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Controle preditivo baseado em modelo com restrições flexíveis para rastreamento de trajetória e desvio de obstáculos em VANTs
(Universidade Federal do Espírito Santo, 2025-12-11) Laura, Diego Abraham Apaza; Villa, Daniel Khede Dourado; https://orcid.org/0000-0002-8345-5590; https://lattes.cnpq.br/7020533470048010; https://orcid.org/0000-0001-9567-8954; https://lattes.cnpq.br/7628820433240540; Celeste, Wanderley Cardoso ; https://orcid.org/0000-0002-1121-937X; https://lattes.cnpq.br/3919161245148947; Salles, Jose Leandro Felix ; https://orcid.org/0000-0002-3417-6544; https://lattes.cnpq.br/1368496315730875; Carvalho, Kevin Braathen de ; https://orcid.org/0000-0003-3639-8826; https://lattes.cnpq.br/1918730771175641
This dissertation presents the design, implementation, and experimental validation of a Model Predictive Control (MPC) framework for trajectory tracking and obstacle avoidance in Unmanned Aerial Vehicles (UAVs) of the quadrotor type. The strategy focuses on safe navigation in dynamic environments. The core of the approach consists of an avoidance mechanism that linearizes the non-convex collision constraints at each step of the prediction horizon using time-varying tangent planes. This allows the optimization problem to be efficiently formulated and solved as a standard Quadratic Program (QP). To enhance robustness and ensure solver feasibility in highly constrained scenarios or in the presence of disturbances, the optimization problem incorporates flexible constraints. This technique uses slack variables to allow temporary violations of safety zones at a high penalty cost, ensuring a feasible solution is always found. The controller was implemented in MATLAB and executed on a ground station, communicating with the UAV in real-time (30 Hz) via the Robot Operating System (ROS). Validation experiments were conducted using a real quadrotor (Parrot Bebop 2), whose pose was provided by a motion capture system (OptiTrack). Test scenarios included trajectory tracking and setpoint regulation in the presence of multiple static and dynamic obstacles (Pioneer 3-DX ground robots). The results demonstrate that the proposed system enables the UAV to navigate efficiently and smoothly, anticipating and executing safe evasive maneuvers. The successful completion of all experimental scenarios validates the effectiveness and reliability of the approach for safe operation in complex environments.
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Fome de quê?: Diálogos com sujeitos da EJA de uma escola situada em região empobrecida de Vila Velha-ES
(Universidade Federal do Espírito Santo, 2025-12-16) Souza, Suely Martiniano de; Simões, Renata Duarte; https://orcid.org/0000-0002-8378-2890. ; https://lattes.cnpq.br/1114035410099626; https://orcid.org/0009-0008-6132-3504; https://lattes.cnpq.br/2622746473556667; Silva, Dulcineia Campos; https://orcid.org/; https://buscatextual.cnpq.br; Lourenço, Suzany Goulart; https://orcid.org/0000-0002-4404-772X; https://lattes.cnpq.br/8212599454712113
This dissertation is linked with the Professional Master’s Graduate Program in Education at the Federal University of Espírito Santo, under the research line Teaching and Management of Educational Processes. Its main objective is to establish dialogical processes with Adult Education (AE) students from a school located in a context of poverty and extreme poverty in the Terra Vermelha region, in the city of Vila Velha, Espírito Santo. The purpose is to reflect on possible approaches to addressing poverty and extreme poverty within the Portuguese Language school curriculum, grounded in the students’ own narratives and experiences. The investigation takes place in a vocational Adult Education (AE) — an evening high school — located in the outskirts of the city of Vila Velha, Espírito Santo. It involves young people and adults, all over 18 years of age, enrolled in this stage of schooling and predominantly affected by conditions of poverty. The research is theoretically grounded in studies in the fields of Adult Education (AE), poverty, and social inequality, especially those that dialogue with these intersections from a critical perspective. By adopting a critical-dialectical analytical perspective, this study draws on Arroyo (2005; 2017; 2018) and Paiva and Sales (2014) to examine the conditions of poverty and social vulnerability that shape the student population in this modality of education; on the works of Telles (1993), Yazbeck (2012), and Cararo (2015) to reflect on social policies and Adult Education (AE); and on the studies of Freire (2018; 2021) to problematize the condition of poverty and to discuss meaningful pedagogical practices, as well as pedagogical praxis within Adult Education (AE). This qualitative investigation employs the methodological approach of action research (Barbier, 2002), aiming at the collective participation of those involved in the study, as well as at enabling in the investigated reality. As procedures for data production, the study adopts dialogical processes carried out through conversation circles, as well as the verbal and non-verbal records produced throughout the meetings. Based on Gomes (2007) and Marcondes (2014), the data analysis relies on the theoretical-methodological perspectives of meaning interpretation and triangulation analysis. As results, the research showed that the trajectories of Adult Education (AE) students are marked by multidimensional poverty, individual accountability, gender inequality, and territorial insecurity. The dialogical processes revealed both material and symbolic forms of deprivation and enabled the collective construction of a critical reading of reality, strengthening practices of resistance, authorship, and the claiming of rights.
