Intelligent collision avoidance system for industrial manipulators

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáThe new paradigm of Industry 4.0 demand the collaboration between robot and humans. They could help (human and robot) and collaborate each other without any additional security, unlike other conventional manipulators. For this, the robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people. This work proposes a system that acquires the space of the environment, based on a Kinect sensor, verifies the free spaces generated by a Point Cloud and executes the trajectory of manipulators in these free spaces. The simulation system should perform the path planning of a UR5 manipulator for pick-and-place tasks, while avoiding the objects around it, based on the point cloud from Kinect. And due to the results obtained in the simulation, it was possible to apply this system in real situations. The basic structure of the system is the ROS software, which facilitates robotic applications with a powerful set of libraries and tools. The MoveIt! and Rviz are examples of these tools, with them it was possible to carry out simulations and obtain planning results. The results are reported through logs files, indicating whether the robot motion plain was successful and how many manipulator poses were needed to create the final movement. This last step, allows to validate the proposed system, through the use of the RRT and PRM algorithms. Which were chosen because they are most used in the field of robot path planning.Os novos paradigmas da Indústria 4.0 exigem a colaboração entre robôs e seres humanos. Estes podem ajudar e colaborar entre si sem qualquer segurança adicional, ao contrário de outros manipuladores convencionais. Para isto, o robô deve ter a capacidade de adquirir o meio ambiente e planear (ou re-planear) on-the-fly o movimento evitando obstáculos e pessoas. Este trabalho propõe um sistema que adquire o espaço do ambiente através do sensor Kinect. O sistema deve executar o planeamento do caminho de manipuladores que possuem movimentos de um ponto a outro (ponto inicial e final), evitando os objetos ao seu redor, com base na nuvem de pontos gerada pelo Kinect. E devido aos resultados obtidos na simulação, foi possível aplicar este sistema em situações reais. A estrutura base do sistema é o software ROS, que facilita aplicações robóticas com um poderoso conjunto de bibliotecas e ferramentas. O MoveIt! e Rviz são exemplos destas ferramentas, com elas foi possível realizar simulações e conseguir os resultados de planeamento livre de colisões. Os resultados são informados por meio de arquivos logs, indicando se o movimento do UR5 foi realizado com sucesso e quantas poses do manipulador foram necessárias criar para atingir o movimento final. Este último passo, permite validar o sistema proposto, através do uso dos algoritmos RRT e PRM. Que foram escolhidos por serem mais utilizados no ramo de planeamento de trajetória para robôs

Relevant factors for dental care in planning the response against COVID-19: a narrative review

O objetivo principal deste trabalho foi analisar, através de uma revisão bibliográfica atual, como diferentes fatores se correlacionam para fundamentar as medidas implementadas pelas autoridades de saúde em resposta à corrente pandemia, no contexto de saúde oral. A atual pandemia de COVID-19 causou já mais de 3 milhões de mortes, representando um desafio singular para a sociedade e os sistemas de saúde. O papel dos médicos dentistas durante a pandemia é o de prover o tratamento dentário essencial e prevenir a transmissão do vírus, que possui características que podem aumentar o risco de transmissão cruzada no consultório, pelos aerossóis produzidos em inúmeros tratamentos dentários. As Autoridades de saúde elaboraram protocolos para prevenir a contaminação cruzada do vírus em consultórios dentários, permitindo, assim, com a segurança devida e preventiva, que os pacientes continuem a receber tratamento dentário durante a pandemia.The main objective of this work was to analyze, through a review of current references, how different factors correlate to shape the response measures implemented by health authorities to the ongoing pandemic event, in the context of dental care. The COVID-19 pandemic has claimed more than 3 million lives, presenting a special challenge for society and health care systems. The role of dentists during a pandemic is to provide essential dental care while preventing transmission of the virus, which has some traits that can increase the risk of cross infection in dental offices, due to aerosols produced by many dental treatments. Health authorities elaborated protocols to prevent the virus cross-contamination in dental offices, allowing patients to continue receiving dental care through the pandemic

