Desenvolvimento de uma cadeira de rodas robótica para transporte de portador de necessidades especiais

The objective of the dissertation was the realization of kinematic modeling of a robotic wheelchair using virtual chains, allowing the wheelchair modeling as a set of robotic manipulator arms forming a cooperative parallel kinematic chain. This document presents the development of a robotic wheelchair to transport people with special needs who overcomes obstacles like a street curb and barriers to accessibility in streets and avenues, including the study of assistive technology, parallel architecture, kinematics modeling, construction and assembly of the prototype robot with the completion of a checklist of problems and barriers to accessibility in several pathways, based on rules, ordinances and existing laws. As a result, simulations were performed on the chair in various states of operation to accomplish the task of going up and down stair with different measures, making the proportional control based on kinematics. To verify the simulated results we developed a prototype robotic wheelchair. This project was developed to provide a better quality of life for people with disabilities

Efeitos na taxa de transporte de elétrons de plantas daninhas após aplicação de amicarbazone

Entre os herbicidas registrados para cana-de-açúcar, o amicarbazone é um dos mais importantes para o controle das plantas daninhas, sendo preciso que o herbicida seja absorvido, translocado e que ele alcance os cloroplastos das células das folhas para atuar em seu sítio de ligação no fotossistema II. O objetivo deste trabalho foi avaliar os efeitos da aplicação do amicarbazone na taxa de transporte de elétrons (ETR) de Ipomoea grandifolia, Brachiaria decumbens e Digitaria horizontalis. Foi verificada a resposta dessas plantas daninhas, em relação à ETR, quando submetidas ao amicarbazone em solução e na sequência à solução sem herbicida, por meio de leituras da ETR, realizadas em folhas novas e adultas com o uso de um fluorômetro portátil. Verificou-se também o consumo de água das plantas daninhas pela pesagem diária dos recipientes contendo a solução e as plantas. Assim, verificou-se por meio do experimento que a redução dos valores da ETR pode ser utilizada para indicar o nível de intoxicação nas plantas daninhas em estudo. As plantas daninhas I. grandifolia, B. decumbens e D. horizontalis apresentaram respostas diferenciadas quando submetidas a solução sem herbicida após solução com amicarbazone. I. grandifolia apresentou-se mais sensível ao amicarbazone devido à maior dificuldade em recuperar os níveis iniciais de ETR, além de apresentar alterações nas folhas novas após o termino de fornecimento do herbicida. O consumo de água pode explicar esse comportamento em I. grandifolia, visto tratar-se da espécie que mais consumiu água e, consequentemente, mais absorveu o amicarbazone. Já para B. decumbens e D. horizontalis ocorreram menores níveis de absorção de água e, por conseguinte, as folhas velhas tiveram melhor recuperação do transporte de elétrons e não houve intoxicação em folhas novas.

Desenvolvimento e caracterização de nanocompósito de resina epóxi com nanopartículas de sílica para revestimento de dutos para transporte de petróleo

The use of polymer based coatings is a promising approach to reduce the corrosion problem in carbon steel pipes used for the transport of oil and gas in the oil industry. However, conventional polymer coatings offer limited properties, which often cannot meet design requirements for this type of application, particularly in regard to use temperature and wear resistance. Polymer nanocomposites are known to exhibit superior properties and, therefore, offer great potential for this type of application. Nevertheless, the degree of enhancement of a particular property is greatly dependent upon the matrix/nanoparticle material system used, the matrix/nanoparticle interfacial bonding and also the state of dispersion of the nanoparticle in the polymer matrix. The objective of the present research is to develop and characterize polymer based nanocomposites to be used as coatings in metallic pipelines for the transportation of oil and natural gas. Epoxy/SiO2 nanocomposites with nanoparticle contents of 2, 4, and 8 wt % were processed using a high-energy mill. Modifications of the SiO2 nanoparticles‟ surfaces with two different silane agents were carried out and their effect on the material properties were investigated. The state of dispersion of the materials processed was studied using Scanning and Transmission Electron Microscopy (SEM and TEM) micrographs. Thermogravimetric analysis (TG) were also conducted to determine the thermal stability of the nanocomposites. In addition, the processed nanocomposites were characterized by dynamic mechanical analysis (DMA) to investigate the effect of nanoparticles content and silane treatment on the viscoelastic properties and on the glass transition temperature. Finally, wear tests of the pin-on-disc type were carried out to determine the effects of the nanoparticles and the silane treatments studied. According to the results, the addition of SiO2 nanoparticles treated with silane increased the thermal stability, the storage modulus and Tg of the epoxy resin and decreased wear rate. This confirms that the interaction between the nanoparticles and the polymer chains plays a critical role on the properties of the nanocomposites

