Planejamento de trajetórias de robôs com Curvas de Bézier e Splines em ROS/MoveIt

TCC (graduação) - Universidade Federal de Santa Catarina, Campus Joinville, Engenharia Mecatrônica.O uso de robôs industriais é parte fundamental da manufatura no século XXI. Dentre os robôs utilizados nas indústrias, se encontram os robôs manipuladores. Esta classe de robôs é importante para a realização de tarefas como movimentação de peças, paletização, pintura e soldagem. Nesses contextos, os manipuladores precisam realizar movimentos precisos e suaves, buscando atingir confiabilidade na realização das tarefas, não causar danos aos objetos manipulados e ao próprio robô. Para a realização de movimentos que cumpram esses requisitos são utilizados curvas e superfícies. Este trabalho apresenta a implementação de curvas do tipo B-Spline e Bézier para a simulação da trajetória de um robô manipulador utilizando os softwares ROS e MoveIt!

Técnicas para determinação do volume máximo de oxigênio (VO2máx) em exercícios de endurance / Techniques for determining maximum oxygen volume (VO2max) in endurance exercises

Os exercícios de resistência ou endurance se caracterizam por ter sua capacidade aeróbia aumentada. Testes que avaliem o consumo máximo de oxigênio são essenciais para predizer o estado físico de um atleta, como também sua capacidade aeróbia. O objetivo principal deste estudo é mostrar as técnicas mais utilizadas no meio dos exercícios de endurance, para que possa se determinar o consumo de oxigênio máximo do atleta, para assim contribuir com a melhora em seu desempenho. Os objetivos específicos irão mostrar quais destas técnicas podem ser mais viáveis. A pesquisa se trata de uma revisão narrativa simples da literatura, onde foram utilizados artigos científicos e trabalhos como teses e dissertações, buscados nas bases dados PubMed, Scielo, Lilacs e repertórios de universidades federais. Os artigos e trabalhos pesquisados foram selecionados obedecendo ao período de publicação, que compreende os anos de 2010 a 2020, e escritos nas línguas inglesa, portuguesa e espanhola. É possível concluir com este estudo que existem diversas técnicas, ou métodos, que podem ser utilizadas para avaliar o condicionamento físico de um indivíduo no que diz aos metabolismos aeróbio e anaeróbio. Em ambos os métodos, seja direto ou indireto e, caso sejam realizados em conjunto ou separadamente, se torna um importante preditor de melhoria, seja para qualidade de vida, no caso de pessoas sedentárias e/ou obesas, ou para performance, no caso de esportistas

Challenges of nematode control in ruminants : focus on Latin America

AbstractGastrointestinal nematodes (GIN) of ruminants (cattle, sheep and goats) are ubiquitous and can cause severe injuries to infected animals and significant losses in farming revenues. GIN are able to survive severe environmental and host conditions, but mankind has developed a number of ingenious methods for parasite control. The commerce and use of modern anthelmintic drugs with a broad spectrum of activity has been a solid tool for nearly 40 years, however the continuous use of these drugs, has led to the selection of populations of drug-resistant worms worldwide. At present, the ever-growing agricultural systems in Latin America are facing many challenges and cannot rely on the far-reaching objective of parasitic elimination from the host or the environment. The lack of extensive programs for monitoring drug resistance exacerbates the negative consequences of reduced efficacy, which is evident in some areas with the increase in mortality rate even after treatment. Experts agree that new schemes of parasitic control are needed and should be based on the strategy of targeted selective treatment where affected hosts are identified and treated accordingly. In this article, we will focus our discussion on the challenges for the control of GIN in Latin America by 2020 imposed by reduced drug efficacy. We will evaluate phenotypic and molecular markers, methods for single-animal evaluation, and the implementation of schemes for anthelmintic treatment that address parasites in refugia

Mobile and cloud based systems proposal for a centralized management of educational institutions

The computational technological efforts towards a centralized data storage and processing have contributed to provide more sustainable solutions under the environmental, administrative and business perspectives. However, it is not yet worldwide adopted by public institutions, specially, in the Brazilian educational systems, where these technological models are still under constant discussions and development. In this sense, this work presents a brief survey about cloud and mobile integrated technologies and their possible contributions to support a centralized data management in educational systems, relating improvements in governance, data security, mobility, economic viability and environmental impact. Therefore, this work also present a list of already free and private technologies and their advantages and disadvantages in the Brazilian scenario. In this sense, the herein technological aspects considers the integration between cloud and mobile technologies as essential alternative to suppress the online requirements, which a limitation for a large number of public institutions that have problems to be effectively connected on the Internet

Climate projections of chill hours and implications for olive cultivation in Minas Gerais, Brazil

