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<p> Cooperative teleoperation combines two traditional areas of robotics, i.e. teleoperation and collaborative manipulation. Cooperative telerobotic systems consist of multiple pairs of master I slave robotic manipulators operating in a shared environment. Due to dynamic interaction among slave manipulators as well as communication latency, control of such systems is particularly challenging and the application of standard teleoperation controller may result in instability. </p> <p> In this thesis a multilateral control framework is proposed for cooperative teleoperation systems that allows for transmission of position and force information between all master and slave robots rather than merely between corresponding units. Two different control approaches are introduced that establish kinematic correspondence among masters and slaves. The operators are presented with a virtual intervening tool in order to collaboratively interact with the environment. Models of operators, master and slave robots, tool, and environment are incorporated in the design. </p> <p> A multilateral adaptive nonlinear control architecture is proposed. Performance and stability of cooperative teleoperation systems are addressed under dynamic interactions between slave robots in the presence of model uncertainty. The robustness of the controller with respect to communication latency is also analyzed. Simulation and experimental studies demonstrate that the proposed approach is highly effective in all phases of a teleoperation task, i.e. in free motion and in contact with both flexible and rigid environments. </p> <p> The second approach involves finite-dimensional state-space models that incorporate the delay for free motion/ soft contact as well as rigid contact modes of operation. Local dynamic linearization control laws are employed to linearize robotic manipulators' dynamics. Model-based discrete-time Linear Quadratic Gaussian (LQG) controllers are proposed that can deliver a stable transparent response for each phase of operation. The robustness of these controllers with respect to parameter uncertainty is examined via the Nyquist analysis. Simulation results demonstrate the effectiveness of the proposed approach. </p> / Thesis / Master of Applied Science (MASc)

<p> Cooperative teleoperation combines two traditional areas of robotics, i.e. teleoperation and collaborative manipulation. Cooperative telerobotic systems consist of multiple pairs of master I slave robotic manipulators operating in a shared environment. Due to dynamic interaction among slave manipulators as well as communication latency, control of such systems is particularly challenging and the application of standard teleoperation controller may result in instability. </p> <p> In this thesis a multilateral control framework is proposed for cooperative teleoperation systems that allows for transmission of position and force information between all master and slave robots rather than merely between corresponding units. Two different control approaches are introduced that establish kinematic correspondence among masters and slaves. The operators are presented with a virtual intervening tool in order to collaboratively interact with the environment. Models of operators, master and slave robots, tool, and environment are incorporated in the design. </p> <p> A multilateral adaptive nonlinear control architecture is proposed. Performance and stability of cooperative teleoperation systems are addressed under dynamic interactions between slave robots in the presence of model uncertainty. The robustness of the controller with respect to communication latency is also analyzed. </p> <p> Simulation and experimental studies demonstrate that the proposed approach is highly effective in all phases of a teleoperation task, i.e. in free motion and in contact with both flexible and rigid environments. </p> <p> The second approach involves finite-dimensional state-space models that incorporate the delay for free motion/ soft contact as well as rigid contact modes of operation. Local dynamic linearization control laws are employed to linearize robotic manipulators' dynamics. Model-based discrete-time Linear Quadratic Gaussian (LQG) controllers are proposed that can deliver a stable transparent response for each phase of operation. The robustness of these controllers with respect to parameter uncertainty is examined via the Nyquist analysis. Simulation results demonstrate the effectiveness of the proposed approach. </p> / Thesis / Master of Applied Science (MASc)

