Rodrigo Carelli

Federal University of Rio de Janeiro | UFRJ · Departamento de Direito Sócio-Econômico

The Anthropocene marks the recognition of the unsustainability of the model in which we live based on the endless exploitation of labour and land for the purposes of production and consumption with exponential and continuous growth. This paper argues that the new utopia may well be based on a post-growth society and it will require the construction...

O artigo se propõe a investigar se o engendramento da sujeição social e da servidão maquínica, conforme propostos por Maurizio Lazzarato, auxiliam na compreensão da realidade do trabalho em plataformas digitais de transporte de pessoas no Rio de Janeiro. Para isso, analisam-se qualitativamente quatro entrevistas concedidas a partir de um questionár...

O presente trabalho estudou as plataformas digitais de transporte de pessoas e mercadorias a partir do prisma dos trabalhadores negros. A partir de dados empíricos levantados em pesquisa, argui-se a disparidade de oportunidade, tratamento e rendimento no mercado de trabalho entre negros e brancos nestas modalidades de trabalho por plataformas digit...

RESUMO As experiências do Chile de Pinochet e do Brasil de Temer e Bolsonaro são identificadas como laboratórios ou modelos do neoliberalismo. Em ambos os casos, a Justiça do Trabalho sofreu fortes ataques. O artigo se propõe a apresentar as razões pelas quais isso se deu a partir da análise da literatura teórica neoliberal. O texto apresenta o imp...

The Covid-19 pandemic had important consequences in the practice of lawyers, but it also represented serious economic impacts for these professionals. The study was based on empirical research conducted with male and female lawyers in the state of Rio de Janeiro, Brazil. The results demonstrate that the impacts of the pandemic on work and on the ec...

p>Cet ouvrage interrogeles perturbations de l’organisation du travail et les recompositions de la régulation de l’emploi engendrées par le capitalisme de plateforme. L’approche interdisciplinaire – droit, sociologie, économie – traite des manières dont les catégories institutionnelles et conceptuelles liées à l’État social s’adaptent aux transforma...

O artigo examina as respostas às demandas que envolvem a terceirização no cenário pós-reforma trabalhista. Os julgamentos do Supremo Tribunal Federal (STF) – que rechaçou as alegações de inconstitucionalidade da legislação, declarou a licitude da terceirização e superou a distinção entre atividades empresariais acessórias e finalísticas – colocaram...

A pandemia da COVID-19 trouxe importantes consequências para a forma de exercer a advocacia, mas também representou graves impactos econômicos para a categoria. O estudo, baseado em pesquisa empírica realizada junto à advocacia no Estado do Rio de Janeiro, demonstra que os impactos no trabalho e na condição econômica derivados da pandemia foram mai...

This paper critically addresses the changes brought by the digital economy and its digital platforms to Labour Law. It examines the concept of labour platforms and its typologies and models, including the critique of the online and offline work categories and offers other alternative solutions. It confronts the role of Labour Law, considering the p...

O presente artigo analisou as consequências da pandemia da COVID-19 para a advocacia, a partir de pesquisa empírica realizada com 4437 profissionais no estado do Rio de Janeiro no final de 2020. O teletrabalho foi tratado como uma espécie do trabalho baseado em domicílio, conforme a classificação da Organização Internacional do Trabalho. O estudo d...

The article analyzes, based on the notion of the grey zone of work and employment, the nature of the relationship between workers and digital platforms, establishing a parallel between Uber drivers and the on-demand dock workers, to demonstrate the possibility of applying the protection of labour law without the need to discuss the existence of emp...

This paper critically faces the changes brought by the digital economy and its digital platforms in labor law. It addresses the concept of working platforms from typologies and models, including the online and offline work categories. It confronts the role of labor law, considering the perspectives of wage regulation in theses platforms, and reflec...

RESUMO: O presente trabalho realiza uma análise sobre a plataforma de crowdsourcing GetNinjas. Baseado em pesquisa empírica, por meio de questionário semiestruturado apresentado a vinte e quatro trabalhadores inscritos na plataforma, que se voluntariaram a responder às perguntas on-line em formulário eletrônico disponibilizado, o artigo conclui que...

This paper critically faces the changes brought by the digital economy and its digital platforms in labor law. It addresses the concept of working platforms from typologies and models, including the online and offline work categories. It confronts the role of labor law, considering the perspectives of wage regulation in theses platforms, and reflec...

Covid-19 and gig worker strikes accross Latin America.

