Sildenir Alves Ribeiro - Academia.edu (original) (raw)
Papers by Sildenir Alves Ribeiro
Proceedings of …, 2010
This paper presents a study about diagnosis of breast diseases in early stages using Thermal Imag... more This paper presents a study about diagnosis of breast diseases in early stages using Thermal Images, Hurst Coefficient and Lacunarity. It is based on analysis of symmetry of temperatures in breasts. The first step is extraction of region on interest: right and left breast. With these two images, a new image (image Subtraction) is generated. The second step is extraction of features. For this, Hurst Coefficient and Lacunarity were used. Using Hurst Coefficient were extracted 36 features. Others 97 features were obtained by Lacunarity. Therefore, the proposed method characterizes thermal images by 133 features. The last step is classification. With this objective, techniques of learning machine were used to classify the patients in two groups: healthy or sick. The proposed method presented excellent results (ROC Area = 0,958).
Journal of Information Systems and Technology Management, Nov 1, 2022
This work presents the results of a case study to identify the main risk factors in the software ... more This work presents the results of a case study to identify the main risk factors in the software deployment phase involving two government Brazilian companies. The case study was developed through several on-site visits to monitor the deployment of the system adopted by companies and conduct interviews with team managers. The data were acquired mainly through questionnaires applied to the technical team (analysts and developers) involved with the software implementation. After acquiring the data, an empirical analysis was carried out, where the Risk Factors (RF) and the Containment Strategies (CS) identified in the literature were compared with the RF and CS found in the software deployment phase of the two companies. As a result, this work presents 11 risk factors and 14 Containment strategies found in the literature, in addition to a total of 9 RF and 9 CS recorded in the implementation of the software in companies A and B, which had not yet been cataloged in the literature.
CONTECSI International Conference on Information Systems and Technology Management
This work presents an Artificial Immune System (AIS) to deal with problems scheduling. The Artifi... more This work presents an Artificial Immune System (AIS) to deal with problems scheduling. The Artificial Immunologic System developed in this project was based on the structure, architecture and functioning of the Biological or Natural Immune Systems. The use of Genetic Algorithm (GA) became necessary to represent the antibodies and antigens of the AIS. Each individual generated for the GA represented a processed task set library in a set of machines. The evaluation of each individual was given by a fitness function that represents the process of natural selection. The evolution of the individuals, and population as a consequence was obtained by applying the genetic operators of crossover e mutation. The machines and the tasks used for the scheduling represent the problem of Job Shop Scheduling (JSS). Some classic tests of the literature where applied to the problem in order to verify the viability of the AIS on the treatment of task of scheduling problems. Those tests also demonstrated the system's behavior its entire execution, therefore, allowing for a detailed analysis of the system's functionalities sets for certain time period. The representation of the natural immunologic systems through computational algorithms inspires from all over world researchers. The motivation is that the immunologic systems possess parallelism characteristics adaptability and learning, which can be applied in several problems found in many areas, had its portability.
2015 IEEE 10th International Conference on Global Software Engineering Workshops, 2015
This document describes the proposal for a doctoral thesis which aims to identify the potential b... more This document describes the proposal for a doctoral thesis which aims to identify the potential bottlenecks and constraints in the software development process in a learning environment. The research method is based on the empirical observation of the real activities carried out by groups of students engaged in the laboratory project, part of the assignments of a Software Engineering undergraduate course. In order to standardize the software development activities we adopted the Unified Process (UP), with some modifications and adjustments aligned with to our research proposal, which also was also used to define the set of artifacts produced in each phase. The principles of the Theory of Constraints (TOC) were used to model the problem and consequently identify the bottlenecks in software process development. Currently this work is in the early experimental stage, with the first of the experiments finalized and a second one, aiming to obtain more detailed data is under way. Once completed this step, we can analyze the results and validate or refute some hypotheses and perhaps answer the question: "what are the bottlenecks in the software production process"?
