O mecanismo Plataforma de Stewart é um manipulador do tipo paralelo, com seis graus de liberdade, boa relação peso/carga e alta rigidez. Tais características conferem a este tipo de manipulador propriedades superiores de precisão em relação aos manipuladores seriais. Neste trabalho, o controle de um Manipulador Plataforma de Stewart (MPS) acionado por atuadores hidráulicos é estudado com o objetivo de compensação de movimentos para viabilização de transferência de cargas e pessoas em ambiente naval.Visando ao desenvolvimento de um protótipo experimental, o manipulador é estudado considerando a situação em que se encontra sobreposto a um segundo MPS que tem por objetivo simular o movimento da maré, sendo ambos MPS considerados desacoplados dinamicamente. Neste contexto, o estudo envolve a análise cinemática e dinâmica do manipulador incluindo, também, a dinâmica dos cilindros hidráulicos. Além disso, são estudadas unidades de medição inercial (IMU) utilizando-as como instrumento para medição do movimento da base a ser compensado. O projeto do controlador do sistema de atenuação de movimento faz uso da técnica de Torque Computado (TC). A análise de estabilidade, feita separadamente para o sistema mecânico e hidráulico, baseou-se da teoria de Lyapunov. Simulações realizadas considerando trajetórias similares às do movimento de um navio são utilizadas. Para compensação do movimento são utilizados, também, sinais provenientes de uma IMU. Por meio de simulação, comprova-se que o sistema proposto é capaz de compensar adequadamente os movimentos da base estudados. / The Stewart platform mechanism is a parallel manipulator with six degrees of freedom, high load/weight ratio and high stifness. These properties give them a better accuracy when compared to serial manipulators. This work focuses on study of electrohydraucally Stewart Platform Manipulators (MPS) to enable compensation of vessels motions for load and personell transfer in sea. Aimed at developing an experimental prototype, a second MPS is placed underneath the rst MPS to simulate vessels motions and so both manipulators are considered dynamically decoupled. In this sense, the kinematics and dynamics of this manipulator are presented, as well as a mathematical model of the hydraulic actuator. Furthermore, special attention is given to the study of inertial measurement units (IMU) which is used as an instrument for measuring the motion to be compensated. Controller design for the compensation system is developed considering compute torque theory which consider the system separated in two: mechanical and hydraulic. The Lyapunov criteria is used to guarantee closed loop stability for each subsystem. Simulations are performed considering similar vessel motions. Signals provided from a comercial IMU are used for motion compensation. The control compensation performance is veri ed by means of computer simulations.

A interação entre humanos em movimento e estruturas, geralmente, ocorre em estruturas esbeltas, na qual o nível de vibração é potencialmente elevado. Além disso, há a adição de massa para o sistema estrutural, devido à presença de pessoas e um aumento de amortecimento devido à capacidade do corpo humano em absorver energia vibratória. Neste trabalho, uma campanha de testes foi realizada para obtenção de parâmetros de um modelo biodinâmico de um único grau de liberdade (SDOF) que representa a ação de um pedestre caminhando na direção vertical. Os parâmetros deste modelo são a massa modal (m), amortecimento (c) e rigidez (k). As medições experimentais são realizadas em uma plataforma de forças, os dados de entrada do modelo são as amplitudes de aceleração espectral dos três primeiros harmônicos ao nível da cintura dos indivíduos testados e as amplitudes correspondentes dos três primeiros harmônicos da força de reação do solo vertical. Isto conduz a um sistema de equações não lineares que são resolvidos usando um algoritmo de otimização baseado em gradientes. Vários indivíduos participaram dos testes para garantir variabilidade interindividual, e expressões de regressão e uma rede neural artificial (RNA) são utilizadas para relacionar os parâmetros biodinâmicos com a taxa de passos e a massa corporal dos pedestres. Os resultados mostram alguma dispersão no amortecimento e rigidez que não são precisamente correlacionadas com a massa e taxa de passo dos pedestres. O uso da RNA resulta em melhorias significativas nas expressões dos parâmetros com uma menor incerteza. Além disso, dois modelos são usados para representar a força dos pedestres: (a) modelo de força simples (MFS) onde a força de passos sucessivos é representada pela série de Fourier, com velocidade constante do pedestre, atuando em uma linha reta no sentido da caminhada; (b) modelo de força completamente sincronizado (MFCS) onde as componentes da força são representadas considerando parâmetros cinéticos e cinemáticos da marcha e são sincronizados no tempo e no espaço. Os resultados mostram que pode haver diferenças importantes no comportamento estrutural quando é usado um MFCS, especialmente em passarelas com elevada flexibilidade. Finalmente, as acelerações verticais medidas em uma passarela protótipo mostram a adequação do modelo numérico para a representação dos efeitos de pedestres caminhando em uma estrutura. Os resultados são consistentes para várias densidades de pedestres. / The interaction between moving humans and structures usually occurs in slender structures where the level of vibration is potentially high. Furthermore, there is the addition of mass to the structural system due to the presence of people and an increase in damping due to the human body´s ability to absorb vibrational energy. In this work, a test campaign is presented to obtain parameters for a single degree of freedom (SDOF) biodynamic model that represents the action of a walking pedestrian in the vertical direction. The parameters of this model are the modal mass (m), damping (c) and stiffness (k). The experimental measurements are performed on a force platform, and the inputs are the spectral acceleration amplitudes of the first three harmonics at the waist level of the tested subjects and the corresponding amplitudes of the first three harmonics of the vertical ground reaction force. This leads to a system of nonlinear equations that are solved using a gradient-based optimization algorithm. A set of individuals took part in the tests to ensure inter-subject variability, and, regression expressions and an artificial neural network (ANN) were used to relate the biodynamic parameters to the pacing rate and the body mass of the pedestrians. The results showed some scatter in damping and stiffness that could not be precisely correlated with the mass and pacing rates of the subjects. The use of the ANN resulted in significant improvements in the parameter expressions with a low uncertainty. Moreover, two models were used to represent the pedestrian loading: (a) simple force model (SFM) where the force from successive footfalls is represented by the Fourier series, with a constant pedestrian speed, acting on a straight line in the direction of walking; (b) fully synchronized force model (FSFM) where the load components are represented considering kinetic and kinematic parameters and are synchronized in time and space. The results show that there may be important differences in structural behavior when a FSFM is used, especially in footbridges with high flexibility. Finally, the measured vertical accelerations on a prototype footbridge show the adequacy of the numerical model for the representation of the effects of walking pedestrians on the structure. The results are consistent for several crowd densities.

