OBJETIVO:A avaliaÃÃo da qualidade ganha destaque na reorganizaÃÃo dos serviÃos prestados na EstratÃgia de SaÃde da FamÃlia. Em Sobral, Cearà , a inserÃÃo da fonoaudiologia neste cenÃrio à algo incipiente o que leva a uma falta de limitaÃÃo das concepÃÃes acerca de seu objeto de estudo e da amplitude de seu campo de atuaÃÃo na ESF , isto nos levou a questionar a qualidade da atenÃÃo fonoaudiolÃgica . MÃTODO: Nos propomos, neste estudo avaliar a qualidade da assistÃncia à saÃde oferecida pela Fonoaudiologia na ESF na zona urbana de Sobral-CE, a partir do referencial de Avedis Donabedian. Os atores sociais da pesquisa foram os 12 fonoaudiÃlogos que atuaram na EsttratÃgia de SaÃde da FamÃlia da cidade de Sobral, CearÃ, 5 equipes de saÃde das Unidades BÃsicas de saÃde que trabalharam com os fonoaudiÃlogos e 27 usuÃrios dos serviÃos de saÃde que foram atendidos pelos fonoaudiÃlogos, que aceitaram participar da pesquisa a partir da utilizaÃÃo do Termo de Consentimento Livre e Esclarecido. As informaÃÃes foram coletada durante o ano de 2013, a partir de entrevistas e grupo focal. Os dados foram analisados a pela Analise de Conteudo de Bardin. RESULTADOS: Nos resultados, a avaliaÃÃo da estrutura evidenciou como pontos negativos a falta de materiais, o numero restrito de fonoaudiÃlogos atuando junto Ãs comunidades e falta de profissionais capacitados para atuar neste nÃvel da atenÃÃo à saÃde, e como positivo a capacitaÃÃo dos profissionais atravÃs da ResidÃncia Multiprofissional em SaÃde da FamÃlia da Escola de FormaÃÃo em SaÃde da FamÃlia Visconde de SabÃia; A avaliaÃÃo do processo apresentou como fatores facilitadores da atuaÃÃo fonoaudiolÃgica na ESF o diÃlogo , o processo de territorializaÃÃo e os resultados positivos das suas aÃÃes. Jà o fator mais limitante foi a sua inserÃÃo neste palco de atuaÃÃo pois encontrou desafios quanto a adequaÃÃo dos fonoaudiÃlogos ao modelo estabelecido pelo SUS, quanto a falta de organizaÃÃo e de plano de aÃÃo da categoria. Durante a avaliaÃÃo do processo ficou evidente que fonoaudiÃlogo està desenvolvendo no territÃrio um papel somente na perspectiva do seu nÃcleo, com atividades clinicas voltadas para suas especialidades. Quanto a avaliaÃÃo do resultado, os usuÃrios apresentaram satisfaÃÃo em ralaÃÃo com o rÃpido acesso ao serviÃo fonoaudiolÃgico, com a construÃÃo de vÃnculos entre a comunidade e fonoaudiÃlogos, com o esclarecimento das sua duvidas pelo profissional e satisfaÃÃo quanto ao atendimento fonoaudiolÃgico. Entretanto, usuÃrios pontuaram o encaminhamento para atendimentos especializados como a principal aÃÃo desenvolvida pelo fonoaudiÃlogo na ESF. Essa situaÃÃo, sinalizou uma baixa resolubilidade da fonoaudiologia na assistÃncia prestada na EstratÃgia de SaÃde da FamÃlia. CONCLUSÃO: Por fim, apesar das limitaÃÃes inerentes a uma avaliaÃÃo da qualidade, os atores sociais da pesquisa reconheceram mais dificuldades do que potencialidades no trabalho do fonoaudiÃlogo indicando uma qualidade da assistÃncia à saÃde fonoaudiolÃgica deficiente. Este estudo contribuiu para anÃlise e reorganizaÃÃo das prÃticas fonoaudiolÃgicas utilizadas atualmente na ESF na prestaÃÃo de seus serviÃos, tendo os aspectos aqui identificados como norteadores de aÃÃes de melhoria. / OBJECTIVE:The quality assessment is emphasized in the reorganization of services in primary care. In Sobral, the insertion of Speech Therapy in this scenario is somewhat new which leads to a lack of limitation of conceptions of the object, of study and range of its field in the, this led us to question the quality of Speech Therapy care. METHODS: In this study, we propose to evaluate the quality of health care from the Avedis Donabedian benchmark. The social actors of the research were 12 speech therapist who worked in Sobral, 05 health teams from primary care who worked with speech therapist and 27 users of health services that were seen by speech therapist, who agreed to participate from the use of Statement of Informed Consent. During the year 2013, data were collected based on interviews and focus group. Data were analyzed by content analysis of Bardin. RESULTS: In the results, the evaluation of the structure reveals how negative the lack of material points, the restricted number of speech therapist working with communities and lack of trained to work at this level of health care professionals, and how positive the training of professionals through the Multidisciplinary Residency Program; Process evaluation presented as factors that facilitate speech therapy in primary care dialogue, the process of territorialization and the positive