Desenvolvimento de programação offline e de novos processos robotizados de lixamento

Atualmente a vantagem competitiva de uma empresa passa pela sua rápida adaptação às variações de procura do mercado, sendo necessário garantir elevados níveis de produtividade e, simultaneamente, grande flexibilidade, indispensável ao fabrico de pequenos lotes. A necessidade de ajuste do processo e a diminuição da média de vida do produto levam a paragens cada vez mais frequentes da célula de fabrico para programação e afinação, com consequentes perdas de produtividade. De forma a dar resposta a estes problemas, neste trabalho é testada a viabilidade da utilização da programação e simulação offline de tarefas de lixamento na Grohe Portugal, complementando a solução com o desenvolvimento de um novo método de afinação do programa, permitindo uma adaptação às flutuações do processo produtivo. Para isso foi necessário analisar o estado da arte dos robôs industriais na área de acabamento superficial e respetivos métodos de programação. Em seguida, após um trabalho prévio rigoroso de preparação e modelação da célula de trabalho, é possível fazer a programação offline das várias rotinas e trajetórias complexas que compõem um ciclo de lixamento de um produto, contribuindo para o aumento da qualidade do produto final sem comprometer os níveis de produtividade. Nesta dissertação são descritos e detalhados alguns dos procedimentos fulcrais no sucesso da aplicação deste método de programação. Por último é feita uma nova abordagem ao método de ajuste ponto-a-ponto convencional, desenvolvendo-se para isso um sistema de ajuste automático do programa, dotando o robô da capacidade de se adaptar às variações do processo, assegurando a consistência do mesmo. Foram realizados testes em pequena escala, extrapolando-se os resultados para a aplicação deste novo método no processo produtivo da Grohe Portugal, como forma de complemento ao método convencional de ajuste ponto-a-ponto do programa, reduzindo o tempo de paragem da célula de trabalho.

A formação de professores de ensino técnico de nível médio estadual e suas relações com o Arranjo Produtivo Local na cidade de Jahu

Pós-graduação em Educação - FFC

Análisis de una política universitaria : El caso del ProProE en la FCNyM de la UNLP

Este trabajo apunta al análisis del programa denominado ProProE (Programa de Promoción de Egreso de las Carreras de Grado), como política pública, implementado en la Facultad de Ciencias Naturales y Museo de la Universidad Nacional de La Plata con el objetivo de acompañar hasta la graduación a los alumnos avanzados que han tenido demoras o detenimientos hacia la finalización de sus trayectorias. Se exponen los antecedentes existentes en la UNLP, las características del programa, con sus diferentes etapas, y evaluación final, el material considerado de interés para su investigación, y se desarrolla el marco teórico metodológico con el que se abordó la investigación. El estudio de las políticas universitarias como herramientas que apuntan al progreso y egreso de todos los estudiantes, sus aplicaciones y los resultados de las mismas es fundamental para comprender de qué modo las autoridades universitarias enfrentan fenómenos como el de la heterogeneización y masificación matricular. Se describe la experiencia desarrollada en la FCNyM, considerando los diferentes desempeños y vivencias vinculados a los gestores del programa, los alumnos incorporados, y los docentes que trabajaron en el mismo. Respecto a sus resultados se exponen los progresos y el objetivo futuro de rediseño y aplicación del programa considerando lo relevado en la primera experiencia de aplicación

Análisis de una política universitaria : El caso del ProProE en la FCNyM de la UNLP

