Conselho Nacional de Desenvolvimento Científico e Tecnológico / This reviewis inserted in the theoretic dicussion about militancyand engagement. The current work investigates the trajectory of the militant leaders of social movements in favor of the cause of educationInthe town of Paulo Afonso -Bahia. It was sought to learn wich social resourceswere triggered and converted to different forms of engagement in the investigated spaces.The capital originated from religious militancy presented itself as a fundamental resource to the researched forms ofoperation. Theresources of school diplomas, as well as the relationnetworks, present themselves in this review as important assets to the literate militants, not only in their militancy inside theirsphere of political engagement, but also as mechanisms of professional insertion. Also analyzed, were the relationshipnetworks stablished along social experiences, and their usein favor of theentrancein the militant and professional areas. Given investigation even permittedto relate this kind of militancy to symbolicspecific gratifications of such occupied spaces, as the recognition of identityfriendship networks. The structural transformations that took place in the townin the last few decades were also pointed,here, as important factorsthat influenced the collective mobilization forms analized. / Este estudo está inserido nas discussões teóricas acerca do militantismo e do engajamento. O presente trabalho investiga as trajetórias dos militantes dirigentes dos movimentos sociais voltados para a causa da educação no município de Paulo Afonso-BA. Procurou-se apreender quais os recursos sociais acionados e reconvertidos para diferentes formas de engajamento nos espaços investigados.O capital proveniente da militância religiosa revelou-se como um recurso fundamental para as formas de atuação pesquisadas. Os recursos dos títulos escolares, bem como as redes de relação se mostram como importantes trunfos para os militantes estudados, não só em suas militâncias dentro de suas esferas de atuação política, mas também como mecanismos de inserção profissional. Também foram analisadas as redes de relação estabelecidas ao longo das experiências sociais, e sua utilização em favor do ingresso no meio militante e profissional.Tal investigação permitiu, ainda, relacionar este tipo de militantismo a gratificações simbólicas específicas provenientes desses espaços ocupados, como o reconhecimento identitário e redes de amizades.As transformações estruturais ocorridas no município, nas últimas décadas, também foram apontadas, aqui, como importantes fatores que influenciaram as formas de mobilização coletiva analisadas.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2015-12-17T12:42:56Z No. of bitstreams: 1 nataliaribeiromartins.pdf: 1601435 bytes, checksum: 9b5612cf08290f2a776cc5649b01b2a2 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2015-12-17T17:58:41Z (GMT) No. of bitstreams: 1 nataliaribeiromartins.pdf: 1601435 bytes, checksum: 9b5612cf08290f2a776cc5649b01b2a2 (MD5) / Made available in DSpace on 2015-12-17T17:58:41Z (GMT). No. of bitstreams: 1 nataliaribeiromartins.pdf: 1601435 bytes, checksum: 9b5612cf08290f2a776cc5649b01b2a2 (MD5) Previous issue date: 2015-08-20 / Este trabalho é centrado na análise da trajetória do cristão-novo português Diogo Nunes Henriques, homem de negócio que se estabeleceu em Castela e em diferentes lugares do Império Português, até finalmente se fixar no território minerador. Membro de uma família com vasta passagem pelos cárceres do Santo Ofício, Henriques encontrou nos movimentos migratórios um forte aliado para escapar da mira dos inquisidores. Nas capitanias coloniais do atlântico, Diogo se firma como um promissor comerciante, assegurado por uma rede de compadrio que envolvia cristãos-velhos, parentes e outros cristãos-novos também atuantes no comércio. Contudo, o relativo êxito comercial não apagou a mácula cristã-nova, nem de Henriques, nem de seus companheiros, todos acusados de judaísmo, sendo então denunciados e presos pelo Santo Ofício durante a primeira metade do século XVIII. Os cristãos-novos do Império português estavam inseridos em um contexto paradoxal: de um lado eram vassalos de uma coroa cada vez mais dependente do comércio ultramarino, do outro estavam sujeitos às ações coercitivas do Santo Ofício, instituição cada vez mais empenhada em eliminar a heresia judaica do Império português. Analisar trajetórias como a de Diogo Nunes Henriques auxilia na busca pelo entendimento da realidade social vivida pelos cristãos-novos face às políticas de intolerância do Santo Ofício português e seus desdobramentos. / This work aims to analyze Diogo Nunes Henriques’s trajectory, a Portuguese New Christian and businessman who lived in Castile and in different locations of the Portuguese Empire, until he finally settled in Minas Gerais, a Brazilian