Journal of Mechanics Engineering and Automation, 2014
Este trabalho tem por objetivo apresentar um framework para manipular um braco robotico atraves d... more Este trabalho tem por objetivo apresentar um framework para manipular um braco robotico atraves de coordenadas fornecidas em uma interface grafica que permite a interacao entre o usuario e o componente mecânico. Com o ambiente computacional proposto, o usuario ira controlar e executar os movimentos do braco robotico a partir de coordenadas fornecidas ou atraves de sinais disparados em setas direcionais usando interface grafica com o operador, “cliques” do mouse pelo operador. O sistema permitira tambem o armazenamento das ultimas acoes, constituindo assim, uma base de historicos e uma funcao para impressao e visualizacao de relatorios. Os processos que conduziram o desenvolvimento desta ferramenta envolvem as seguintes etapas: a modelagem do sistema usando os diagramas de caso de uso, classes, interacao e sequencia da UML 2.0 (Unified Modeling Language), a elaboracao dos calculos matematicos da cinematica direta com tres graus de liberdade para representar os movimentos do braco rob...
Proceedings of the XVI Brazilian Symposium on Human Factors in Computing Systems, 2017
This paper presents the quali-quantitative results of a study on the identification of bottleneck... more This paper presents the quali-quantitative results of a study on the identification of bottlenecks in the software development process. The research was developed in an environment learning of Software Engineering and had the collaboration of students of the Department of Computer Science (DCC) of the Federal University of Rio de Janeiro (UFRJ). The main objective of the research is to verify the existence of productive bottlenecks in Software Development Process (SDP), typify them and if possible to promote treatments to solve the impacts in the process and in the software product. For this, three experimental rounds were carried out and three different domains were applied. Each round had deferential teams working in the same domain. The experiments also involved the Unified Process (UP) to guiding the SDP and the Theory of Constraints (TOC) to identify and treat the restrictive elements found in the productive process. As results, the work presents a set of qualitative constraint...
iSys, 2017
Este artigo e resultado de observacoes etnologicas em experimentos academicos aplicados ao Proces... more Este artigo e resultado de observacoes etnologicas em experimentos academicos aplicados ao Processo de Desenvolvimento de Software (PDS). Foram estudados e envolvidos no experimento dois fenomenos comumente aplicados em gestao de projetos: (1) a Sindrome do Estudante e (2) a Lei de Parkinson. A pesquisa foi realizada em ambiente de ensino de engenharia de software com alunos de ciencia da computacao. As caracteristicas do ambiente e suas variaveis evidenciou um terceiro fenomeno, o qual foi denominado de “Sindrome do Deadline”. Os experimentos envolveram ainda o Processo Unificado para guiar o PDS e a Teoria das Restricoes para identificar e tratar os elementos restricoes encontradas no processo produtivo.
Este artigo apresenta um fragmento de modelo ontológico do domínio de testes de software, represe... more Este artigo apresenta um fragmento de modelo ontológico do domínio de testes de software, representado pelos principais objetos, papéis, relações, fases e artefatos produzidos. Posteriormente, são apresentadas duas abordagens conceituais complementares dos elementos envolvidos no teste de software, utilizando como base a Ontologia de Fundamentação-A (UFO-A), com o objetivo de fornecer uma compreensão mais clara da modelagem conceitual existente no processo de testes.
Esta monografia trata exclusivamente de assuntos relacionados a seguranca em redes de computadore... more Esta monografia trata exclusivamente de assuntos relacionados a seguranca em redes de computadores. Abordando temas polemicos como: estrategia e adocao de politicas de seguranca, ataques e invasao a sistemas de computadores e a utilizacao de firewalls como ferramenta de apoio a seguranca em rede e sistemas de computadores. O texto traz ainda uma comparacao entre os principais sistemas operacionais dispostos no mercado, apontando a usabilidade e portabilidade com relacao a implantacao e configuracao de software de firewalls. Dentre os diversos firewalls disponiveis no mercado, este trabalho destaca o CheckPoint FireWall-1 como solucao proprietaria e o Iptables como solucao gratuita e livre. O Iptables e apresentado neste texto com mais riqueza de detalhes e informacoes por se tratar do objeto fim deste trabalho.
O objetivo desse trabalho e identificar os desafios e as oportunidades para gerir a TI nas instit... more O objetivo desse trabalho e identificar os desafios e as oportunidades para gerir a TI nas instituicoes publicas de ensino com a aplicacao das boas praticas encontradas nos principais frameworks de gestao de TI, como: ITIL e COBIT, na norma ISO 20000 e 27000, e tambem na Instrucao Normativa Nr. 04. Os frameworks de gestao de projetos e de gestao estrategica como o PMBOK e COSO tambem sao fundamentalmente importantes para alinhar os objetivos da TI com os objetivos institucionais. Em razao disso, o trabalho tambem busca referencias nestas boas praticas para promover acoes voltadas a projetos e processos desenvolvidos no âmbito institucional. A busca referencial das boas praticas tem por finalidade enxergar as oportunidades nos desafios diarios e com isso buscar o alinhamento estrategico da TI como negocio atraves da rastreabilidade dos objetivos organizacionais e dos objetivos da TI. Este trabalho apresenta ainda algumas acoes implementadas na TI do Centro Federal de Educacao Tecnolo...