ENERGIAS RENOVÁVEIS: FUTURO DO PLANETA E INCLUSÃO SOCIAL

Atualmente, cerca de 5% de toda a energia produzida no planeta é de fonte renovável. O grande mercado energético brasileiro e mundial poderá dar sustentação a um imenso programa de geração de emprego e renda a partir da produção do biodiesel. Mais do que opções de matérias-primas, existem diferenças importantes com relação aos conhecimentos tecnológicos utilizados para a produção e consumo de biodiesel e derivados de petróleo, que os configuram como trajetórias tecnológicas distintas e concorrentes no mercado de combustíveis.-----------------------------------Currently, about 5% of all the energy produced in the planet it is of renewable source. The great Brazilian and world-wide energy market iwill be able to give to sustentation to an immense program of generation of job and income from the production of biodiesel. More than what raw material options, exist important differences with regard to the technological knowledge used for the production and consumption of biodiesel and derivatives of oil, configure that them as distinct and competing technological trajectories in the fuel market.biodiesel, produção, consumo, petróleo, energético, production, oil, energy, Resource /Energy Economics and Policy,

Influencia de los torneos en la generación de ingresos

El objetivo del estudio ha sido investigar de qué manera cada campeonato afecta la generación de ingresos de los clubes de fútbol. Se ha analizado el desempeño deportivo de 28 equipos brasileños durante cinco temporadas (2010-14) en los siguientes torneos: Campeonato Brasileiro, Copa do Brasil, Campeonatos Estaduais, Copa Libertadores y Copa Sudamericana. Se ha llevado a cabo una regresión lineal con dados en panel y efectos fijos. El éxito en la temporada anterior ha sido medido por variables retardadas. Como resultado, se evidencia que el modelo explica 65.1% de los ingresos totales. Además, se observa que la Liga de la temporada anterior, la Copa y la Libertadores actuales son los únicos torneos que afectan estadísticamente la generación de ingresos. Se concluye que la importancia y el formato de los torneos influyen de manera distinta en la recaudación de los clubes de fútbol en Brasil.The aim of this paper was research how each kind of tournament affects the revenues generation in football clubs. We have analysed the sports performance of 28 Brazilian football clubs during five seasons (2010-14). We have studied the five most important tournaments there: Brazilian League, Brazilian Cup, State Championships, Libertadores Cup and South American Cup. We have carried out a linear regression in a panel data with football clubs fixed effects. The lagged variables of each tournament were employed to examine if the previous sports performance could improve the next revenues. The model explains 65.1% of the total revenues. In addition, the lagged performance in a League and the current performance in a Cup and Libertadores were the tournaments that statistically affect the revenues generation. We conclude that the importance and the competitive format have different impacts in the revenues generation on Brazilian football clubs