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Sistemas fotobiorreatores com membranas aplicados à descarbonização e produção de água de reuso em estações de tratamento de esgoto
(Universidade Federal do Espírito Santo, 2025-12-16) Lamberti, Gisele Gavazza; Nariyoshi , Yuri Nascimento ; https://orcid.org/0000-0001-8523-4292; https://lattes.cnpq.br/2655730779144916; Gonçalves, Ricardo Franci ; https://orcid.org/0000-0002-2048-9451; https://lattes.cnpq.br/9604327349698525; https://orcid.org/0009-0000-6821-8098; https://lattes.cnpq.br/3324699599606915; Furieri, Bruno; https://orcid.org/0000-0002-9736-0250; https://lattes.cnpq.br/6585455298349085; Coelho, Edumar Ramos Cabral ; https://orcid.org/0000-0002-9220-5737; https://lattes.cnpq.br/2276795519317927; Pinotti, Laura Marina ; https://orcid.org/0000-0002-5012-6811; https://lattes.cnpq.br/5616576281329159; Soares, Renan Barroso ; https://orcid.org/0000-0002-9508-0036; https://lattes.cnpq.br/2642899302303469
The advancement of global decarbonization targets highlights the need to transform wastewater treatment plants (WWTPs) into systems capable not only of removing pollutants, but also of recovering resources and reducing net greenhouse gas emissions. In this context, this thesis evaluated the potential of membrane photobioreactors (MPBRs) as a compact route aligned with the water–energy–nutrients nexus concept, aiming at water reuse production and carbon mitigation from real anaerobic effluent. This research was conducted through four integrated workstreams: (i) a systematic review and meta-analysis to identify bottlenecks and critical parameters for productivity and biofixation; (ii) the application of Lean Design Thinking (LDT) to design and iteratively improve a functional prototype; (iii) experimental assays in batch mode and in continuous feeding under low hydraulic retention time (HRT); and (iv) an integrated carbon and energy modeling to compare upflow anaerobic sludge blanket reactors coupled with high-rate algal ponds (UASB+HRAP) and anaerobic membrane bioreactors coupled with membrane photobioreactors (AnMBR+MPBR).Pilot-scale experimental results demonstrated that the MPBR operated continuously and stably at low HRT (12 h) treating real anaerobic effluent, and that the best-performing condition occurred with inorganic carbon supplementation (CaCO₃) and higher light intensity (100 µmol m⁻² s⁻¹), maximizing biomass productivity (97.7 g m⁻³ d⁻¹) and the carbon biofixation rate (53.4 gC m⁻³ d⁻¹). Ultrafiltration ensured a very high-quality permeate, with turbidity < 0.05 NTU, consistently meeting the regulatory standards adopted in the thesis for industrial and urban non-potable reuse. The technological novelty of this work lies in integrating, under conditions representative of WWTP operation, (a) continuous operation with low HRT and real effluent, (b) internal membrane-based separation/harvesting to ensure biomass retention and permeate quality, and (c) validation through carbon–energy modeling, linking experimental performance to climate outcomes at the system scale.Comparative simulation results evidenced a trade-off between energy surplus and net emissions mitigation: the UASB+HRAP configuration showed high energy return (EROI = 6.46 for the UASB) but was a net emitter (+42.5 gCO₂eq·m⁻³); whereas the AnMBR+MPBR configuration, despite being energy-deficit (EROI = 0.52 for the MPBR), achieved a net-negative carbon footprint (−19.8 gCO₂eq·m⁻³), supported by the high biofixation observed in the experiments. The system employed a submerged hollow-fiber ultrafiltration membrane made of PVDF, with a pore size of 0.03 µm, in a module with an effective area of 0.12 m² (34 fibers). Despite the advances, relevant limitations were observed: (i) critical phosphorus removal, below 30% and as low as 6.8% under the highest-productivity scenario, indicating nutrient imbalance and the need for complementary stage(s); (ii) an energy bottleneck associated with continuous artificial lighting (24 h), which directly affected the EROI (0.52) and kept Scope 2 as a key feasibility constraint; (iii) scale