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Controle ℋ∞ não linear adaptativo baseado em aprendizado profundo para robôs móveis com rodas
(Universidade Federal de São Carlos, 2023-02-09) Ceron Neto, Jose; Inoue, Roberto Santos; https://lattes.cnpq.br/6221209121565990; https://lattes.cnpq.br/9792352281970785
The implementation of autonomous mobile robots raises important issues when you want a robust navigation system to transport loads. These types of vehicles are often subject to parametric uncertainties and external disturbances. Parameter uncertainties usually arise due to extra devices or loads that are attached to the robot since they influence the parameters of mass, inertia, center of mass, and other parameters initially raised to compose the vehicle mathematical model. And the external disturbances are related to the robot’s collision with static or dynamic obstacles or in overcoming obstacles on the ground by the robot’s wheels, where skidding and slippage of the wheels can occur. Based on this context, the present work proposes a robust and adaptive control architecture for the trajectory tracking problem of a mobile robot subject to external disturbances and parametric uncertainties. The proposed approach will comprise a Nonlinear Adaptive Control ℋ∞ based on Deep Learning. The nonlinear ℋ∞ controller will be responsible for attenuating external disturbances, and the adaptive part will be based on Deep Neural Network for learning the parametric uncertainties related to the robot’s mathematical model. Simulation results of a four-wheel mobile robot for the tracking problem are used to compare the control strategies proposed.
As representações de Maria na literatura medieval escrita em Galego-Português: uma interpretação histórico-literária das Cantigas de Santa Maria de D. Afonso X, o Sábio
(Universidade Federal de São Carlos, 2023-02-09) Silva, Alex Rogério; Cabanas, Maria Isabel Morán; Infante, Joyce Rodrigues Ferraz; https://lattes.cnpq.br/7590751343091510; https://lattes.cnpq.br/1484657588958367
En el siglo XIII, el movimiento llamado Culto Mariano floreció en Europa, que estuvo marcado por numerosas manifestaciones devocionales y artísticas en honor a la figura de María, Madre de Jesús. En la literatura, fue emprendido por el rey Alfonso X de Castilla y León, el proyecto de composición de las Cantigas de Santa María, en el que se narraron varios milagros y alabanzas a María. En esta obra, los compositores hicieron uso de diversos recursos literarios para crear representaciones de la figura mariana, también presentaban rasgos físicos y psíquicos bien definidos de la madre de Cristo, con el fin de exaltarla y exponer, a través de su ejemplo, modelos moralizadores de conducta a otros cristianos. En este sentido, partiendo del análisis interdisciplinario basado en los Estudios de la Literatura y la Historia, esta investigación pretende entender las representaciones simbólicas (CHARTIER, 1990) de María presentes en la literatura medieval escrita en gallego-portugués, de la obra Cantigas de Santa María, de D. Alfonso X, y analizar en qué medida estas imágenes se referían al imaginario social y al pensamiento de la época (CANDIDO, 2000).
Levantamento e análise dos métodos de integração BIM-ACV para tomada de decisão no processo de projeto
(Universidade Federal de São Carlos, 2023-02-09) Queiroga, Thaina Barbosa; Bueno, Cristiane; https://lattes.cnpq.br/2049901634471620; https://lattes.cnpq.br/7945435423724784
The Architecture, Engineering and Construction (AEC) sector has been identified as one of the main agents of environmental impacts. Within this context, it is necessary to adopt new strategies that make the sector more sustainable. Therefore, the integration between the Life Cycle Assessment (LCA) and Building Information Modeling (BIM) methodologies has shown to be promising in supporting decision-making in the development of projects with lower environmental impact. Thus, the present research aims to carry out a survey of the different integration methods, evaluating their application potentialities and limitations and proposing general application guidelines throughout the design process. For this, a Systematic Review of Literature was carried out in order to develop a critical analysis of what has already been studied. In this critical analysis, it was possible to perceive that the methods developed by the analyzed authors, most of them dealt with practical methods for BIM-ACV integration, using case studies to evaluate what was developed. Several databases were used as a source of information, as well as the adoption of more than one for the development of a method. With these studies found of the approaches that contemplate a matrix such as the evaluation potentialities and methods based on the BIM-ACV integration proposals in the most recurrent and depending on the project. Thus, for the initial stages of the project, with the objective of only guiding the first decision decisions, an approach is suggested that uses plug-ins to perform a quick analysis. Already in the stages, they must be used in the design, it is to obtain more results and, therefore, more assertive in favor of the improvements of the methods calculated with precision. Thus, the use of visual programming routines with ACV export with 3D model promissory strategies are. For, in the last final stages of the project, due to the moment to seek the results closer to reality, they can still be used for the presentation of certifications and environmental seals. Thus, in this way, the same strategy of the phase itself is maintained or it can be even within the model's plug-ins configuration. All the strategies of the proposals present their potential and solutions, and their applications are viable in all types of projects. Therefore, it is suggested for future works to carry out long case studies of the design process, as the approaches evaluated here, in order to assess that they safely approach the results.