Effects of testosterone supplementation on age-related penile remodeling

Orientador: Miriam Dambros LorenzettiTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Ciências MédicasResumo: Introdução: A disfunção erétil é presente em 46,2% dos homens entre 40 e 70 anos de idade. Vários fatores já foram apontados como causa da disfunção erétil masculina, incluindo as alterações neurológicas, vasculares arteriogênicas, vasculares venogênicas, hormonais e psicológicas. Além disso, a incidência da DE é mais acentuada conforme aumenta a idade dos indivíduos, podendo chegar a 60-70% na sétima década de vida. A disfunção erétil (DE) deve ser encarada como uma doença multifatorial e seu tratamento deve ser realizado da mesma forma. Alguns estudos demonstram uma substituição no músculo detrusor por tecido colágeno devido a privação de testosterona; é natural que se faça tal analogia também para trato genital masculino. Observa-se uma clara associação entre o envelhecimento masculino, o decréscimo de testosterona sérica e a disfunção erétil, porém existem raros estudos na que avaliem a estrutura histológica do pênis em tal situação. Objetivos: Este estudo tem como objetivo avaliar os efeitos da reposição de testosterona sobre a fibrose dos corpos cavernosos de pênis de ratos senis. Metodologia: 16 ratos Wistar idosos foram divididos em 2 grupos: Tratamento (receberam suplementação padronizada de testosterona) e controle (receberam dose de solução salina equivalente). Testosterona foi dosada no D0 e D56 do estudo. Os pênis dos ratos foram preparados em parafina e suas lâminas coradas com picrosirius; estereologia foi aplicada para determinar a densidade volumétrica das fibras colágenas. Resultados: Os testes de ANOVA demonstraram que a reposição de testosterona foi efetiva, enquanto a privação androgênica se manteve no grupo controle (p < 0,01). O grupo com reposição de testosterona obteve uma densidade volumétrica (Vv) de 20,6%, menor que o do controle (47,8%); Teste-t e Kruskal-Wallis (p < 0,001). A correlação de Pearson demonstrou uma inversa relação entre os níveis de testosterona e Vv (p < 0,001). Conclusões: Este é um dos estudos pioneiros na demonstração de alterações estruturais sobre a musculatura do corpo cavernoso causadas pela deprivação de testosterona em ratos idosos. Estes achados implicam que os níveis de testosterona podem influenciar, não só a libido, mas também, na função erétilAbstract: Introduction: Erectile dysfunction (ED) develops among 46,2% of men between 40-70 years. Many factor are implicated on the male ED, including neurology alterations, artheriogenic vascular pathologies, and venogenics vascular pathologies, hormonal and physiologic. Besides, the incidence of ED is more common with the aging, reaching over 60-70% on the 7th decade of life. ED must be faced as one multifactorial disease and its treatment must be performed as such. Some studies demonstrated detrusor muscle substitution by collagens fibers due to testosterone deprivation; it is natural to make similar analogy to the male genial tract. There is a clear association between aging, lower levels of testosterone and ED, however, there are few studies evaluating the histologic penile structure on this situation. Objetives: This study aims to evaluate the effects of testosterone supplementation over the corpora corpus fibroses in pênis of elderly rats. Methodology: 16 senescent Wistar rats were divided in 2 groups: treatment (receiving standard supplementation testosterone dose) and control (receiving equivalent saline solution). Testosterone was dosed on D0 and D56 of study. All penises were prepared with picrosirius colored histology; stereology was applied to determine the volumetric density of collagen fibers (Vv). Results: ANOVA demonstrated testosterone group's replacement therapy was effective, while the androgenic decline continued by the time of experiment in control group (p<0.05). Testosterone group had Vv of 20,6%, lower than control group (47,8%); t-test and Kruskal Wallis test (p<0.001). Pearson¿s correlation demonstrated an inverse correlation between the Vv and testosterone¿s levels (p<0,001). Conclusions: This is a pioneer study on demonstration of structural alterations over the cavernous corpora muscle caused by deprivation of testosterone on elderly rat. These finding implicate that the testosterone levels can influence, not only the libido, but also the erectile functionDoutoradoFisiopatologia CirúrgicaDoutor em Ciência

Dynamics and Management of Insecticide Resistance in the Horn Fly, Haematobia Irritans Irritans (L.) (Diptera: Muscidae).

Studies on resistance of the horn fly, Haematobia irritans irritans (L.), to insecticides were conducted in Louisiana from 1989 to 1998. These studies included monitoring resistance and resistance dynamics under different strategies of insecticide use, monitoring the efficacy of insecticide products, establishing a relationship between bioassay findings and product efficacy, and evaluation of a new insecticide class. In four years (1989--1992), efficacy of 20% diazinon-impregnated car tags used yearly was reduced from greater than twenty to just one week of control, and tag failure was observed with resistance ratios (RR) from 1.8 to 5.7. Diazinon resistance developed more slowly and to a lower magnitude than that reported for pyrethroids. A strong correlation was found between RR and the frequency of flies (RF) surviving a 1.72 mug/cm2 discriminating concentration of diazinon. A high risk of diazinon tag failure was associated with a 5% RF in pre-season bioassays. Resistance among several organophosphate (OP) insecticides including fenthion, ethion, pirimiphos-methyl, and tetrachlorvinphos was observed following the development of resistance to diazinon. Esterase activity was significantly higher in OP-resistant flies than in susceptible flies from both laboratory colony and field population. From 1991 to 1997, the yearly rotation of lambda-cyhalothrin + piperonyl butoxide and pirimiphos-methyl ear tags was evaluated for control of pyrethroid-resistant horn flies in two locations. Control efficacy was reduced to a maximum of two and seven weeks for the synergized pyrethroid and OP tags in their last year of use, respectively. The rotation did not improve pyrethroid efficacy or prevent further development of resistance to the pyrethroid or the OP. During 1996 and 1997, the efficacy of experimental chlorfenapyr ear tags for horn fly control was evaluated under field conditions at one location, and the susceptibility of flies to chlorfenapyr was measured at seven locations in 1997. Ear tags containing either 30 or 40% chlorfenapyr were effective for fly control, and the number of weeks with \u3e90% fly reduction ranged from eight to eighteen. All field populations of horn flies, including those resistant to pyrethroids and OPs, were more susceptible to chlorfenapyr than were flies from a reference susceptible colony