results of their actions. The most limiting factor was its inclusion as challenges encountered as the adequacy of the model established by speech therapist healthcare service and the lack of organization and action plan category. During the review process, it became evident that speech therapy is developing a role only in the territory in view of its nucleus, with clinical activities for their specialties. As a result of the evaluation, users were satisfied to in connection with rapid access to speech therapy services, as building links between the community and speech therapy, with clarifying their doubts by professional and satisfaction with the speech therapy. However, users scored referral to specialized care as the main action developed by speech therapy in primary care. CONCLUSION: This situation signaled a low solvability of speech therapist in assisting in primary care. Finally, despite the limitations inherent in a quality assessment, the social actors recognized research more difficult than the work of the potential speech pathologists indicating a quality health care speech impaired. This study contributed to analysis and reorganization of speech therapy

Submitted by Irene Nascimento (irene.kessia@ufpe.br) on 2016-10-17T18:07:42Z No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertação - Everaldo Costa Silva Neto (final).pdf: 1973752 bytes, checksum: 18ff29972829bab54f92cc990addf923 (MD5) / Made available in DSpace on 2016-10-17T18:07:42Z (GMT). No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertação - Everaldo Costa Silva Neto (final).pdf: 1973752 bytes, checksum: 18ff29972829bab54f92cc990addf923 (MD5) Previous issue date: 2016-08-24 / Atualmente, um massivo volume de dados tem sido produzido pelos mais variados tipos de fontes de dados. Apesar da crescente facilidade de acesso a esses dados, identificar quais fontes de dados são mais adequadas para um determinado uso é um grande desafio. Isso ocorre devido ao grande número de fontes de dados disponíveis e, principalmente, devido à ausência de informações sobre a qualidade dos dados. Nesse contexto, a literatura oferece diversos trabalhos que abordam o uso de critérios de Qualidade da Informação (QI) para avaliar fontes de dados e solucionar esse desafio. No entanto, poucos trabalhos consideram o aspecto dinâmico das fontes na etapa da avaliação da qualidade. Nesta dissertação, abordamos o problema de avaliação da qualidade em fontes de dados dinâmicas, ou seja, fontes de dados cujo conteúdo pode sofrer modificações com alta frequência. Como contribuição, propomos uma estratégia onde os critérios de QI são avaliados de forma contínua, com o objetivo de acompanhar a evolução das fontes de dados ao longo do tempo. Além disso, propomos a criação de um Perfil de Qualidade, que consiste de um conjunto de metadados sobre a qualidade de uma fonte, onde seu uso pode ser aplicado para diversos fins, inclusive no processo de seleção de fontes de dados. O Perfil de Qualidade proposto é atualizado periodicamente de acordo com os resultados obtidos pela avaliação contínua da qualidade. Dessa forma, é possível refletir o aspecto dinâmico das fontes. Para avaliar os resultados deste trabalho, mais especificamente a estratégia de avaliação contínua da qualidade, utilizamos fontes de dados do domínio Meteorológico. Os experimentos realizados demonstraram que a estratégia de avaliação proposta produz resultados satisfatórios. / Nowadays, a massive data volume has been produced by a variety of data sources. The easy access to these data presents new opportunities. In this sense, choosing the most suitable data sources for a specific use has become a challenge. Several works in the literature use Information Quality as a mean of solving this problem, however, only few works employ a continuous strategy. In this work, we address the problem of performing assessment continuously, looking to dynamic data sources. We also propose the creation of a data source Quality Profile, which consists of a set of metadata about the data source’s quality and may be used to help the selection of data sources. To reflect the real quality values of a data source, we propose a continuous updating of the Quality Profile, according to the data source’s refresh rate. In order to evaluate our proposal, we carried out some experiments with meteorological data provided by institutions that monitor weather conditions of Recife. The experimental results have demonstrated that our strategy produces more satisfactory results than others, regarding the trade off between performance and accuracy.

