https://repositorio.ufu.br/handle/123456789/5146 2026-08-22T15:04:50Z https://repositorio.ufu.br/handle/123456789/49725 Title: Dimensionamento hidráulico do sistema de proteção de incêndio por hidrantes e chuveiros automáticos do bloco 1JCG da Universidade Federal de Uberlândia 2026-07-29T00:00:00Z https://repositorio.ufu.br/handle/123456789/49715 Title: 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. 2026-02-11T00:00:00Z https://repositorio.ufu.br/handle/123456789/49707 Title: Memorial Acadêmico e Profissional 2026-08-17T00:00:00Z https://repositorio.ufu.br/handle/123456789/49588 Title: Desenvolvimento de módulos robóticos para instalação de amortecedores de vibração em cabos de alta tensão Abstract: The application of robots in high-voltage power line maintenance operations has gradually advanced over the past decades, with notable emphasis on mobile robot systems. However, despite the progress achieved, many challenges related to the development of such robots persist. Among the desirable features for these robots are: reliability, autonomous operation, low weight, high obstacle-transposing capability, and shielding against electromagnetic interference, many of which remain insufficiently addressed in existing robotic systems. Considering this, the present dissertation proposes the development of robotic modules for the installation of vibration dampers on high-voltage power lines. These robotic modules were designed to perform specific maintenance tasks in energized and hard-to-reach environments. This work describes the design, development, construction, and experimental testing of two robotic modules: one for the installation of Stockbridge-type dampers, and another for the installation of preformed-type vibration dampers. The dissertation also presents a shielding procedure for the robotic modules against electromagnetic interference and electrostatic discharges originating from transmission lines of up to 138 kV. Field tests carried out at the facilities of a power utility company demonstrated the modules’ effectiveness in overcoming a significant portion of existing limitations, positioning the developed solutions as promising alternatives in the field of high-voltage line maintenance robotics. 2026-02-23T00:00:00Z