184 resultados para Workspace
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Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second
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Searching for an understanding of how the brain supports conscious processes, cognitive scientists have proposed two main classes of theory: Global Workspace and Information Integration theories. These theories seem to be complementary, but both still lack grounding in terms of brain mechanisms responsible for the production of coherent and unitary conscious states. Here we propose following James Robertson's "Astrocentric Hypothesis" - that conscious processing is based on analog computing in astrocytes. The "hardware" for these computations is calcium waves mediated by adenosine triphosphate signaling. Besides presenting our version of this hypothesis, we also review recent findings on astrocyte morphology that lend support to their functioning as Local Hubs (composed of protoplasmic astrocytes) that integrate synaptic activity, and as a Master Hub (composed, in the human brain, by a combination of interlaminar, fibrous, polarized and varicose projection astrocytes) that integrates whole-brain activity.
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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
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Pós-graduação em Filosofia - FFC
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A dissertação analisa as identidades das assistentes sociais da Vale, como manifestações ideológicas do contexto de reestruturação produtiva capitalista. As categorias centrais de análise foram o trabalho, na concepção de Marx e a ideologia, na concepção de Gramsci. A lógica capitalista, que conduz à alienação e à manipulação da subjetividade do trabalhador, influencia os profissionais a absorverem acriticamente do senso-comum as representações da hegemonia dominante, que se manifestam implicitamente nos comportamentos e na linguagem dos profissionais. Os sujeitos da pesquisa foram as assistentes sociais da Vale, que atuam nas unidades localizadas na região de Carajás, sudeste paraense, visto que a empresa é uma transnacional com forte influência na região amazônica. Nos dias atuais, os municípios da região de Carajás têm sua dinâmica de desenvolvimento social, econômico e cultural, associada às atividades da empresa. A hipótese da pesquisa foi que as identidades dos assistentes sociais da Vale, no contexto de reestruturação produtiva do capital, são identidades às avessas, que contribuem para a reprodução de práticas mistificadas e reducionistas, que reproduzem os interesses capitalistas. A partir da pesquisa empírica, que teve como recorte temporal o ano de 2007 até os dias atuais, constatou-se que no exercício profissional, as assistentes sociais da empresa vivenciam as contradições inerentes tanto à implantação da Vale na região quanto as relacionadas ao desenvolvimento do Serviço Social, o que contribui mais para o fortalecimento da hegemonia capitalista do que para a efetivação do projeto ético-político-profissional do Serviço Social. A análise das correlações de forças presentes nesse espaço de atuação se constituem em objeto de debate e reflexão em torno dos desafios mas também das possibilidades objetivas identificadas na particularidade pesquisada e que foram capturadas nas entrelinhas do discurso das próprias profissionais entrevistadas.
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The Brazilian sign language is a visual-spatial language, manifested through the hands, facial expressions and body, being considered a natural language used by the deaf community in Brazil. Thus, in a school context the knowledge of LIBRAS is fundamental to the interpreter and the deaf student, so, the role of the interpreter in the classroom is to mediate the relationship between teachers and students. The objective of this study is to investigate the importance of the interpreter in the educational process of the deaf child and try to map the possible difficulties found by him in his workspace, under his perspective in the classroom. This is a qualitative study, which had the data collection instrument as an open interview with questionnaire, dealing on issues concerning to the role and practice of the interpreter of Libras in the classroom to support the deaf student in school age. Therefore, participated in the study two interpreters of Libras who works in elementary school classrooms in the city of Jaú. The results shown that the interpreter's role is extremely important for the education of children with hearing impairment, but it's not recognized and many times not accepted by teachers and educational institutions, when its real function is respected
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The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation with respect to the base, according to the relative directions of the revolute pair axes (each universal pair comprises two revolute pairs with intersecting and perpendicular axes). In particular, pure translational parallel 3-UPU manipulators (3-UPU TPMs) received great attention. Many studies have been reported in the literature on singularities, workspace, and joint clearance influence on the platform accuracy of this manipulator. However, much work has still to be done to reveal all the features this topology can offer to the designer when different architecture, i.e. different geometry are considered. Therefore, this dissertation will focus on this type of the 3-UPU manipulators. The first part of the dissertation presents six new architectures of the 3-UPU TPMs which offer interesting features to the designer. In the second part, a procedure is presented which is based on some indexes, in order to allows the designer to select the best architecture of the 3-UPU TPMs for a given task. Four indexes are proposed as stiffness, clearance, singularity and size of the manipulator in order to apply the procedure.