O objetivo desta pesquisa foi avaliar a qualidade dos serviços públicos eletrônicos sob a ótica dos gestores públicos e dos usuários. Para realizar tal pesquisa foram realizadas entrevistas em profundidade com os gestores públicos da cidade de Ribeirão Preto e da cidade de Vinhedo. E também, foram aplicados questionários em sua forma on line para avaliar a satisfação dos usuários em relação ao site municipal (cidade de Ribeirão Preto) e o site estadual (site do Programa Poupatempo). Os resultados obtidos na pesquisa foram que os itens relacionados à facilidade de uso do site, oferecimento do que era esperado, fornecimento das informações com qualidade e o estímulo do site ao uso repetido foram os fatores melhor avaliados pelos usuários na cidade de Ribeirão Preto. E na cidade de Vinhedo, os itens que foram melhores avaliados foram: o fornecimento das informações com qualidade, o estímulo do site ao uso repetido e o oferecimento do que era esperado. Tais resultados implicam que apesar das diferenças existentes entre as cidades, os itens relacionados à satisfação dos usuários foram praticamente os mesmos. Logo, esta pesquisa contribuiu para auxiliar os gestores públicos municipais a nortear as suas ações para melhoria da qualidade dos serviços públicos oferecidos. A pesquisa revelou a necessidade de uma efetiva coordenação por parte de órgãos federais no sentido de facilitar o desenvolvimento dos serviços de governo eletrônico. Pesquisas futuras nesta área poderiam replicar o questionário e as entrevistas aplicadas visando corroborar os elementos identificados em outras esferas governamentais. / The objective of this research was to evaluate the quality of the electronics from the perspective of public managers and users of public services. To conduct such research indepth interviews were conducted with public officials of the city of Ribeirão Preto and the town of Vinhedo. Also, questionnaires were administered in form online to evaluate user satisfaction in relation to the municipal website (Ribeirão Preto) and state site (the site Poupatempo Program). The results obtained in the study were that items related to ease of use of the site, offering what was expected, provision of quality information and encouragement to the repeated use of the site were the best factors evaluated by the users in the city of Ribeirão Preto. And in the town of Vinhedo, items that were best were: the provision of quality information, the stimulus site to repeated use and delivery than expected. These results imply that despite the differences between the cities, the items related to user satisfaction were almost the same. Therefore, this research has contributed to assist the municipal administrators to govern its actions to improve the quality of public services. The survey revealed the need for effective coordination by federal agencies to facilitate the development of electronic government services. Future research in this area could replicate the questionnaire and the interviews applied aiming to corroborate the elements identified in other spheres of government.

Os processos de gestão do Sistema Único de Saúde (SUS) são apoiados por um conjunto de sistemas de informação de abrangência nacional, com funcionalidades para as áreas epidemiológicas, ambulatoriais, hospitalares e administrativas. Trabalhos na literatura descrevem pontos fracos nessas aplicações, tais como a falta de integração entre sistemas e bases de dados, fragmentação de informações, baixa cobertura, incertezas quanto à confiabilidade dos dados mantidos e deficiências no apoio ao gestor para planejamento e tomada de decisões. Nesse contexto, foi identificada uma lacuna para pesquisar e discutir qualidade e avaliação dessas aplicações. Este trabalho propõe um modelo para avaliação de características de qualidade de sistemas de informação em saúde que possa ser aplicado aos sistemas do SUS. É descrito o processo de pesquisa, análise e classificação dos indicadores de avaliação para o modelo. Os indicadores foram obtidos por meio de pesquisa em bases bibliográficas e classificados segundo os atributos de qualidade da norma ISO/IEC 25010, adotada como modelo de qualidade no estudo. Como resultado, 57 indicadores foram identificados e mapeados, abrangendo todas as características de qualidade do modelo. A avaliação dos indicadores foi instrumentalizada por meio do desenvolvimento de questionários e procedimentos de inspeção de software, orientados aos diversos stakeholders envolvidos: profissionais de saúde, gestores de saúde, profissionais de tecnologia da informação e usuários do sistema de saúde. A aplicabilidade do modelo proposto foi avaliada para o Sistema de Informações sobre Mortalidade (SIM). A factibilidade dos procedimentos de inspeção foram analisados pelos mantenedores da aplicação e o SIM foi avaliado em um processo que envolveu profissionais de saúde de 18 municípios paulistas e 10 gestores de saúde que atuam nos níveis locais, regionais e estadual. Este trabalho poderá contribuir como mais uma referência para estudos que envolvam processos de avaliação da qualidade de softwares em saúde e auxiliar na normatização de planos de avaliação e monitoramento de qualidade de sistemas e dados