Journal of Information Systems and Technology Management, 2021
This work proposes a Dynamic Job Shop Scheduling (DJSS) model for scheduling the task in a softwa... more This work proposes a Dynamic Job Shop Scheduling (DJSS) model for scheduling the task in a software production environment. The aim is to organize the insertion of tasks in the shop in a precedence order previously defined that obeys the mapping of the critical path and the critical chain to identify constraints in the productive process. The complexity and dynamism of the software development environment require a mature and adjusted process that enables management throughout its extension. Therefore, the Unified Process (UP) was used in conjunction with the Theory of Constraints (TOC) in the Software Development Process (SDP). The UP requires an efficient model for the processing of activities, given by the set of independent variables involved in the process. For this reason, a model to programming the task based on dynamic scheduling was developed. The problem around the DJSS is to program the tasks in the shop in a way that allows to identify one or more production lines in the...
HOLOS
No processo de implantação de software, inúmeras falhas podem ocorrer, comprometendo a entrega ao... more No processo de implantação de software, inúmeras falhas podem ocorrer, comprometendo a entrega ao cliente, tais como a falta de recursos, o surgimento de novos requisitos e a não aceitação pelos usuários das mudanças impostas devido à implantação. Estas mudanças estão associadas à adoção de novas tecnologias ou uma nova metodologia de trabalho. Este artigo mostra os resultados de uma revisão da literatura com o intuito de identificar os principais fatores de risco envolvidos neste processo, suas causas e estratégias de contenção durante a entrega do software ao usuário final. A partir deste mapeamento, serão apresentados estudos primários que tratam os fatores de riscos na fase de implantação de projetos de software. A partir dos resultados obtidos, apresentamos onze fatores que visam contribuir na eficácia do gerenciamento de riscos de software durante a fase de implantação.
IEEE Latin America Transactions
Procceedings of the 24th ABCM International Congress of Mechanical Engineering
Anais do X Congresso Nacional de Engenharia Mecânica
Journal of Software
The software development process is a key factor in the efficient production of quality software.... more The software development process is a key factor in the efficient production of quality software. Software process improvement has been a constant theme not only in academia but also in the software industry, where countless works have been developed and published. The Theory of Constraints (TOC) was originally proposed by the physicist Eliyahu Moshe Goldratt, in the 80s as a method for the continuous improvement of manufacturing processes. This research aims to survey the academic research on the application of the TOC to the software development process. We also searched for its application to other productive environments in an attempt to visualize approaches that could be adapted to the software development process, such as studies about process optimization, process improvement and process scheduling. The results showed research opportunities both theoretical and practical with application of the TOC in software process development, software process improvement, identification and treatment of bottlenecks in software process, optimization of software process and applications using heuristics, meta heuristics, mathematical models and optimization models.
HOLOS
Este trabalho apresenta uma aplicação desenvolvida para controlar remotamente um robô de inspeção... more Este trabalho apresenta uma aplicação desenvolvida para controlar remotamente um robô de inspeção. Para construir o projeto eletromecânico foi utilizado um kit Lego NXT Mindstorm. A aplicação foi desenvolvida em JAVA e conta com uma interface gráfica que permite operar e controlar o robô remotamente através de rotinas que rodam em um ambiente cliente / servidor. A comunicação entre estação controladora (servidor) e estação robótica é feita utilizando uma rede wi-fi, que funciona sobre o protocolo TCP (Transmission Control Protocol) e UDP (User Datagram Protocol), juntamente com o protocolo IP (Internet Protocol) configurados em uma porta de comunicação. Uma segunda camada de aplicação foi desenvolvida com um conjunto de instruções (sockets) responsáveis pela comunicação e pelos movimentos controlados do robô, os quais são transmitidos da estação servidora para estação cliente. Para modelar o sistema, os eventos, os controles e os estados do componentes robótico foram utilizados algu...