Finite element simulation of contact/impact problems using the penalty method is a well-established capability. The automatic penalty stiffness provides an easy way to implement the contact analysis. However, this way in which the penalty stiffness is associated with the material property and geometry of the master surface can lead to inappropriate distributions of contact pressure at edges or mesh transitions, or even cause much numerical noise. A new method of defining the penalty stiffness, which is associated with geometry of the slave surface, the reference penetration and reference contact pressure, is developed to consistently relate forces on contacting nodes with the contact pressure. This technique is successfully applied to several examples as the clamping simulation during the punch test and the rolling process. The results of such applications of new contact stiffness model demonstrate the effectiveness of such a model in avoiding the stress edge effect and the accompanying numerical noise. As an alternative approach to define the penalty stiffness, this new model provides another option for the contact analysis and gives the users more possibilities to control the contact performance. / Thesis / Master of Engineering (ME)

Esta pesquisa tem como objeto Os Entes Silenciosos da Sociedade Israelita segundo o Deuteronômio. E com quê esse objeto tem a ver? A pesquisa será desenvolvida a partir do livro de Deuteronômio e mirará àqueles que estão em silêncio dentro do livro. São eles: o pobre, a viúva, o órfão, o estrangeiro, o levita, o escravo e a escrava. No desenvolvimento da pesquisa, notou-se que todos eles poderiam ser colocados sob a nomenclatura de pobre. E, de fato, todos eles são pobres. Mas o redator emprega as palavras para pobre para designar um homem que, mesmo que estando em situação econômica degradada, ele ainda é livre, e, em determinado momento de sua vida, pode até optar por se tornar um escravo de um irmão. Também, percebeu-se que há quatro personagens que, quase sempre, aparecem juntos. Esses são aqueles que são chamados pelas palavras: viúva, órfão, estrangeiro e levita. Diante disso, a pesquisa foi desenvolvida da seguinte forma: o capítulo inicial, onde se faz o levantamento das palavras que ocorrem dentro do Deuteronômio, e no qual se faz algumas observações iniciais. O segundo capítulo buscará entender as palavras para pobre que ocorrem dentro do Deuteronômio. Notar-se-á aqui que elas apontam para um irmão israelita e que legislação será feita para que o tu/vós, a quem se dirige o redator do livro, aja em obediência a fala de seu Deus e seja benigno com o seu irmão empobrecido. O capítulo termina com um tratamento de Moisés como um personagem que foi identificado com os Entes Silenciosos do Israel antigo. O terceiro capítulo será desenvolvido com os Entes Silenciosos que aparecem, comumente, juntos. Eles são considerados estrangeiros por sua condição de desarraigamento. Eles não possuem propriedade. Mas existem dentro da propriedade do tu/vós. A pesquisa também desenvolverá um entendimento do dízimo do terceiro ano. O quarto capítulo trata dos escravos e escravas. A legislação deuteronômica fará uma distinção entre os escravos e escravas que são de Israel e os que não o são. O ano da libertação dos empobrecidos e dos escravizados será tratado, em sua segunda parte, pois, a primeira fora tratada no capítulo 2. / This research has the object \"The Silent Beings of Israeli society according to Deuteronomy.\" And what this object has to do? The research will be developed from the book of Deuteronomy and will target those who are silent inside the book. They are: the poor, the widow, the orphan, the stranger, the Levite, the male and female slaves. In developing the survey, it was noted that all of them could be placed under the nomenclature of \"poor.\" And indeed, they are all poor. But the writer uses the words to \"poor\" to mean a \"man\" that even being in degraded economic situation, he is still free, and at one point in your life, he can even chooses to become a slave of a brother. Also, it was noted that there are four personages that almost always appear together. These are those who are called by the words: widow, orphan, the stranger, and Levite. Therefore, the research was carried out as follows: the first chapter, where it is the lifting of words that occur within the Deuteronomy, and which makes some opening remarks. The second chapter will seek to understand the words to poor occurring within the Deuteronomy. It will be noted here that they point to an Israeli brother and that legislation will be made so that the \"thou / you\", to whom is the book\'s editor, act in obedience to the speech of their God and be charitable with your impoverished brother. The chapter concludes with a treatment of Moses as a man who was identified with the Silent Beings of ancient Israel. The third chapter will be developed with the Silent Beings that appear commonly together. They are considered \"foreign\" by their uprooting condition. They have no property. But they are within the grounds of \"thou / you.\" The research also develop an understanding of the tithe of the third year. The fourth chapter deals with the male and female slaves. The Deuteronomic legislation will make a distinction between male and female slaves who are of Israel and those who are not. The year of the liberation of impoverished and enslaved will be treated in its second part, because the first had been treated in Chapter 2.

