Submitted by Geandra Rodrigues (geandrar@gmail.com) on 2018-04-10T14:32:43Z No. of bitstreams: 1 guilhermemarinsmaciel.pdf: 9983956 bytes, checksum: 320096faa3f7fde371bb72a6ab3faba1 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2018-04-10T14:56:25Z (GMT) No. of bitstreams: 1 guilhermemarinsmaciel.pdf: 9983956 bytes, checksum: 320096faa3f7fde371bb72a6ab3faba1 (MD5) / Made available in DSpace on 2018-04-10T14:56:25Z (GMT). No. of bitstreams: 1 guilhermemarinsmaciel.pdf: 9983956 bytes, checksum: 320096faa3f7fde371bb72a6ab3faba1 (MD5) Previous issue date: 2018-01-22 / O campo da robótica assistiva lida com as tecnologias voltadas para pessoas com imparidades físicas. Alguns deficientes possuem tetraplegia e não podem movimentar os membros inferiores e superiores mas, dependendo do grau da lesão, podem acionar as musculaturas do ombro e pescoço. Visando este grupo, o presente trabalho propõe uma arquitetura de sistema semiautônomo para cadeiras de rodas inteligentes (CRIs) baseada na plataforma Robotic Operating System (ROS), embarcado em uma Raspberry Pi 3, com ênfase em baixo custo e não necessidade de localização global. É apresentada uma proposta de interface homem-máquina baseada em comandos de voz, na qual uma central de controle utiliza uma Rede de Petri para configurar e administrar o sistema. As transições são disparadas por um conjunto de frases. Depois de cada evento, o usuário recebe uma frase de retorno através de alto-falantes. Para o sistema de navegação é utilizado um controle compartilhado de velocidade, em que, utiliza-se uma Unidade de Medição Inercial (IMU) para reconhecer o padrão de movimento desejado através de medições da inclinação da cabeça do usuário. Paralelamente, um algoritmo inteligente emprega uma câmera de profundidade para reconhecer os obstáculos nos arredores e atuar em conjunto no controle, de modo a aumentar a manobrabilidade e segurança. Uma metodologia de travessia de passagens estreitas de forma autônoma é uma outra técnica proposta. Nesta técnica duas extremidades de um acesso delgado são reconhecidas por meio da câmera de profundidade e um controlador não-linear realiza a tarefa. Nos resultados, as metodologias propostas foram analisadas através de modelos de CRIs em Matlab e na plataforma de simulação Gazebo. Para testes práticos, foi utilizado um robô diferencial Pionner-P3DX. Os resultados exibidos nesta dissertação se revelaram promissores, evidenciando a aplicabilidade do sistema. / The field of assistive robotics works with technologies aimed at people with phy-sical impairments, some handicapped have quadriplegia and cannot move the lower and upper limbs, but, depending on the degree of injury, the shoulder and neck musculature can be used. Aiming at this group, the present work proposes a semiautonomous sys-tem architecture for smart wheelchairs based on the Robotic Operating System (ROS) platform, embedded in a Raspberry Pi 3, with emphasis on low cost and no need for global localization. A proposal for a human-machine-interface based on voice commands is presented, where the control center uses a Petri Net to configure and administer the system. Transitions are triggered by a set of phrases and after each event, the user re-ceives a return phrase through speakers. For the navigation system, a shared control of velocity is used. An Inertial Measurement Unit (IMU) is applied to recognize the desired movement pattern through measurements of the user's head inclination. In parallel, an intelligent algorithm employs a depth camera to recognize obstacles around and work together in control, increasing maneuverability and safety. Another technique proposed is a methodology of autonomous narrow passages crossing, the depth camera recognizes the borders of thin access and a non-linear controller performs the task. In the results, the proposed methodologies were analyzed using simulated models in the Matlab and the Gazebo platform. For practical tests, a Pioneer-P3DX differential robot was used, the results presented in this dissertation were promising, evidencing the applicability of the system.