Proceedings of …, 2010
This paper presents a study about diagnosis of breast diseases in early stages using Thermal Imag... more This paper presents a study about diagnosis of breast diseases in early stages using Thermal Images, Hurst Coefficient and Lacunarity. It is based on analysis of symmetry of temperatures in breasts. The first step is extraction of region on interest: right and left breast. With these two images, a new image (image Subtraction) is generated. The second step is extraction of features. For this, Hurst Coefficient and Lacunarity were used. Using Hurst Coefficient were extracted 36 features. Others 97 features were obtained by Lacunarity. Therefore, the proposed method characterizes thermal images by 133 features. The last step is classification. With this objective, techniques of learning machine were used to classify the patients in two groups: healthy or sick. The proposed method presented excellent results (ROC Area = 0,958).
Journal of Information Systems and Technology Management, Nov 1, 2022
This work presents the results of a case study to identify the main risk factors in the software ... more This work presents the results of a case study to identify the main risk factors in the software deployment phase involving two government Brazilian companies. The case study was developed through several on-site visits to monitor the deployment of the system adopted by companies and conduct interviews with team managers. The data were acquired mainly through questionnaires applied to the technical team (analysts and developers) involved with the software implementation. After acquiring the data, an empirical analysis was carried out, where the Risk Factors (RF) and the Containment Strategies (CS) identified in the literature were compared with the RF and CS found in the software deployment phase of the two companies. As a result, this work presents 11 risk factors and 14 Containment strategies found in the literature, in addition to a total of 9 RF and 9 CS recorded in the implementation of the software in companies A and B, which had not yet been cataloged in the literature.
CONTECSI International Conference on Information Systems and Technology Management
This work presents an Artificial Immune System (AIS) to deal with problems scheduling. The Artifi... more This work presents an Artificial Immune System (AIS) to deal with problems scheduling. The Artificial Immunologic System developed in this project was based on the structure, architecture and functioning of the Biological or Natural Immune Systems. The use of Genetic Algorithm (GA) became necessary to represent the antibodies and antigens of the AIS. Each individual generated for the GA represented a processed task set library in a set of machines. The evaluation of each individual was given by a fitness function that represents the process of natural selection. The evolution of the individuals, and population as a consequence was obtained by applying the genetic operators of crossover e mutation. The machines and the tasks used for the scheduling represent the problem of Job Shop Scheduling (JSS). Some classic tests of the literature where applied to the problem in order to verify the viability of the AIS on the treatment of task of scheduling problems. Those tests also demonstrated the system's behavior its entire execution, therefore, allowing for a detailed analysis of the system's functionalities sets for certain time period. The representation of the natural immunologic systems through computational algorithms inspires from all over world researchers. The motivation is that the immunologic systems possess parallelism characteristics adaptability and learning, which can be applied in several problems found in many areas, had its portability.
2015 IEEE 10th International Conference on Global Software Engineering Workshops, 2015
This document describes the proposal for a doctoral thesis which aims to identify the potential b... more This document describes the proposal for a doctoral thesis which aims to identify the potential bottlenecks and constraints in the software development process in a learning environment. The research method is based on the empirical observation of the real activities carried out by groups of students engaged in the laboratory project, part of the assignments of a Software Engineering undergraduate course. In order to standardize the software development activities we adopted the Unified Process (UP), with some modifications and adjustments aligned with to our research proposal, which also was also used to define the set of artifacts produced in each phase. The principles of the Theory of Constraints (TOC) were used to model the problem and consequently identify the bottlenecks in software process development. Currently this work is in the early experimental stage, with the first of the experiments finalized and a second one, aiming to obtain more detailed data is under way. Once completed this step, we can analyze the results and validate or refute some hypotheses and perhaps answer the question: "what are the bottlenecks in the software production process"?