Análise da sensibilidade do biodiesel B5 em frotas de transporte coletivo com motorização diesel

The aim of this study was investigate the consolidation of the biodiesel fuel used in (a) engines of urban and intercity bus companies, (b) a stationary engine. It was necessary to investigate and analyze, technologically, if the biodiesel fuels were presenting troubleshooting relative to wear of parts lied to fuel and to evaluate the consumption fluctuations of this fuel. The urban and intercity bus companies, localized in Natal, Rio Grande do Norte state, Brazil, had 41 and 12 vehicles, respectively. It were analyzed datasheet of each one vehicle during three years, since 2008 until 2010 and were interviewed the management of the maintenance team of bus companies relative to aspects concerning the substitution of the diesel fuel by the B5 biodiesel. The second aim of this study was visually inspect the wear of the parts directly lied to combustion process. For this reason, it was investigated a stationary engine, manufactured by Branco BD5, 5 HP of power, fueled by (a) diesel, (b) biodiesel B5, (c) biodiesel B20 and (d) diesel or biodiesel, both contaminated by distilled water. In this engine, its power utilizing biodiesel B5 versus diesel was lower about 5.2% and, in the investigated case of B20 versus diesel, it was lower around 11.5%

A difícil aceitação dos números negativos: um estudo da teoria dos números de Peter Barlow (1776-1862)

The present study seeks to present a historico-epistemological analysis of the development of the mathematical concept of negative number. In order to do so, we analyzed the different forms and conditions of the construction of mathematical knowledge in different mathematical communities and, thus, identified the characteristics in the establishment of this concept. By understanding the historically constructed barriers, especially, the ones having ontologicas significant, that made the concept of negative number incompatible with that of natural number, thereby hindering the development of the concept of negative, we were able to sketch the reasons for the rejection of negative numbers by the English author Peter Barlow (1776 -1862) in his An Elementary Investigation of the Theory of Numbers, published in 1811. We also show the continuity of his difficulties with the treatment of negative numbers in the middle of the nineteenth century

A utilização de espaços de educação não formal por professores de biologia de Natal-RN

La práctica educativa en espacios no formales es un recurso didáctico catalizador de motivación e interese, tanto para alumnos como para los profesores. El crecimiento de los espacios no formales coincide con los cambios recientes en el mundo en los campos sociales, políticos, económicos y culturales. Como una de las consecuencias de esos cambios, tenemos el crecimiento de otras instancias difusoras de conocimientos rompiendo, así, la hegemonía de la escuela. De esa forma, en este trabajo busqué investigar la frecuencia y las formas de utilización de los espacios de educación no formal por profesores de biología, de la enseñanza media, de la Ciudad de Natal (RN). Procuré también, identificar cuales son los espacios de educación no-formal que son utilizados; describir los recursos y las acciones desarrolladas en eses espacios; identificar la existencia o no de interese y la importancia que atribuyen a los espacios para la enseñanza de biología, además de divulgar los espacios utilizados como recursos didácticos. Para alcanzar estos objetivos fueron hechas observaciones de los espacios, aplicados cuestionarios y realizadas entrevistas con los profesores que realizan actividades junto a tales instituciones. Para el análisis de los datos se utilizó tanto el abordaje cuantitativo como cualitativa. Nos basamos en referenciales teóricos de autores que buscan establecer las relaciones entre diferentes modalidades de educación para mejor comprender lo que es la educación no-formal y su trayectoria histórica. Constaté que los profesores utilizan los espacios de educación no-formales, aun la cantidad de visitas al año sea reducida, en virtud de varias dificultades por ellos apuntadas, tales como el transporte, la falta de recursos financieros y de apoyo para viabilizar la visita, entre otros. Verifiqué también que los profesores demostraron un alto interese por los espacios no-formales y apuntaron como principales justificativas para considerarlos importantes para la enseñanza de la biología la posibilidad de establecer conexiones entre la teoría y la practica, además de la complementariedad