em saúde pública no Brasil e em projetos de melhoria de software. / The management processes of the Unified Health System (SUS) are supported by a set of information systems with national scope, having features for the epidemiological, ambulatory, hospital, and administrative areas. Papers in the literature describe weaknesses in these applications, such as the lack of integration between systems and databases, fragmentation of information, low coverage, uncertainties regarding the reliability of data held and weaknesses in supporting managers in planning and decision making. In this context, we identified a gap for quality research and discuss and review these applications.This work proposes a model for evaluating health information systems that may be applied to the systems of SUS. It describes the research, analysis, and classification process of evaluation indicators for the model. The indicators were obtained by search in bibliographic databases and they were classified according to the quality attributes of the standard ISO/IEC 25010, adopted as quality model in the study. As a result, 57 indicators were identified and mapped, covering all quality features of the model. The evaluation of the indicators was instrumentalized by developing questionnaires and inspection procedures of software, oriented to the various stakeholders involved: health professionals, health managers, information technology professionals and users of the health system. The applicability of the proposed model was evaluated for the Information System on Mortality (SIM). The feasibility of the inspection procedures were analyzed by the maintainers of the application and the SIM has been reported in a case involving health professionals from 18 cities and 10 health managers working in local, regional and state levels. This work will be able to contribute as a further reference for studies involving quality assessment processes for softwares in health and to assist in the standardization of plans for assessing and monitoring the quality of systems and data on public health in Brazil and in projects for improving softwares

Les méthodes et les outils de génération automatique ou semi-automatique de modèles 3D urbains se développent rapidement, mais l’évaluation de la qualité de ces modèles et des données spatiales sur lesquelles ils s’appuient n’est que rarement abordée. Notre objectif est de proposer une approche multidimensionnelle standard pour évaluer la qualité des modèles 3D de bâtiments en 1D, 2D et 3D. Deux méthodes sont présentées pour l'évaluation 1D. La première se base sur l’analyse de l’erreur moyenne quadratique en X, Y et Z. La deuxième solution s’appuie sur les instructions parues au Journal Officiel du 30 octobre 2003 et exigeant le respect de classes de précisions. L'approche que nous proposons se penche sur le calcul d'indices de qualité fréquemment rencontrés dans la littérature. L'originalité de notre approche réside dans le fait que les modèles employés en entrée ne se limitent pas au mode raster, mais s'étendent au mode vecteur. Il semble évident que les modèles définis en mode vecteur s'avèrent plus fidèles à la réalité qu'en mode raster. Les indices de qualité 2D et 3D calculés montrent que les modèles 3D de bâtiments extraits à partir des couples d’images stéréoscopiques sont cohérents. Les modèles reconstruits à partir du LiDAR sont moins exacts. En conclusion, cette thèse a abouti à l’élaboration d’une approche d’évaluation multidimensionnelle de bâtiments en 3D. L’approche proposée dans cette thèse est adaptée et opérationnelle pour des modèles vectoriels et rasters de bâtiments 3D simplifiés. / Methods and tools for automatic or semi-automatic generation of 3D city models are developing rapidly, but the quality assessment of these models and spatial data are rarely addressed. A comprehensive evaluation in 3D is not trivial. Our goal is to provide a standard multidimensional approach for assessing the quality of 3D models of buildings in 1D, 2D and 3D. Two methods are applied. The first one is done by computing Root Mean Square Errors (RMSE) based on the deviations between both models (reference and test), in X, Y and Z directions. Second method is performed by applying the French legal text (arrêté sur les classes de précision) that is based on the instructions published in the Official Journal from October 30, 2003. These indices pass through the space discretization in pixels or voxels for measuring the degree of superposition of 2D or 3D objects. The originality of this approach is built on the fact that the models used as input are not only limited to raster format, but also extended to vector format. The results of statistics of the quality indices calculated for assessing the building models show that the 3D building models extracted from stereo-pairs are close from each other. Also, the models reconstructed from LiDAR are less accurate than the models reconstructed from aerial images alone. In conclusion, the quality evaluation of 3D building models has been achieved by applying the proposed multi-dimensional approach. This approach is suitable for simplified 3D building vector models created from aerial images and/or LiDAR datasets.