O objetivo deste trabalho foi determinar o acúmulo de horas de frio e definir as áreas com aptidão para a olivicultura (Olea europaea) no estado de Minas Gerais, Brasil, assim como analisar os impactos das projeções de mudanças climáticas na exigência de horas de frio e no zoneamento climático, em dois cenários de forçantes radiativas. O método trigonométrico foi utilizado para quantificar o número de horas de frio, tendo-se considerado temperaturas basais (Tb) de 7,0, 9,5 e 13°C (frio intenso, médio e suave, respectivamente), e foi aplicado para condições climáticas do presente (1983–2012) e para duas condições climáticas futuras (2041–2070 e 2071–2100). Os dados do clima presente foram obtidos de 47 estações meteorológicas convencionais, e os de clima futuro foram obtidos de três modelos do sistema terrestre (IPSL-CM5A-LR, MRI-CGCM3 e MIROC5). As projeções futuras apontam para uma diminuição das áreas aptas ao cultivo de oliveira, principalmente sob caminhos representativos de concentração (RCP) 8.5 e de cultivares com maior exigência em frio (Tb=7,0ºC). Das cultivares de média exigência em frio (Tb=9,5oC), apenas 2,6% (RCP 4.5) e 1,6% (RCP 8.5) serão aptas no extremo sul e nas áreas de maior altitude de Minas Gerais, enquanto, das de baixa exigência (Tb=13ºC), 11,8% (RCP4.5) e 6,7% (RCP 8.5) serão aptas. Se as condições climáticas se realizarem, o cultivo de oliveira será viável na região sul e em áreas de maior altitude no estado de Minas Gerais.The objective of this work was to determine the accumulation of chill hours and to define the areas with aptitude for olive (Olea europaea) cultivation in the state of Minas Gerais, Brazil, as well as to analyze the impacts of climate change projections on chilling-hour requirements and climatic zoning, in two radiative forcing scenarios. The trigonometric method was used to quantify the number of chill hours, considering base temperatures (Tb) of 7.0, 9.5, and 13°C (high, medium, and low chill, respectively), and was applied to present climate (1983–2012) and to two future climate (2041–2070 and 2071–2100) conditions. The present climate data were obtained from 47 conventional weather stations, and the future climate data were obtained from three Earth system models (IPSL-CM5A-LR, MRI-CGCM3, and MIROC5). Future projections point to a decrease in the suitable areas for olive crop cultivation, particularly under representative concentration pathway (RCP) 8.5 and for olive cultivars with a high-chilling requirement (Tb=7.0ºC). Of the olive cultivars requiring medium chill (Tb=9.5ºC), only 2.6% (RCP 4.5) and 1.6% (RCP 8.5) will be suitable in the extreme south and in higher altitude areas of Minas Gerais, while, of those requiring low chill (Tb=13ºC), 11.8% (RCP 4.5) and 6.7% (RCP 8.5) will be suitable. If the climate projections become true, the cultivation of olive crops will be viable in the southern region and in higher altitude areas of the state of Minas Gerais

Effects of School Shift Change on Sleep and Academic Performance: A Quasi-Experimental Evaluation for Adolescent Students in Brazil

This paper investigates the influence of the school shift change on the academic performance of 6th and 7th graders (lower secondary education) of public schools in the city of Recife, Brazil. The empirical analyses use educational data from a panel of the Brazilian Ministry of Education, with a sample of 4,500 students, 3,468 parents or guardians, 85 principals, and 137 teachers working in 87 public schools that were spatially distributed. The identification strategy explores a quasi-experiment in which some classes of the investigated sample had their school shifts changed between the two years, which occurred exclusively due to the school logistics and regardless of the parents’ preferences. Difference-in-differences models combined with propensity score matching demonstrate that students who shifted from morning to afternoon between the two years analyzed improved their Portuguese test scores, and that those who experienced the opposite change, from afternoon to morning, had a drop in the performance. Estimations in intermediary outcomes also reveal that the changes in the students’ sleeping habits are an important mechanism that explains the relation between the scores and the school shift

Fishery of the Uçá Crab Ucides Cordatus (Linnaeus, 1763) in a Mangrove Area in Cananéia, State of São Paulo, Brazil: Fishery Performance, Exploitation Patterns and Factors Affecting the Catches

