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Submitted by Cássia Santos (cassia.bcufg@gmail.com) on 2015-01-30T10:53:19Z No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Abrahão de Almeida Silva - 2014.pdf: 13756762 bytes, checksum: 60e63593d4b888e47c9c7c9e93230449 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2015-01-30T13:16:10Z (GMT) No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Abrahão de Almeida Silva - 2014.pdf: 13756762 bytes, checksum: 60e63593d4b888e47c9c7c9e93230449 (MD5) / Made available in DSpace on 2015-01-30T13:16:10Z (GMT). No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Abrahão de Almeida Silva - 2014.pdf: 13756762 bytes, checksum: 60e63593d4b888e47c9c7c9e93230449 (MD5) Previous issue date: 2014-08-08 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This work aims to present a new approach to the concept of linear function using the LEGO ® NXT Mindstorms Kit or Kit NXT within the pedagogical concept of Constructivism / Constructionism and Educational Robotics. It talks about each theory with a view to a change in teacher practice, and a historical survey of educational robotics and robotics. Later mathematical topics that justify the approach to the theory of functions, monotonicity, proportionality, and related linear functions are presented. A proposed work is presented in the form of Teaching Sequence aiming to instigate the teacher changes in how regency, working with educational robotics, using the NXT kit and creativity. Furthermore, within this proposal, it explores the existing mathematics in working gears of an analog watch with the purpose of teaching linear function by means of its operation process. The main aim of the work is to present to the teacher a new methodology for teaching linear function that will be at least different, however it is expected that students and teachers can motivate. / Este trabalho tem como propósito apresentar uma nova abordagem ao conceito de função linear com a utilização do Kit Mindstorms NXT LEGO ® ou Kit NXT, dentro da concepção pedagógica do Construtivismo/Construcionismo e da Robótica Educacional. Discorre-se sobre cada teoria com vistas para a mudança na prática do professor, além de um levantamento histórico da robótica e da robótica educacional. Posteriormente são apresentados os tópicos matemáticos que justificam a abordagem como a teoria de funções, monotonicidade, proporcionalidade, função afim e lineares. Uma proposta de trabalho é apresentada sob a forma de sequência didática objetivando instigar no professor, mudanças no modo de regência, o trabalho com robótica educacional, a utilização do Kit NXT e a criatividade. Além disso, dentro dessa proposta, explora-se a matemática existente no processo de funcionamento das engrenagens de um relógio analógico, com a finalidade de ensinar função linear por meio do seu funcionamento. O principal intuito do trabalho é o de apresentar ao professor uma nova metodologia para o ensino de função linear que venha ser no mínimo diferente, porém esperase que possa motivar alunos e professores.

Submitted by Erika Demachki (erikademachki@gmail.com) on 2016-06-02T19:28:20Z No. of bitstreams: 3 Dissertação - Ana Paula Stoppa Rabelo - 2016.pdf: 1826407 bytes, checksum: bb7d6b9894ed370280e897ae707fbe28 (MD5) Produto educacional - AnaPaula Stoppa Rabelo.pdf: 4527839 bytes, checksum: 62039fe2879f864c4ea75391fee449a8 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Approved for entry into archive by Erika Demachki (erikademachki@gmail.com) on 2016-06-02T19:29:51Z (GMT) No. of bitstreams: 3 Dissertação - Ana Paula Stoppa Rabelo - 2016.pdf: 1826407 bytes, checksum: bb7d6b9894ed370280e897ae707fbe28 (MD5) Produto educacional - AnaPaula Stoppa Rabelo.pdf: 4527839 