Este trabajo apunta al análisis del programa denominado ProProE (Programa de Promoción de Egreso de las Carreras de Grado), como política pública, implementado en la Facultad de Ciencias Naturales y Museo de la Universidad Nacional de La Plata con el objetivo de acompañar hasta la graduación a los alumnos avanzados que han tenido demoras o detenimientos hacia la finalización de sus trayectorias. Se exponen los antecedentes existentes en la UNLP, las características del programa, con sus diferentes etapas, y evaluación final, el material considerado de interés para su investigación, y se desarrolla el marco teórico metodológico con el que se abordó la investigación. El estudio de las políticas universitarias como herramientas que apuntan al progreso y egreso de todos los estudiantes, sus aplicaciones y los resultados de las mismas es fundamental para comprender de qué modo las autoridades universitarias enfrentan fenómenos como el de la heterogeneización y masificación matricular. Se describe la experiencia desarrollada en la FCNyM, considerando los diferentes desempeños y vivencias vinculados a los gestores del programa, los alumnos incorporados, y los docentes que trabajaron en el mismo. Respecto a sus resultados se exponen los progresos y el objetivo futuro de rediseño y aplicación del programa considerando lo relevado en la primera experiencia de aplicación

Análisis de una política universitaria : El caso del ProProE en la FCNyM de la UNLP

Este trabajo apunta al análisis del programa denominado ProProE (Programa de Promoción de Egreso de las Carreras de Grado), como política pública, implementado en la Facultad de Ciencias Naturales y Museo de la Universidad Nacional de La Plata con el objetivo de acompañar hasta la graduación a los alumnos avanzados que han tenido demoras o detenimientos hacia la finalización de sus trayectorias. Se exponen los antecedentes existentes en la UNLP, las características del programa, con sus diferentes etapas, y evaluación final, el material considerado de interés para su investigación, y se desarrolla el marco teórico metodológico con el que se abordó la investigación. El estudio de las políticas universitarias como herramientas que apuntan al progreso y egreso de todos los estudiantes, sus aplicaciones y los resultados de las mismas es fundamental para comprender de qué modo las autoridades universitarias enfrentan fenómenos como el de la heterogeneización y masificación matricular. Se describe la experiencia desarrollada en la FCNyM, considerando los diferentes desempeños y vivencias vinculados a los gestores del programa, los alumnos incorporados, y los docentes que trabajaron en el mismo. Respecto a sus resultados se exponen los progresos y el objetivo futuro de rediseño y aplicación del programa considerando lo relevado en la primera experiencia de aplicación

Computational Foundations for Safe and Efficient Human-Robot Collaboration in Assembly Cells

Human and robots have complementary strengths in performing assembly operations. Humans are very good at perception tasks in unstructured environments. They are able to recognize and locate a part from a box of miscellaneous parts. They are also very good at complex manipulation in tight spaces. The sensory characteristics of the humans, motor abilities, knowledge and skills give the humans the ability to react to unexpected situations and resolve problems quickly. In contrast, robots are very good at pick and place operations and highly repeatable in placement tasks. Robots can perform tasks at high speeds and still maintain precision in their operations. Robots can also operate for long periods of times. Robots are also very good at applying high forces and torques. Typically, robots are used in mass production. Small batch and custom production operations predominantly use manual labor. The high labor cost is making it difficult for small and medium manufacturers to remain cost competitive in high wage markets. These manufactures are mainly involved in small batch and custom production. They need to find a way to reduce the labor cost in assembly operations. Purely robotic cells will not be able to provide them the necessary flexibility. Creating hybrid cells where humans and robots can collaborate in close physical proximities is a potential solution. The underlying idea behind such cells is to decompose assembly operations into tasks such that humans and robots can collaborate by performing sub-tasks that are suitable for them. Realizing hybrid cells that enable effective human and robot collaboration is challenging. This dissertation addresses the following three computational issues involved in developing and utilizing hybrid assembly cells: - We should be able to automatically generate plans to operate hybrid assembly cells to ensure efficient cell operation. This requires generating feasible assembly sequences and instructions for robots and human operators, respectively. Automated planning poses the following two challenges. First, generating operation plans for complex assemblies is challenging. The complexity can come due to the combinatorial explosion caused by the size of the assembly or the complex paths needed to perform the assembly. Second, generating feasible plans requires accounting for robot and human motion constraints. The first objective of the dissertation is to develop the underlying computational foundations for automatically generating plans for the operation of hybrid cells. It addresses both assembly complexity and motion constraints issues. - The collaboration between humans and robots in the assembly cell will only be practical if human safety can be ensured during the assembly tasks that require collaboration between humans and robots. The second objective of the dissertation is to evaluate different options for real-time monitoring of the state of human operator with respect to the robot and develop strategies for taking appropriate measures to ensure human safety when the planned move by the robot may compromise the safety of the human operator. In order to be competitive in the market, the developed solution will have to include considerations about cost without significantly compromising quality. - In the envisioned hybrid cell, we will be relying on human operators to bring the part into the cell. If the human operator makes an error in selecting the part or fails to place it correctly, the robot will be unable to correctly perform the task assigned to it. If the error goes undetected, it can lead to a defective product and inefficiencies in the cell operation. The reason for human error can be either confusion due to poor quality instructions or human operator not paying adequate attention to the instructions. In order to ensure smooth and error-free operation of the cell, we will need to monitor the state of the assembly operations in the cell. The third objective of the dissertation is to identify and track parts in the cell and automatically generate instructions for taking corrective actions if a human operator deviates from the selected plan. Potential corrective actions may involve re-planning if it is possible to continue assembly from the current state. Corrective actions may also involve issuing warning and generating instructions to undo the current task.