No Brasil existem milhões de brasileiros com algum tipo de dificuldade de locomoção, sendo que grande parte dessas pessoas com deficiência necessita de cadeira de rodas para se locomover. Com o fato de existirem inúmeros de brasileiros cadeirantes, o desenvolvimento de tecnologias ditas ¨assistivas¨, ou seja, tecnologias que visam assistir estas pessoas em suas atividades, tem recebido uma crescente atenção, tanto do ponto de vista de negócios (com o aumento de produtos), como de pesquisas acadêmicas. Dentre estas linhas de pesquisa, a integração entre cadeiras de rodas automatizadas com sistemas de automação predial e residencial está entre as linhas de pesquisa de maior destaque, pois tem como objetivo tornar a vida do usuário de cadeira de rodas mais produtiva e cômoda, contribuindo para sua independência. Os sistemas de automação predial e residencial mais complexos elevam o nível de um ambiente automatizado para um ambiente inteligente, pois tornam o nível de abstração maior, fornecendo serviços de forma pervasiva. O ambiente inteligente necessita de informações para que possa oferecer seus serviços ao cadeirante, e uma informação importante seria a localização da cadeira de rodas automatizada. Neste contexto, este trabalho propõe um sistema de localização em interiores para cadeiras de rodas automatizadas em ambientes inteligentes. A proposta combina Redes de Sensores Sem Fio (RSSF) e a tecnologia RFID, onde as etiquetas RFID são utilizadas como marcos de referências para a calibração automática dos parâmetros da RSSF, que convencionalmente são obtidos de forma experimental. O estudo de caso para validar o sistema de localização proposto foi realizado numa sala automatizada no prédio da Engenharia Elétrica da Universidade Federal do Rio Grande do Sul (UFRGS) como ambiente inteligente, e uma cadeira de rodas automatizada adaptada para se comunicar com a RSSF. Além deste estudo de caso, foram realizados outros experimentos com intuito de avaliar qual método geraria os melhores resultados para o sistema de localização baseado em RSSF e a tecnologia RFID, combinando diferentes modelos de propagação de sinal RF e diferentes formas de calibrar os parâmetros da rede. Além disso, outras questões sobre o sistema de localização proposto foram analisadas, como por exemplo, a influência do aumento da quantidade de nós da rede na exatidão do sistema, o comportamento do sistema quando, para um mesmo cenário, o sentido do percurso é invertido, e a influência do leiaute dos nós da rede no desempenho do sistema. / In Brazil there are millions of people with some kind of limited mobility, and that most of these disabled people need a wheelchair to get around. With the fact that there are millions of wheelchair users, the development of assistive technologies, i.e. technologies to assist these people in their activities, has received increasing attention both from the standpoint of business (with the increase of products), as academic research. Among these lines of research, the integration of automated wheelchairs with home automation systems are among the research areas of greatest importance because it aims to make the user's life more productive and comfortable, contributing to their independence. The home automation systems more complex increase the level of an automated environment for intelligent environment, as they make the higher level of abstraction, providing pervasive services. The intelligent environment needs information so it can offer your services to the wheelchair user, and important information would be the location of the automated wheelchair. Within this context, this paper proposes an indoor positioning system for wheelchairs in intelligent environments. The proposal combines Wireless Sensor Networks (WSN) and RFID technology, where RFID tags are used as landmark for automatic calibration of the parameters of WSN, which are conventionally obtained experimentally. The case study to validate the proposed indoor positioning system was performed at an automated room in the building of Electrical Engineering, Universidade Federal do Rio Grande do Sul (UFRGS) with the intelligent environment and automated wheelchair adapted to communicate with the WSN. In addition to the case study, other experiments in order to assess which method would produce the best results for the localization system based on RFID and WSN, combining different radio propagation model and different forms of calibrate the parameters of the WSN. In addition, other questions about the proposed indoor positioning system were analyzed, for example, the influence of increasing the amount of network nodes on the system accuracy, the behavior of the system for the same scenario when the direction of travel is reversed, and the influence of the layout of the network nodes on the system performance.

