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61	Řízení pohybu modelu průmyslového robota / Movement control of an industrial robot model Smrčka, Jiří January 2011 (has links) The thesis aims to put in practice control unit of industrial robot ROB 2-6. The control unit is put in practice with the use of processor from the ARM STM32F100 family. Altogether with the control module it is supposed to be also realized HMI which will enable program loading and servicing of the control unit. The visualization model and algorithm of track planning is also realized within this work.
62	Poética beat no cinema: “Howl” e On the road / Beat poetics in film: "Howl" and On the Road Brito, João Luiz Teixeira de January 2015 (has links) BRITO, João Luiz Teixeira de. Poética beat no cinema: “Howl” e On the road. 2015. 228f. – Dissertação (Mestrado) – Universidade Federal do Ceará, Programa de Pós-graduação em Letras, Fortaleza (CE), 2015. / Submitted by Márcia Araújo (marcia_m_bezerra@yahoo.com.br) on 2015-06-08T11:16:58Z No. of bitstreams: 1 2015_dis_jltbrito.pdf: 3466253 bytes, checksum: 20edd3103d946df889c4ffe55c09431e (MD5) / Approved for entry into archive by Márcia Araújo(marcia_m_bezerra@yahoo.com.br) on 2015-06-08T12:59:14Z (GMT) No. of bitstreams: 1 2015_dis_jltbrito.pdf: 3466253 bytes, checksum: 20edd3103d946df889c4ffe55c09431e (MD5) / Made available in DSpace on 2015-06-08T12:59:14Z (GMT). No. of bitstreams: 1 2015_dis_jltbrito.pdf: 3466253 bytes, checksum: 20edd3103d946df889c4ffe55c09431e (MD5) Previous issue date: 2015 / This paper constitutes a comparative study between the pinnacle works of the American beat generation of the twentieth century (“Howl”, by Allen Ginsberg, and On the road, by Jack Kerouac) e their filmic adaptations produced in the first decade of the twentieth first century. Our goal is to bring forth a dialogue established by these four objective elements, based on the analysis of the congress of their individual poetics, and, in light of this, to contribute to a process that appears to be contemporarily inescapable, the relations between cinema and literature. To this end, the following dissertation will consist of the study of regularities of behavior in the adaptation process presented in the corpus before us as a means of deducing and describing possible systemic norms that underlie and regulate the transpositions between the beat literary system and the contemporary cinematographic system. On the other hand, but not separately, as we understand adaptation as rounded semiotic systems, we must consider the contexts in which they are inserted and what relations they actualize within their arrival system, not only that but investigate possible analogies to the departure system, We hope to demonstrate that these different strands of the problem are intertwined and connected if we create a common filed of tension in which the art-works are able to sustain dialogue – this we endeavored to do with the stablishment of an organizing principle, the common theme of madness. Our goal is, ultimately, to try to equate the importance of the product of adaptation and its counterpart in our analysis, transforming the field of Translation Studies into something closer to Compared Studies – of Literature or Cinema, as if our objects of research were ontologically comparable entities. We base our endeavor to achieve this task in the works of Walter Benjamin (2012), Mikhail Bakhtin (2010), Itamar Even-Zohar (1990), Jacques Derrida (1995), Maurice Blanchot (1987), Michel Foucault (1989), Gideon Toury (1995), Patrick Catrysse (1992), amongst others. / Este trabalho constitui um estudo comparativo entre as produções literárias pinaculares da geração beat americana de meados do século XX (“Howl” de Allen Ginsberg e On the Road de Jack Kerouac) e as suas reescrituras fílmicas produzidas na primeira década do século XXI. Procuramos aqui trazer a diálogo as quatro obras e, fundamentando-nos em uma análise do congresso de suas poéticas, contribuir para o estudo de um processo que nos parece contemporaneamente inescapável, a relação entre cinema e literatura. Para tanto, a presente dissertação consistirá do estudo das regularidades de comportamento do processo tradutor apresentadas no corpus que nos é possível analisar de modo a deduzir e descrever as possíveis normas sistêmicas que subjazem e regulam as transposições entre o sistema literário beat e o sistema cinematográfico contemporâneo. Por outro lado, mas não separadamente, na medida em que enxergamos as adaptações como sistemas semióticos acabados, devemos considerar os contextos em que elas se inserem e que relações elas desenvolvem