O romance histórico da colonização : a figuração artística transgressiva do passado em O tetraneto del-rei, de Haroldo Maranhão, A gloriosa família, de Pepetela, e As naus, de António Lobo Antunes

Tese (doutorado)—Universidade de Brasília, Instituto de Letras, Instituto de Letras, Departamento de Teoria Literária e Literaturas, Programa de Pós-Graduação em Literatura, 2016.

Incorporating complex train paths to an analysis of absolute capacity

Railways are an important mode of transportation. They are however large and complex and their construction, management and operation is time consuming and costly. Evidently planning the current and future activities is vital. Part of that planning process is an analysis of capacity. To determine what volume of traffic can be achieved over time, a variety of railway capacity analysis techniques have been created. A generic analytical approach that incorporates more complex train paths however has yet to be provided. This article provides such an approach. This article extends a mathematical model for determining the theoretical capacity of a railway network. The main contribution of this paper is the modelling of more complex train paths whereby each section can be visited many times in the course of a train’s journey. Three variant models are formulated and then demonstrated in a case study. This article’s numerical investigations have successively shown the applicability of the proposed models and how they may be used to gain insights into system performance.

“Paths for Action”: Leadership Theory and Practice in Complex Public Sector Systems

The nature and challenges of public sector leadership and management are examined in four case studies of project management in complex metropolitan environments. The cases selected by the authors as representative of contextual factors affecting decision-making processes and project outcomes. Drawing on recent theoretical work on complex leadership approaches (Uhl-Bein et al 2007, Hazy 2008, Lichtenstein & Plowman 2009), the authors assess leadership practices enacted and the circumstances that influence these practices. Leadership types theorized by Uhl-Bein et al (2007) are identified operating at different levels and across networks, with contextual factors outlined. The article concludes with a framework for leadership practice and management identifying network facilitation and complexity friendly tools as a practice within complex public sector systems.

Contrasting PT paths within the Barchi-Kol UHP terrain (Kokchetav Complex): Implications for subduction and exhumation of continental crust