Ma thèse a pour objectifs d’étudier et d’améliorer le confort d’un coussin d’assise dans le cas d’un fauteuil roulant pour handicapé, afin de limiter au mieux, l’apparition des escarres.Mes travaux ont pour principal objectif de modéliser et de simuler numériquement un coussin de type nid d’abeille de marque ‘‘Stimulite® Honeycomb Cushion’’ en contact avec un fessier afin de pouvoir (i) modéliser le comportement mécanique de contact, (ii) d’évaluer la pression ainsi que la distribution des contraintes à l’interface coussin/fessier, et (iii) d’intégrer les échanges thermomécaniques.Par ailleurs, des essais expérimentaux ont été effectués pour quantifier les lois de comportement des matériaux constituants le coussin nid d’abeille. J’ai également utilisé une nappe permettant de mesurer la pression à l’interface coussin/fessier. Parallèlement, une caméra infrarouge a été utilisée pour mesurer la répartition de la température sur le coussin et le fessier pour une personne assise pendant une durée variable. / The aim of this thesis is to study and improve the comfort of a wheelchair cushion for handicapped, to reduce the appearance of pressure ulcers.In the study, the main objective is to model and simulate numerically a type of cushion, namely ‘‘Stimulite® Honeycomb Cushion Classis’’, in contact with a buttocks-tissue in order to (i) model the mechanical behavior of contact, (ii) evaluate the pressure and the stress distribution at the interface cushion/buttock-tissue, and (iii) integrate thermo-mechanical exchanges.Moreover, the experimental tests were carried out to quantify the law of behavior of material constituent of the honeycomb cushion. I also used a pressure-mapping sensor TexiMat® to measure the pressure at the interface cushion/buttocks-tissue.Meanwhile, an infrared camera was used to measure the temperature distribution on the cushion and buttocks-tissue of a person sitting during variable periods.

Text in Afrikaans / The importance of the emotional and social development of a human being is highlighted by this research study, while the ability of the human spirit to transcend the human body has inspired the researcher to investigate movement activities as a potential key to the emotional and social development of wheelchair-bound learners. The researcher has chosen participation in wheelchair dancing to determine whether wheelchair-bound learners show development on emotional and social levels by investigating their intra- and interpersonal abilities before and after participating in wheelchair dancing. Intra- and interpersonal abilities are interdependent abilities and are regarded important components of emotional intelligence. In the interest of validity and reliability, the researcher used purposeful sampling in the selection of her participants. The participants had to meet certain requirements. She undertook a constructivist investigation, from an interpretive perspective, as a (primarily) qualitative study, with an interactive case study design and multimethod strategies. The smaller, quantitative component of the research study is the Piers-Harris Children’s Self-Concept Scale, Second Edition (Piers-Harris 2), which offers as pre- and post-test a baseline assessment for the participants’ emotional and social development in respect of self-concept. The theoretical approach for this study is a combination of the medical deficit model and the social model, with stronger emphasis on the development and healing approach of the social model, than on the deficit-and-control approach of the medical deficit model. The focus of the study is not on the constraints suffered by the wheelchair-bound learners, but rather on the possible development that may take place in the learners through their participation in movement activities. The researcher strongly relies on the social model in an attempt to gain understanding of the problems that wheelchair-bound learners currently experience in the education system, so that schools can be developed that would meet learners’ needs. The research results offer answers to the primary and secondary research questions and the general objective of this research study has been achieved. The researcher has determined that wheelchair-bound learners show emotional and social development after participation in movement activities. The emotional intelligence of all the participants has increased and each experienced increased self-actualisation since having participated in wheelchair dancing. The research results reflect more growth in respect of the learners’ intrapersonal abilities than in their interpersonal abilities. The researcher’s specific objectives would be achieved, when she submits the research results of this study to policy makers in the Department of Education, thus expanding the boundaries of existing knowledge about the relationship between wheelchair-bound learners’ participation in movement activities and their emotional and social development. / Die belangrikheid van die emosionele en sosiale ontwikkelingsgang in die mens se ontwikkeling word deur die navorsingstudie uitgelig, terwyl die vermoë van die menslike gees tot transendensie van die menslike liggaam, die navorser inspireer het om bewegingsaktiwiteite te ondersoek as ’n moontlike sleutel tot rolstoelgebonde leerders se emosionele en sosiale ontwikkeling. Die navorser het deelname aan rolstoeldanse gekies om te bepaal of rolstoelgebonde leerders op ’n emosionele en sosiale vlak ontwikkeling toon deur hul intra- en interpersoonlike vermoëns voor en ná deelname aan rolstoeldanse te ondersoek. Intra- en interpersoonlike vermoëns is interafhanklike vermoëns en word as belangrike komponente van emosionele intelligensie beskou. Die navorser het ’n doelgerigte steekproefneming gebruik in die seleksie van haar deelnemers om geldigheid en betroubaarheid in die hand te werk. Die deelnemers moes aan sekere vereistes voldoen. Sy loods ’n konstruktivistiese ondersoek vanuit ’n interpretivistiese perspektief as ’n (hoofsaaklik) kwalitatiewe ondersoek, met ’n interaktiewe gevallestudie-ontwerp en veelmetodestrategie. Die kleiner, kwantitatiewe komponent van die navorsingstudie is die Piers-Harris Children’s Self-Concept Scale, Second Edition (Piers-Harris 2). Dit bied, as voor- en nátoets, ’n basislynassessering vir die deelnemers se emosionele en sosiale ontwikkeling ten opsigte van selfkonsep. Die teoretiese raamwerk waaruit die navorser hierdie navorsingsprobleem benader, is ’n vermenging van die mediesetekort- en die sosiale model, met sterker klem op die ontwikkelings- en helende benadering van die sosiale model, as die tekortkominge-en-beheer-benadering van die mediesetekort-model. Die fokus van die studie is nie op rolstoelgebonde leerders se inperkinge nie, maar juis op die moontlike ontwikkeling wat deur hul deelname aan bewegingsaktiwiteite in die leerders mag plaasvind. Die navorser steun sterk op die sosiale model in ’n poging om begrip vir die probleme wat rolstoelgebonde leerders tans in die onderwys ervaar, te verkry, sodat skole ontwikkel kan word wat in leerderbehoeftes voorsien. Die navorsingsresultate bied antwoorde op die primêre en sekondêre navorsingsvrae en die algemene doelstelling van hierdie navorsingstudie is bereik. Die navorser het vasgestel dat rolstoelgebonde leerders, deur hul deelname aan bewegingsaktiwiteite, emosionele en sosiale ontwikkeling toon. Al die deelnemers se emosionele intelligensie het verhoog en almal beleef groter selfverwesenliking sedert hul deelname aan rolstoeldanse. Die navorsingsresultate weerspieël groter groei ten opsigte van die deelnemers se intrapersoonlike as hulle interpersoonlike vermoëns. Die navorser se spesifieke doelstellings word bereik, wanneer die navorser die navorsingsresultate van hierdie studie aan beleidmakers in die Departement van Onderwys voorlê en daardeur die grense van bestaande kennis omtrent die verband tussen rolstoelgebonde leerders se deelname aan bewegingsaktiwiteite en hul emosionele en sosiale ontwikkeling kan uitbrei. / Inclusive Education / M. Ed. (Inklusiewe Onderwys)