colonial territory. Part of a family whose other members had already been judged by the Holy Office, Henriques found a strong ally on the migratory movements to escape from the sight of the Inquisitors. In the colonial Atlantic captaincies, Diogo became a promising merchant, secured by a social network that involved Old Christians, relatives and other New Christians who were also traders. However, the relative commercial success did not erased the New Christian’s blood stain, nor Henriques’, neither his companions’, who were all accused of committing the Judaism crime and then denounced and arrested by the Holy Office in the first half of the eighteenth century. The New Christians in the Portuguese Empire were inserted in a paradoxal context: on one hand they were vassals of a crown increasingly dependent on the ultramarine trade; on the other hand they were subjected to the coercive actions performed by the Holy Office, an institution more and more dedicated to eliminating the Jewish heresy from the Portuguese Empire. Analyzing trajectories such as the one of Diogo Nunes Henriques helps in the pursuit for understanding the social reality experienced by New Christians towards the Portuguese Holy Office’s intolerance policies and its deployments.

Este estudo tem como objeto de investigação os discursos especializados e os discursos de mães adolescentes a respeito da gravidez na adolescência e pretende contribuir com o campo das ciências humanas na sua abordagem sobre o tema, de modo especial, com os estudos sobre adolescência e juventude. Uma das principais hipóteses iniciais era a de que a gravidez na adolescência é uma formação discursiva recente, por isso, buscou-se compreender as condições históricas que contribuíram para a sua consolidação como uma condição desviante, relacionadas a expectativas contemporâneas sobre as maneiras mais apropriadas de se vivenciar a maternidade e a adolescência. A partir da análise de documentos oficiais sobre o tema, de levantamento das pesquisas no campo das ciências biomédicas e de entrevistas individuais com adolescentes que engravidaram, procurou-se caracterizar os discursos sobre a gravidez na adolescência e a relação que as adolescentes estabelecem com os enunciados recorrentes que constituem a gravidez nesse período da vida como um problema social. Ao final da análise, subsidiada pelos aportes dos Estudos Culturais e dos estudos foucaultianos, observou-se que a interdição contemporânea da gravidez na adolescência é resultado de sua construção discursiva como um problema social e que as adolescentes entrevistadas estabelecem uma relação de sujeição apenas parcial aos discursos especializados sobre a gravidez na adolescência. Elas tendem a reproduzir mais os discursos relativos aos percursos da vida, considerados ideais para cada faixa de idade, e menos os enunciados médicos que postulam os riscos obstétricos da gravidez dita precoce. Ainda assim, observou-se variações nos discursos das adolescentes entrevistadas, as quais parecem estar relaciona das às suas diferentes condições de vida, no que diz respeito à classe social, relação familiar e relação com o parceiro. / This study investigates the specialized discourse and the discourse of teenage mothers about teen pregnancy and, through the approach herein used, intends to contribute to the field of Human Sciences, especially to the studies about adolescence and youth. One of the main initial hypotheses was that teen pregnancy is a recent discursive formation. For that reason, we tried to understand the historical conditions which contributed to its consolidation as a deviating condition related to contemporary expectations about the more appropriate ways of experiencing maternity and adolescence. From the analysis of official documents about the theme, survey into the field of biomedical sciences and interviews with adolescents that got pregnant, we endeavored to characterize discourses on teen pregnancy and the relation that teenagers establish with recurrent enunciations that transform pregnancy during adolescence into a social problem. At the end of the analysis, grounded by Cultural Studies and Foucauldian conceptions, we observed that the contemporary interdiction of teen pregnancy is the result of its discursive construction as a social problem and that teenage girls establish a relationship of only partial subjection to the specialized discourses on teen pregnancy. They tend to reproduce the discourses related to the life trajectory considered ideal to each age group to a greater extent than the medical enunciations that postulate the obstetric risks of the so-called precocious pregnancy. Even so, variations in the discourses of the interviewed teenage girls were observed, which seem to be related to their different living conditions, such as social class, family relations and the relationship with their partner.