The Barchi-Kol terrain is a classic locality of ultrahigh-pressure (UHP) metamorphism within the Kokchetav metamorphic belt. We provide a detailed and systematic characterization of four metasedimentary samples using dominant mineral assemblages, mineral inclusions in zircon and monazite, garnet zonation with respect to major and trace elements, and Zr-in-rutile and Ti-in-zircon temperatures. A typical diamond-bearing gneiss records peak conditions of 49 ± 4 kbar and 950–1000 °C. Near isothermal decompression of this rock resulted in the breakdown of phengite associated with a pervasive recrystallization of the rock. The same terrain also contains mica schists that experienced peak conditions close to those of the diamond-bearing rocks, but they were exhumed along a cooler path where phengite remained stable. In these rocks, major and trace element zoning in garnet has been completely equilibrated. A layered gneiss was metamorphosed at UHP conditions in the coesite field, but did not reach diamond-facies conditions (peak conditions: 30 kbar and 800–900 °C). In this sample, garnet records retrograde zonation in major elements and also retains prograde zoning in trace elements. A garnet-kyanite-micaschist that reached significantly lower pressures (24 ± 2 kbar, 710 ± 20 °C) contains garnet with major and trace element zoning. The diverse garnet zoning in samples that experienced different metamorphic conditions allows to establish that diffusional equilibration of rare earth element in garnet likely occurs at ~900–950 °C. Different metamorphic conditions in the four investigated samples are also documented in zircon trace element zonation and mineral inclusions in zircon and monazite. U-Pb geochronology of metamorphic zircon and monazite domains demonstrates that prograde (528–521 Ma), peak (528–522 Ma), and peak to retrograde metamorphism (503–532 Ma) occurred over a relatively short time interval that is indistinguishable from metamorphism of other UHP rocks within the Kokchetav metamorphic belt. Therefore, the assembly of rocks with contrasting P-T trajectories must have occurred in a single subduction-exhumation cycle, providing a snapshot of the thermal structure of a subducted continental margin prior to collision. The rocks were initially buried along a low geothermal gradient. At 20–25 kbar they underwent near isobaric heating of 200 °C, which was followed by continued burial along a low geothermal gradient. Such a step-wise geotherm is in good agreement with predictions from subduction zone thermal models.

A damage accumulation model for complex strain paths: prediction of ductile failure in metals

The characterisation of strain path with respect to the directionality of defect formation is discussed. The criterion of non-monotonic strain path is used in the scalar and tensor models for damage accumulation and recovery. Comparable analysis of models and their verification has been obtained by simulation of crack initiation in a two-stage metal forming operation consisting of wire drawing followed by constrained upsetting.

Using complex network metrics to predict the persistence of metapopulations with asymmetric connectivity patterns

Almost all metapopulation modelling assumes that connectivity between patches is only a function of distance, and is therefore symmetric. However, connectivity will not depend only on the distance between the patches, as some paths are easy to traverse, while others are difficult. When colonising organisms interact with the heterogeneous landscape between patches, connectivity patterns will invariably be asymmetric. There have been few attempts to theoretically assess the effects of asymmetric connectivity patterns on the dynamics of metapopulations. In this paper, we use the framework of complex networks to investigate whether metapopulation dynamics can be determined by directly analysing the asymmetric connectivity patterns that link the patches. Our analyses focus on “patch occupancy” metapopulation models, which only consider whether a patch is occupied or not. We propose three easily calculated network metrics: the “asymmetry” and “average path strength” of the connectivity pattern, and the “centrality” of each patch. Together, these metrics can be used to predict the length of time a metapopulation is expected to persist, and the relative contribution of each patch to a metapopulation’s viability. Our results clearly demonstrate the negative effect that asymmetry has on metapopulation persistence. Complex network analyses represent a useful new tool for understanding the dynamics of species existing in fragmented landscapes, particularly those existing in large metapopulations.