Journal of Mechanics Engineering and Automation, 2014
Este trabalho tem por objetivo apresentar um framework para manipular um braco robotico atraves d... more Este trabalho tem por objetivo apresentar um framework para manipular um braco robotico atraves de coordenadas fornecidas em uma interface grafica que permite a interacao entre o usuario e o componente mecânico. Com o ambiente computacional proposto, o usuario ira controlar e executar os movimentos do braco robotico a partir de coordenadas fornecidas ou atraves de sinais disparados em setas direcionais usando interface grafica com o operador, “cliques” do mouse pelo operador. O sistema permitira tambem o armazenamento das ultimas acoes, constituindo assim, uma base de historicos e uma funcao para impressao e visualizacao de relatorios. Os processos que conduziram o desenvolvimento desta ferramenta envolvem as seguintes etapas: a modelagem do sistema usando os diagramas de caso de uso, classes, interacao e sequencia da UML 2.0 (Unified Modeling Language), a elaboracao dos calculos matematicos da cinematica direta com tres graus de liberdade para representar os movimentos do braco rob...
Proceedings of the XVI Brazilian Symposium on Human Factors in Computing Systems, 2017
This paper presents the quali-quantitative results of a study on the identification of bottleneck... more This paper presents the quali-quantitative results of a study on the identification of bottlenecks in the software development process. The research was developed in an environment learning of Software Engineering and had the collaboration of students of the Department of Computer Science (DCC) of the Federal University of Rio de Janeiro (UFRJ). The main objective of the research is to verify the existence of productive bottlenecks in Software Development Process (SDP), typify them and if possible to promote treatments to solve the impacts in the process and in the software product. For this, three experimental rounds were carried out and three different domains were applied. Each round had deferential teams working in the same domain. The experiments also involved the Unified Process (UP) to guiding the SDP and the Theory of Constraints (TOC) to identify and treat the restrictive elements found in the productive process. As results, the work presents a set of qualitative constraint...
iSys, 2017
Este artigo e resultado de observacoes etnologicas em experimentos academicos aplicados ao Proces... more Este artigo e resultado de observacoes etnologicas em experimentos academicos aplicados ao Processo de Desenvolvimento de Software (PDS). Foram estudados e envolvidos no experimento dois fenomenos comumente aplicados em gestao de projetos: (1) a Sindrome do Estudante e (2) a Lei de Parkinson. A pesquisa foi realizada em ambiente de ensino de engenharia de software com alunos de ciencia da computacao. As caracteristicas do ambiente e suas variaveis evidenciou um terceiro fenomeno, o qual foi denominado de “Sindrome do Deadline”. Os experimentos envolveram ainda o Processo Unificado para guiar o PDS e a Teoria das Restricoes para identificar e tratar os elementos restricoes encontradas no processo produtivo.
Este artigo apresenta um fragmento de modelo ontológico do domínio de testes de software, represe... more Este artigo apresenta um fragmento de modelo ontológico do domínio de testes de software, representado pelos principais objetos, papéis, relações, fases e artefatos produzidos. Posteriormente, são apresentadas duas abordagens conceituais complementares dos elementos envolvidos no teste de software, utilizando como base a Ontologia de Fundamentação-A (UFO-A), com o objetivo de fornecer uma compreensão mais clara da modelagem conceitual existente no processo de testes.
Esta monografia trata exclusivamente de assuntos relacionados a seguranca em redes de computadore... more Esta monografia trata exclusivamente de assuntos relacionados a seguranca em redes de computadores. Abordando temas polemicos como: estrategia e adocao de politicas de seguranca, ataques e invasao a sistemas de computadores e a utilizacao de firewalls como ferramenta de apoio a seguranca em rede e sistemas de computadores. O texto traz ainda uma comparacao entre os principais sistemas operacionais dispostos no mercado, apontando a usabilidade e portabilidade com relacao a implantacao e configuracao de software de firewalls. Dentre os diversos firewalls disponiveis no mercado, este trabalho destaca o CheckPoint FireWall-1 como solucao proprietaria e o Iptables como solucao gratuita e livre. O Iptables e apresentado neste texto com mais riqueza de detalhes e informacoes por se tratar do objeto fim deste trabalho.
O objetivo desse trabalho e identificar os desafios e as oportunidades para gerir a TI nas instit... more O objetivo desse trabalho e identificar os desafios e as oportunidades para gerir a TI nas instituicoes publicas de ensino com a aplicacao das boas praticas encontradas nos principais frameworks de gestao de TI, como: ITIL e COBIT, na norma ISO 20000 e 27000, e tambem na Instrucao Normativa Nr. 04. Os frameworks de gestao de projetos e de gestao estrategica como o PMBOK e COSO tambem sao fundamentalmente importantes para alinhar os objetivos da TI com os objetivos institucionais. Em razao disso, o trabalho tambem busca referencias nestas boas praticas para promover acoes voltadas a projetos e processos desenvolvidos no âmbito institucional. A busca referencial das boas praticas tem por finalidade enxergar as oportunidades nos desafios diarios e com isso buscar o alinhamento estrategico da TI como negocio atraves da rastreabilidade dos objetivos organizacionais e dos objetivos da TI. Este trabalho apresenta ainda algumas acoes implementadas na TI do Centro Federal de Educacao Tecnolo...