Syftet med studien är att kartlägga talbaserade och sifferbaserade räknemetoder i subtraktion genom en läromedelsanalys av läromedlet Koll på matematik för årskurs 1-3. Studien ämnar till att undersöka i vilken ordning räknemetoderna introduceras samt att urskilja hur undervisningen av dessa utformas utifrån läromedlet. Studiens teoretiska perspektiv, hypothetical learning trajectory, kopplas samman med Skotts analysmodell för att kartlägga räknemetoderna i läromedlet. Resultatet visar att undervisningen av skriftliga räknemetoder i subtraktion utifrån läromedlet Koll på matematik sker på olika sätt beroende på årskurs, men liknande mönster går att urskilja. Inledande gemensamma samtal, stöttning, illustrationer, samt konkret material förekommer i alla årskurser men en övergripande regression av kvantitet sker i stigande årskurser. Det framgår även att talbaserade metoder är de som introduceras först och sifferbaserade metoder introduceras tidigast i elevbok 2B. En diskussion förs innan slutsatsen utmynnar i att tidigare forskning påvisar att talbaserade metoder bör introduceras tidigare än sifferbaserade metoder, vilket också är den ordning läromedlet introducerar räknemetoderna.

Contrairement aux autres sports collectifs introduits en France dans la seconde moitié du XIXème siècle, le handball prend son essor en France durant l’entre-deux-guerres. Passant d’une pratique d’entraînement hivernal des athlètes, à une pratique professionnelle au début du XXIe siècle, notre objet de recherche cherche à expliquer les processus d’intégration et de diffusion de cette pratique en France, tant sur le plan géopolitique que technico-tactique. À partir d’une diversité de sources, (archives institutionnelles, témoignages de 25 acteurs, coupures de presse et périodiques handballistiques), trois perspectives sont envisagées (institutionnelle, sociale et culturelle), identifiant quatre étapes dans la construction du handball français. Après une première phase d’importation, grâce à deux vecteurs de diffusion principaux, le sport ouvrier et le sport scolaire, se situant à des échelles et des vitesses différentes, la FFHB est créée par le régime de Vichy, associé à quelques professeurs d’EP conquis par cette nouvelle activité de football à la main qui se pratique alors à 7 ou 11 joueurs. Puis, lorsque le handball à 7 devient majoritaire, sa représentation culturelle se transforme, passant d’une somme de techniques individuelles à maîtriser à la nécessité de prendre en considération les adversaires et les partenaires. Cette révolution est largement soutenue par la DTN dans les années 1960 et 1970, en lien avec les considérations scientifiques présentes en France et à l’étranger, pendant que Nelson Paillou conçoit la massification des licenciés et la structuration du système fédéral selon une logique amateur. La chute du bloc de l’Est et le choix des dirigeants et entraîneurs fédéraux, de privilégier le haut niveau contribuent aux premiers succès français tout en ouvrant l’ère de la marchandisation et de la spectacularisation à partir des années 1990. Néanmoins, à l’aube du XXIe siècle, le handball finit par s’abstraire des modèles étrangers et rejoint le développement des autres sports collectifs en professionnalisant ses structures et ses acteurs. / Unlike the other team sports brought to France in the second half of the 19th century, handball thrived in France between the First and the Second World Wars. It has moved since then from a winter training practice to become a professional activity at the beginning of the 21st century. The objective of our research is to explain the integration and propagation processes of this sport, with geopolitical as well as technical and tactical considerations. A variety of sources have been investigated – institutional archives, testimonies of 25 stakeholders, press articles, periodicals about handball – with regards to three axis – institutional, social and cultural – ; four stages have been identified in the development of handball in France. The first phase is the importation of handball through two dissemination vectors that have different scales and paces: the sport of the working class and school sport. The Vichy government creates the FFHB, which is associated to a few Physical Education teachers that are captivated by this new activity – football played with hands in teams of 7 or 11 players. Then, when the handball is mainly played in teams of 7, its cultural representation changes: it goes from a superposition of individual technics to the need of taking into consideration teammates and opponents. This revolution is supported by the national technical