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This research builds up on recent results in planar kinematic synthesis with contact direction and curvature constraints on the workpiece. The synthesis of spherical serial chains is considered to guide a rigid body, such that it does not violate normal direction and curvature constraints imposed by contact with objects in the environment. These constraints are transformed into conditions on the velocity and acceleration of points in the moving body to obtain synthesis equations which can be solved by algebraic elimination. Trajectory interpolation formulas yield the movement of the chain with the desired contact properties in each of the task positions. Example shows the application of the developed theory to the failure recovery of a robot manipulator.

For modelling curves, B-splines [3] are among the most versatile control schemes. However, scaling this technique to surface patches has proven to be a non-trivial endeavor. While a suitable scheme exists for rectangular patches in the form of tensor product B-splines, techniques involving the triangular domain are much less spectacular. The current cutting edge in triangular B-splines [2] is the DMS-spline. While the resulting surfaces possess high degrees of continuity, the control scheme is awkward and the evaluation is computationally expensive. A more fundamental problem is the construction bears little resemblance to the construction used for the B-Spline. This deficiency leads to the central idea of the thesis; what happens if the simple blending functions found at the heart of the B-Spline construction are used over higher dimension domains? In this thesis I develop a geometric generalization of B-Spline curves over the triangular domain. This construction mimics the control point blending that occurs with uniform B-Splines. The construction preserves the simple control scheme and evaluation of B-Splines, without the immense computational requirements of DMS-splines. The result is a new patch control scheme, the G-Patch, possessing <i>C</i>0 continuity between adjacent patches.

For modelling curves, B-splines [3] are among the most versatile control schemes. However, scaling this technique to surface patches has proven to be a non-trivial endeavor. While a suitable scheme exists for rectangular patches in the form of tensor product B-splines, techniques involving the triangular domain are much less spectacular. The current cutting edge in triangular B-splines [2] is the DMS-spline. While the resulting surfaces possess high degrees of continuity, the control scheme is awkward and the evaluation is computationally expensive. A more fundamental problem is the construction bears little resemblance to the construction used for the B-Spline. This deficiency leads to the central idea of the thesis; what happens if the simple blending functions found at the heart of the B-Spline construction are used over higher dimension domains? In this thesis I develop a geometric generalization of B-Spline curves over the triangular domain. This construction mimics the control point blending that occurs with uniform B-Splines. The construction preserves the simple control scheme and evaluation of B-Splines, without the immense computational requirements of DMS-splines. The result is a new patch control scheme, the G-Patch, possessing <i>C</i>0 continuity between adjacent patches.

No one will question that computers are revolutionizing the design industry. It is pointed out in [Bezier84] that before CAD/CAM, a surface was defined by tracing cross sections on a drawing and then carving these sections in wood, plastic or metal. The final model was determined by someone interpolating between the sections. This labor intensive art is being replaced by techniques of computer aided geometric design.

Surface fitting methods play an important role in many scientific fields as well as in computer aided geometric design. The problem treated here is that of constructing a smooth surface that interpolates data values associated with scattered nodes in the plane. The data is said to be convex if there exists a convex interpolant. The problem of convexity-preserving interpolation is to determine if the data is convex, and construct a convex interpolant if it exists.

O número de acidentes de trânsito é crescente nas últimas décadas no Brasil. Uma das principais causas de acidentes em rodovias brasileiras é o excesso de velocidade, que contribui para a possibilidade de ocorrência de acidentes. As velocidades praticadas pelos motoristas são também função dos elementos geométricos que compõem a via (raio, rampa, largura da faixa, etc). A consistência de traçado não afeta a expectativa dos motoristas e garante uma operação segura. A maioria dos motoristas consegue perceber as falhas de coordenação, mas tecnicamente, por exemplo, desconhecem a origem das mesmas. Esta pesquisa apresenta como objetivo a análise de consistência de um trecho de uma determinada rodovia do país de múltiplas faixas, com elevado índice de acidentes e alto fluxo de veículos comerciais. Os pontos com maior ocorrência de acidentes foram identificados e realizaram-se medições de velocidade para elaboração de um modelo de previsão de velocidade operacional (V85) do trecho de estudo. De posse deste modelo, procedeu-se à análise de consistência através do método dos critérios de segurança, que identificou 2 seções com problemas de consistência. Por fim, verificou-se se estas seções correspondiam aos locais de maior número de acidentes: a tangente T5 precede uma curva com alto índice de acidentes (km 511+000); o local com maior concentração de acidentes (km 514) foi classificado como RAZOÁVEL. / In Brazil, the number of traffic accidents is increasing in recent decades, and speeding is one of the major causes of accidents on highways, which contributes to the possibility of accidents. The speed used by the driver is determined by the geometric elements of the road (radius, slope, lane width, etc). Geometric design consistency does not affect the expectation of drivers and ensures a safe operation. Most drivers can perceive coordination failures, but, technically, they are unaware of their source. This research aims to perform a consistency analysis of a stretch of a Brazilian multiple lane highway with a high rate of accidents and large number of commercial vehicles. Thus, the sections with a higher accident occurrence were identified, and speeds were measured to determine the operating speed (V85) and, subsequently, to develop a model to predict operating speeds. With this model, the design consistency was analyzed using the method of the safety criteria. This analysis identified two sections with consistency problems. Finally, it was verified if these sections correspond to the sites with higher accident occurrence: tangent T5 precedes a curve with a high number of accidents (km 511+000); the site with higher accident occurrence (km 514) was classified as FAIR.