The fishery of the mangrove crab (Ucides cordatus) is one of the oldest sources of food, income and extractive activity in the estuarine systems of Brazil. The state of São Paulo has the largest population of any Brazilian state, and the city of Cananéia, in the Brazilian southeast has the highest recorded level of exploitation of the uçá-crab. Since 1990, this species has been under intense exploitation pressure due to the unauthorized use of a type of trap called 'redinha'. This type of fishing gear is considered harmful and is prohibited by Brazilian law, although its use is very common throughout the country. This study aims to evaluate the exploitation patterns of U. cordatus based on landing data and monitoring of the crab fishermen to verify the population structure of the crab stock and to identify the factors that influence the catches. A general view of the sustainability of the fishery for this resource is also provided for five defined mangrove sectors (areas A to E) at Cananéia. For this purpose, fishery data were recorded during 2009-2010 by the Instituto de Pesca (APTA/SAA-SP), and monitoring of the capture procedures used by two fishermen was conducted to obtain biometry data (CW, carapace width) and gender data for the captured crabs. The redinha trap was very efficient (86.4%) and produced sustainable catches because the trapped crabs were legal-sized males (CW>;60 mm), although some traps are lost or remain in the mangrove swamps and can cause pollution by introducing plastic debris. The fishery data were evaluated with a General Linear Model (GLM) based on six factors: the characteristics of the crab fishermen, the time of capture (by month and year), the lunar phase, the productive sector and the reproductive period. The individual crab fishermen's empirical knowledge, the year of capture and the productive sector were the strongest influences on the crab catch per unit effort (CPUE). Differing extraction patterns were found in the five sectors examined in the Cananéia estuary. These findings underscore the need for a reassessment of the prohibition of the trap's use, raising discussion as to its possible construction with biodegradable materials, thus ensuring profitable and sustainable catches through a local participatory management process.A pesca do caranguejo-uçá (Ucides cordatus) é uma das mais antigas atividades extrativas para a obtenção de fonte de alimento e renda nos sistemas estuarinos do Brasil. O Estado de São Paulo é o mais populoso e a cidade de Cananéia, localizada no sudeste, tem o maior volume registrado de captura do caranguejo-uçá para a região. Desde 1990, esta espécie vem sofrendo intensa pressão pesqueira pelo uso indiscriminado de um tipo de armadilha conhecida como "redinha". Este tipo de arte de pesca é considerado uma ameaça à população do caranguejo, sendo proibido pela legislação brasileira, embora seu uso seja comum em todo o país. Este estudo teve como objetivo avaliar os padrões de exploração de U. cordatus com base em dados de desembarque, bem como do monitoramento das capturas pelos catadores, com o intuito de verificar a estrutura populacional do estoque e identificar os fatores que vêm influenciando os rendimentos pesqueiros da espécie. Uma visão geral da sustentabilidade pesqueira foi também elaborada para cinco setores de pesca estabelecidos (áreas de A a E) em Cananéia. Para este propósito, dados sobre as pescarias foram registrados durante 2009-2010 pelo Instituto de Pesca (APTA/SAA-SP), bem como o acompanhamento das capturas de dois pescadores foi realizado para se obter dados de biometria (CW, largura da carapaça) e gênero dos animais capturados. Embora algumas armadilhas tenham sido perdidas/deixadas nos manguezais, promovendo certa poluição pela introdução desses detritos plásticos, estas foram consideradas eficientes (86,4%) na captura do caranguejo-uçá, bem como corretas como instrumento de captura, uma vez que 100% dos espécimes por elas capturados eram machos com tamanho acima daquele permitido por lei (CW >; 60 mm). Os dados sobre as pescarias foram avaliados utilizando-se o modelo geral linearizado (MGL), com base em seis fatores explicativos: os diferentes pescadores, o período de captura (por mês e ano), a fase lunar, o setor produtivo e o período reprodutivo. O conhecimento empírico dos pescadores de caranguejo, o ano da captura e do setor produtivo foram os principais fatores explicadores da variabilidade na captura de caranguejo por unidade de esforço (CPUE). Diferentes padrões de exploração foram observados nos cinco setores analisados no estuário de Cananéia. Os resultados obtidos ressaltam a necessidade de uma reavaliação na proibição do uso da armadilha "redinha", abrindo discussão sobre sua confecção com materiais biodegradáveis, assegurando, assim, capturas rentáveis e sustentáveis por meio de uma gestão participativa local

Effect of Transcranial Direct-Current Stimulation Combined with Treadmill Training on Balance and Functional Performance in Children with Cerebral Palsy: A Double-Blind Randomized Controlled Trial