Aprendizado de máquina construtivo e classificação hierárquica multirrótulo aplicados à geração de moléculas
(Universidade Federal de São Carlos, 2023-02-09) Silva, Rodney; Cerri, Ricardo; https://lattes.cnpq.br/6266519868438512; https://lattes.cnpq.br/8041590543117912
One of the goals of Medicinal Chemistry is to discover new molecules with drug-like characteristics, which is challenging because the search space is discrete, unstructured, and enormous. In recent years, computation has been used as an auxiliary tool in chemical research, and one of the fields of computer science that has gained visibility and applied in various areas of knowledge in recent years is Machine Learning. The field of Machine Learning can be divided into several areas of study. In this research, two fields of Machine Learning are addressed: Constructive Machine Learning and Hierarchical Multi-label Classification. This work explores how Constructive Machine Learning can learn the intrinsic rules of molecule databases and generate instances with similar characteristics to these. The chosen Constructive Machine Learning methods for the study can be divided into two types, those that use the SMILES molecular representation and the methods that use graphs to represent molecules. Considering the different possibilities for evaluating methods and generated molecules, this work proposes the use of hierarchical classification in the evaluation process. Using a hierarchical classifier previously trained on molecule datasets, the generated molecules are classified into a taxonomy. In this way, the relevance of the generated molecules to existing taxonomies can be verified. This work also proposes a measure of dissimilarity between two groups of molecules, the hierarchical distance, which takes into account the taxonomy of the molecules present in these groups to determine the dissimilarity between them.
Diagnóstico do uso público para o planejamento e gestão na Ilha do Bom Abrigo, Litoral Sul do estado de São Paulo
(Universidade Federal de São Carlos, 2023-02-09) Spironello, Emanuelle; Martines, Marcos Roberto; https://lattes.cnpq.br/5317839291904450; Toppa, Rogério Hartung; https://lattes.cnpq.br/0673898572494729; https://lattes.cnpq.br/1454960093452329
Ilha do Bom Abrigo has as a characteristic related to management, the overlapping of institutional spheres, having a growing tourism, however, without planning and regulation. This study sought to describe the profile of visitors and tourism operators, the dynamics of public use, including the evaluation of regulars on the limit of use of the beach strip and the characterization of management performance in the territory. For this, remote questionnaires were applied to two study groups: (a) visitors and (b) nautical operators. The data were interpreted and submitted to multiple correspondence analysis and the description of co-management was based on consultation with the planning and ordering instruments and documentation of the Bom Abrigo Working Group. The profile of visitors with a high level of education, interests and expectations related to landscape and nature, indicated openness to the promotion of environmental education programs. The nautical workers are from Cananéia, self-employed and work in the sports and recreation sector. The context of conservation units existing in the municipality favor the understanding of the sector on the subject and should be the target of educational processes that include training and insertion in spaces of participatory management. The dynamics of public use consists of local tourism, whose beach and boardwalk are the main attractions. The lack of infrastructure and difficult access are obstacles to tourism, however, the prohibition does not reduce anthropic pressures, given the lack of inspection and the discontinuity of political articulation between the responsible bodies. Despite this, the institution of the beach as an area of interest for tourism is an achievement, whose definition and implementation of planning instruments are urgent and necessary. In the evaluation of visitors and operators, the limits of use of the beach strip include 30 to 60 people simultaneously, with 5 to 10 boats concurrently in the vicinity of the island and the average visitation time of 3 to 4 hours. These data can guide carrying capacity studies, which may be revised in the future, after the implementation of sanitation infrastructure, research and monitoring of physical and biological aspects, indicators of environmental quality. Long-term studies, reconciled with face-to-face diagnostic strategies, may also contribute to a better delineation of the profiles and patterns of public use in the territory, including the insertion of other key actors, such as fishermen and users of private vessels. The success of the process of construction and implementation of planning instruments depends on participation and social control, as well as the definition of competences and institutional-administrative attributions for the regulation of tourism.
O aluno em ação: coeficientes, taxas e índices
(Universidade Federal de São Carlos, 2023-02-09) Zago, Luana; Bertoncello, Luciene Nogueira; https://lattes.cnpq.br/8028970771846775; https://lattes.cnpq.br/5322259345893622
This work addresses a sequence of activities applied in a classroom, in a public school in the city of Bariri in the state of São Paulo, with numerous challenges, some of which are reported in the text. The work was planned to make use of several methodologies, each one applied and adapted to the needs of the room, taking into account the difficulties the room was going through. The statement already gives an idea that, in this work, the student was the protagonist of his learning and the teacher was the mediator of knowledge. The student was induced to go after knowledge, in several stages, so that in the end he could master the topics of coefficients, rates and indices.