O setor rodoviário no Brasil é o maior responsável pelo transporte de passageiros e de cargas. A indústria de veículos de carga tem realizado modificações nas características dos veículos e a tendência neste mercado é o aumento na capacidade de transporte, obtida com a fabricação de veículos com maiores dimensões, com um maior número de eixos, bem como a utilização de combinações de veículos de carga (CVCs). Estas alterações atendem uma exigência do mercado, que é o aumento da produtividade nos serviços de transporte. Para uma operação segura, entretanto, se faz necessário garantir a compatibilidade entre os veículos e a malha rodoviária ofertada para absorver este tráfego. O objetivo principal deste trabalho é investigar as características e padrões dos veículos que trafegam nas rodovias brasileiras, visando à proposição de parâmetros de projeto geométrico compatíveis, contemplando os aspectos da interação dos veículos e da via, com ênfase para os veículos de grande porte, e em particular os veículos do tipo CVC. São propostos ajustes nos padrões técnicos estabelecidos pelo DNER, atual DNIT, de forma a adequar a geometria das rodovias às características e restrições dos veículos em operação. Foi realizado ainda um estudo de caso para um conjunto de trechos de rodovias no Estado de São Paulo e no Estado do Ceará, com características técnicas diferentes, onde trafegam CVCs de diversas configurações com restrições, permitindo que sejam identificados os ajustes necessários na geometria para adequação ao tráfego, bem como orientar a concepção de outros projetos. / In Brazil the majority of passenger and goods transportation is carried out by the highway transportation system. Vehicle industry does a continuous job of designing new models in order to increase capacities, producing bigger vehicles, with more axles, as well as long combination vehicles (LCVs). These modifications aim to attend a market demand that is looking for better productivity figures for transportations services. However, to assure a good level of safety in the operation of these vehicles, it is necessary a guarantee of compatibility of them with the roads where they will circulate. The main objective of this thesis is the research of the characteristics and standards of vehicles traveling on brazilian roads, in order to analyze design parameters, considering the interaction between vehicles and roads. The problem of the flow of large vehicles, in particular LCVs, is emphasized. Adjustments on the design standards, established by the DNER (presently named DNIT), are proposed with the intention of adequate the road geometry to the vehicles characteristics and restrictions. A case study was carried out for a set of highway segments of the states of São Paulo and Ceará. These segments present different technical characteristics and are traversed, with some restrictions, by different types of LCVs. This study allows not only the identification of necessary adjustment on the road geometry to hold up the existing traffic flow, but also the design of new projects standards.

Este estudo contribui para um melhor entendimento do desempenho de veículos combinados em interseções de rodovias secundárias. A hipótese de que as normas nacionais e estrangeiras não são adequadas para permitir a compatibilidade entre a circulação desses veículos e a geometria horizontal de interseções em nível no Brasil é investigada. Através de processo de simulação demonstramos que, com relação ao arraste, o comportamento de veículos com mais de uma articulação pode ser bom, e por vezes melhor que o de veículos com apenas uma articulação, se considerados certos aspectos operacionais e de engenharia. Contamos que as autoridades de tráfego brasileiras passem a ser menos restritivas para com a regulamentação de dimensões de veículos combinados longos, tendo em vista o aumento de produtividade alcançado com o seu uso. Como a regulamentação brasileira tem sido tradicionalmente influenciada por normas e recomendações estrangeiras, tanto para o projeto e construção de vias como para a regulamentação de veículos, procuramos caracterizar as diferenças de comportamento dos veículos e as respectivas discrepâncias em relação às normas nacionais e estrangeiras. Esta avaliação visa fornecer elementos para um julgamento mais apropriado das condições brasileiras, para que possamos elaborar nossas próprias normas, promovendo melhores condições de segurança aos usuários dos sistemas de transporte rodoviário. / This study contributes to a better understanding of combination vehicle performance on secondary roadway intersections. The hypothesis that national and foreign rules are inadequate to provide compatibility of the traffic of these vehicles with the horizontal geometry of at grade intersections in Brazil is investigated. With respect to offtracking, and with due consideration to certain operational and engineering concerns, we have demonstrated, through a simulation process, that the behavior of vehicles with double articulation can be good, and at times even better than the behavior of single articulated vehicles. We expect that Brazilian roadway authorities will become Iess restrictive toward the regulation of longer combination vehicles, taking into consideration the increase in productivity achieved with their use. Since Brazilian regulatory agencies have been traditionally influenced by foreign standard rules and recommendations for highway design and construction, as well as regulation of vehicles, we have tried to characterize the differences in vehicle performance and the respective discrepancies in relation to national and foreign standards. The main objective of this evaluation is to present the elements that permit a more appropriate judgment of Brazilian conditions, so that we will be able to elaborate compatible rules and procedures, thus providing better safety conditions for users of roadway transportation systems.

