Exploiting the Advantages and Overcoming the Challenges of the Cable in a Tethered Drone System

This dissertation proposes solutions for motion planning, localization, and landing of tethered drones using only tether variables. A tether-based multi-model localization framework for tethered drones is proposed. This framework comprises three independent localization strategies based on a different model. The first strategy uses simple trigonometric relations assuming that the tether is taut; the second method relies on a set of catenary equations for the slack tether case; the third estimator is a neural network-based predictor that can cover different tether shapes. Multi-layer perceptron networks previously trained with a dataset comprised of the tether variables (i.e., length, tether angles on the drone, and the platform) as input are used to select which model provides the best results. Those networks can also identify situations where tether localization is impossible, thus rejecting all estimates. The experimental results have shown that the proposed localization framework consistently selects reasonable solutions from the three estimators and rejects them when the input tether variables suggest bad estimation results. In addition, a precise tether-guided landing method based on a vector field using only tether variables is also proposed. This method assumes that the vehicle is attached to a landing platform through a tensioned and free-of-collision cable whose length and angles are measured by a tether management system. The method has proven convergence by Lyapunov stability and is robust to external disturbances since vector fields can be considered a closed-loop problem. The vector field can be conveniently shaped, i.e., to guide the UAV to a safer region (higher altitude) when the drone starts the landing phase at low elevation angles. This can avoid unwanted situations, such as saturation of the tether angle sensors or even collision with obstacles around the landing pad. Experiments with a quad-rotor vehicle landing on static and moving platforms illustrate the method\u27s precision, robustness, and efficacy. Finally, it is proposed a path planning for tethered robots that minimizes tension due to tether-obstacle interaction. This method assumes that the tether is managed externally by a tether management system and pulled by the robot. This method is initially formulated for ground robots in a 2D environment and then extended for a 3D environment for tethered drones. It assumes a taut tether between two consecutive contact points and knowledge about the coefficient of friction of the obstacles present in the environment. The method first computes the visibility graph of the environment, where each node represents a vertex of an obstacle. Then, a second graph is built so that the tether-obstacle friction is computed using the capstan equation and used as a cost function to the edges. Therefore, a graph search algorithm, i.e., Dijkstra, can lead to a path with minimum tension, which can help the tethered robot reach longer distances by minimizing the tension required to drag the tether along the way

Energetic Interactions Between Minas Gerais State and the Rest of Brazil: An Inter-Regional Input-Output Analysis

This paper analyses the interdepence between the State of Minas Gerais and the rest of Brazil with regard to energy consumption. A hibryd interregional input-output model, by means of which energy intensity measures are computed, is used to undertake the analysis. The energy measures allow, for instance, to assess the degree in which a sector production in Minas Gerais impacts the energy consumption inside and outside the state. Also, the measures allow to assess the degree in which sector production in the rest of Brazil (outside Minas Gerais) impacts energy consumption inside and outside the state. The analysis presents disaggregate information for 14 economic sectors, two spatial areas (Minas Gerais and the rest of Brazil), and one kind of energy use (total energy), thus allowing to trace an accurate portrait of interdependence patterns

INTERVENÇÃO EDUCATIVA PARA ELEVAR O NÍVEL DE CONHECIMENTO SOBRE A DIABETES MELLITUS EM PACIENTES DIABÉTICOS DA ESF VILA REGINA

O Diabetes Mellitus é considerado atualmente como um dos principais problemas de saúde a nível mundial, seu impacto socioeconômico em qualquer País é muito importante. O presente trabalho é um projeto de intervenção educativa, com o objetivo de elevar o nível de conhecimentos sobre o Diabetes Mellitus nos pacientes com diagnostico da doença atendidos pela Unidade Básica de Saúde da Família Vila Regina em Goiânia-GO. A amostra esteve conformada por 36 pacientes aos quais foi aplicado um instrumento de coleta de dados (tipo questionário) onde se obteve informações sobre seus dados de identificação e sobre o nível de conhecimentos sobre a Diabetes. O estudo demonstrou que 36,1% dos pacientes apresentaram níveis inadequados de conhecimentos ao aplicar o primeiro questionário e como resultado final posterior a intervenção educativa, se evidenciou uma mudança positiva no nível de conhecimentos, observando-se que 66,6% dos pacientes com nível adequado