bytes, checksum: 62039fe2879f864c4ea75391fee449a8 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Made available in DSpace on 2016-06-02T19:29:51Z (GMT). No. of bitstreams: 3 Dissertação - Ana Paula Stoppa Rabelo - 2016.pdf: 1826407 bytes, checksum: bb7d6b9894ed370280e897ae707fbe28 (MD5) Produto educacional - AnaPaula Stoppa Rabelo.pdf: 4527839 bytes, checksum: 62039fe2879f864c4ea75391fee449a8 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2016-02-05 / Fundação de Amparo à Pesquisa do Estado de Goiás - FAPEG / Physics teaching process, as we know, faces several difficulties, including the lack of students’ motivation. The dynamic of Physics classes is restricted to presenting the subjects of the program content through problem solving and the use of mathematical language, without motivating/explaining why and/or how to use mathematics to solve the problem. Given these difficulties, the teacher should also look for ways to motivate students. That said, one of the alternatives is the employment by the teacher of diverse methods in the classes when feasible. With this in mind, this research’s main goal, a qualitative one, is implementing Educational Robotics in Physics Teaching, aiming at a meaningful learning for students of 1st stage of the Electrical, Mechanical and Chemical courses at SESI SENAI Unit in the city of Catalão. This research is based on the ideas of Ausubel (Meaningful Learning), Vergnaud (Field conceptual) and Vygotsky (social interaction). The analysis of a diagnostic exam applied to 98 students in these classes revealed that most part of them did not know about scientific knowledge of various Physics contents, such as average speed and Newton's Third Law. In this sense, it was developed and applied a didactic sequence of activities using Educational Robotics, which focus was mainly on those contents. It was noticed that during the performance of activities the use of Educational Robotics was well accepted by the students, since they participated actively and managed to understand the key physical concepts involved in the experiments. / O Ensino de Física, como se sabe, enfrenta diversas dificuldades, entre elas a falta de motivação dos alunos. A dinâmica das aulas de Física se restringe em apresentar os assuntos do conteúdo programático por meio de resoluções de problemas e do uso da linguagem matemática, sem motivar/explicar o porquê e/ou como utilizar a matemática para resolver o problema. Tendo em vista essas dificuldades, cabe também ao professor buscar meios de motivar os alunos. Sendo assim, uma das alternativas é o docente utilizar, sempre que possível, métodos diversificados em suas aulas. Pensando nisso, a presente pesquisa, do tipo qualitativa, tem como objetivo principal implementar a Robótica Educacional no Ensino de Física visando uma aprendizagem mais significativa dos alunos de 1ª etapa dos cursos de Eletrotécnica, Mecânica e Química da Unidade SESI SENAI de Catalão. Esta pesquisa fundamenta-se nas ideias de Ausubel (Aprendizagem Significativa), Vergnaud (Campo Conceitual) e Vygotsky (Interação Social). A partir da análise de uma avaliação diagnóstica aplicada aos 98 alunos, foi possível perceber que grande parte dos alunos não tinha a ideia do conhecimento científico de vários conteúdos da Física, como por exemplo, de velocidade média e da Terceira Lei de Newton. Nesse sentido, foi desenvolvida e aplicada uma sequência didática de atividades com a utilização da Robótica Educacional tendo como foco principal esses conteúdos. Percebeu-se que, durante a realização das atividades, o uso da Robótica Educacional teve uma boa aceitação pelos alunos, visto que participaram ativamente e conseguiram entender os principais conceitos físicos envolvidos nos experimentos.