dentro do sistema de chegada, além de investigarmos possíveis analogias com os contextos e sistemas de partida. Esperamos demonstrar que estes lados do problema se interligam se criarmos um campo tenso comum em que as obras possam dialogar, o que buscamos fazer através do estabelecimento de um princípio organizador, o tema comum da loucura. Nossa proposta é, finalmente, tentar igualar a importância do produto da tradução e do elemento de partida em nossa análise, transformando o campo dos estudos da tradução em algo mais próximo dos Estudos Comparados – de Cinema ou Literatura, como se nossos objetos fossem seres ontologicamente equiparáveis. Pautamo-nos, para realizar esta tarefa, nos trabalhos de Walter Benjamin (2012), Mikhail Bakhtin (2010), Itamar Even-Zohar (1990), Jacques Derrida (1995), Maurice Blanchot (1987), Michel Foucault (1989), Gideon Toury (1995), Patrick Catrysse (1992), entre outros. Intersemiotic translation Beat generation
63	Mapeamento de ambientes estruturados com extra??o de informa??es geom?tricas atrav?s de dados sensoriais Pedrosa, Diogo Pinheiro Fernandes 19 May 2006 (has links) Made available in DSpace on 2014-12-17T14:54:48Z (GMT). No. of bitstreams: 1 DiogoPFP_Tese.pdf: 4402228 bytes, checksum: 17eacb6b5f1731f405518c976d32f701 (MD5) Previous issue date: 2006-05-19 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose / Esta tese tem o objetivo de propor uma metodologia para constru??o de um mapa h?brido de um ambiente interno. A parte topol?gica da representa??o trata das rela??es de conectividade existentes entre as salas e corredores, sendo assim um grafo que representa a topologia do ambiente global. A parte m?trica consiste em armazenar um conjunto de par?metros que descreve uma figura geom?trica plana que melhor se ajusta ao espa?o livre local. Esta figura ? calculada atrav?s do conhecimento de pontos, ou amostras, dos limites do espa?o livre. Estes pontos s?o obtidos com sensores de dist?ncia e a informa??o ? complementada com a estimativa da pose do rob?. Uma vez que estes pontos est?o determinados, o rob? ent?o aplica uma ferramenta baseada na transformada generalizada de Hough para obter a figura em quest?o. O processo de constru??o do mapa ? incremental e totalmente realizado enquanto o rob? explora o ambiente. Cada sala ? representada por este mapa local e cada n? do grafo que representa a topologia do ambiente est? associado a este mapa. Durante o mapeamento o rob? pode utilizar as informa??es rec?m-adquiridas do ambiente para obter uma melhor estimativa de sua pose global ou relativa a uma sala ou corredor &#65279 Mapas h?bridos grafo Transformada Generalizada de Hough Rob? m?vel SLAM &#65279 Hybrid maps Graphs Generalized Hough Transform Mobile robot S&#65279 imultaneous localization and mapping CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
64	Um sistema de vis?o para navega??o robusta de uma plataforma rob?tica semi-aut?noma Bezerra, Jo?o Paulo de Ara?jo 19 May 2006 (has links) Made available in DSpace on 2014-12-17T14:55:03Z (GMT). No. of bitstreams: 1 JoaoPAB.pdf: 1121359 bytes, checksum: 0140c2cdd16358b4d1f4ee69b79c5b3c (MD5) Previous issue date: 2006-05-19 / Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case) / Grandes esfor?os t?m sido despendidos pela comunidade cient?fica em tarefas de locomo??o de rob?s m?veis. Para a execu??o deste tipo de tarefa, devemos desenvolver no rob? a habilidade de navega??o no ambiente de forma segura, isto ?, sem que haja colis?es contra objetos. Para que isto seja realizado, faz-se necess?rio implementar estrat?gias que possibilitem a detec??o de obst?culos. Neste trabalho, abordamos este problema, propondo um sistema capaz de coletar informa??es sensoriais e estimar a possibilidade de ocorr?ncia de obst?culos no percurso de um rob? m?vel. C?meras est?reo, posicionadas paralelamente uma ? outra, numa estrutura acoplada ao rob?, s?o empregadas como o dispositivo sensorial principal, pos- sibilitando a gera??o de um mapa de disparidades. Otimiza??es de c?digo e uma estrat?gia de redu??o e abstra??o de dados s?o aplicadas ?s imagens, resultando num ganho substancial no tempo de execu??o. Isto torna poss?vel aos processos de decis?o de mais alto n?vel executar o desvio de obst?culos em tempo real. Este sistema pode ser empregado em situa??es onde o rob? seja tele-operado, bem como em situa??es onde ele dependa de si pr?prio para gerar trajet?rias (no caso aut?nomo) &#65279 Rob? m?vel Detec??o de obst?culos Vis?o computacional Vis?o est?reo &#65279 Mobile Robot Obstacle detection Computer vision Stereo vision CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