The diploma thesis deals with the design and elaboration process of project documentation of newly-built multi-purpose building in Sturovo. The building is designed as a three-storey building with a partial fourth storey. A footprint of the building is created by the irregular shape of the letter „L“ with an angle of 110 °. The building is roofed with a warm flat roof. The roof above the third storey is designed as a walkable flat roof divided in a green roof part and part with concrete paving. Spatial zoning of the building consists of three main spaces. There is a bookstore zone and coffee shop situated on the ground floor. The second and third floor is designed for administrative spaces. Premises of the second floor are designed as an activity-based office with open spaces. Third floor focus on closed offices. The meeting rooms, chill-out zones, break rooms with kitchenettes are available in both of them. Technical facilities and utility rooms are situated also on the ground floor. There is a room with kitchenette, storage rooms and utility rooms in the fourth ground. Public zones of building and administrative zones are accessible. The structural system of a building is designed as a cast-in-place reinforced concrete frame in a combination with a shear core. Ceilings consist of cast-in-place beam-supported reinforced concrete one-way slab. The structure is based on foundation pads and strip foundations. infill wall is made of vertically perforated blocks. Exterior walls and insulated with ventilated facades system.

New building of hotel with restaurant, divided into two objects, single-storey administrative part with restaurant and hotel hinterland and three-storey accommodation tract. Building is without basement and foundations are on reinforced concrete foundation strips. Bearing walls are made of Porotherm brickwork, horizontal structures are also made of Porotherm brickwork. Both objects has flat roof.

Subject of my thesis is the design and preparation of project documentation for building permit municipal library land parcel. no. 885/1,. The building is designed in accordance with the master plan of the town dissertation received. It is situated so as not to disrupt local development. Its shape and because it is designed to fit into the local structure. Further emphasis on ensuring the structure after the static, architectural, energy saving and safety in use of the building. The building has four floors with a flat roof on three levels. It is a monolithic skeletal structure. Layout 1st floor is composed of hall with information, bookstore and multi-purpose hall. In the 2nd floor there is a borrowing of books for children and youth with stationery (copycentrum). In the 3rd floor is located also borrowing books, but this time for adults. 4th floor consists of the administration of the library. Each floor has restrooms for visitors and staff, storage and archives. The entire building is designed as a barrier.