A DFX ATTRIBUTION METHOD APPLIED TO INTEGRATED PRODUCT DEVELOPMENT WITHIN THE AEROSPACE DOMAIN

The aerospace industry constantly seeks to optimize its product development processes to stay competitive in the market. Design for Excellence (DFX) with its various technological areas, tools and methods play an essential role to allow meeting customer expectations while respecting organizational capabilities. However, the quantity and diversity of DFX technological areas and methods make sometimes difficult for the companies to address the appropriate ones for each project. Success in DFX application, keeping product development within scope, time, cost, and quality while not overloading it by applying, monitoring, and managing too many areas, is sometimes very context-dependent, being influenced by the experience of the engineering team as well as the kind of project portfolio or project phase. Considering this scenario, the motivation of this work is to perform a mapping of the technological areas of the DFX, given the decision-making problem of selecting the most appropriate for each kind of project. The objective is to evaluate, according to the point of view of the engineering team, if it is possible to define a general approach to guide, at least initially, project managers in selecting the main technological areas of the DFX, given a typical aerospace organization project portfolio as the boundary condition, and considering special characteristics in each phase of a project lifecycle. Departing from the literature review of the main technological areas of DFX used in the aerospace domain, the research is performed by means of a survey with senior product development engineers from a real aerospace company. Then, quantitative results are gathered through the Likert scale, which allows to draw a hierarchization analysis based on the multicriteria Analytic Hierarchy Process (AHP). A method to indicate the initial choice for the DFX area is presented, which is deemed to be suitable to help project managers and engineers during design of complex products

Melhoria no processo de trefilação de cobre : estudo de caso na indústria metalurgica

Orientador : Pedro José SteinerProjeto (especialização) - Universidade Federal do Paraná, Setor de Ciências Sociais Aplicadas. Curso de Especialização MBA em Gestão da QualidadeInclui referênciasResumo : Projeto técnico (especialização) - Universidade Federal do Paraná, Setor de Ciências Sociais Aplicadas. Curso de Especialização em Gestão da Qualidade

ANALYSIS OF THE EFFICIENCY OF SELF-COMPOSING CONCILIATION METHODS IN BRAZIL'S WORK JUSTICE FIRST INSTANCE FROM 2015 TO 2017

Diante da crise atual do Poder Judiciário buscou-se analisar no presente artigo os instrumentos processuais de composição da lide, judicial ou extrajudicial, particularmente nos casos cuja questão principal admite a aplicabilidade de conciliação ou mediação. O estudo teve por base averiguar se na técnica de métodos consensual e autocompositivo houve a capacidade do resgate do diálogo, assim como se elas podem ser utilizadas como instrumento de efetividade do direito ao acesso a justiça na Justiça do Trabalho, com base nos dados do Conselho Nacional de Justiça (CNJ), além de examinar semelhanças, diferenças e aspectos conceituais. A metodologia adotada foi o método dedutivo, embasado no estudo teórico em livros jurídicos, legislação, jurisprudências, estatutos e materiais de apoio dos sistemas de aprendizagem, tendo como recursos o bibliográfico, documental e técnicas de pesquisa em conformidade com a metodologia adotada capaz de auxiliar a pesquisa. O método de pesquisa utilizado foi o hermenêutico, com a coleta de dados através de pesquisa bibliográfica e dados fornecidos através do CNJ. Os resultados alcançados verificaram que através da conciliação e a mediação, há colaboração com o desafogamento e consequente celeridade na justiça do trabalho. No entanto, aponta-se a necessidade de uma análise mais profunda sobre o assunto e os resultados alcançados, particularmente envolvendo as etapas e instâncias processuais. PALAVRAS-CHAVE: Acesso à justiça; Meios alternativos na resolução de conflitos; Justiça Trabalhista Nacional; Conselho Nacional de Justiça.In view of the current crisis of the Judiciary, the aim of this article was to analyze the procedural instruments of composition of the dispute, judicial or extrajudicial, particularly in cases whose main issue admits the applicability of conciliation or mediation. The study was based on whether the technique of consensual and self-composing methods was capable of rescuing dialogue, as well as whether they can be used as an instrument of effectiveness of the right to access to justice in the Labor Court, based on data from the Council. National Court of Justice (CNJ), in addition to examining similarities, differences and conceptual aspects. The methodology adopted was the deductive method, based on the theoretical study in legal books, legislation, jurisprudence, statutes and supporting materials of learning systems, having as resources the bibliographic, documentary and research techniques in accordance with the adopted methodology able to assist the search. The research method used was hermeneutic, with data collection through bibliographic research and data provided through CNJ. The results achieved verified that through conciliation and mediation, there is collaboration with unburdening and consequent speed in labor justice. However, there is a need for a deeper analysis on the subject and the results achieved, particularly involving the procedural steps and instances. KEYWORDS: Access to justice; Alternative means of conflict resolution; National Labor Justice; National Council of Justice

