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Estudo do comportamento do centro de pressão no equilíbrio estático e dinâmico
(Universidade Federal de São Carlos, 2012-11-12) Nora, Fernanda Grazielle da Silva Azevedo; Costa, Paula Hentschel Lobo da; https://lattes.cnpq.br/9083349298690934; https://lattes.cnpq.br/8031963003997806
Postural stability is an important ability of the human body in standing position as well as in dynamic activities like locomotion. It influences all motor and muscle aspects related to the execution of a motor task and is achieved by appropriate support conditions, coordinated muscle activity and proprioceptive information. The center of pressure behavior can be studied under different conditions, providing information on how the body reacts to postural instabilities. Thus the main purpose of this study is to propose a methodology for the study of the center of pressure behavior in order to evaluate static and dynamic equilibrium conditions of the human body. In order to achieve the goals, the structure of this thesis is composed of three studies. The equilibrium control during single leg ballet poses and the anticipatory postural adjustments prior to the first step in gait were discussed in the first and second study respectively. In the third study, methodological aspects were reviewed and a data processing standardization to study the center of pressure behavior during gait initiation was proposed. Dynamometry with force platforms was the measurement method used for all studies. The results allow to identify balance control strategies in ballet dancers and anticipatory postural adjustments existing during the transition from standing still to the cyclic gait steps. Some clinical applications of the results are presented and also directions for future studies.
Abordagem para criação de linguagens específicas de domínio para robótica móvel
(Universidade Federal de São Carlos, 2012-11-12) Conrado, Daniel Bruno Fernandes; Camargo, Valter Vieira de; https://lattes.cnpq.br/6809743774407662; https://lattes.cnpq.br/4469934696623908
Autonomous mobile robots are machines capable of executing repetitive/dangerous tasks more efficiently. Most of them have an embedded software which is responsible for their execution. Over the last years, the complexity of these applications has continuously growing and they are presenting challenges that are uncommon to traditional information systems development. Therefore, any technique that can support their development is a great contribution. A technique that improves the productivity is to use domain-specific languages (DSLs). These are modeling and programming languages whose constructs are concepts and abstractions of a particular domain. It frees developers from worrying about generic programming concepts (classes, objects, attributes, etc.) and allows them to focus on the problem to be solved. As creating a DSL is not a trivial task and pointing the idiosyncrasies of mobile robots, this dissertation presents an approach for engineering DSLs to mobile robots. The aim is to make the activity of creating DSLs to this domain more systematic and controlled. In this approach, an application is taken as input and a series of domain statements is extracted from it. These statements are classified into categories and each one of them are analized in order to extract commonalities and variabilities, wich are transformed into components of a DSL. An important characteristic of the approach is that it asks for just one application to reach a first version of a running DSL. We suggest that the same DSL can be evolved just by applying the approach again using another application as input. So new components could be created and the existing ones could be modified. We also present a generic language model providing a foundation architecture that allows one to easily create new DSLs by extending it. Two proofs of concept are presented in order to exemplify the application of our approach.