O mapeamento da Plataforma Continental Interna visando localização, qualificação e quantificação das reservas de material litoclásticos marinho possui poucos trabalhos relacionados. O Estado de Pernambuco sofre com erosões ao longo de todo seu litoral, e principalmente junto às cidades de Recife e Olinda. Assim, este estudo contribui tanto para o conhecimento da sedimentologia da plataforma continental interna adjacente ao Porto do Recife e à Praia dos Milagres em Olinda, quanto para a execução de futuras intervenções na recuperação das praias da região. Portanto, com objetivo de identificar áreas com concentrações de granulados litoclásticos marinhos compatíveis com especificações necessárias à regeneração de praias, foram analisadas 36 amostras, que foram coletadas ao longo de seis perfis equidistantes em 1 km, perpendiculares à linha de costa na plataforma interna do Porto do Recife. Em laboratório foram realizadas análises granulométricas e o estudo composicional de todas as amostras. Os resultados granulométricos mostram a predominância de sedimentos mal selecionados, ocorrendo classes variadas de tamanho entre seixo pequeno (8 mm) e lama (< que 0,062 mm), com predominância da fração areia grossa. A análise composicional revelou uma hegemonia de carbonatos marinhos. Os dados obtidos apresentam uma redução do suprimento sedimentar terrígeno local. Também de acordo com os resultados obtidos no presente estudo, a plataforma continental interna adjacente ao Porto do Recife e à praia dos Milagres em Olinda-PE, é essencialmente recoberta por areias biogênicas mal selecionadas, oriundas da morte e fragmentação dos organismos componentes dos recifes coralíneos e algálicos que ocorrem na plataforma continental interna. Dessa forma, esta área não possui material siliciclástico suficiente para ser utilizado na exploração mineral para recuperação artificial de praias no Estado de Pernambuco. / There are few studies that map the Internal Continental Platform referring to localization, qualification and quantification of reserves of litoclastic marine material. The Brazilian state Pernambuco suffers from erosions along the whole coast and particularly in areas close to the cities of Recife and Olinda. This study offers new knowledge about the sedimentology of the internal continental platform adjacent to the harbor of Recife and the Beach Milagres in Olinda. Furthermore, it points out measures that can be used to recover regional beaches. Along 6 profiles with a distance of 1km and perpendicular to the coast line at the internal platform of the harbor of Recife, 36 samples were collected and analyzed. Thus, areas with concentrations of litoclastic marine aggregates with the necessary characteristics for the recovery of the beaches were identified. A laboratory was used for granulometry and a compositional study of all samples. The granulometric results show mainly badly selected sediments. There are different sizes from small pebbles (8 mm) to mud (< than 0,062 mm), predominantly coarse sand fraction. The compositional analysis reveals hegemony of marine carbonates. Thus the obtained data indicates a reduction of local terrigenous sedimentary supply. This is probably due to the fact that the selected area is undergoing an initial transgressive process. Also in accordance with the obtained results of this study, the internal continental platform adjacent to the harbor of Recife and the Beach Milagres in Olinda, Pernambuco, is mainly covered by badly selected biogenic sand which has its origin in the death and fragmentation of components of the coral reef of the internal continental platform. As a result the area is not indicated to mineral exploration for the artificial recovery of the beaches in the state of Pernambuco.