Background: Cerebral palsy refers to permanent, mutable motor development disorders stemming from a primary brain lesion, causing secondary musculoskeletal problems and limitations in activities of daily living. The aim of the present study was to determine the effects of gait training combined with transcranial direct-current stimulation over the primary motor cortex on balance and functional performance in children with cerebral palsy. Methods: A double-blind randomized controlled study was carried out with 24 children aged five to 12 years with cerebral palsy randomly allocated to two intervention groups (blocks of six and stratified based on GMFCS level (levels I-II or level III).The experimental group (12 children) was submitted to treadmill training and anodal stimulation of the primary motor cortex. The control group (12 children) was submitted to treadmill training and placebo transcranial direct-current stimulation. Training was performed in five weekly sessions for 2 weeks. Evaluations consisted of stabilometric analysis as well as the administration of the Pediatric Balance Scale and Pediatric Evaluation of Disability Inventory one week before the intervention, one week after the completion of the intervention and one month after the completion of the intervention. All patients and two examiners were blinded to the allocation of the children to the different groups. Results: The experimental group exhibited better results in comparison to the control group with regard to anteroposterior sway (eyes open and closed; p<0.05), mediolateral sway (eyes closed; p<0.05) and the Pediatric Balance Scale both one week and one month after the completion of the protocol. Conclusion: Gait training on a treadmill combined with anodal stimulation of the primary motor cortex led to improvements in static balance and functional performance in children with cerebral palsy. Trial Registration Ensaiosclinicos.gov.br/RBR-9B5DH

INSEMINAÇÃO ARTIFICIAL EM TEMPO FIXO EM PEQUENOS RUMINANTES: : DESAFIO DE UM PROGRAMA COMERCIAL

Artificial Insemination is one of the most used animal reproduction biotechniques in small ruminants, contributing to the incessant search for animal improvement in this species and presenting itself as viable to small, medium and large producers. By the conventional method, with estrus observation, or with the use of estrus synchronization and ovulation induction protocols, using Fixed Time Artificial Insemination (IATF), there are several challenges encountered when executing a commercial program. Understanding the non-standardization of management in the various production units, as well as the little or no attention given, by most producers, to animal welfare issues, involving thermal comfort, meeting the specific nutritional needs of each phase, the use rudimentary practices that trigger stress, with the consequent release of cortisol and, the low appreciation of the team of employees, facts that, at different levels, have contributed to the achievement of undesirable results. Greater attention needs to be paid to the organization of the entire production chain and, in particular, of small ruminant production units.A Inseminação Artificial é uma das biotécnicas da reprodução animal mais utilizadas em pequenos ruminantes, contribuindo na incessante busca pelo melhoramento animal nesta espécie e apresentando-se viável ao pequeno, médio e grande produtor. Pelo método convencional, com observação de cio, ou com a utilização de protocolos de sincronização do estro e indução de ovulação, com uso da Inseminação Artificial em Tempo Fixo (IATF), diversos são os desafios encontrados quando da execução de um programa comercial. Entendendo a não padronização de manejo nas diversas unidades produtivas, bem como, a pouca ou nenhuma atenção dada, por grande parte destas, a questões de bem-estar animal, envolvendo conforto térmico, atendimento as necessidades nutricionais especificas de cada fase, a utilização de práticas rudimentares desencadeadoras de estresse, com conseguinte liberação de cortisol e, a pouca valorização da equipe de colaboradores, fatos estes, em diferentes níveis, têm contribuído na obtenção de resultados pouco desejáveis. Maior atenção carece ser dada na organização de toda cadeia produtiva e em especial, das unidades de produção de pequenos ruminantes

Data release 2 of S-PLUS : accurate template-fitting based photometry covering ∼1000 deg2 in 12 optical filters

The Southern Photometric Local Universe Survey (S-PLUS) is an ongoing survey of ∼9300 deg2 in the southern sky in a 12-band photometric system. This paper presents the second data release (DR2) of S-PLUS, consisting of 514 tiles covering an area of 950 deg2. The data has been fully calibrated using a new photometric calibration technique suitable for the new generation of wide-field multifilter surveys. This technique consists of a χ2 minimization to fit synthetic stellar templates to already calibrated data from other surveys, eliminating the need for standard stars and reducing the survey duration by ∼15 per cent. We compare the template-predicted and S-PLUS instrumental magnitudesto derive the photometric zero-points(ZPs). We show that these ZPs can be further refined by fitting the stellar templates to the 12 S-PLUS magnitudes, which better constrain the models by adding the narrow-band information. We use the STRIPE82 region to estimate ZP errors, which are 10 mmags for filters J0410, J0430, g,J0515, r,J0660, i,J0861 and z; 15 mmags for filterJ0378; and 25 mmagsfor filters u and J0395. We describe the complete data flow of the S-PLUS/DR2 from observations to the final catalogues and present a brief characterization of the data. We show that, for a minimum signal-to-noise threshold of 5, the photometric depths of the DR2 range from 19.1 to 20.5 mag (measured in Petrosian apertures), depending on the filter. The S-PLUS DR2 can be accessed from the website: https://splus.cloud