O presente trabalho dedica-se ao estudo da economia e da demografia da escravidão na cidade de Batatais (SP) no decorrer da segunda metade do século XIX. A pesquisa teve como fonte principal os inventários post-mortem datados de 1851 a 1887 e utilizou, de forma complementar, as escrituras de transações envolvendo escravos, registradas na localidade entre 1861 e 1887, e a Lista de Qualificação de Votantes, de 1874. De início, avançou-se à análise do evolver demográfico e econômico do Sertão do Rio Pardo, e, mais especificamente, de Batatais, durante os séculos XVIII a XX. Em seguida procedeu-se ao exame das formas, distribuição e dinâmica dos recursos possuídos pelos batataenses em uma economia essencialmente pecuarista e agricultora de subsistência, que assistiu, nas últimas décadas do século XIX, ao avanço da cultura cafeeira e à substituição do trabalho compulsório pelo livre. Outrossim, com o auxílio das fontes secundárias, realizou-se uma análise demográfica e de estrutura de posse do contingente escravo ali residente, examinando as principais características dos cativos e dos senhores batataenses, além de acompanhar o impacto exercido pelas modificações ocorridas no sistema escravista brasileiro. Por fim, ocupou-se do exame das relações familiares estabelecidas entre os cativos e ingênuos inventariados e comercializados, delineando seu perfil e investigando sua estabilidade frente à partilha dos bens inventariados / This research analyzes the economy and slave demography of the city of Batatais (SP) during the second half of the 19th century. The study has, as the main source, the post mortem inventories from 1851 to 1887 and, as secondary sources, the transfer of ownership documents related to slaves - registered between 1861 and 1887 - and the Vote Qualifying List (1874). The work begins with the analysis of the economic and demographic characteristics of Sertão do Rio Pardo and, more specifically, Batatais, from the 18th to the 20th centuries, followed by the analysis of the allocation, accumulation and dynamics of the wealth held by the local inhabitants. At that time, economy was dedicated to cattle and subsistence agriculture and, in the late decades of the 19th century, gave place to the advance of coffee plantation and the shift of slavery work to free work. Hence, this study analyzed the local slaves, concerning demographics and possessions, and observed the main characteristics of the slaves and their owners, related to the changes occurred to the Brazilian slavery. Finally, the structure and demographic characteristics of slave families were analyzed through the information obtained in the inventories and ownership documents, with further investigations of their stability during the division of the inventoried assets

Os principais aspectos abordados são a difusão da produção de tabaco e do tráfico de escravos da Costa da Mina na capitania de Pernambuco. Os dois temas são relacionados às distintas fases pelas quais passou a economia da capitania e a do Brasil entre 1654 e 1760. Demonstra-se que aqueles setores tiveram sua dinâmica estreitamente vinculada à principal produção exportadora, seja do açúcar de Pernambuco, seja do ouro do centro-sul da colônia. / The difusion of tobacco production in Pernambuco captaincy and its slave trade bound to Costa da Mina are the main addressed subjetcs. Both themes are related to the distinct phases wich Pernambuco captaincys e Brazils economy underwent between 1654 and 1760. Its demonstrated that those economic activities evolvement was closely linked with the leader exporting productions, namely Pernambucos sugar as much as South Central colonys gold.

Esta pesquisa tem como objeto Os Entes Silenciosos da Sociedade Israelita segundo o Deuteronômio. E com quê esse objeto tem a ver? A pesquisa será desenvolvida a partir do livro de Deuteronômio e mirará àqueles que estão em silêncio dentro do livro. São eles: o pobre, a viúva, o órfão, o estrangeiro, o levita, o escravo e a escrava. No desenvolvimento da pesquisa, notou-se que todos eles poderiam ser colocados sob a nomenclatura de pobre. E, de fato, todos eles são pobres. Mas o redator emprega as palavras para pobre para designar um homem que, mesmo que estando em situação econômica degradada, ele ainda é livre, e, em determinado momento de sua vida, pode até optar por se tornar um escravo de um irmão. Também, percebeu-se que há quatro personagens que, quase sempre, aparecem juntos. Esses são aqueles que são chamados pelas palavras: viúva, órfão, estrangeiro e levita. Diante disso, a pesquisa foi desenvolvida da seguinte forma: o capítulo inicial, onde se faz o levantamento das palavras que ocorrem dentro do Deuteronômio, e no qual se faz algumas observações iniciais. O segundo capítulo