SOFA-HI is an extension of the SOFA 2 component system,which is developed at Department of distributed and dependable systems. SOFA-HI focuses on support for development of real-time embedded applications using component-based approach. This thesis extends existing SOFA-HI implementation with support for development and deployment of SOFA-HI application to nxtOSEK platform which is a small-footprint real-time operating system and board support package for LEGO Mindstorms NXT. In particular, existing tools for application development and deployment are extended to support nxtOSEK platform. The thesis further provides pre-made components to allow communication with standard NXT sensors and actuators. Powered by TCPDF (www.tcpdf.org)

Στη διπλωματική αυτή, παρουσιάζεται μια ρομποτική κατασκευή για την επίδειξη αλγορίθμων ταξινόμησης, με χρήση του εκπαιδευτικού ρομπότ της Lego, το LEGO Mindstorm NXT. Σκοπός αυτής τη επίδειξης είναι να βοηθήσει τους φοιτητές που την παρακολουθούν να κατανοήσουν καλύτερα τους τρόπους εκτέλεσης των αλγορίθμων ταξινόμησης. Το εκπαιδευτικό ρομπότ αυτό αποτελεί εμπορικό προϊόν, μη έχοντας όμως συγκεκριμένη μορφή. Αποτελείται από πολλά πλαστικά μέρη, τα οποία θυμίζουν τα κλασικά τουβλάκια της LEGO αλλά και πολλά άλλα όπως αισθητήρες, κινητήρες, γρανάζια και ρόδες. Με τη χρήση αυτών, κατασκευάστηκε ένα όχημα, το οποίο μπορεί να κινείται μόνο αριστερά-δεξιά, στο οποίο και προσαρτάται ένας αισθητήρας φωτεινότητας. Διαθέτει ακόμη έναν βραχίονα που μπορεί να κινηθεί πάνω-κάτω και στον οποίο προσαρτάται ένας αισθητήρας χρώματος. Οι αριθμοί που καλείται το ρομπότ να ταξινομήσει είναι στην ουσία κύβοι. Οι κύβοι αυτοί, είναι χρωματισμένοι στο επάνω μέρος τους με κάποιο χρώμα ενώ στην πρόσοψή τους έχει εκτυπωθεί ένας αριθμός. Το ρομπότ αναλαμβάνει να αναγνωρίσει με τον αισθητήρα χρώματος το χρώμα του κάθε κύβου και να το ταυτοποιήσει με τον αριθμό στο οποίο αντιστοιχίζεται το χρώμα αυτό. Τον αριθμό δηλαδή που είναι εκτυπωμένος στη πρόσοψη. Για την πλοήγηση του οχήματος εφαρμόζεται μια παραλλαγή της τοπολογικής πλοήγησης. Για την αντιστοίχιση των χρωμάτων με τους αριθμούς χρησιμοποιείται δειγματοληψία χρώματος και στη συνέχεια χρησιμοποιείται 1-προς-1 αντιστοίχιση χρώματος και κατάλληλου αριθμού. Τέλος, οι αλγόριθμοι ταξινόμησης που υλοποιήθηκαν ήταν οι Bubble Sort, Insertion Sort, Heap Sort, Quick Sort. Η επίδειξη των αλγορίθμων γίνεται χρησιμοποιώντας φυσικά τον βραχίονα ο οποίος μετακινεί κατάλληλα τους κύβους. Όμως για την καλλίτερη κατανόηση και για να βοηθηθούν όσοι παρακολουθούν την επίδειξη, παράλληλα της ταξινόμησης με τον βραχίονα, γίνεται χρήση κατάλληλων ηχητικών αλλά και γραπτών μηνυμάτων τα οποία προβάλλονται στην οθόνη που διαθέτει το ΝΧΤ. Τα όσα προβάλλονται στην οθόνη, χρησιμοποιώντας το προγραμματιστικό περιβάλλον Bricx, είναι δυνατόν να προβληθούν σε οθόνη υπολογιστή ή ακόμα και μέσω προβολέα εφόσον ο τελευταίος συνδέεται με υπολογιστή. Τέλος, θεωρούμε ότι το σύστημα που αναπτύχθηκε αποτελεί ένα πολύ καλό εργαλείο που μπορεί να βοηθήσει τον διδάσκοντα στη διδασκαλία των αλγορίθμων ταξινόμησης. Οι φοιτητές μπορούν μέσω της οπτικοποίησης να κατανοήσουν ευκολότερα και γρηγορότερα τους αλγορίθμους. Μελλοντικά ίσως προστεθούν και άλλοι αλγόριθμοι ταξινόμησης, να αναπτυχθεί μια γραφική διεπαφή που θα είναι ανεξάρτητη του Bricx για να προβάλλονται σε κάποια οθόνη τα όσα προβάλλονται χρησιμοποιώντας το Bricx, να χρησιμοποιηθούν διαφορετικοί τρόποι αναγνώρισης αριθμών όπως χρήση αλγορίθμων μορφολογικής επεξεργασίας και τέλος η βηματική ταξινόμηση των αλγορίθμων από κάποιον χειριστή. / --

The essence of this master thesis is design and implementation of sensor system based on robotic framework which is called ROS (Robot Operating System). The main task is to perform detailed analysis and test of capabilities of the framework with final implementation on specific robot application (sensor system) with following evaluation of applicability of the system in mobile robotics. As parallel aim is to create detailed general and practical guide for beginners with ROS which they are also beginners in Linux based operating systems.