65	Navega??o cooperativa de um rob? human?ide e um rob? com rodas usando informa??o visual Santiago, Gutemberg Santos 30 May 2008 (has links) Made available in DSpace on 2014-12-17T14:55:06Z (GMT). No. of bitstreams: 1 GutembergSS.pdf: 569123 bytes, checksum: 6f85b5ee47010d2d331986f17689304b (MD5) Previous issue date: 2008-05-30 / This work presents a cooperative navigation systemof a humanoid robot and a wheeled robot using visual information, aiming to navigate the non-instrumented humanoid robot using information obtained from the instrumented wheeled robot. Despite the humanoid not having sensors to its navigation, it can be remotely controlled by infra-red signals. Thus, the wheeled robot can control the humanoid positioning itself behind him and, through visual information, find it and navigate it. The location of the wheeled robot is obtained merging information from odometers and from landmarks detection, using the Extended Kalman Filter. The marks are visually detected, and their features are extracted by image processing. Parameters obtained by image processing are directly used in the Extended Kalman Filter. Thus, while the wheeled robot locates and navigates the humanoid, it also simultaneously calculates its own location and maps the environment (SLAM). The navigation is done through heuristic algorithms based on errors between the actual and desired pose for each robot. The main contribution of this work was the implementation of a cooperative navigation system for two robots based on visual information, which can be extended to other robotic applications, as the ability to control robots without interfering on its hardware, or attaching communication devices / Este trabalho apresenta um sistema de navega??o cooperativa de um rob? human?ide e um rob? com rodas usando informa??o visual, com o objetivo de efetuar a navega??o do rob? human?ide n?o instrumentado utilizando-se das informa??es obtidas do rob? com rodas instrumentado. Apesar do human?ide n?o possuir sensores para sua navega??o, pode ser remotamente controlado por sinal infravermelho. Assim, o rob? com rodas pode controlar o human?ide posicionando-se atr?s dele e, atrav?s de informa??o visual, localiz?-lo e naveg?-lo. A localiza??o do rob? com rodas ? obtida fundindo-se informa??es de odometria e detec??o de marcos utilizando o filtro de Kalman estendido. Os marcos s?o detectados visualmente, e suas caracter?sticas s?o extra?das pelo o processamento da imagem. As informa??es das caracter?sticas da imagem s?o utilizadas diretamente no filtro de Kalman estendido. Assim, enquanto o rob? com rodas localiza e navega o human?ide, realiza tamb?m sua localiza??o e o mapeamento do ambiente simultaneamente (SLAM). A navega??o ? realizada atrav?s de algoritmos heur?sticos baseados nos erros de pose entre a pose dos rob?s e a pose desejada para cada rob?. A principal contribui??o desse trabalho foi a implementa??o de um sistema de navega??o cooperativa entre dois rob?s baseados em informa??o visual, que pode ser estendido para outras aplica??es rob?ticas, dado a possibilidade de se controlar rob?s sem interferir em seu hardware, ou acoplar dispositivos de comunica??o Coopera??o multi-rob?s SLAM visual Fus?o sensorial Filtro de Kalman Calibra??o de c?mera Transformada de Hough Cooperative robotics Visual SLAM Sensor fusion Kalman filter Camera calibration Hough transformation CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
66	Posicionamento e movimenta??o de um rob? human?ide utilizando imagens de uma c?mera m?vel externa Nogueira, Marcelo Borges 20 December 2005 (has links) Made available in DSpace on 2014-12-17T14:55:48Z (GMT). No. of bitstreams: 1 MarceloBN.pdf: 1368278 bytes, checksum: e9f6ea9d9353cb33144a3fc036bd57dc (MD5) Previous issue date: 2005-12-20 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots / Este trabalho prop?e um m?todo para localizar um rob? human?ide simples, sem sensores embarcados, utilizando imagens obtidas por uma c?mera externa e t?cnicas de processamento de imagens. Localizando o rob? em rela??o ? c?mera, e supondo conhecida a posi??o da c?mera em rela??o ao mundo, podemos determinar a posi??o do rob? human?ide em rela??o ao mundo. Para que a posi??o da c?mera n?o seja fixa, utilizamos um outro rob? m?vel com rodas, dotado de um sistema de localiza??o preciso, sobre o qual ser? colocada a c?mera. Uma vez que o human?ide seja localizado no ambiente de trabalho, podemos tomar as a??es necess?rias para realizar a sua movimenta??o. Simultaneamente, movimentamos o rob? que cont?m a c?mera, de forma que este tenha uma boa visada do human?ide. As principais contribui??es deste trabalho s?o: a id?ia de utilizar um segundo rob? m?vel para auxiliar a movimenta??o de um rob? human?ide sem eletr?nica embarcada avan?ada; a escolha de m?todos de calibra??o dos par?metros intr?nsecos e extr?nsecos da c?mera apropriados para a aplica??o em quest?o, especialmente na parte em tempo real; e o algoritmo colaborativo de movimenta??o simult?nea dos dois rob?s Rob? human?ide Calibra??o de cam?ra Determina??o de pose relativa Planejamento de trajat?ria Navega??o colaborativa Humanoid robot Camera calibration Relative pose determination Trajectory planning Collaborative navigation CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