ANÁLISE DO DISCURSO NAS REDES SOCIAIS: A INFLUÊNCIA DE POSTAGENS NAS DECISÕES JUDICIAIS

The object of this article is to understand how the speech produced in social networks is inserted in the legal universe as evidence in judicial decisions to then discuss how the virtual universe cannot be considered as a local apart of our society, since the discourse produced there reflects in the life of the users. The methodology used is the linguistic analysis of speech of a social network user in various cases of hate, situations in which the defendant has been repeatedly condemned from the acceptability of his virtual speech as judicial evidence. As a result, is notable that the virtual ambient is also part of our society and the increasing hate attacks is this space in the last years are within the reach of our legislation, so, grows every day the sentences condemning individuals because of the posts made in different social networks.O objetivo do presente artigo é compreender como o discurso produzido nas redes sociais é inserido no universo jurídico como prova em decisões judiciais para, então, discutir como o universo virtual não pode mais ser considerado como um local a parte de nossa sociedade, já que o discurso ali produzido reflete na vida dos usuários. A metodologia empregada é a análise linguística do discurso de um usuário de rede social em diversos casos de ódio, situações em que o réu foi condenado repetidas vezes a partir da aceitabilidade do seu discurso virtual como prova judicial. Como resultado, nota-se que o ambiente virtual é também parte de nossa sociedade e os ataques de ódio crescentes nesse espaço nos últimos anos estão sim ao alcance de nossa legislação, por isso, cresce a cada dia as sentenças condenando indivíduos por causa das postagens feitas nas diferentes redes sociais

Activity of ammonia-oxidizing bacteria in enriched cultures exposed to 3,4-dimethyl-1H-pyrazole dihydrogen phosphate nitrification inhibitor

The use of nitrification inhibitors is an interesting tool to achieve a higher N efficiency in plants while decreasing the environmental impact of N fertilization. However, an integrated evaluation of the efficiency of nitrification inhibitors over time, understood as the period in which the nitrifying activity is inhibited or slows down, is necessary to assess whether their use is ecofriendly and sustainable. To test the direct efficiency of 3,4-dimethyl-1H-pyrazole dihydrogen phosphate (DMPP) on nitrification, a study has been carried out in two cultures enriched with ammonia-oxidizing bacteria (AOB) obtained from a soil with continuous N fertilization (80 kg N ha−1 year−1 as NH4NO3) and from soil without N fertilization. In addition, Cu has been evaluated as a cofactor of ammonia monoxygenase, a key enzyme in the nitrifying activity of AOBs. On the other hand, the stability of DMP has been studied both in the cultivation system enriched in AOBs and in soil to assess the efficiency of the inhibitor due to its persistence over time. Our work reveals that nitrification rates observed in cultures enriched in AOBs from genus Nitrosospira isolated from soils with continuous N fertilization were not higher than those of cultures without N fertilization. In AOB cultures, DMPP was a very efficient inhibitor of nitrification (> 50 % inhibition of integrated AMO activity), mainly due to the stability of DMP (3,4-dimethyl-1 H-pyrazole) in the cultures. However, DMP stability was significantly lower under soil conditions (> 90 % of DMP was degraded in the first 30 days of incubation). Other metals are suggested as cofactors of the enzyme ammonia monooxygenase alternatively to Cu.This work was supported by Spanish Government-Ministry of Science, Innovation and Universities (RTI2018-094623-B-C22), Spain. MCIN/AEI/10.130039/501100011033/FEDER, EU. J.M.R. was supported by a doctoral fellowship from Coordination for the Improvement of Higher Education Personnel (CAPES), of Brazilian Government (1I11903/13-9), Brazil. Open access funding provided by the Public University of Navarra

Perspectives in Myrtaceae evolution from plastomes and nuclear phylogenies

Myrtaceae is a large and species-rich family of woody eudicots, with prevalent distribution in the Southern Hemisphere. Classification and taxonomy of species belonging to this family is quite challenging, sometimes with difficulty in species identification and producing phylogenies with low support for species relationships. Most of the current knowledge comes from few molecular markers, such as plastid genes and intergenic regions, which can be difficult to handle and produce conflicting results. Based on plastid protein-coding sequences and nuclear markers, we present a topology for the phylogenetic relationships among Myrtaceae tribes. Our phylogenetic estimate offers a contrasting topology over previous analysis with fewer markers. Plastome phylogeny groups the tribes Syzygieae and Eucalypteae and individual chloroplast genes produce divergent topologies, especially among species within Myrteae tribe, but also in regard to the grouping of Syzygieae and Eucalypteae. Results are consistent and reproducible with both nuclear and organellar datasets. It confronts previous data about the deep nodes of Myrtaceae phylogeny