Denna uppsats har till syfte att utforska på vilket sätt användning av LEGO-teknik i teknikundervisning påverkar utvecklingen av ämnesspecifika förmågor samt samarbetsförmåga. Vidare undersöktes vilka uppfattningar lärare och elever har om användning av LEGO-teknik och NXT-programmering i teknikundervisning.Eleverna i årskurs nio på en grundskola i Småland, hade under några veckor undervisning i teknik, med fokus på ”Grundläggande elektronik och elektroniska komponenter” (som en del av det centrala innehållet för årkurs 7-9 inom området tekniska lösningar). Avslutningen på arbetsområdet har varit ett projektarbete som ska utföras med hjälp av LEGO-teknik och NXT-programmering. Undersökningen har utförts genom att observera 40 elever i deras arbete med LEGO-teknik. De observerade eleverna svarade efter avslutat projekt på en enkätundersökning och deras lärare intervjuades. Arbetets resultat visar på konkreta exempel hur användning av LEGO-teknik och NXT programmering kan påverka elevers utveckling av ämnesspecifika förmågor relaterade till den praktiska aktiviteten. Genom att aktivt skaffa sig kunskaper, utveckla en fysisk modell och ett program, lära sig i sammanhang, lära sig att lösa problem på olika sätt, utvärdera sin egen aktivitet, utvecklas elevernas förmåga att ta isär och sätta ihop konstruktionsdelar, hantera olika redskap och verktyg, identifiera och analysera sina tekniska lösningar för att klara en uppgift och dessutom utvecklas förmågan att angripa och lösa problem som uppstår under arbetes gång. Dock, vissa förmågor som till exempel begreppsförmåga och förmåga att identifiera problem och behov som tekniken kan lösa behövs tränas under längre tid för att utvecklas under förutsättning att eleverna är medvetna vad de behöver utveckla.

TITLE: LEGO Mindstorms: Didactic utilization in mathematics with a focus on fractals ABSTRACT: The objective of this thesis is to determine whether the teaching of fractal geometry supported by computer and robotic LEGO Mindstorms NXT has its place in the education of primary and secondary schools pupils in the Czech Republic. The theoretical part focuses on key topics and personalities closely connected to fractal geometry problematics. It provides a brief historical overview of the fractal geometry development, its potential use in teaching mathematics (with reference to Turkish curriculum documents), and a description of LEGO Mindstorms NXT which can well serve as a manual for teachers and pupils. The practical part contains instructions for building a robotic turtle as well as a proposal of teaching block aimed to support pupils' algorithmic and geometric thinking including key competencies. Quantitative comparison of the results taken from Turkish studies and evaluation of the project by the author and pupils are a part of the experiment as well. KEYWORDS: LEGO Mindstorms NXT, fractal, programming, Logo, learning by doing, turtle, Papert, L-system, microworlds

Submitted by Izabel Franco (izabel-franco@ufscar.br) on 2016-09-06T18:00:39Z No. of bitstreams: 1 DissMHP.pdf: 3604162 bytes, checksum: 5844b74d634a30ad629fc36c26706ee1 (MD5) / Approved for entry into archive by Marina Freitas (marinapf@ufscar.br) on 2016-09-12T13:56:27Z (GMT) No. of bitstreams: 1 DissMHP.pdf: 3604162 bytes, checksum: 5844b74d634a30ad629fc36c26706ee1 (MD5) / Approved for entry into archive by Marina Freitas (marinapf@ufscar.br) on 2016-09-12T13:56:40Z (GMT) No. of bitstreams: 1 DissMHP.pdf: 3604162 bytes, checksum: 5844b74d634a30ad629fc36c26706ee1 (MD5) / Made available in DSpace on 2016-09-12T13:57:22Z (GMT). No. of bitstreams: 1 DissMHP.pdf: 3604162 bytes, checksum: 5844b74d634a30ad629fc36c26706ee1 (MD5) Previous issue date: 2015-06-08 / Não recebi financiamento / Autonomous mobile robots are a special category of robots designed for performing tasks without the intervention of human beings. Some robots are designed to perform tasks in completely inhospitable environments such as the earth´s subsurface, the ocean depths or spatial exploration. In order to consider a robot as autonomous, a fundamental premise is to have self-adaptation capabilities. Over the last years, the advances in technology allow the development of self-adaptive systems, which are able to manage themselves to recuperate from faults or even change their behavior and structure in order to improve the quality of the delivered service. A critical point when building any software is its architecture, i.e., its