Livro em que diversos autores passam pelas questões do impacto das novas tecnologias no direito do trabalho.

O artigo analisa, em abordagem interdisciplinar entre a sociologia e o direito, apoiando-se na noção de zona cinzenta do trabalho e emprego, a natureza da relação de trabalho entre trabalhadores e as plataformas digitais, estabelecendo um paralelo entre os motoristas da Uber e os trabalhadores portuários avulsos, para demonstrar ao final a possibil...

INTRODUÇÃO O Supremo Tribunal Federal está no centro da vida política brasileira, havendo quem chame o momento de "supremocracia" 1. As consequ-ências da supremacia da cúpula do Poder Judiciário sobre os demais poderes têm sido preocupação constante de estudiosos da ciência política, pelos possíveis efeitos perniciosos à vida democrática 2. Pretend...

Nous voulons l'abolition du marchandage, parce qu'il est odieux qu'entre le patron et l'ouvrier se glissent de rapaces intermédiaires qui exploitent le second et, quel que soit le bon vouloir du premier, font descendre le salaire au niveau marqué par la faim." Louis Blanc, 1848 INTRODUÇÃO A terceirização frequentemente é apresentada, pela mídia tra...

RESUMO: Editorial da seção especial "Trabalho, Instituições e Democracia"ABSTRACT:Editorial (Introduction to the Special Issue "Trabalho, Instituições e Democracia")

RESUMO: Editorial da seção especial "Terceirização e Reforma Trabaalhista"ABSTRACT:Editorial (Introduction to the Special Issue "Tercerização e Reforma Trabalhista")

In the area of robotics systems, there are numerous applications where robots are expected to move rapidly from one place to another, or follow desired trajectories while maintaining good dynamic behavior. However, certain non-linearities, uncertainties in dynamics and external perturbations make the design of ideal controllers a complicated task i...

O presente trabalho aborda a dinâmica da relação de trabalho dos advogados audiencistas contratados por intermédio de aplicativo de computador, comparando-a com a relação de trabalho existente entre o motorista e a empresa Uber. A pesquisa investiga a experiência de advogados audiencistas e apresenta o estudo do caso de tais profissionais contratad...

It is well known that all robotic systems have additional dynamics and disturbances beyond those that are modelled. Hence, in this paper, the performance of a neuro-adaptive sliding mode control (NA-SMC) controller is analysed in the presence of disturbances and unmodelled dynamics. The proposed control strategy has two stages: first, a feedback li...

This paper models the complex simultaneous localization and mapping (SLAM) problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models allow to incorporate: any motion model; any observation model regardless of the type of sensor being chosen; prior information of the ma...

Para a compreensão das razões pelas quais o Brasil se encontra no processo atual de ruptura institucional, há a necessidade de se buscar bem mais elementos do que aqueles ligados à-sempre de natureza circunstancial-micropolítica doméstica. Também de pouca valia seria confiar o desencaixe da normalidade governamental a desdobramentos de processos ju...

Este ebook que você tem em mãos é a versão eletrônica, com pequenas modificações, do texto apresentado como dissertação para obtenção do título de mestre na Universidade Federal Fluminense, no ano de 2002. De lá para cá, passaram-se dez anos, mas a situação é basicamente a mesma: a precarização com a intermediação de mão de obra, fantasiada de terc...

In this work a nonlinear controller capable to guide a leader-follower formation involving a UAV and a UGV in the accomplishment of positioning and trajectory tracking missions is presented. A centralized structure is implemented to share information about the current pose of the vehicles and to determine the relative position between them. The asy...

This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is used...

This paper presents the design of an algorithm based on neural networks in discrete time for its application in mobile robots. In addition, the system stability is analyzed and an evaluation of the experimental results is shown.The mobile robot has two controllers, one addressed for the kinematics and the other one designed for the dynamics. Both c...

This paper proposes a high-level underactuated nonlinear controller capable to guide a RUAV during a 3D flight. First, it presents a dynamic model to represent the dynamics of the aircraft, explicitly showing its underactuated character. Following, a suitable controller based on partial feedback linearization is designed for stabilizing the rotorcr...

In this work a switching strategy associated to three PVTOL controllers is proposed to guide a rotorcraft during 3D navigation. The proposal is to orientate the rotorcraft to the desired point (using a Z-PVTOL controller) and then to move it ahead (using a XZ-PVTOL controller), considering the body reference frame. In such goal search, if a lateral...