Conselho Nacional de Desenvolvimento Científico e Tecnológico / The hip joint is the more frequently joint injured in dogs for external traumatism or degenerative diseases. Many studies have been accomplished in the evaluation of new surgical techniques, however little has been describing about evaluations in long period Recent works have been using the force platform at gait as objective method in association to the other parameters consecrated in the evaluation of new orthopedics techniques. However, there are no studies using the platform in pattern ortostático as in the human medicine, for support evaluation and weight transfer. The propose of this work was to standardize the use of the force platform in ortostatic pattern in dogs, to test it at surgical orthopedics patients and to evaluate the patients' recovery with hip diseases of surgical resolution through the parameters clinic, and force platform for static collection. For this clinical evaluation (lameness degrees, thigh circumference, radiografic exam) was accomplished and biomechanical evaluation through of the force plate for static collection of 21 operated dogs of the hip joint with diagnosis of traumatic hip luxation , fracture of head and femoral lap or aseptic necrosis of the femoral head and 6 healthy dogs without report of orthopedics problems. The platform in pattern ortostático an efficient and more sensitive objective parameter was shown than the others in some situations, being his/her appropriate use in the evaluation of orthopedic patient. This association to others parameters turned the evaluation of the appraised patients' recovery more completes and trustworthy. The recovery of the animals was very good, demonstrating that most is (approximately 70%) with function of the affected member practically reestablished, with some individual variations, been their recovery classified between excellent and very good. The animals that presented recovery classification of reasonable to bad, didn't possess enough time for recovery, they presented complications or they had the late recovery due to the obesity. This way, it is concluded to be very good the prognostic in long period of these affections with surgical treatment through transacetabular pinning insertion and arthroplasty excision of the femoral head; and that the evaluation of animals recovery for clinic and biomechanical (in study pattern ortostático) is practice and efficient. / A articulação coxo-femoral em cães é a articulação mais freqüentemente lesionada, seja por traumatismo externo ou doenças degenerativas. Muitos estudos têm sido realizados na avaliação de novas técnicas cirúrgicas, porém, pouco há descrito sobre avaliações em longo prazo. Trabalhos recentes têm utilizado a plataforma de força em marcha como método objetivo em associação aos demais parâmetros consagrados na avaliação de novas técnicas ortopédicas. Porém, não há estudos utilizando a plataforma em padrão ortostático, como na medicina humana, para avaliação de apoio e transferência de peso. O objetivo deste trabalho foi padronizar o uso da plataforma de força em padrão ortostático em cães, testá-la em pacientes cirúrgicos ortopédicos, e avaliar a recuperação dos pacientes com afecções coxofemorais de resolução cirúrgica, através dos parâmetros clínico e biomecânico por coleta estática. Para isto foi realizada avaliação clínica (graus de claudicação, perimetria da coxa, exame radiográfico) e biomecânica na plataforma de força por coleta estática de 21 cães operados da articulação coxo-femoral com diagnóstico de luxação coxo-femoral traumática, fratura de cabeça e colo femorais ou necrose asséptica da cabeça femoral e 6 cães saudáveis sem histórico de problemas ortopédicos. A plataforma em padrão ortostático mostrou-se um parâmetro objetivo eficiente e mais sensível que os demais em algumas situações, sendo seu uso adequado na avaliação de pacientes ortopédicos. Sua associação aos demais parâmetros tornou a avaliação da recuperação dos pacientes avaliados mais completa e fidedigna. A recuperação dos animais foi muito boa, visto que a maioria (aproximadamente 70%) demonstrou estar com a função do membro afetado praticamente restabelecida, com algumas variações individuais, sendo sua recuperação classificada entre excelente e muito boa. Os animais que apresentaram classificação de recuperação de razoável a ruim, não possuíam tempo suficiente para recuperação, apresentaram complicações ou tiveram sua recuperação atrasada devido à obesidade. Desta forma, conclui-se ser muito bom o prognóstico em longo prazo destas afecções tratadas cirurgicamente através da inserção de pino transacetabular e excisão artroplástica da cabeça do fêmur; e que a avaliação da recuperação dos animais por estudo clínico e biomecânico (em padrão ortostático) é prática e eficiente.