Abstract Point-of-care testing (POCT) is defined as laboratory tests performed outside the traditional clinical laboratory close to the patient at the time and place where care is received, such as hospitals and healthcare centers. The main reason for the use of POCT is that they provide rapid results and enable prompt interventions, with hopefully improved patient outcomes. All phases of laboratory procedure are included in POCT offering many opportunities for errors, which can influence on patients’ treatment. The measurements are more often performed by nurses than by laboratory professionals. These nurses have different kinds of professional backgrounds, e.g. public health nurses, registered and practical nurses, with minimal or no knowledge of laboratory procedures. The aim of the study was to develop a two-step training and management strategy for nurses to do POCT in hospital and primary healthcare center. In accordance with the strategy, with reasonable investment of laboratory resources, designated contact nurses were first trained in POCT by laboratory professionals, after which the contact nurses trained other nurses in POCT their respective units. Blood glucose, the most common point-of-care (POC) test, was chosen as an example to investigate the influence of training on the quality of the test performed by nurses. The quality of blood glucose measurements was studied by analyzing the control results obtained by nurses and biomedical laboratory scientists (BLSs). The study participants included nurses who were either untrained or trained to do POCT by using the developed interactive two-step training strategy. In conclusion, the nurses trained by using interactive two-step strategy achieved near-similar quality of blood glucose measurements as BLSs. The good quality of glucose measurements, once achieved by training, was also sustained in the long-term. / Tiivistelmä Määritelmän mukaan vieritutkimuksiksi kutsutaan laboratoriotutkimuksia, joita tehdään perinteisen laboratorion ulkopuolella, tarvittaessa lähellä potilasta sairaalassa ja perusterveydenhuollon alueella. Pääasiassa vieritutkimuksia tehdään silloin kun tulos halutaan saada nopeasti ennen hoitopäätöstä tai tulevaa toimenpidettä. Vieritutkimusten tekeminen sisältää kaikki laboratoriotyön vaiheet ja jokaisessa vaiheessa on mahdollisuus tehdä virheitä, jotka voivat vaikuttaa potilaiden hoitoon. Laboratorioammattilaisten sijaan määrityksiä tekevät yhä useammin hoitajat sairaalan eri yksiköissä ja perusterveydenhuollon alueella. Näillä hoitajilla on erilainen ammatillinen peruskoulutus, kuten perushoitajan tai sairaanhoitajan koulutus, ja heillä on vähän tai ei ollenkaan tietoa laboratoriomenetelmistä. Tämän tutkimuksen tarkoituksena oli kehittää hoitajien vieritutkimustoimintaan koulutus- ja hallintomalli, joka toimisi sekä sairaalassa että terveyskeskuksessa. Strategian perusteena oli käyttää suhteellisen vähän laboratorioresursseja ja päästä silti hyvään laadulliseen lopputulokseen. Strategiaksi valittiin kaksiportainen, vuorovaikutteinen koulutusmalli, jossa laboratorioammattilaiset kouluttivat sairaalan ja perusterveydenhuollon yksiköissä ns. yhdyshenkilöt, jotka puolestaan kouluttivat edelleen oman yksikkönsä muut hoitajat tekemään vieritutkimuksia. Veren glukoosimääritys, joka on yleisin vieritutkimus, valittiin esimerkkitutkimukseksi tutkittaessa koulutuksen vaikutusta hoitajien tekemien vieritutkimusten laatuun. Veren glukoosimääritysten laatutasoa tutkittiin analysoimalla hoitajien ja laboratoriohoitajien tekemien kontrollinäytteiden tuloksia. Tutkimukseen osallistui hoitajia, jotka oli koulutettu kehitetyllä vuorovaikutteisella kaksiportaisella koulutusstrategialla vieritutkimusten tekemiseen, sekä hoitajia, jotka eivät olleet saaneet vastaavaa koulutusta. Koulutusmallin avulla hoitajien suorittamien vieritutkimusten laatu parani ja he saavuttivat lähes saman laatutason kuin laboratoriohoitajat. Hyvä, kerran saavutettu glukoosimääritysten laatutaso säilyi myös pitkällä aikajaksolla.