buscará entender as palavras para pobre que ocorrem dentro do Deuteronômio. Notar-se-á aqui que elas apontam para um irmão israelita e que legislação será feita para que o tu/vós, a quem se dirige o redator do livro, aja em obediência a fala de seu Deus e seja benigno com o seu irmão empobrecido. O capítulo termina com um tratamento de Moisés como um personagem que foi identificado com os Entes Silenciosos do Israel antigo. O terceiro capítulo será desenvolvido com os Entes Silenciosos que aparecem, comumente, juntos. Eles são considerados estrangeiros por sua condição de desarraigamento. Eles não possuem propriedade. Mas existem dentro da propriedade do tu/vós. A pesquisa também desenvolverá um entendimento do dízimo do terceiro ano. O quarto capítulo trata dos escravos e escravas. A legislação deuteronômica fará uma distinção entre os escravos e escravas que são de Israel e os que não o são. O ano da libertação dos empobrecidos e dos escravizados será tratado, em sua segunda parte, pois, a primeira fora tratada no capítulo 2. / This research has the object \"The Silent Beings of Israeli society according to Deuteronomy.\" And what this object has to do? The research will be developed from the book of Deuteronomy and will target those who are silent inside the book. They are: the poor, the widow, the orphan, the stranger, the Levite, the male and female slaves. In developing the survey, it was noted that all of them could be placed under the nomenclature of \"poor.\" And indeed, they are all poor. But the writer uses the words to \"poor\" to mean a \"man\" that even being in degraded economic situation, he is still free, and at one point in your life, he can even chooses to become a slave of a brother. Also, it was noted that there are four personages that almost always appear together. These are those who are called by the words: widow, orphan, the stranger, and Levite. Therefore, the research was carried out as follows: the first chapter, where it is the lifting of words that occur within the Deuteronomy, and which makes some opening remarks. The second chapter will seek to understand the words to poor occurring within the Deuteronomy. It will be noted here that they point to an Israeli brother and that legislation will be made so that the \"thou / you\", to whom is the book\'s editor, act in obedience to the speech of their God and be charitable with your impoverished brother. The chapter concludes with a treatment of Moses as a man who was identified with the Silent Beings of ancient Israel. The third chapter will be developed with the Silent Beings that appear commonly together. They are considered \"foreign\" by their uprooting condition. They have no property. But they are within the grounds of \"thou / you.\" The research also develop an understanding of the tithe of the third year. The fourth chapter deals with the male and female slaves. The Deuteronomic legislation will make a distinction between male and female slaves who are of Israel and those who are not. The year of the liberation of impoverished and enslaved will be treated in its second part, because the first had been treated in Chapter 2.

218f. / Submitted by Hozana Azevedo (hazevedo@ufba.br) on 2013-05-09T13:53:59Z No. of bitstreams: 1 “Perseguidores da espécie humana”, UFBA 2011.pdf: 2866168 bytes, checksum: 18e45ab29ae7c18c55a49c748a0abf4e (MD5) / Approved for entry into archive by Ana Portela(anapoli@ufba.br) on 2013-05-17T18:07:44Z (GMT) No. of bitstreams: 1 “Perseguidores da espécie humana”, UFBA 2011.pdf: 2866168 bytes, checksum: 18e45ab29ae7c18c55a49c748a0abf4e (MD5) / Made available in DSpace on 2013-05-17T18:07:44Z (GMT). No. of bitstreams: 1 “Perseguidores da espécie humana”, UFBA 2011.pdf: 2866168 bytes, checksum: 18e45ab29ae7c18c55a49c748a0abf4e (MD5) Previous issue date: 2011 / CNPq / O objetivo desta dissertação é um estudo dos capitães negreiros atuantes no tráfico atlântico de escravos africanos na Cidade da Bahia na primeira metade do século XVIII. Esta pesquisa intentou compreender as experiências destes sujeitos em busca de riqueza e distinção social na Salvador setecentista, suas condições materiais e os perigos enfrentados na lida no mar. Por fim, analiso a vida econômica desses sujeitos que além de comandar as embarcações, faziam o comércio na costa africana para os proprietários das embarcações, para outras pessoas e para eles mesmos, uma vez que eles também investiam no tráfico de escravos. O conhecimento de tais indivíduos lança luz sobre um lado da História da Diáspora Africana, que é conhecer os agentes responsáveis pela condução forçada dos africanos em diversos tipos de embarcações à vela, sob condições higiênicas e sanitárias inapropriadas que atingiam todos os presentes: africanos escravizados, tripulantes e os capitães negreiros / Salvador