One of the most important tasks of the human postural control system is the balance of the body on a small base of support supplied by the feet. The assessment of postural control represents a challenge task, however presents implications of a big value to professionals from different areas like the Otoneurology, Phonoaudiology, Physiotherapy and others. However, its assessment can be carried out through various equipments, among them the Foam-laser Posturografy Dynamic (FLP), that is a method capable of measuring the body variations, in 6 conditions named Organization Sensorial Test (TOS) and still identifying the contribution of each one of the sensorial systems involved on the balance, it has been widely used. The present study has as objective to evaluate the correlation of the results of the postural control assessment in normal young adults, obtained by means of the FLP and the platform of power. For the accomplishment of the study 30 individuals young adults (21,17 ± 1,45 years old) 19 men and 11 women, academics of UFSM s physical education course were invited, which were submitted to the TOS evaluation by mean of the FLP and platform of power simultaneously. The results revealed that there was correlation rate statistically significant among the 6 conditions of the FLP, with area of displacement of the pressure center (CP) registered by the power platform. From of the analyses of the results it can be concludes that Foam-laser Posturografy Dynamic shows strong correlation with the power platform when evaluating postural control. / Uma das tarefas mais importantes do sistema do controle postural humano, é o equilíbrio do corpo sob a pequena base de apoio fornecida pelos pés. A avaliação do controle postural representa uma tarefa desafiadora, porém apresenta implicações de grande valia para profissionais de diversas áreas como a Otoneurologia, Fonoaudiologia, Fisioterapia e outros. No entanto, sua avaliação pode ser realizada através de diversos equipamentos, entre eles a Posturografia Dinâmica Foam-laser (FLP), que é um método de capaz de medir as oscilações corporais, em 6 condições denominadas Teste de Organização Sensorial (TOS) e ainda identificar a contribuição de cada um dos sistemas sensoriais envolvidos no equilíbrio, tem sido muito utilizada. O presente estudo teve como objetivo avaliar a correlação dos resultados, da avaliação do controle postural em adultos jovens normais, obtidos por meio da FLP e plataforma de força. Para a realização do estudo foram convidados 30 indivíduos adultos jovens (21,17 ± 1,45 anos) 19 homens e 11 mulheres, acadêmicos do Curso de Educação Física da Universidade Federal de Santa Maira/RS, que foram submetidos à avaliação do TOS por meio de FLP e plataforma de força simultaneamente. Os resultados revelaram que houve índice de correlação estatisticamente significante entre as 6 condições da FLP, com a área de deslocamento do centro de pressão (CP) registrada pela plataforma de força. A partir da análise dos resultados, pode-se concluir que a Posturografia Dinâmica Foamlaser apresenta forte correlação com a plataforma de força na avaliação do controle postural.

This thesis is a study with focus on real estate companies for one of several sub-projects under “Stadens kontrollrum” initiative in Västerås. “Stadens kontrollrum” is a concept that brought together expertise from various fields of industry, research and government to create a platform that will aggregate data from different stakeholders and proposed services to achieve the goal of making Västerås a smart and sustainable city. Our project aims to extend “Stadens kontrollrum” platform in order to make it beneficial for real estate companies. In this case study, we applied expert driven methodology, i.e. with domain experts. A detailed literature review has been performed. We identified user requirements based on the information gathered during workshops with nine participants from real estate and utility companies; interviews with three experts from Mälarenergi. During the study, we identified that data visualisation, predictive maintenance and big data analysis for decision making are the main tools, among others, that should be applied to facilitate user needs. Based on user requirements, we have suggested an architecture of a module for the “Stadens kontrollrum” platform that includes those features. To verify feasibility of the solution, a prototype was built and evaluated with a group of four experts from Mälarenergi. The prototype is going to serve as a live demo in workshops and further discussions with the potential users later in the project. A full prototype of the solution is planned to be implemented in the next stage of the project.