Le traitement thermique est une méthode appropriée pour la valorisation d'essences européennes peu durables. Les modifications chimiques en résultant confèrent au bois une meilleure stabilité dimensionnelle et durabilité aux attaques fongiques, alors que les propriétés mécaniques diminuent plus ou moins. Le verrou actuel de ce procédé reste la grande difficulté à produire à l'échelle industrielle un produit de qualité constante (durabilité, stabilité dimensionnelle, couleur). Ces difficultés sont dues à l'hétérogénéité du matériau et des conditions de traitement réalisé généralement par convexion. La mise au point d'un pilote de traitement thermique par conduction permettant une mesure en dynamique de la perte de masse a été réalisée pour optimiser la conduite du traitement, mieux comprendre les réactions de thermodégradation et développer un outil de contrôle de la qualité du bois traité. Les résultats obtenus, réalisés dans des conditions de traitement proches des conditions industrielles, indiquent un effet important de l'essence de bois traitée sur les cinétiques de perte de masse observées, les feuillus étant généralement plus sensibles à la thermodégradation que les résineux. Il a ensuite été établi une forte corrélation entre le niveau de thermodégradation du bois estimé à partir de sa perte de masse et l'augmentation de sa durabilité aux champignons basidiomycètes. L'analyse fine et la compréhension des mécanismes réactionnels intervenant durant le traitement ont permis de mettre en évidence un lien direct entre la composition élémentaire du bois et la perte de masse due aux réactions de thermodégradation, permettant également de prédire la durabilité aux attaques fongiques. Le taux de carbone, d'oxygène ou encore le rapport O/C peuvent de ce fait être considérés comme des marqueurs pertinents permettant de contrôler la qualité du bois traité thermiquement. / Thermal treatment has been used to improve properties of non durable European species. Chemical modification of some of the wood components provides improved dimensional stability and biological performance against decay fungi while mechanical properties such as modulus of rupture are reduced. Quality control of commercially made thermally treated wood is one of the major road blocks of its industrial development. The variability inherent within a wood species and between wood species, density and chemical compositions variation combined with the heat treatment parameters such as temperature duration and levels contribute to the production of heterogeneous heat treated wood. The development of a heat treatment process by conduction which monitors the weight changes during the process will facilitate and help in controlling, in understanding and predicting the properties of heat treated wood. Data collected from a pilot study of heat treated wood using conditions similar to commercial process show that hardwood species were more susceptible to thermal degradation as compared to softwood. It was also established that wood chemical composition is directly connected to the percent of weight loss due to thermodegradation, allowing the use of chemical composition to predict fungi durability. Carbon and oxygen contents and/or oxygen to carbon ratio of heat treated wood can be therefore used as valuable markers to develop quality control assessment of heat treated wood.

This master thesis entitled "Opportunities and limits of evaluating the quality and efficiency in education " explores the possibilities of detecting and evaluating the quality, efficiency and impact of education. The thesis is composed of two parts . The theoretical part describes the basic terms and definitions of the education, presents analysis of approaches to evaluating the quality and effectiveness of further education, including explanations of specific models and evaluation methods which measure the impact of training on person or on the company in general. The empirical part deals with the analysis of the evaluation system of education in practice, particularly in two companies (Wrigley, Staropramen Brewery) and five secondary schools. At the end everything is summarized and some recommendations and suggestions are provided.