Multifractal characterisation and analysis of complex networks

Complex networks have been studied extensively due to their relevance to many real-world systems such as the world-wide web, the internet, biological and social systems. During the past two decades, studies of such networks in different fields have produced many significant results concerning their structures, topological properties, and dynamics. Three well-known properties of complex networks are scale-free degree distribution, small-world effect and self-similarity. The search for additional meaningful properties and the relationships among these properties is an active area of current research. This thesis investigates a newer aspect of complex networks, namely their multifractality, which is an extension of the concept of selfsimilarity. The first part of the thesis aims to confirm that the study of properties of complex networks can be expanded to a wider field including more complex weighted networks. Those real networks that have been shown to possess the self-similarity property in the existing literature are all unweighted networks. We use the proteinprotein interaction (PPI) networks as a key example to show that their weighted networks inherit the self-similarity from the original unweighted networks. Firstly, we confirm that the random sequential box-covering algorithm is an effective tool to compute the fractal dimension of complex networks. This is demonstrated on the Homo sapiens and E. coli PPI networks as well as their skeletons. Our results verify that the fractal dimension of the skeleton is smaller than that of the original network due to the shortest distance between nodes is larger in the skeleton, hence for a fixed box-size more boxes will be needed to cover the skeleton. Then we adopt the iterative scoring method to generate weighted PPI networks of five species, namely Homo sapiens, E. coli, yeast, C. elegans and Arabidopsis Thaliana. By using the random sequential box-covering algorithm, we calculate the fractal dimensions for both the original unweighted PPI networks and the generated weighted networks. The results show that self-similarity is still present in generated weighted PPI networks. This implication will be useful for our treatment of the networks in the third part of the thesis. The second part of the thesis aims to explore the multifractal behavior of different complex networks. Fractals such as the Cantor set, the Koch curve and the Sierspinski gasket are homogeneous since these fractals consist of a geometrical figure which repeats on an ever-reduced scale. Fractal analysis is a useful method for their study. However, real-world fractals are not homogeneous; there is rarely an identical motif repeated on all scales. Their singularity may vary on different subsets; implying that these objects are multifractal. Multifractal analysis is a useful way to systematically characterize the spatial heterogeneity of both theoretical and experimental fractal patterns. However, the tools for multifractal analysis of objects in Euclidean space are not suitable for complex networks. In this thesis, we propose a new box covering algorithm for multifractal analysis of complex networks. This algorithm is demonstrated in the computation of the generalized fractal dimensions of some theoretical networks, namely scale-free networks, small-world networks, random networks, and a kind of real networks, namely PPI networks of different species. Our main finding is the existence of multifractality in scale-free networks and PPI networks, while the multifractal behaviour is not confirmed for small-world networks and random networks. As another application, we generate gene interactions networks for patients and healthy people using the correlation coefficients between microarrays of different genes. Our results confirm the existence of multifractality in gene interactions networks. This multifractal analysis then provides a potentially useful tool for gene clustering and identification. The third part of the thesis aims to investigate the topological properties of networks constructed from time series. Characterizing complicated dynamics from time series is a fundamental problem of continuing interest in a wide variety of fields. Recent works indicate that complex network theory can be a powerful tool to analyse time series. Many existing methods for transforming time series into complex networks share a common feature: they define the connectivity of a complex network by the mutual proximity of different parts (e.g., individual states, state vectors, or cycles) of a single trajectory. In this thesis, we propose a new method to construct networks of time series: we define nodes by vectors of a certain length in the time series, and weight of edges between any two nodes by the Euclidean distance between the corresponding two vectors. We apply this method to build networks for fractional Brownian motions, whose long-range dependence is characterised by their Hurst exponent. We verify the validity of this method by showing that time series with stronger correlation, hence larger Hurst exponent, tend to have smaller fractal dimension, hence smoother sample paths. We then construct networks via the technique of horizontal visibility graph (HVG), which has been widely used recently. We confirm a known linear relationship between the Hurst exponent of fractional Brownian motion and the fractal dimension of the corresponding HVG network. In the first application, we apply our newly developed box-covering algorithm to calculate the generalized fractal dimensions of the HVG networks of fractional Brownian motions as well as those for binomial cascades and five bacterial genomes. The results confirm the monoscaling of fractional Brownian motion and the multifractality of the rest. As an additional application, we discuss the resilience of networks constructed from time series via two different approaches: visibility graph and horizontal visibility graph. Our finding is that the degree distribution of VG networks of fractional Brownian motions is scale-free (i.e., having a power law) meaning that one needs to destroy a large percentage of nodes before the network collapses into isolated parts; while for HVG networks of fractional Brownian motions, the degree distribution has exponential tails, implying that HVG networks would not survive the same kind of attack.