L’étude de la biomécanique de la locomotion en fauteuil roulant manuel (FRM) a pour objectif de limiter le risque d’apparitions de blessures du membre supérieur, en optimisant la facilité à se déplacer. De nombreuses études ont montré qu’un ajustement des réglages du FRM avait un impact sur la mobilité. Néanmoins, les modèles utilisés dans la littérature pour représenter les interactions « sujet-FRM » et « FRM-environnement » possédaient plusieurs limitations. Ainsi, l’objectif premier de la thèse était la mise en place d’un modèle musculo-squelettique du membre supérieur permettant de modéliser l’interaction entre le sujet et le FRM, en utilisant des méthodes expérimentales adaptées pour appliquer ce modèle. Le second objectif était de construire un modèle mécanique du FRM en mouvement permettant de calculer les forces de réaction entre le sol et les roues du FRM. Le dernier objectif était d’appliquer une procédure d’optimisation numérique des réglages du FRM incluant les modèles développés durant la thèse. Le modèle musculo-squelettique développé a permis d’analyser la biomécanique du membre supérieur lors de la locomotion en FRM chez les sujets recrutés lors des campagnes de mesures. L’optimisation des réglages du FRM a été mise en place à partir du modèle mécanique du FRM, permettant de confirmer l’influence de plusieurs réglages sur la mobilité en FRM. Enfin, des perspectives d’amélioration de la procédure d’optimisation des réglages ont été explorées, à partir d’algorithmes de génération prédictive du mouvement. / The study of manual wheelchair (MWC) locomotion biomechanics aims at lowering the risk of upper limbs injuries, by optimizing mobility. Several studies have showed that adjusting MWC settings had an impact on MWC mobility. However, the models used in the literature to depict the « user-MWC » and « MWC-floor » interactions had several limitations. Thus, the first aim of this thesis was to develop a musculoskeletal model of the upper limbs allowing to describe the « user-MWC » interaction, by using adapted experimental methods to apply this model. The second aim of the thesis was to implement a mechanical model of the MWC allowing to compute ground reaction forces during locomotion. The final aim of the thesis was to apply a numerical optimisation procedure, including the models developed during the thesis, to optimize MWC settings. The musculoskeletal model developed during the thesis allowed to analyze biomechanics of the upper limbs during MWC locomotion among subjects recruited during experimental sessions. The MWC settings optimization was implemented with the mechanical model developed during the thesis and confirmed the influence of various MWC settings on mobility. Eventually, improvement perspectives for the numerical optimization procedure of MWC settings were explored, based on predictive movement generation with optimal control algorithms.

Title: Bodyweight training in individuals with spinal cord injuries and the possibilities in usage of outdoor gyms in Prague Objectives: The aim of this diploma thesis was to compile a methodical series of bodyweight exercises suitable for people after spinal cord injury. It was also found out which of the Prague outdoor gyms are suitable for performing exercises from this methodical series and thus also for people using a wheelchair. Methods: The method of theoretical-critical analysis was used to compile the methodical series. Theoretical knowledge was applied in the selection and description of exercises. The methodical series is divided into groups of pulling and pushing exercises. Each of them contains descriptions of exercises, their modifications and photographs. Outdoor gyms was deliberately selected for research and quantitatively evaluated in the table. Selected outdoor gyms evaluated as suitable were qualitatively commented and supplemented with photographs. Results: The methodical series contains 12 exercises and photographs. In the description of the exercises, attention is paid to the key points in the implementation, the possibility of regression and progression of the exercise and the goal of the exercise. After the analysis of 39 Prague outdoor gyms, 12 suitable outdoor gyms were...

Outdoor recreation or friluftsliv as called in Scandinavia has witnessed anincreased demand where more people venture outdoors to engage in activities innature. It is although not as easy for everyone to engage in these activities due toseveral limiting obstacles. People with disabilities that are confined to a manual orelectric wheelchair require adaptation of the areas to be able to participate. Thereare signs of development due to 10 goals set by the Swedish government for eachmunicipality to work towards. The findings of the study show that there are currentactions to improve accessibility; however; that it is slow process that in cases lackseveral vital considerations. There is an importance to involve people withdisabilities and relevant organizations to work with several important parts forspreading awareness.