Submitted by Debora Spacini Nakanishi null (deh_cini@hotmail.com) on 2018-02-22T22:19:58Z No. of bitstreams: 1 Dissertação - Débora Spacini Nakanishi.pdf: 2719206 bytes, checksum: b020074fb308a0b2610fc3ba2f00959f (MD5) / Approved for entry into archive by Elza Mitiko Sato null (elzasato@ibilce.unesp.br) on 2018-02-26T17:49:27Z (GMT) No. of bitstreams: 1 nakanishi_ds_me_sjrp.pdf: 2719206 bytes, checksum: b020074fb308a0b2610fc3ba2f00959f (MD5) / Made available in DSpace on 2018-02-26T17:49:27Z (GMT). No. of bitstreams: 1 nakanishi_ds_me_sjrp.pdf: 2719206 bytes, checksum: b020074fb308a0b2610fc3ba2f00959f (MD5) Previous issue date: 2018-02-16 / Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) / Este trabalho de pesquisa tem como objetivo refletir sobre 12 anos de escravidão, em duas vertentes: o livro de Solomon Northup (1853) e a adaptação cinematográfica de Steve McQueen (2013). Entendemos, assim, as duas obras como representações do sistema escravagista e da vida do escravo, no caso, especificamente, de Northup, servindo como mediadoras do trauma cultural na sociedade norte-americana e influenciando a forma como a identidade do afro-americano é construída. Pretendemos estudar o gênero narrativas de escravos, contextualizando a autobiografia de Northup, com o intuito de analisá-la especificamente. Utilizaremos, então, autores como Olney (1984), Lingold (2013), Pope (2014), Roy (2015), entre outros. Faremos, doravante, um exame sobre filmes comerciais com o tema escravidão, com o intuito de apontar como cada um deles dialoga com a sociedade na época de sua produção, tornando-se contradiscursos ao pensamento vigente. Basearemo-nos em Sklar (1978), Kellner (2001), Mascarello (2006) e Rosenstone (2015). Passaremos à análise do filme de McQueen, procurando indícios de uma nova abordagem do tema escravidão no cinema, apontando, também, como, em diversos momentos, livro e filme se relacionam, seja na semelhança ou na diferença. A seguir, propomos uma reflexão sobre como as duas obras influenciaram e influenciam a construção da identidade do afro-americano, levando em consideração o trauma cultural legado pelo sistema escravagista na sociedade estadunidense. Apoiaremo-nos em textos de Cartmell e Hunter (2001), Browne e Kreiser Jr. (2004), Wilt e Shull (2004), Levine (2010), Ross (2010), Dubey (2010), Keizer (2010), Nigro (2011), Romney (2014), além dos de Eyerman (2001, 2011) e Pederson (2014), que falam especificamente sobre trauma cultural. Finalmente, faremos um breve levantamento de fatos e obras importantes que acontecem após o lançamento do filme, a fim de ressaltar a importância e relevância de 12 anos de escravidão para a continuação da discussão sobre a instituição peculiar norte-americana. / This research aims to reflect on 12 Years a Slave, regarding two media: the Solomon Northup novel (1853) and the Steve McQueen film adaptation (2013). Therefore, the two works are considered as representations of the slavery system and slave life, in Northup’s case, specifically, serving as cultural trauma mediators in the North-American society and influencing the way African-American identity is built. We intend to study the slave narrative genre, contextualizing Northup's autobiography, aiming to analyze it specifically. We will draw on authors such as Olney (1984), Lingold (2013), Pope (2014), Roy (2015), and others. Henceforth, we will examine commercial, slavery-themed movies, with the goal of pointing out how each of them dialogs with the society at the time of its production, becoming counter-discourses to the valid thinking then. We will be supported by Sklar (1978), Kellner (2001), Mascarello (2006), and Rosenstone (2015). We will carry on to the analysis of McQueen's movie, searching for indications of a new approach to the slavery theme in film, also pointing out how, in several moments, the novel and the movie relate to each other, whether in similarities or differences. After, we propose a reflection on how the two works have influenced the African-American identity construction, taking into consideration the cultural trauma left by the slavery system in the American society. We will draw on research conducted by Cartmell e Hunter (2001), Browne e Kreiser Jr. (2004), Wilt and Shull (2004), Levine (2010), Dubey (2010), Keizer (2010), Nigro (2011), Romney (2014), besides the ones of Eyerman (2001, 2011), and Pederson (2014), which specifically talk about cultural trauma. Finally, we will briefly yield data on important facts and works that happened after the movie launching, aiming to highlight the importance and relevance of 12 Years a Slave to the continuing of the discussion on this peculiar North-American institution.