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Parallel mechanisms show desirable characteristics such as a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. In particular, parallel manipulators with fewer than six degrees of freedom have recently attracted researchers’ attention, as their employ may prove valuable in those applications in which a higher mobility is uncalled-for. The attention of this dissertation is focused on translational parallel manipulators (TPMs), that is on parallel manipulators whose output link (platform) is provided with a pure translational motion with respect to the frame. The first part deals with the general problem of the topological synthesis and classification of TPMs, that is it identifies the architectures that TPM legs must possess for the platform to be able to freely translate in space without altering its orientation. The second part studies both constraint and direct singularities of TPMs. In particular, special families of fully-isotropic mechanisms are identified. Such manipulators exhibit outstanding properties, as they are free from singularities and show a constant orthogonal Jacobian matrix throughout their workspace. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward.
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Agile methodologies have become the standard approach to software development. The most popular and used one is Scrum. Scrum is a very simple and flexible framework that respond to unpredictability in a really effective way. However, his implementation must be correct, and since Scrum tells you what to do but not how to do it, this is not trivial. In this thesis I will describe the Scrum Framework, how to implement it and a tool that can help to do this. The thesis is divided into three parts. The first part is called Scrum. Here I will introduce the framework itself, its key concepts and its components. In Scrum there are three components: roles, meetings and artifacts. Each of these is meant to accomplish a series of specific tasks. After describing the “what to do”, in the second part, Best Practices, I will focus on the “how to do it”. For example, how to decide which items should be included in the next sprint, how to estimate tasks, and how should the team workspace be. Finally, in the third part called Tools, I will introduce Visual Studio Online, a cloud service from Microsoft that offers Git and TFVC repositories and the opportunity to manage projects with Scrum. == Versione italiana: I metodi Agile sono diventati l’approccio standard per lo sviluppo di software. Il più famoso ed utilizzato è Scrum. Scrum è un framework molto semplice e flessibile che risponde ai cambiamenti in una maniera molto efficace. La sua implementazione deve però essere corretta, e visto che Scrum ci dice cosa fare ma non come farlo, questo non risulta essere immediato. In questa tesi descriverò Scrum, come implementarlo ed uno strumento che ci può aiutare a farlo. La tesi è divisa in tre parti. La prima parte è chiamata Scrum. Qui introdurrò il framework, i suoi concetti base e le sue componenti. In Scrum ci sono tre componenti: i ruoli, i meeting e gli artifact. Ognuno di questi è studiato per svolgere una serie di compiti specifici. Dopo aver descritto il “cosa fare”, nella seconda parte, Best Practices, mi concentrerò sul “come farlo”. Ad esempio, come decidere quali oggetti includere nella prossima sprint, come stimare ogni task e come dovrebbe essere il luogo di lavoro del team. Infine, nella terza parte chiamata Tools, introdurrò Visual Studio Online, un servizio cloud della Microsoft che offre repository Git e TFVC e l’opportunità di gestire un progetto con Scrum.
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Image overlay projection is a form of augmented reality that allows surgeons to view underlying anatomical structures directly on the patient surface. It improves intuitiveness of computer-aided surgery by removing the need for sight diversion between the patient and a display screen and has been reported to assist in 3-D understanding of anatomical structures and the identification of target and critical structures. Challenges in the development of image overlay technologies for surgery remain in the projection setup. Calibration, patient registration, view direction, and projection obstruction remain unsolved limitations to image overlay techniques. In this paper, we propose a novel, portable, and handheld-navigated image overlay device based on miniature laser projection technology that allows images of 3-D patient-specific models to be projected directly onto the organ surface intraoperatively without the need for intrusive hardware around the surgical site. The device can be integrated into a navigation system, thereby exploiting existing patient registration and model generation solutions. The position of the device is tracked by the navigation system’s position sensor and used to project geometrically correct images from any position within the workspace of the navigation system. The projector was calibrated using modified camera calibration techniques and images for projection are rendered using a virtual camera defined by the projectors extrinsic parameters. Verification of the device’s projection accuracy concluded a mean projection error of 1.3 mm. Visibility testing of the projection performed on pig liver tissue found the device suitable for the display of anatomical structures on the organ surface. The feasibility of use within the surgical workflow was assessed during open liver surgery. We show that the device could be quickly and unobtrusively deployed within the sterile environment.
