DSpace Collection:https://repositorio.ufu.br/handle/123456789/192162026-09-03T11:23:19Z2026-09-03T11:23:19ZProjeto e implementação de um robô com sistema de rastreamento para monitoramento de nadadoreshttps://repositorio.ufu.br/handle/123456789/497152026-08-21T06:20:23Z2026-02-11T00:00:00ZTitle: Projeto e implementação de um robô com sistema de rastreamento para monitoramento de nadadores
Abstract: Swimming has established itself as one of the most practiced sports globally, valued for its recreational, therapeutic, and highly competitive nature. In high-performance scenarios, enhancing athlete performance increasingly relies on a scientific approach based on rigorous biomechanical metrics, such as instantaneous velocity, stroke length, and stroke frequency. However, training routines still face a critical bottleneck: the dependence on slow, post-session evaluation processes. This paper presents the development and validation of an autonomous mobile robot designed for monitoring and supporting high-performance swimmers. The system aims to automate the collection of biomechanical metrics in real-time, overcoming the limitations of traditional manual analysis. The platform utilizes a Raspberry Pi 4 for computer vision processing, employing a YOLOv8n face detection model, which achieved an average inference time of 171 ms (approximately 8.26 FPS). For real-world control system validation, straight-track trials were conducted using the detection model to simulate swimmer-tracking dynamics. The mechanical design was developed in SolidWorks and manufactured via 3D printing (FFF) using PLA and ABS, resulting in a stable chassis equipped with EVA wheels to reduce oscillations during image capture. Motor control for the JGY-370 DC motors is managed by an ESP32 microcontroller, executing a closed-loop PID algorithm to keep the target centered in the camera's field of view. System modeling was performed through step response identification, characterizing the plant as an integrator system with an average static gain of 1.011. Experimental results demonstrated that the robot reaches an average speed of 1.22 m/s, compatible with the critical swimming speed sustained in long-duration training. In closed-loop operation, a maximum tracking error of 1.5 m was recorded at constant speed, ensuring stability despite trajectory variations. The system also features a Flask-based web interface for remote operation and obstacle sensors for fall prevention. This work concludes that the platform is a promising tool for modernizing sports training, providing stable footage and automated instantaneous velocity data.2026-02-11T00:00:00ZDesenvolvimento de uma bancada didática para estudo de vibrações de sistemas mecânicoshttps://repositorio.ufu.br/handle/123456789/494892026-08-13T06:28:58Z2026-06-15T00:00:00ZTitle: Desenvolvimento de uma bancada didática para estudo de vibrações de sistemas mecânicos
Abstract: This work presents the development of a modular educational test bench designed for the
study of vibrations in mechanical systems with up to four degrees of freedom.The project
involved theoretical modeling using the Lagrange method, the physical construction of
the structure, and the execution of experimental tests using modal analysis based on
Frequency Response Functions (FRFs). From the experimental data, the system's natural
frequencies and their respective mode shapes were identified.
Subsequently, an analytical model calibrated by numerical optimization techniques was
developed, allowing for the acquisition of parameters consistent with the observed
physical behavior. Furthermore, a numerical simulation was performed via the finite
element method in ANSYS; the resulting natural frequencies presented higher values, as
expected due to computational model idealizations, yet the vibration modes coincided
with the other methods.
Finally, the comparison between experimental, analytical, and numerical results
demonstrated strong agreement in identifying natural frequencies and, most notably, in
the representation of mode shapes, evidencing physical coherence among the methods.
The observed discrepancies remained within acceptable limits, validating the reliability
of the adopted models. Thus, it is concluded that the developed test rig proves to be an
effective tool for teaching and analyzing mechanical vibrations, enabling the integration
of theory, simulation, and experimental practice.2026-06-15T00:00:00ZConstrução e controle de um posicionador linear utilizando realimentação de estadoshttps://repositorio.ufu.br/handle/123456789/490262026-07-24T06:19:32Z2026-03-11T00:00:00ZTitle: Construção e controle de um posicionador linear utilizando realimentação de estados2026-03-11T00:00:00ZImplementação de um sistema de comando de pulsos para um robô Deltahttps://repositorio.ufu.br/handle/123456789/490002026-07-24T06:20:00Z2026-06-22T00:00:00ZTitle: Implementação de um sistema de comando de pulsos para um robô Delta2026-06-22T00:00:00Z