La numérisation 3D du patrimoine bâti est un procédé qui s’inscrit dans de multiples applications (documentation, visualisation, etc.), et peut tirer profit de la diversité des techniques de mesure disponibles. Afin d’améliorer la complétude et la qualité des livrables, de plus en plus de projets de numérisation s’appuient sur la combinaison de nuages de points provenant de différentes sources. La connaissance des performances propres aux différents capteurs, ainsi que de la qualité de leurs mesures, est alors souhaitable. Par la suite, plusieurs pistes peuvent être explorées en vue d’intégrer des nuages hétérogènes au sein d’un même projet, de leur recalage à la modélisation finale. Une approche pour le recalage simultané de plusieurs nuages de points est exposée dans ces travaux. La gestion de potentielles fautes parmi les observations, ou de bruit de mesure inhérent à certaines techniques de levé, est envisagée à travers l’ajout d’estimateurs robustes dans la méthodologie de recalage. / Three dimensional digitization of built heritage is involved in a wide range of applications (documentation, visualization, etc.), and may take advantage of the diversity of measurement techniques available. In order to improve the completeness as well as the quality of deliverables, more and more digitization projects rely on the combination of data coming from different sensors. To this end, the knowledge of sensor performances along with the quality of the measurements they produce is recommended. Then, different solutions can be investigated to integrate heterogeneous point clouds within a same project, from their registration to the modeling steps. A global approach for the simultaneous registration of multiple point clouds is proposed in this work, where the introduction of individual weights for each dataset is foreseen. Moreover, robust estimators are introduced in the registration framework, in order to deal with potential outliers or measurement noise among the data.

[EN] The primary handling of food with robots calls for the development of new manipulation devices, especially when products are easily damaged and have a wide range of shapes and textures. These difficulties are even greater in the agricultural industry because the quality of the products is also checked during the manual handling process. This PhD dissertation provides solutions to these issues and helps to further introduce robotics into the handling of food. Several methods for handling food are included and analyzed, and specific solutions are proposed and then validated with prototypes. The research focuses on devices capable of adapting themselves to the shapes of the products without increasing the complexity of the mechanism. After analyzing several different solutions, the method chosen involves the use of under-actuated mechanisms, compliant mechanisms and fingers with pads filled with granular fluids. These fluids can behave as quasi-liquids or quasi-solids due to the jamming transition, which provides a soft initial grasp and can support high stresses during fast movements performed by the robot. The additive manufacturing process provides an opportunity to develop robot grippers that are lighter, simpler, more flexible and cheaper. By using this process elastic mechanisms are manufactured in a single part, which are equivalent to mechanisms with several rigid parts connected by joints. Laser sintering is employed to produce pneumatic actuators, with different types of motions, based on the elastic properties of the materials used in this manufacturing process. As a result, the systems can be simplified to achieve grippers, with several fingers, that are produced as a single part. In order to estimate the freshness and quality of agricultural products while they are being grasped, accelerometers are added to the fingers of several grippers. Accelerometers are economical and act as intrinsic tactile sensors. They can be easily embedded, thereby reducing the risk of getting damaged due to contact with the product, and allow each of the grasping phases to be identified. To achieve good performance of the accelerometers, a specific process is defined for the robot gripper, which touches the products a few times. In addition, several gripper prototypes are manufactured with diverse under-actuated mechanisms, jamming systems, and a new program that processes the signals from the accelerometers using different procedures in order to obtain parameters that can be used to estimate the quality of products. These parameters are correlated with data from destructive tests that are commonly used as a reference. The best performance of the accelerometers is achieved when the finger employs a granular fluid, a correlation coefficient of 0.937 being accomplished for the ripeness of mangoes and 0.872 for the firmness of eggplants. / [ES] La manipulación primaria de alimentos con robots precisa del desarrollo de nuevos sistemas de manipulación especialmente cuando los productos son sensibles al daño y presentan una amplia variabilidad de formas y texturas. En el sector agroalimentario las dificultades son aún mayores ya que la manipulación manual sirve además para inspeccionar los productos durante el proceso. Está tesis aporta soluciones a estos problemas facilitando la incorporación de la robótica. En la tesis se recopilan y analizan diversas soluciones para poder