67	Identifica??o em tempo real de modelo din?mico de rob? m?vel com acionamento diferencial e zona morta Mendes, Ellon Paiva 27 January 2012 (has links) Made available in DSpace on 2014-12-17T14:55:56Z (GMT). No. of bitstreams: 1 EllonPM_DISSERT.pdf: 1231242 bytes, checksum: 49456bef5c0d0bfdc5bf49d689568b60 (MD5) Previous issue date: 2012-01-27 / Conselho Nacional de Desenvolvimento Cient?fico e Tecnol?gico / Several mobile robots show non-linear behavior, mainly due friction phenomena between the mechanical parts of the robot or between the robot and the ground. Linear models are efficient in some cases, but it is necessary take the robot non-linearity in consideration when precise displacement and positioning are desired. In this work a parametric model identification procedure for a mobile robot with differential drive that considers the dead-zone in the robot actuators is proposed. The method consists in dividing the system into Hammerstein systems and then uses the key-term separation principle to present the input-output relations which shows the parameters from both linear and non-linear blocks. The parameters are then simultaneously estimated through a recursive least squares algorithm. The results shows that is possible to identify the dead-zone thresholds together with the linear parameters / V?rios rob?s m?veis apresentam comportamentos n?o-lineares, principalmente ocasionados por fen?menos de atrito entre as partes mec?nicas do rob? ou entre o rob? e o solo. Modelagens puramente lineares apresentam-se eficientes em alguns casos, mas ? preciso levar em considera??o as n?o-linearidades do rob? quando se deseja movimentos ou posicionamentos precisos. Este trabalho prop?e um procedimento de identifica??o param?trica do modelo de um rob? m?vel com acionamento diferencial, no qual s?o consideradas as n?o-linearidades do tipo zona-morta presentes nos atuadores do rob?. A proposta baseia-se no modelo de Hammerstein para dividir o sistema em blocos lineares e n?o-lineares. O princ?pio da separa??o do termo chave ? utilizado para demonstrar a rela??o entre as entradas e sa?das do sistema com os par?metros tanto da parcela linear quanto da n?o-linear. Os par?metros de ambas as parcelas s?o identificados simultaneamente, atrav?s de um algoritmo de m?nimos quadrados recursivo. Os resultados mostram que ? poss?vel identificar o valor os limites da zona-morta assim como os par?metros da parcela linear do modelo do sistema Rob?s m?veis Identifica??o de sistemas Sistemas de Hammerstein Separa??o do termo chave Zona morta M?nimos quadrados recursivo Mobile robots System identification Hammerstein systems Key-term separation principle Dead-zone Recursive least squares CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
68	Paper Tower: Aesthetics, Taste, and the Mind-Body Problem in American Independent Comics Jones, William Timothy 14 April 2014 (has links) No description available. Literature American Literature American Studies Gender Studies Comics Chris Ware Rob Schrab Building Stories Scud The Disposable Assassin Mind-body problem Aesthetics Taste Comics Studies Canonization Art Spectacle Body Mind American Comics Independent Comics Media Studies Technology Modernism
69	Aktuální stav rozvoje českého e-governmentu / Current state of development of Czech eGovernment Holeček, Vít January 2014 (has links) This thesis deals with the implementation of basic registers of public administration in the Czech environment. The aim of the work is to analyze the current development project of the government and the causes of its origin within the overall context of the development of eGovernment in the Czech Republic. The thesis also includes a historical excursus into the issue of data records that are currently part of the system of basic registers. The last chapters of this work contain a brief analysis of local eGovernment concepts and basic public records data (inhabitans, businesses and local data) in the Slovak Republic and the United Kingdom of Great Britain and Northern Ireland.