This study proposes an inverse non-linear controller combined with an adaptive neural network proportional integral (PI) sliding mode using an on-line learning algorithm. The neural network acts as a compensator for a conventional inverse controller in order to improve the control performance when the system is affected by variations on their dynam...

O Ministério Público do Trabalho, instituição antes subalterna no sistema protetivo trabalhista, com a refundação do “parquet”, a partir da década de 1980, ganha importância na representação funcional dos trabalhadores, na tutela dos direitos fundamentais no trabalho. Assim, o texto demonstra que, no momento de crise do Direito do Trabalho e de sua...

This work presents a new adaptive dynamic control to solve the path following problem for the unicycle-like mobile robot. First, it is proposed a dynamic modeling of a unicycle-like mobile robot where it is considered that its mass center is not located at the center the wheels' axle. Then, the design of the control algorithm is presented. This con...

This paper presents both the design and the implementation of a bilateral teleoperation system for a mobile manipulator, allowing a human operator to perform complex tasks in remote environments. Two teleoperation operation modes are proposed: the locomotion mode (mobile manipulator) and the manipulation mode (robotic arm). The human operator can s...

This work proposes a controller to guide a miniature helicopter during a 3D path-following task, emphasizing its dynamic stabilization, while reaching a set of reference poses. The proposal includes a nonlinear underactuated control strategy previously proposed for the UAV, implemented as an inner closed loop, to stabilize the helicopter in a given...

Precision agricultural maps are required for agricultural machinery navigation, path planning and plantation supervision. In this work we present a Simultaneous Localization and Mapping (SLAM) algorithm solved by an Extended Information Filter (EIF) for agricultural environments (olive groves). The SLAM algorithm is implemented on an unmanned non-h...

This paper propose an Model Reference Adaptive Control (MRAC) for mobile robots for which stability conditions and performance evaluation are given. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a direct neural network-based adaptive dynamics control. The architecture of the dynamic...

This paper addresses the problem of a features selection criterion for a simultaneous localization and mapping (SLAM) algorithm implemented on a mobile robot. This SLAM algorithm is a sequential extended Kalman filter (EKF) implementation that extracts corners and lines from the environment. The selection procedure is made according to the converge...

The Labor Public Attorneys, an institution that was before subordinate in the labor protective system, with the overhaul of the "parquet", from the 1980s, gained importance in the functional representation of workers, and the protection of fundamental rights at work. Thus, the text shows that, in time of crisis in Labour Law and its institutions, t...

The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the...

In this work the full architecture of the Robotenis system and a novel structure of visual control were shown in detail. In this article no results are shown but the more important elements to control and simulate the robot and visual controller were described. Two kinematic models were described in order to obtain two different jacobians were each...

This paper proposes a solution to a door crossing problem in unknown environments for an autonomous wheelchair. The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model is implemented on the vehicle to direct the wh...

This paper presents a novel image-based controller for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are considered: an image-based approach and a position-based approach. Both are fully described including stability analysis and experimental results on real robots, discussing limit...

This paper presents a multi-layer scheme to control a formation of n mobile robots, including a strategy for obstacle avoidance. The controller adopted is able to guide the robots to compose the desired formation and to track a desired trajectory, avoiding obstacles during the navigation. Two planning layers are responsible for organizing the navig...

This paper develops a new representation for the dynamic model of unicycle-like mobile robots, discusses some properties of it, and proposes an adaptive dynamic compensation controller based on such model. The proposed dynamic model has linear and angular velocities as inputs, which is usual in commercial mobile robots but not in the literature, th...

This paper presents a continuous wall-following controller for wheeled mobile robots based on odometry and distance information. The reference for this controller is the desired distance from the robot to the wall and allows the robot to follow straight wall contour as well as smoothly varying wall contours by including the curvature of the wall in...

This work presents the analysis of species evolution properties which are considered to design a new evolutionary algorithm for evolvable hardware. These properties reduce the risk of malfunctions in a physical system when it is evolving. A mathematical model, that characterises the natural evolution phenomena of a species, is proposed. A new evolu...

This work presents a control strategy that allows a follower robot to track a target vehicle moving along an unknown trajectory with unknown velocity. It uses only artificial vision to establish both the robot's position and orientation relative to the target, so as to maintain a specified formation at a given distance. The control system is proved...

SUMMARY This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi- robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is...

In this paper, probabilistic-based workspace scan modes of a robot manipulator are presented. The scan modes are governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Desynchronization events). The user is capable to select a specific position at the robot's workspace, which should be reached by the man...