manipular alimentos proponiendo soluciones concretas que luego son validadas con prototipos. La investigación se centra en aquellos sistemas que son capaces de auto adaptarse a las formas de los productos sin incrementar la complejidad del mecanismo. Tras analizar diversas técnicas se propone el uso de mecanismos infra-actuados, mecanismos flexibles y dedos con fluidos granulares que, al estar encerrados dentro de una membrana, se comportan como cuasi-líquidos o cuasi-sólidos gracias a la transición jamming, permitiendo un agarre inicial suave y la posibilidad de transmitir esfuerzos elevados durante los movimientos del robot. En la búsqueda de garras más ligeras, sencillas, flexibles y económicas se aprovecha la oportunidad que brinda la tecnología de fabricación aditiva de material. Gracias a este proceso se fabrican mecanismos flexibles realizados en una única pieza y que equivalen a mecanismos de garras realizados con varias piezas rígidas unidos por articulaciones. Mediante el sinterizado por láser, se fabrican actuadores neumáticos, con diversos tipos de movimiento, basados en la flexibilidad del material empleado en su fabricación. En conjunto se simplifican los sistemas llegando a realizar garras flexibles de varios dedos fabricadas en una única pieza. Para evaluar la calidad y frescura de los productos agroalimentarios durante el agarre se emplean acelerómetros localizados en los dedos de varias garras. Los acelerómetros son económicos y se comportan como sensores táctiles intrínsecos, están fuera del contacto directo con el producto evitando desgastes por contacto y permiten identificar las distintas fases de agarre. Para lograr esto se desarrolla un proceso específico del robot con la garra, que palpa varias veces el producto. Se fabrican diversos tipos de garra con distintas tecnologías de mecanismos infra-actuados y sistemas jamming y se programa un algoritmo original de procesado de señal que con diversas técnicas es capaz de extraer parámetros de los acelerómetros que sirven para evaluar la calidad de los productos. Estos parámetros son correlacionados con los datos de ensayos destructivos que son habitualmente empleados como referencia. Las mejores capacidades se consiguen empleando garras con jamming lográndose coeficientes de correlación de 0.937 en índices de madurez con mangos y 0.872 en firmeza de berenjenas. / [CAT] La manipulació primària d'aliments amb robots precisa del desenvolupament de nous sistemes de manipulació especialment quan els productes són sensibles al dany i presenten una àmplia variabilitat de formes i textures. En el sector agroalimentari les dificultats són encara més grans ja que la manipulació manual serveix a més per a inspeccionar els productes durant el procés. Aquesta tesi aporta solucions a aquests problemes facilitant la incorporació de la robòtica. En la tesi es recopilen i analitzen diverses solucions per a poder manipular aliments proposant solucions concretes que després són validades amb prototips. La investigació es centra en aquells sistemes que són capaços d'auto adaptar-se a la forma dels productes sense incrementar la complexitat del mecanisme. Després d'analitzar diverses tècniques es proposa l'ús de mecanismes infra-actuats, mecanismes flexibles i dits amb fluids granulars que, tancats dins d'una membrana, es comporten com quasi-líquids o quasi-sòlids gràcies a la transició jamming, permetent una prensió inicial suau i la possibilitat de transmetre esforços elevats durant els moviments del robot. En la recerca d'urpes més lleugeres, senzilles, flexibles i econòmiques s'aprofita l'oportunitat que brinda la tecnologia de fabricació additiva de material. Gràcies a aquest procés es fabriquen mecanismes flexibles realitzats en una única peça i que equivalen a mecanismes d'urpes realitzats amb diverses peces rígides unides per articulacions. Mitjançant el sinteritzat per làser, es fabriquen actuadors pneumàtics, amb diversos tipus de moviment, basats en la flexibilitat del material emprat en la seva fabricació. En conjunt es simplifiquen els sistemes arribant a realitzar urpes flexibles de diversos dits fabricades en una única peça. Per a avaluar la qualitat i frescor dels productes agroalimentaris durant la manipulació s'empren acceleròmetres localitzats en els dits de diverses urpes. Els acceleròmetres són econòmics i es comporten com a sensors tàctils intrínsecs, sense estar en contacte directe amb el producte evitant desgastos per aquest motiu, i permeten identificar les diferents fases d'prensió. Per aconseguir això es desenvolupa un procés específic del robot amb l'urpa, que palpa diverses vegades el producte. Es fabriquen diversos tipus d'urpa amb diferents tecnologies de mecanismes infra-actuats i sistemes jamming i es programa un algoritme original de processat de senyal que, amb diverses tècniques, és capaç d'extreure paràmetres dels acceleròmetres que serveixen per a avaluar la qualitat dels productes. Aquests paràmetres són correlacionats amb les dades d'assajos destructius que són habitualment emprats com a referència. Les millors capacitats s'aconsegueixen emprant urpes amb jamming assolint-se coeficients de correlació de 0,937 en índexs de maduresa amb mangos i 0,872 en fermesa d'albergínies. / Blanes Campos, C. (2016). Garras con sensores táctiles intrínsecos para manipular alimentos con robots [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/68481 / TESIS