70	Samband mellan geologiska och bergmekaniska egenskaper i bergmaterial som bärlager till riksväg 51 : Riksväg 51 sträckan Svennevad - Kvarntorpskorset Landeman, Philip January 2018 (has links) This thesis was created to ensure the quality of the rock which would be crushed to base layer construction material, in a road cut at Swedish highway 51, and to find a possible link between the rock's abrasion resistance and its mineralogy. Rock samples were collected, and among other things, several ball mill tests were carried out. The design of the road project was carried out by Loxia Group AB with NCC Group as contractor.A total of 18 rock samples and 2 base layer samples were taken in the area and they were all tested in a ball mill. The results showed that of the 18 rock samples, 2 samples had a ball mill value of less than 16 on the scale, 10 samples had values from 16 to 20, in addition to this, 3 samples had values from 20 to 21 and 3 samples had values in excess of 21 on the Swedish ball mill scale.Of the 3 samples with a ball mill value higher than 21, all contained a larger amount of biotite. Biotite did not appear to the same extent among the samples that ended up further down the ball mill scale. This link was so clear that a conclusion was subsequently drawn from this. The samples taken on the prefabricated base layer both had a ball mill value between 16 and 20. Overall, both the base layer and the rock material passed the Swedish Government’s Transport Administration’s requirements according to "TRVKB 10, Obundna lager". The rock type that was on the south part of the rock cut, adjacent to a deformation zone, had way too poor quality to undergo a ball mill test and therefore there are no values taken from that area.The conclusion of the work is that the rock material overall meets the Swedish Government’s Transport Administration’s requirements for base layer construction materials according to "TRVKB 10 Obundna lager", that a clear link between the proportion of biotite in a rock material and its abrasion resistance exists, and that the broken rock in the south should not be used as construction materials since the rock has insufficient mechanic capacity. geology baselayer layer minerals sweden örebro filipstad daglösen micro-deval Rob Hellingwerf Philip Landeman metamorfos facies roadcut baselayer Berg bergsskolan ltu svennevad kvarntorp kvarntorpskorset geologi mineralogi bärlager lager örebro pålsboda sverige rikväg 51 väg 51 51 sprickzon deformationszon kvalitet trafikverket bergskärning vägskärning kulkvarn kulkvarnsvärde värde microdeval micro-deval mikro-deval kulkvarnstest kulkvarnstester lager obundna lager obundna obundet lager obundet lösa lager nötningsmotstånd petrografi petrografisk analys mineral berggrund bergart bergartstyp bergsmassiv bergskärning vägskärning bergartsprover bergprover borrkärnor mineralogisk sammansättning gnejs granit kvarts kalifältspat plagioklas biotit glimmer muskotvit granat epidot kvartsgång kvartsgångar metamorf metamorfos breccia amfibolit facies trafikverkets föreskrifter svensk standard 3dpdf 3d-pdf drönare undersökningar provtagning 2017 2018 2019 2020 jan jansson philip landeman bergsskolans laboratorium rob hellingwerf loxia group ncc group loxia bergsskolan bergsskolan i filipstad filipstad daglösen Other Engineering and Technologies Annan teknik

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