In today's society, smartphones are so widely established that corporations have even changed their cooperate culture when it comes to bringing your own personal device to work. Sales graphs prove that smartphones are more established today than ever before, which creates pressure for companies big, as small to extend and provide their services from the pocket of the user in the form of a smartphone mobile application. This paper focuses on the development of smartphone applications. Looking into the native development way for iOS and the code fragmentation that characterizes the long and costly development in order to provide the application on the big mobile operating systems by evaluating the cross-platform solution React Native that bypasses the fragmentation. 
 The experiment presents the collected data and its solutions, with an evaluation of the React Native framework. Finally, thoughts and future work to further extend the category is presented.

abstract: Biogenic silica nanostructures, derived from diatoms, possess highly ordered porous hierarchical nanostructures and afford flexibility in design in large part due to the availability of a great variety of shapes, sizes, and symmetries. These advantages have been exploited for study of transport phenomena of ions and molecules towards the goal of developing ultrasensitive and selective filters and biosensors. Diatom frustules give researchers many inspiration and ideas for the design and production of novel nanostructured materials. In this doctoral research will focus on the following three aspects of biogenic silica: 1) Using diatom frustule as protein sensor. 2) Using diatom nanostructures as template to fabricate nano metal materials. 3) Using diatom nanostructures to fabricate hybrid platform. Nanoscale confinement biogenetic silica template-based electrical biosensor assay offers the user the ability to detect and quantify the biomolecules. Diatoms have been demonstrated as part of a sensor. The sensor works on the principle of electrochemical impedance spectroscopy. When specific protein biomarkers from a test sample bind to corresponding antibodies conjugated to the surface of the gold surface at the base of each nanowell, a perturbation of electrical double layer occurs resulting in a change in the impedance. Diatoms are also a new source of inspiration for the design and fabrication of nanostructured materials. Template-directed deposition within cylindrical nanopores of a porous membrane represents an attractive and reproducible approach for preparing metal nanopatterns or nanorods of a variety of aspect ratios. The nanopatterns fabricated from diatom have the potential of the metal-enhanced fluorescence to detect dye-conjugated molecules. Another approach presents a platform integrating biogenic silica nanostructures with micromachined silicon substrates in a micro/nano hybrid device. In this study, one can take advantages of the unique properties of a marine diatom that exhibits nanopores on the order of 40 nm in diameter and a hierarchical structure. This device can be used to several applications, such as nano particles separation and detection. This platform is also a good substrate to study cell growth that one can observe the reaction of cell growing on the nanostructure of frustule. / Dissertation/Thesis / Doctoral Dissertation Materials Science and Engineering 2014

abstract: Heterogeneous multiprocessor systems-on-chip (MPSoCs) powering mobile platforms integrate multiple asymmetric CPU cores, a GPU, and many specialized processors. When the MPSoC operates close to its peak performance, power dissipation easily increases the temperature, hence adversely impacts reliability. Since using a fan is not a viable solution for hand-held devices, there is a strong need for dynamic thermal and power management (DTPM) algorithms that can regulate temperature with minimal performance impact. This abstract presents a DTPM algorithm based on a practical temperature prediction methodology using system identification. The DTPM algorithm dynamically computes a power budget using the predicted temperature, and controls the types and number of active processors as well as their frequencies. Experiments on an octa-core big.LITTLE processor and common Android apps demonstrate that the proposed technique predicts temperature within 3% accuracy, while the DTPM algorithm provides around 6x reduction in temperature variance, and as large as 16% reduction in total platform power compared to using a fan. / Dissertation/Thesis / Masters Thesis Electrical Engineering 2015

abstract: This dissertation focuses on risk prevention and regulatory issues of financial asset trading platforms, exploring the composition of a financial asset trading platform and its risks, formulating the general framework of platform risk prevention and regulation, and discussing the methodologies for monitoring and managing the risk of financial assets trading platform. The dissertation is divided into eight chapters. The first chapter is the introduction, which discusses the current status in this research field, the motivation and significance of the research topic. The second chapter discusses the transaction cost theory, information asymmetry theory, financial risk management theory, financial supervision theory and other related basic theories related to financial asset trading platform risk prevention and supervision. The third chapter presents the definition, the main types, the generating mechanism and the transmission mechanism of the financial asset trading platform. The fourth chapter elaborates theoretically on the general framework of financial asset trading platform risk prevention and supervision based on the aspects of basic principles, key tasks, applicable methods and constituent elements. The fifth chapter discusses the performance of financial asset trading business, asset return trading business, financing business and information coupling business on financial asset trading platforms, and analyzes the risk prevention of financial asset trading platforms from a business perspective. The sixth chapter discusses the development of financial asset trading platforms in developed countries, and summarizes the experience and practice of their risk prevention and supervision based on four categories of business lines. On this basis, the dissertation draws the inspiration and implications for the future development of the trading platforms in our country. The seventh chapter puts forward policy recommendations regarding risk prevention and supervision of financial asset trading platforms in five aspects: legal positioning, credit information system, protection of consumer rights, self-discipline management and business supervision. / Dissertation/Thesis / Doctoral Dissertation Business Administration 2017