structural organization in a set of interacting components. In this context, reference architecture is a technique that is well known for combining the best practices, patterns and strategies for building and standardizing domain specific software. Nowadays, there is a lack of studies presenting reference architectures for structuring self-adaptive software of mobile robots in order to decrease maintenance efforts. A number of studies claim that self-adaptive systems are based on the control theory and, more specifically, on the use of control loops in their architecture to perform adaptations. Therefore, this master thesis proposes SARAMR, a control loop-based reference architecture whose goal is to make maintenance activities a more productive task. The employment of the architecture divides the whole system in two modules; base application and adaptation module. The adaptation module encompasses the control loops and the base application is further divided into three other components: environment, behaviors and the electromechanical part. SARAMR was qualitatively evaluated by means of the development of two applications: a self-adaptive wall follower mobile robot and another conventional one to performing monitoring in in-door environments. Next, some maintenance activities were created to investigate the effort of applying them. We have observed that the separation of concerns of our architecture allows new components to be added causing less impacts than in systems developed in an adhoc way. / Robôs móveis autônomos fazem parte de uma categoria especial de robôs projetados para realizar tarefas sem a intervenção de seres humanos. Alguns robôs são projetados para realizar tarefas em ambientes completamente inóspitos à vida humana como no subsolo terrestre, nas profundezas de oceanos ou na exploração espacial. Para que um robô seja considerado autônomo, uma premissa fundamental é possuir capacidades de autoadaptação. Nos últimos anos, os avanços da tecnologia possibilitaram o desenvolvimento de sistemas robóticos autoadaptativos, que são capazes de gerenciarem a si próprios, se recuperarem de falhas e também de alterarem seu comportamento e estrutura com o objetivo de otimizar e/ou manter a qualidade do serviço (QoS) oferecido. Uma questão crítica para a concepção e construção de qualquer sistema de software é sua arquitetura, isto é, sua organização estrutural em um conjunto de componentes que interagem. Nesse contexto, a utilização de arquiteturas de referência é uma abordagem conhecida atualmente por combinar as melhores práticas, padrões e estratégias para a construção e padronização de sistemas de software para um determinado domínio. Atualmente, nota-se uma carência de estudos que apresentem arquiteturas de referência para estruturar o software de robôs móveis autoadaptativos de forma a facilitar atividades de manutenção nesses sistemas. Muitos estudos apontam que sistemas autoadaptativos são baseados na teoria do controle e mais especificamente na utilização de loops de controle em sua arquitetura para realizar as adaptações. Diante disso, este trabalho propõe a arquitetura de referência SARAMR, uma arquitetura de referência baseada em loops de controle cujo objetivo é facilitar atividades de manutenção no software desses sistemas. A utilização da arquitetura divide o sistema em dois módulos: aplicação base e módulo de adaptação. O módulo de adaptação envolve os loops de controle e a aplicação base ainda é subdividida em três componentes: ambiente, comportamentos e a parte eletromecânica. SARAMR foi avaliada de forma qualitativa mediante o desenvolvimento duas aplicações: um robô autoadaptativo seguidor de paredes e um outro convencional de patrulhamento. Depois disso, algumas manutenções evolutivas foram idealizadas no sentido de averiguar o esforço de aplicá-las. Constatou-se que a separação de interesses existente na arquitetura permite que novos componentes possam ser adicionados com impacto menor do que em sistemas que não usam essa arquitetura.

The aim of this master thesis is to make research of Open Source software, which are used for simulation autonomous robots. At the begining is performed research of selected robotic simulators. In the first part of this work is to get familiar with robotic simulator Gazebo and robotic framework ROS. The second part of this work deals with simulating and subsequent implementation of choosen robotic tasks through the simulator Gazebo and the ROS framework.