Journal of Information Systems and Technology Management, 2021
This work proposes a Dynamic Job Shop Scheduling (DJSS) model for scheduling the task in a softwa... more This work proposes a Dynamic Job Shop Scheduling (DJSS) model for scheduling the task in a software production environment. The aim is to organize the insertion of tasks in the shop in a precedence order previously defined that obeys the mapping of the critical path and the critical chain to identify constraints in the productive process. The complexity and dynamism of the software development environment require a mature and adjusted process that enables management throughout its extension. Therefore, the Unified Process (UP) was used in conjunction with the Theory of Constraints (TOC) in the Software Development Process (SDP). The UP requires an efficient model for the processing of activities, given by the set of independent variables involved in the process. For this reason, a model to programming the task based on dynamic scheduling was developed. The problem around the DJSS is to program the tasks in the shop in a way that allows to identify one or more production lines in the...
HOLOS
No processo de implantação de software, inúmeras falhas podem ocorrer, comprometendo a entrega ao... more No processo de implantação de software, inúmeras falhas podem ocorrer, comprometendo a entrega ao cliente, tais como a falta de recursos, o surgimento de novos requisitos e a não aceitação pelos usuários das mudanças impostas devido à implantação. Estas mudanças estão associadas à adoção de novas tecnologias ou uma nova metodologia de trabalho. Este artigo mostra os resultados de uma revisão da literatura com o intuito de identificar os principais fatores de risco envolvidos neste processo, suas causas e estratégias de contenção durante a entrega do software ao usuário final. A partir deste mapeamento, serão apresentados estudos primários que tratam os fatores de riscos na fase de implantação de projetos de software. A partir dos resultados obtidos, apresentamos onze fatores que visam contribuir na eficácia do gerenciamento de riscos de software durante a fase de implantação.
IEEE Latin America Transactions
Procceedings of the 24th ABCM International Congress of Mechanical Engineering
Anais do X Congresso Nacional de Engenharia Mecânica
Journal of Software
The software development process is a key factor in the efficient production of quality software.... more The software development process is a key factor in the efficient production of quality software. Software process improvement has been a constant theme not only in academia but also in the software industry, where countless works have been developed and published. The Theory of Constraints (TOC) was originally proposed by the physicist Eliyahu Moshe Goldratt, in the 80s as a method for the continuous improvement of manufacturing processes. This research aims to survey the academic research on the application of the TOC to the software development process. We also searched for its application to other productive environments in an attempt to visualize approaches that could be adapted to the software development process, such as studies about process optimization, process improvement and process scheduling. The results showed research opportunities both theoretical and practical with application of the TOC in software process development, software process improvement, identification and treatment of bottlenecks in software process, optimization of software process and applications using heuristics, meta heuristics, mathematical models and optimization models.
HOLOS
Este trabalho apresenta uma aplicação desenvolvida para controlar remotamente um robô de inspeção... more Este trabalho apresenta uma aplicação desenvolvida para controlar remotamente um robô de inspeção. Para construir o projeto eletromecânico foi utilizado um kit Lego NXT Mindstorm. A aplicação foi desenvolvida em JAVA e conta com uma interface gráfica que permite operar e controlar o robô remotamente através de rotinas que rodam em um ambiente cliente / servidor. A comunicação entre estação controladora (servidor) e estação robótica é feita utilizando uma rede wi-fi, que funciona sobre o protocolo TCP (Transmission Control Protocol) e UDP (User Datagram Protocol), juntamente com o protocolo IP (Internet Protocol) configurados em uma porta de comunicação. Uma segunda camada de aplicação foi desenvolvida com um conjunto de instruções (sockets) responsáveis pela comunicação e pelos movimentos controlados do robô, os quais são transmitidos da estação servidora para estação cliente. Para modelar o sistema, os eventos, os controles e os estados do componentes robótico foram utilizados algu...