direction in the 1960’s and 1970’s and is linked to the scientific thoughts in France and abroad ; meanwhile, Nelson Paillou makes handball available to the masses and structures the federal system with the objective to promote non professional handball. With the collapse of the communist bloc, federal managers and trainers choose to favour high-level sport and contribute to the first French successes. From the 1990’s, they also start developing the commercial aspect and the spectacle aspect of the sport. However, at the dawn of the 21st century, handball finally moves away from international models and follows the development of the other team sports with a more professional structure and stakeholders.

The inspection of power lines and associated hardware is vital to ensuring the reliability of the transmission and distribution network. The repetitive nature of the inspection tasks present a unique opportunity for the introduction of robotic platforms, which offer the ability to perform more systematic and detailed inspection than traditional methods. This lends itself to improved asset management automation, cost-effectiveness and safety for the operating crew. This dissertation presents the development of a prototype industrial brachiating robot. The robot is mechanically simple and capable of dynamically negotiating obstacles by brachiating. This is an improvement over current robotic platforms, which employ slow, high power static schemes for obstacle negotiation. Mathematical models of the robot were derived to understand the underlying dynamics of the system. These models were then used in the generation of optimal trajectories, using nonlinear optimisation techniques, for brachiating past line hardware. A physical robot was designed and manufactured to validate the brachiation manoeuvre. The robot was designed following classic mechanical design principles, with emphasis on functional design and robustness. System identification was used to capture the plant uncertainty and a feedback controller was designed to track the reference trajectory allowing for energy optimal brachiation swings. Finally, the robot was tested, starting with sub-system testing and ending with testing of a brachiation manoeuvre proving the prospective viability of the robot in an industrial environment.

Cette thèse s'intéresse à la réalisation autonome de plans de vol cinématographiques par un quadrotor équipé d'une caméra. Ces plans de vol consistent en une série de points de passage à rejoindre successivement, en adoptant diverses méthodes de prise de vue et en respectant des références de vitesses ainsi que des couloirs de vols. Une étude approfondie de la dynamique du quadrotor est tout d'abord proposée et utilisée pour construire un modèle linéarisé du drone autour de l'équilibre de vol stationnaire. L'analyse de ce modèle linéaire permet de mettre en évidence l'impact de l'inertie des rotors du drone dans sa dynamique, notamment l'apparition d'un comportement à non minimum de phase en roulis ou tangage, lorsque les moteurs sont inclinés. Dans un second temps, deux algorithmes de génération de trajectoires lisses, faisables et adaptées à la cinématographie sont proposés. La faisabilité de la trajectoire est garantie par le respect de contraintes sur ses dérivées temporelle, adaptées pour la cinématographie et obtenue grâce à l'étude du modèle non linéaire du drone. Le premier repose sur une optimisation bi-niveaux d'une trajectoire polynomiale par morceaux, dans le but de trouver la plus rapide des trajectoires à minimum de jerk permettant d'accomplir la mission. Le second algorithme consiste en la génération de trajectoires B-spline non-uniformes à durée minimale. Pour les deux solutions, une étude de l’initialisation du problème d'optimisation est présentée, de même qu'une analyse de leurs avantages et limitations. Pour ce faire, elles sont notamment confrontées à des simulations et vols extérieurs. Enfin, une loi de commande prédictive est proposée pour asservir les mouvements de la caméra embarquée de manière douce et précise. / This thesis focuses on the autonomous performance of cinematographic flight plans by camera equipped quadrotors. These flight plans consist in a series of waypoints to join while adopting various camera behaviors, along with speed references and flight corridors. First, an in depth study of the nonlinear dynamics of the drone is proposed, which is then used to derive a linear model of the system around the hovering equilibrium. An analysis of this linear model allows us to emphasize the impact of the inertia of the propellers when the latter are tilted, such as