Submitted by Angela Maria de Oliveira (amolivei@uepg.br) on 2017-11-24T11:17:47Z No. of bitstreams: 2 license_rdf: 811 bytes, checksum: e39d27027a6cc9cb039ad269a5db8e34 (MD5) Evandro Ortiz.pdf: 1290785 bytes, checksum: 1668d7553c45d4aa08073023d1cbf0b2 (MD5) / Made available in DSpace on 2017-11-24T11:17:47Z (GMT). No. of bitstreams: 2 license_rdf: 811 bytes, checksum: e39d27027a6cc9cb039ad269a5db8e34 (MD5) Evandro Ortiz.pdf: 1290785 bytes, checksum: 1668d7553c45d4aa08073023d1cbf0b2 (MD5) Previous issue date: 2017-09-25 / O ensino de geometria ao longo do tempo passou por algumas modificações. Esse processo desencadeou problemas, e em alguns momentos no abandono do ensino de geometria e no distanciamento dos elementos do desenho geométrico do currículo escolar sendo esse quadro agravado pelo acúmulo de funções que foram depositados na escola e nos professores nesse período e nas políticas públicas adotadas pela influência da sociedade com a expansão da escola pública. O presente trabalho buscou investigar bibliograficamente problemas que interferem ou causam dificuldades na aprendizagem de geometria. Através de questionário aplicado e da análise de seus resultados, verificou-se que muitos alunos do ensino fundamental de uma escola pública acumulam dificuldades em assimilar a sequência de conteúdos de geometria, podendo comprometer seu desempenho em estudos posteriores. Certos dessas dificuldades e tendo consciência de que qualquer mudança no sistema de ensino necessita da apreciação dos profissionais envolvidos, desenvolveu-se uma pesquisa com professores do NRE de Guarapuava – PR para fortalecer a justificativa de implementação da proposta de inserção da disciplina de geometria atrelada aos conceitos e ferramentas do desenho geométrico na matriz curricular das escolas públicas do Estado do Paraná, mais precisamente no 9º ano. Proposta essa, pensada como ponto inicial para solução dos problemas apontados. Como resultados obtiveram-se, além da concordância da maioria dos docentes na análise dessa proposta e de sugestões para seu aprimoramento, um perfil dos profissionais, do ensino atual e da aprendizagem dos alunos em relação aos conteúdos de geometria. / The teaching of geometry over time has undergone some modifications. This process triggered problems and in some moments the abandonment of the teaching of geometry and the distancing of the elements of the geometric design in the school curriculum. This situation were aggravated by the accumulation of functions that has been deposited in the school and the teachers in that period as the public policies adopted by the influence of society with an expansion of the public school. The present work aimed to investigate in a bibliographically way problems which to arise from a process that interferes or causes difficulties in the learning of geometry. Through of the applied questionnaire and the analysis of their results it was verified that, the students of the public elementary schools accumulate difficulties in assimilating the sequence of geometry contents, compromising their performance in later studies. Conscious of these difficulties and that any changes in the education system requires the appreciation of the professionals involved, a research was applied with teachers of the NRE of Guarapuava (PR). The intent was to strengthen the proposal‗s implementation of the geometry‘s discipline insertion, tied to concepts and tools of the geometric design in the curricular matrix of the public schools of the State of Paraná, more precisely in the 9th grade. The proposal was studied as the initial point to solving detected problems. As results of the research, it was obtained the agreement of the majority of teachers in the analysis of this proposal as well suggestions for its improvement and in addition a profile of the professionals of the current teaching and the students' learning in relation to the geometry discipline.