,although they obey the common hyperscaling relation for a 3D system. It is observed that the value of the correlation length exponent is compatible with the predictions of the mean field theory. It is also shown that, by using the Alexander-Orbach conjuncture, the relation between the conductivity and the correlation length critical exponents has a typical value for a 3D lattice system.

Active Assistance for Senior Healthcare: A Wearable System for Fall Detection

Elders lose independence and wellbeing, accompanied by decreased functions in terms of hearing, vision, strength and coordination abilities. These factors contribute to balance difficulties that eventually lead to falls. The injuries due to falls, at this age, are risky, since most of the times may cause a significant – and permanent – decrease of quality of life or, in extreme cases, death. In this context, a fall detection system can bring an added value to assist elderly people.This paper describes a system consisting of a wearable sensor unit, a smartphone and a website. When the sensor detects a fall it sends an alert using the smartphone via Bluetooth 4.0, to notify the family members or stakeholders. The sensor device includes an inertial unit, a barometer, and a temperature and humidity sensor. The website displays the log of previous falls and enables the configuration of emergency contact numbers. The proposed fall detection system is one of multiple components within a larger project under development that offers a holistic perspective on falls; the complete wearable solution will also feature, among others, physical protection (minimizing the impact of falls that occur).

Influence of the N/K ratio on the production and quality of cucumber in hydroponic system

The objective of this work was to evaluate the quality of fruits and the nutritional status of cucumber CV. Aodai cultivated in nutrient solutions with different N:K ratios. The hydroponic cultivation was initially performed, during the vegetative growth, in nutrient solution with 1:2.0 mmol L-1 N:K, and, later, during fruit setting, in four different nutrient solutions with N:K (w/w) at the ratios 1:1.4, 1:1.7, 1:2.0 and 1:2.5. An additional treatment with a nutrient solution containing the ratio 1:2.2 (w/w) N:K during the vegetative growth and N:K 1:1.4 (w/w) during fruit setting, both with 10% ammonium (NH4+) was included. The treatments were arranged in a randomized design with six replicates. Irrigation was carried out with deionized water until seed germination, and then with nutrient solution until 30 days after germination, when plants were transplanted. Plants in the hydroponic growing beds were irrigated with the solutions for vegetative growth, and, after 21 days, the solutions were replaced by solutions for fruit setting. At 45 and 60 days after transplanting, the fresh weight, length, diameter, volume and firmness of the fruit were evaluated, and, at 45 days after transplanting, the macronutrient concentrations in the leaves were determined. The use of different N:K ratios during fruit setting influenced the cucumber production. The ratio of 1.0:1.7 N: K (w/w), with 10% of N in the form of ammonia, is recommended for the whole cycle.

A mobile health care rule-based system

The relation between patient and physician in most modern Health Care Sys- tems is sparse, limited in time and very in exible. On the other hand, and in contradiction with several recent studies, most physicians do not rely their patient diagnostics evaluations on intertwined psychological and social nature factors. Facing these problems and trying to improve the patient/physician relation we present a mobile health care solution to im- prove the interaction between the physician and his patients. The solution serves not only as a privileged mean of communication between physicians and patients but also as an evolutionary intelligent platform delivering a mobile rule based system.

The main benefits associated with health and safety management systems certification in Portuguese small and medium enterprises post quality management system certification

The purpose of this study is to characterize how Portuguese Small and Medium Enterprises (SMEs) view the Occupational Health and Safety Management Systems (OHSMSs) certification process, after receiving the Quality Management System (QMS) certification. References were based on the ISO 9001 standard for a QMS and OHSAS 18001 for OHSMS. The method used to evaluate the implemented systems, was by form of questionnaire. Those questioned had to have a certified quality management system, an implemented OHSMS and be a SME. The questionnaire was sent to 300 SMEs; 46 responses were received and validated. Of them, only 12 SMEs had the OHSMS certificate according to OHSAS 18001. Within those 12 companies that participated: 7 SMEs are from the industrial sector; 3 belong to the electricity/telecommunications sector and 2 SMEs are from the trade/services activity sector. The size of the sample was small, but corresponds to Portuguese reality. Moreover, 34 SMEs did not have the OHSMS certificate. The questionnaire requested the main reasons for SMEs to opt for non-certification and it was related with high costs, while the main reasons to certificate were, among others, needed to eliminate or minimize risks to workers. The main benefits that Portuguese SMEs have gained from the referred certifications have been, improved working conditions, ensuring compliance with legislation and better internal communication about risks and hazards. Also presented are the main difficulties in achieving an OHSMS certification including high certification costs, difficulties motivating personnel, difficulties in changing the company’s culture and increased bureaucracy.