Teoria histórico-cultural e suas implicações na atuação do professor de educação física escolar

This article presents a theoretical search and aims to introduce the main categories of historical-cultural theory and discuss its implications for the physical education teacher's work inside the school and also emphasizes this theory and its methodological proposal as an important way to build the scholar physical education in a critical perspective aiming to change the school and the students conscious and personality. The Vigotskian school of human development it is taken as an important reference to understand the scholars in their vital process of development and helps the teachers in general, and physical education teachers in specific, to consider the activity ( vital activity) as important instrument to get the humanization and liberty of human being, inside the school and inside the contemporary society.

Efeito imediato e a curto prazo do cigarro sobre o transporte mucociliar nasal de fumadores

Background and objectives: The efficiency of mucociliary transport may vary in different conditions, such as in exposure to harmful particles of the cigarette smoke. The present study evaluated the acute and short term effects of smoking on nasal mucociliary clearance in current smokers by the quantification of the Saccharin Transit Time (STT), and to investigate its correlation with the history of tobacco consumption.Methods: Nineteen current smokers (11 men, 51 +/- 16 years; BMI 23 +/- 9 kg/m(2), 27 +/- 11 cigarettes per day, 44 +/- 25 pack-years), entering a smoking cessation intervention program, responded to a questionnaire concerning smoking history and were submitted to lung function assessment (spirometry) and the STT test. STT was assessed immediately after smoking and 8 hours after smoking. The STT test was also performed in nineteen matched healthy non-smokers' who served as control group.Results: When compared to STT in non-smokers' (10 +/- 4 min; mean +/- standard deviation), smokers presented similar STT immediately after smoking (11 +/- 6 min; p = 0.87) and slower SIT 8 hours after smoking (16 +/- 6 min; p = 0.005 versus non-smokers' and p = 0.003 versus immediately after smoking). STT 8 hours after smoking correlated positively with age (r = 0.59; p = 0.007), cigarettes per day (r = 0.53; p = 0.02) and pack-years index (r = 0.74; p = 0.0003).Conclusions: In smokers, although the mucociliary clearance immediately after smoking is similar to non-smokers', eight hours after smoking it is reduced, and this reduction is closely related to the smoking habits. (C) 2010 Sociedade Portuguesa de Pneumologia. Published by Elsevier Espana, S.L. All rights reserved.

Infografia interativa na redação: o processo de produção no Diário do Nordeste à luz da teoria do jornalismo

The infographics historically experience the process of evolution of journalism, from the incipient models handmade in the eighteenth century to the inclusion of computers and sophisticated software today. In order to face the advent of TV against of the partiality readers of the printed newspaper, or to represent the Gulf War, where not allowed photography, infographics reaches modern levels of production and publication. The technical devices which enabled the infographics to evolve the environment of the internet, with conditions for the manipulation of the reader, incorporating video, audio and animations, so styling of interactive infographics. These digital models of information visualization recently arrived daily in the northeast and on their respective web sites with features regionalized. This paper therefore proposes to explore and describe the processes of producing the interactive infographics, taking the example of the Diário do Nordeste, Fortaleza, Ceará, whose department was created one year ago. Therefore, based on aspects that guide the theory of journalism, as newsmaking, filters that focus on productive routine (gatekeeping) and the construction stages of the news. This research also draws on the theoretical framework on the subject, in concepts essential characteristics of computer graphics, as well as the methodological procedures and systematic empirical observations in production routines of the newsroom who can testify limitations and / or advances

Interpretação e análise do problema da indução sob uma visão fundamentada em teorias de conjuntos e teoria de probabilidades