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Navigating large software systems is difficult as the various artifacts are distributed in a huge space, while the relationships between different artifacts often remain hidden and obscure. As a consequence, developers using a modern interactive development environment (IDE) are forced to open views on numerous source artifacts to reveal these hidden relationships, leading to a crowded workspace with many opened windows or tabs. Developers often lose the overview in such a cluttered workspace as IDEs provide little support to get rid of unused windows. AutumnLeaves automatically selects windows unlikely for future use to be closed or grayed out while important ones are displayed more prominently. This reduces the number of windows opened at a time and adds structure to the developer's workspace. We validate AutumnLeaves with a benchmark evaluation using recorded navigation data of various developers to determine the prediction quality of the employed algorithms.
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Conscious events interact with memory systems in learning, rehearsal and retrieval (Ebbinghaus 1885/1964; Tulving 1985). Here we present hypotheses that arise from the IDA computional model (Franklin, Kelemen and McCauley 1998; Franklin 2001b) of global workspace theory (Baars 1988, 2002). Our primary tool for this exploration is a flexible cognitive cycle employed by the IDA computational model and hypothesized to be a basic element of human cognitive processing. Since cognitive cycles are hypothesized to occur five to ten times a second and include interaction between conscious contents and several of the memory systems, they provide the means for an exceptionally fine-grained analysis of various cognitive tasks. We apply this tool to the small effect size of subliminal learning compared to supraliminal learning, to process dissociation, to implicit learning, to recognition vs. recall, and to the availability heuristic in recall. The IDA model elucidates the role of consciousness in the updating of perceptual memory, transient episodic memory, and procedural memory. In most cases, memory is hypothesized to interact with conscious events for its normal functioning. The methodology of the paper is unusual in that the hypotheses and explanations presented are derived from an empirically based, but broad and qualitative computational model of human cognition.
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Despite a broad range of collaboration tools already available, enterprises continue to look for ways to improve internal and external communication. Microblogging is such a new communication channel with some considerable potential to improve intra-firm transparency and knowledge sharing. However, the adoption of such social software presents certain challenges to enterprises. Based on the results of four focus group sessions, we identified several new constructs to play an important role in the microblogging adoption decision. Examples include privacy concerns, communication benefits, perceptions regarding signal-to-noise ratio, as well codification effort. Integrating these findings with common views on technology acceptance, we formulate a model to predict the adoption of a microblogging system in the workspace. Our findings serve as an important guideline for managers seeking to realize the potential of microblogging in their company.
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Developing a Model Interruption is a known human factor that contributes to errors and catastrophic events in healthcare as well as other high-risk industries. The landmark Institute of Medicine (IOM) report, To Err is Human, brought attention to the significance of preventable errors in medicine and suggested that interruptions could be a contributing factor. Previous studies of interruptions in healthcare did not offer a conceptual model by which to study interruptions. As a result of the serious consequences of interruptions investigated in other high-risk industries, there is a need to develop a model to describe, understand, explain, and predict interruptions and their consequences in healthcare. Therefore, the purpose of this study was to develop a model grounded in the literature and to use the model to describe and explain interruptions in healthcare. Specifically, this model would be used to describe and explain interruptions occurring in a Level One Trauma Center. A trauma center was chosen because this environment is characterized as intense, unpredictable, and interrupt-driven. The first step in developing the model began with a review of the literature which revealed that the concept interruption did not have a consistent definition in either the healthcare or non-healthcare literature. Walker and Avant’s method of concept analysis was used to clarify and define the concept. The analysis led to the identification of five defining attributes which include (1) a human experience, (2) an intrusion of a secondary, unplanned, and unexpected task, (3) discontinuity, (4) externally or internally initiated, and (5) situated within a context. However, before an interruption could commence, five conditions known as antecedents must occur. For an interruption to take place (1) an intent to interrupt is formed by the initiator, (2) a physical signal must pass a threshold test of detection by the recipient, (3) the sensory system of