and duration limitations (75 days) to robustly assess long-term phenomena such as irreversible fouling and HRT–SRT interactions; and (iv) uncertainties in emissions modeling due to the lack of direct N₂O measurements in the MPBR, relying instead on emission factors. In addition, the thesis recognizes that the costs of acquiring and replacing UF modules may represent relevant CAPEX/OPEX components, reinforcing the importance of operational optimization strategies and reductions in energy demand. As a societal contribution, the experimental data and modeling support the premise that anaerobically treated wastewater can be transformed into a valuable resource, producing high-quality reuse water while simultaneously reducing the climate footprint of sanitation, in line with the United Nations Sustainable Development Goals (SDGs) for clean water and sanitation (SDG 6), climate action (SDG 13), affordable and clean energy (SDG 7), and zero hunger and sustainable agriculture (SDG 2).
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O jornalismo religioso como dispositivo de poder e a construção discursiva da mulher na Folha Universal
(Universidade Federal do Espírito Santo, 2025-10-29) Rocha, Raquel Silva; Reis, Ruth de Cássia dos; https://orcid.org/0000-0003-3571-3580; https://lattes.cnpq.br/2483123134241477; https://orcid.org/0009-0009-2531-0092; https://lattes.cnpq.br/0368417599440345; Souza, Flávia Mayer dos Santos; https://orcid.org/0000-0003-3724-8109; https://lattes.cnpq.br/7612159350183081; Geraldes, Elen Cristina; https://orcid.org/0000-0003-0073-2001; https://lattes.cnpq.br/9494858512482573
The expansion of the evangelical presence in Brazil’s political and social debates and the central role of religious media in producing subjectivities and everyday practices lead to a contemporary problem: how does religious journalism, as a dispositif of power, constitute the neopentecostal woman through discourse in Folha Universal? Situated within the field of Communication and Territorialities, this dissertation seeks to understand how the performativities of neopentecostal women are constituted in the discourse of journalism produced by Folha Universal – official newspaper of the Igreja Universal do Reino de Deus (Iurd), published weekly and also available in a digital version on its eponymous website, covering a wide range of topics from an evangelistic perspective aligned with the institution’s doctrine. To achieve this goal, it aims to delineate the specificities of religious journalism amid the historical transformations in the relationship between media and neopentecostalism, to identify the elements that compose the figure of the neopentecostal woman in the analyzed articles, and to examine the articulations between religious and journalistic discourse in the production of meanings about gender and power. Based on Foucauldian Discourse Analysis, articulated with studies on communication, religion, and gender, the research analyzes the performativities of neopentecostal women as reiterated modes of enunciation and behavior. The analytical process makes it possible to understand that the journalism produced by Folha Universal organizes conduct, fabricates ways of being, and constitutes feminine performativities through discourse. By observing the newspaper’s enunciative strategies, the study highlights the mechanisms by which women are interpellated to govern themselves through a rationality that, under the sign of the sacred, reactivates forms of power and subjectivation characteristic of modernity. The discourse of Folha Universal constructs the woman as a project of the self, called to self-management and discipline in all spheres of life—emotional, marital, and professional. Marital relationships appear as a structuring axis, positioning the woman as the manager of family salvation. Thus, it is understood that Folha Universal, a publication of the Igreja Universal do Reino de Deus (Iurd), operates as a dispositif that defines modes of conduct and establishes regimes of truth about what it means to be a neopentecostal woman.