The following work is to interpret and analyze the problem of induction under a vision founded on set theory and probability theory as a basis for solution of its negative philosophical implications related to the systems of inductive logic in general. Due to the importance of the problem and the relatively recent developments in these fields of knowledge (early 20th century), as well as the visible relations between them and the process of inductive inference, it has been opened a field of relatively unexplored and promising possibilities. The key point of the study consists in modeling the information acquisition process using concepts of set theory, followed by a treatment using probability theory. Throughout the study it was identified as a major obstacle to the probabilistic justification, both: the problem of defining the concept of probability and that of rationality, as well as the subtle connection between the two. This finding called for a greater care in choosing the criterion of rationality to be considered in order to facilitate the treatment of the problem through such specific situations, but without losing their original characteristics so that the conclusions can be extended to classic cases such as the question about the continuity of the sunrise

Latenciação e formas avançadas de transporte de fármacos

O processo de modificação molecular denominado latenciação é revisto, apresentando formas avançadas no transporte de fármacos, utilizando macromoléculas como transportadores e sistemas de liberação sítio-específica como: CDS (Chemical Delivery System), ADEPT (Antibody-Directed Enzyme Prodrug Therapy), GDEPT/VDEPT (Gene-Directed Enzyme Prodrug Therapy/Vírus-Directed Enzyme Prodrug Therapy), ODDS (Osteotropic Drug Delivery System), PDEPT (Polymer-Directed Enzyme Prodrug Therapy), PELT (Polymer-Enzyme Liposome Therapy) e LEAPT (Lectin-Directed Enzyme-Activated Prodrug Therapy).

Aplicações da teoria da percolação à modelagem e simulação de reservatórios de petróleo

In this thesis we study some problems related to petroleum reservoirs using methods and concepts of Statistical Physics. The thesis could be divided percolation problem in random multifractal support motivated by its potential application in modelling oil reservoirs. We develped an heterogeneous and anisotropic grid that followin two parts. The first one introduce a study of the percolations a random multifractal distribution of its sites. After, we determine the percolation threshold for this grid, the fractal dimension of the percolating cluster and the critical exponents ß and v. In the second part, we propose an alternative systematic of modelling and simulating oil reservoirs. We introduce a statistical model based in a stochastic formulation do Darcy Law. In this model, the distribution of permeabilities is localy equivalent to the basic model of bond percolation

A influência do esqueleto açúcar-fostato no transporte da molécula de DNA

This dissertation analyses the influence of sugar-phosphate structure in the electronic transport in the double stretch DNA molecule, with the sequence of the base pairs modeled by two types of quasi-periodic sequences: Rudin-Shapiro and Fibonacci. For the sequences, the density of state was calculated and it was compared with the density of state of a piece of human DNA Ch22. After, the electronic transmittance was investigated. In both situations, the Hamiltonians are different. On the analysis of density of state, it was employed the Dyson equation. On the transmittance, the time independent Schrödinger equation was used. In both cases, the tight-binding model was applied. The density of states obtained through Rudin-Shapiro sequence reveal to be similar to the density of state for the Ch22. And for transmittance only until the fifth generation of the Fibonacci sequence was acquired. We have considered long range correlations in both transport mechanism

Um estudo na teoria do movimento brownianno com viscosidade variável

In this work we investigate the stochastic behavior of a large class of systems with variable damping which are described by a time-dependent Lagrangian. Our stochastic approach is based on the Langevin treatment describing the motion of a classical Brownian particle of mass m. Two situations of physical interest are considered. In the first one, we discuss in detail an application of the standard Langevin treatment (white noise) for the variable damping system. In the second one, a more general viewpoint is adopted by assuming a given expression to the so-called collored noise. For both cases, the basic diffententiaql equations are analytically solved and al the quantities physically relevant are explicitly determined. The results depend on an arbitrary q parameter measuring how the behavior of the system departs from the standard brownian particle with constant viscosity. Several types of sthocastic behavior (superdiffusive and subdiffusive) are obteinded when the free pamameter varies continuosly. However, all the results of the conventional Langevin approach with constant damping are recovered in the limit q = 1

Teoria semi-clássica para super rede magnética formada por materiais ferromagnético e antiferromagnético

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