the recipient is stimulated to respond to the initiator, (4) an interruption task is presented to recipient, and (5) the interruption task is either accepted or rejected by v the recipient. An interruption was determined to be quantifiable by (1) the frequency of occurrence of an interruption, (2) the number of times the primary task has been suspended to perform an interrupting task, (3) the length of time the primary task has been suspended, and (4) the frequency of returning to the primary task or not returning to the primary task. As a result of the concept analysis, a definition of an interruption was derived from the literature. An interruption is defined as a break in the performance of a human activity initiated internal or external to the recipient and occurring within the context of a setting or location. This break results in the suspension of the initial task by initiating the performance of an unplanned task with the assumption that the initial task will be resumed. The definition is inclusive of all the defining attributes of an interruption. This is a standard definition that can be used by the healthcare industry. From the definition, a visual model of an interruption was developed. The model was used to describe and explain the interruptions recorded for an instrumental case study of physicians and registered nurses (RNs) working in a Level One Trauma Center. Five physicians were observed for a total of 29 hours, 31 minutes. Eight registered nurses were observed for a total of 40 hours 9 minutes. Observations were made on either the 0700–1500 or the 1500-2300 shift using the shadowing technique. Observations were recorded in the field note format. The field notes were analyzed by a hybrid method of categorizing activities and interruptions. The method was developed by using both a deductive a priori classification framework and by the inductive process utilizing line-byline coding and constant comparison as stated in Grounded Theory. The following categories were identified as relative to this study: Intended Recipient - the person to be interrupted Unintended Recipient - not the intended recipient of an interruption; i.e., receiving a phone call that was incorrectly dialed Indirect Recipient – the incidental recipient of an interruption; i.e., talking with another, thereby suspending the original activity Recipient Blocked – the intended recipient does not accept the interruption Recipient Delayed – the intended recipient postpones an interruption Self-interruption – a person, independent of another person, suspends one activity to perform another; i.e., while walking, stops abruptly and talks to another person Distraction – briefly disengaging from a task Organizational Design – the physical layout of the workspace that causes a disruption in workflow Artifacts Not Available – supplies and equipment that are not available in the workspace causing a disruption in workflow Initiator – a person who initiates an interruption Interruption by Organizational Design and Artifacts Not Available were identified as two new categories of interruption. These categories had not previously been cited in the literature. Analysis of the observations indicated that physicians were found to perform slightly fewer activities per hour when compared to RNs. This variance may be attributed to differing roles and responsibilities. Physicians were found to have more activities interrupted when compared to RNs. However, RNs experienced more interruptions per hour. Other people were determined to be the most commonly used medium through which to deliver an interruption. Additional mediums used to deliver an interruption vii included the telephone, pager, and one’s self. Both physicians and RNs were observed to resume an original interrupted activity more often than not. In most interruptions, both physicians and RNs performed only one or two interrupting activities before returning to the original interrupted activity. In conclusion the model was found to explain all interruptions observed during the study. However, the model will require an even more comprehensive study in order to establish its predictive value.
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Después de haber mantenido una conflictiva relación durante varios años con la conducción de su gremio, la Unión Tranviarios Automotor (UTA), una fracción mayoritaria de los trabajadores del subterráneo de Buenos Aires decidió –hacia 2008– escindirse del mismo y conformar un nuevo sindicato, la Asociación Gremial de Trabajadores del Subterráneo y el Premetro (AGTSyP). De esta manera, se configuró en este espacio de trabajo una situación original de diversidad sindical. Sobre la diversidad sindical existen diversos posicionamientos. Probablemente, la lectura más difundida sobre el tema es la que sostiene que la presencia de más de un gremio en un determinado ámbito laboral debilita a la fuerza sindical frente al Estado y los empresarios. Sin embargo, existen otras interpretaciones que argumentan que, si bien la misma es deseable, no genera necesariamente el debilitamiento del Trabajo frente al Capital y el Estado. En el presente artículo nos proponemos analizar la dinámica sindical del subterráneo de Buenos Aires en un contexto de diversidad sindical, interrogándonos especialmente sobre los efectos que esta situación tiene para la fuerza de trabajo. En esta dirección, analizaremos el extenso conflicto relativo a las paritarias de 2012.