the apparition of a nonminimum phase behavior of the pitch or roll dynamics. Then, two algorithms are proposed to generate smooth and feasible cinematographic trajectories. The feasibility of the trajectory is ensured by constraints on its time derivatives, suited for cinematography and obtained with the use of the nonlinear model of the drone. The first algorithm proposed in this work is based on a bi-level optimization of a piecewise polynomial trajectory, in order to find the fastest feasible minimum jerk trajectory to perform the flight plan. The second algorithm consists in the generation of feasible, minimum time, non-uniform B-spline trajectories. For both solutions, a study of the initilization of the optimization problem is proposed, as well as a discussion about their advantages and limitations. To this aim, they are notably confronted to simulations and outdoor flight experiments. Finally, a predictive control law is proposed to smoothly and accurately control the onboard camera.

Les patients hémiparétiques présentent des troubles de la marche couramment évalués, lors d’une marche stabilisée en ligne droite, par des tests cliniques chronométriques et parfois par une analyse quantifiée de la marche explorant les paramètres biomécaniques de celle-ci. L’analyse de tâches de navigation dans l’environnement, impliquant des contraintes rencontrées au quotidien, apparait pertinente parallèlement à l’analyse de la marche stabilisée en ligne droite. Le test du Timed Up and Go (TUG) comprend des tâches de marche orientée vers une cible et de demi-tour, ce qui correspond à un grand nombre de déplacements effectués dans la vie quotidienne. Cependant la performance chronométrique obtenue à l’issue de ce test ne permet pas la compréhension des mécanismes à l’origine de cette performance. L’objectif principal de cette thèse est de caractériser les déplacements locomoteurs des patients hémiparétiques au cours de tâches de navigation telles que celles impliquées dans le TUG. Pour cela nous proposons une analyse biomécanique de leurs déplacements au cours des 3 phases de navigation du TUG (marche orientée vers l’obstacle, demi-tour et marche orientée vers le siège). Cette analyse concerne l’étude de la cinématique, de la stabilité et des trajectoires locomotrices de ces patients et de sujets sains. L’originalité de ce travail repose sur la caractérisation biomécanique de l’organisation des patients hémiparétiques lors de tâches de navigation, au moyen de paramètres innovants. La diminution de la performance chronométrique observée chez les patients hémiparétiques,comparativement aux sujets sains, s’explique tout d’abord par une diminution de la majorité des paramètres spatio-temporels et de la cinématique articulaire lors des 3 phases de navigation des patients. De plus, les résultats montrent que les phases de marche orientée sont contrôlées par les mêmes paramètres pour les patients hémiparétiques et les sujets sains, mais avec une pondération différente et, que la phase du demi-tour est contrôlée par des paramètres spécifiques différents. Les résultats mettent également en évidence des différences organisationnelles entre les patients hémiparétiques et les sujets sains, à savoir un défaut de stabilité, un ralentissement lors du demitour et une déviation de la trajectoire locomotrice pour les patients. Ces résultats suggèrent que les patients hémiparétiques mettent en place une stratégie consistant en un compromis entre la stabilité, la trajectoire et la performance pour une réalisation optimale des tâches de navigation telles que celles réalisées lors du TUG. Des répercussions sur la prise en charge clinique des patients hémiparétiques peuvent être envisagées à l’issue de ce travail. / The gait characteristics of patients with hemiparesis are usually assessed during stable, straightline gait. Clinical tests are mostly based on timed performance, although biomechanical gait analysis may be carried out. The analysis of navigational tasks that involve constraints encountered in daily life is necessary to increase understanding of gait deficits. The Timed Up and Go test (TUG) includes oriented gait towards a target, and turning tasks, typical of real-life gait. However, the simple analysis of performance time does not provide sufficient information regarding actual performance of the tasks. The main aim of this thesis was to characterize the locomotor displacements of hemiparetic patients during navigational tasks, such as those involved in the TUG. To this end, we carried out a biomechanical analysis of gait during the three navigational tasks of the TUG (oriented gait to the target, turning