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Development of an optical force sensor: a novel approach for monitoring physical interaction in robotic walkers
(Universidade Federal do Espírito Santo, 2026-02-20) Garcia Alvarez, Daniel Eduardo; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; https://lattes.cnpq.br/8928890008799265; Múnera Ramirez, Marcela Cristina; https://orcid.org/0000-0001-6595-5383; https://lattes.cnpq.br/0934278112355648; Rodríguez Díaz, Camilo Arturo; https://orcid.org/0000-0001-9657-5076; https://lattes.cnpq.br/2410092083336272; https://orcid.org/0000-0002-5491-660X; https://lattes.cnpq.br/9190745277681587; Silveira, Mariana Lyra; https://orcid.org/0000-0002-0368-5629; https://lattes.cnpq.br/5307116832176112; Lima, Eduardo Rocon de; https://orcid.org/0000-0001-9618-2176
This dissertation presents the design, development, and experimental validation of an optical sensor (OS) for monitoring interaction forces in smart walkers (SWs). The proposed sensing approach integrates light-sensitive photodiodes and addressable RGB light-emitting diodes embedded within a compliant encapsulation material, enabling force estimation by measuring changes in optical signals caused by surface deformations. Compared to conventional force-sensing technologies (i.e., strain gauges, piezoelectric sensors, and high resolution triaxial force cells) and optical Ąber-based alternatives (i.e., polymer optical Ąbers and Ąber Bragg gratings), the proposed OS reduces system complexity while ofering a cost-efective and easily manufacturable design, facilitating its integration into SWs. The Ąrst OS prototype validated the feasibility of the proposed approach, achieving an average force estimation error of 2.4%. Meanwhile, it identiĄed contact zones with an accuracy of 98%. These results demonstrate reliable performance in both force regression and contact localization, as well as the ability to capture the spatial distribution of applied forces. A second development stage focused on a redesigned OS geometry optimized for walker-handle integration, enabling force sensing across multiple interaction zones. An evaluation of the efects of encapsulation materials and illumination wavelengths on OS performance revealed that combination of EcoĆex encapsulation and red light provided the best results, achieving the lowest mean squared error (MSE) (Validation: 4.72 ± 0.31; Test: 4.96), mean absolute error (MAE) (Validation: 1.61 ± 0.04; Test: 1.79), and the highest coeicient of determination (R2) (Validation: 0.98 ± 0.01; Test: 0.97). The optimized conĄguration also demonstrated good generalization to unseen loads, with an average error of 5.56%. To assess repeatability, four new OS units implementing the optimized conĄguration were fabricated and independently calibrated. Among them, the fourth OS achieved the best results, with the lowest prediction errors (MSE validation: 3.11 ± 0.55; test: 3.33; MAE validation: 1.18 ± 0.10; test: 1.24) and the highest correlation values (R2 validation: 0.98 ± 0.02; test: 0.98). Validation against a commercial reference system conĄrmed estimation errors below 5.78% across all four OSs. Finally, the integration of the OSs into a SW and their evaluation during path-following trials with ten healthy participants demonstrated consistent force redistribution patterns across straight and turning maneuvers, highlighting the sensorŠs capability to capture meaningful interaction dynamics in real-world scenarios. Overall, this work demonstrates that waveguide-based OS combined with data-driven models constitutes a robust, scalable, low-complexity, and cost-efective solution for estimating interaction forces in SWs.