and oriented gait to the seat). We analysed the kinematics, stability and locomotor trajectories of patients and healthy subjects. This work is original because it provides a biomechanical characterization of the organization of gait in patients with hemiparesis during navigational tasks, using innovative parameters. The longer performance time in hemiparetic patients, compared with healthy subjects, was related to a decrease in the majority of spatio-temporal and joint kinematic parameters. Moreover, the results showed that oriented gait tasks were controlled by the same parameters in hemiparetic patients and healthy subjects, but in different proportions. In contrast, the turning task was controlled by different, specific parameters. Organizational differences between hemiparetic patients and healthy subjects were also highlighted, namely a lack of stability, slowing during the turn and deviation from the trajectory by the patients. These results suggest that hemiparetic patients use a strategy which is a compromise between stability, trajectory and performance for the optimal achievement of navigational tasks, such as these involved in the TUG. The implications of this work for the clinical management of hemiparetic patients are explained.

Epidemiologists engage in the study of the distribution and determinants of health-related states or events in human populations. Eventually, they will apply that study to prevent and control problems and contingencies associated with the health of the population. Due to the spread of new pathogens and the emergence of new bio-terrorism threats, it has become imperative to develop new and expand existing techniques to equip public health providers with robust tools to predict and control health-related crises. In this dissertation, I explore the effects caused in the disease dynamics by the differences in individuals’ physiology and social/behavioral characteristics. Multiple computational and mathematical models were developed to quantify the effect of those factors on spatial and temporal variations of the disease epidemics. I developed statistical methods to measure the effects caused in the outbreak dynamics by the incorporation of heterogeneous demographics and social interactions to the individuals of the population. Specifically, I studied the relationship between demographics and the physiological characteristics of an individual when preparing for an infectious disease epidemic.

Cooperative control for miniature air vehicles (MAVs) is currently a highly researched topic. There are many application for which MAVs are well suited, including fire monitoring, surveillance and reconaissance, and search and rescue missions. All of these applications can be carried out more effictively by a team of MAVs than by a single vehicle. As technologies for microcontrollers and small sensors have improved so have the capabilities of MAVs. This improvement in MAV performance abilities increases the possibility for cooperative missions. The focus of this research was on cooperative timing missions. The issues faced when dealing with multi-MAV flight include information transfer, real time path planning, and maintenance of a fleet of flight-worthy MAVs. Additional challenges associated with timing missions include path following and velocity control. Two timing scenarios were studied and both of these scenarios were flight tested. The first scenario was a sequenced arrival of the MAVs over a target at a predetermined fly-through heading. The second scenario was a simultaneous arrival of the team ofMAVs over a known target location. The ideas of coordination functions and coordination variables have been employed to achieve coordination. Experimental results verify the feasibility of real time coperative control for a team of MAVs. Initial cooperative timing tests revealed the need for more accurate path following. Accordingly, a new method for path following using vector fields was developed. A vector field of desired ground track headings is calculated and commanded ground track headings are calculated such that ground track heading error and lateral following error decay asymptotically even in the presence of constant wind disturbances. The utilization of ground track heading and ground speed in the path following control, in combination with the vector field methods is what makes this zero-error following possible. Methods for following straight lines and orbits as well as combinations of the lines and circular arcs are presented. The assertions that minimal following errors result when using these methods have been verified experimentally.