This paper describes the visual control of a parallel robot called "RoboTenis". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments, thus the system is capable to interact with objects which move up to lm/s. The control strategy is composed by two intertwined control loops: The internal...

This paper describes the visual control of a parallel robot called "RoboTenis". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments; the system is capable to interact with objects which move up to lm/s. The control strategy is composed by two intertwined control loops: The internal loop...

This paper describes the visual control of a parallel robot called “RoboTenis”. The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments; the system is capable to interact with objects which move up to 1m/s. The control strategy is composed by two intertwined control loops: The internal loop...

In this work a robot cooperation strategy based on omnidirectional vision is presented. Such strategy will be applied to a mobile robot team formed by small and simple robots and a bigger leader robot with more computational power. The leader must control team formation. It has an omnidirectional camera and sees the other robots. Color segmentation...

This paper presents a switching controller for positioning a unicycle-like mobile robot at a desired point with final orientation avoiding obstacles in completely unknown environments. To this aim two complementary algorithms are included: the first decides whether to avoid an obstacle around its right or left side, and the second is intended to de...

This work presents a control algorithm for a group of non-holonomic mobile robots that must attain coordinately a specific formation, which can be fixed or moving in the work space. The control error is defined in terms of location, size and shape of the constellation of points placed by the robots and the constellation of objective points. The sta...

This paper addresses the control of wheeled mobile robots based on visual information of perspective lines. These lines can be generated by the projection of environment lines like those formed by the intersection of walls and floor, the structural features delimiting paths, or by painted lines on the floor. The control objective is to navigate at...

This work presents a control strategy for mobile robots navigating in corridors, using the fusion of the control signals from two redundant or homogeneous controllers: one based oil optical flow calculation and the other based on the estimates of position of the robot with respect to the centerline of the corridor, which is estimated using data fro...

In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper. The stability of the overall switching system is...

This work presents an abstract approach of a mathematical analysis of the evolution of a species. A mathematical model is proposed as well that characterizes the natural evolutive phenomena. On the basis of this model, and setting the adequate constraints, it is developed an proved the convergency of a new computational evolutionary algorithm, appl...

This work presents a control strategy that allows a follower robot to track a target vehicle moving along an unknown trajectory with unknown velocity. It uses only artificial vision to establish both the robot's position and orientation relative to the target, so as to maintain a specified formation at a given distance. The control system is proved...

This work presents a new approach to calculate the optical flow, which uses the decentralized information filter to accomplish a data fusion step. The proposal consists in taking some least mean square estimates of the optical flow vector associated to a certain region of the image considered and to fuse them in order to get a more accurate final e...

This work addresses the problem of generating autonomously an optimal control action sequence for an autonomous vehicle based on artificial neural networks (ANN). The principal objective is to autonomously design an optimal controller that steers the center of the vehicle through a number of via points in a particular order using a minimum amount o...

This work proposes control structures that efficiently combine force control with vision servo control of robot manipulators. Impedance controllers are considered which are based both on visual servoing and on physical or fictitious force feedback, the force and visual information being combined in the image space. Force and visual servo controller...

This paper is based on a previous work (Carelli et at, 1999). In this paper, mobile robot control laws, including obstacle avoidance based on distance sensorial information are developed. The mobile robot is assumed to evolve in a semi-structured environment. The control systems are based on the use of the extended impedance concept, in which the r...

A motion control strategy for robot manipulators, with inverse dynamics and non-linear proportional-derivative gains is presented. On account of a possible interaction of the robot with the environment, impedance is incorporated to modify the robot's motion references according to the interaction force. The gains, that are non-linear state function...

In this paper, development and implementation are presented of a client software package for remote process control. The proposed software is based on a client-server model under an Intranet architecture. The architecture is proposed for a telecontrol system of a real process, which includes the possibility of integrating I/O devices with data netw...

This work presents a control strategy for mobile robots navigating in corridors, using the fusion of the control signals from vision based controllers. To this aim two controllers are proposed to generate the control signals to be fused: one is based on the optical flow calculation and the other is based on the perspective lines in the corridor. Bo...

Teleoperation, one of the oldest areas of robotics, has experienced considerable growth in the last two decades. Main causes for this trend are the need for increased safety levels for human operators and lower production costs. In this work, a three d.o.f. local manipulator (two d.o.f. for force and one d.o.f. for torque) is developed. This hand c...

The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The non-linearity arises in the remote robot's model. Force and position data are backfed from the local to the remote station. The time delay between both stations is fixed and known. A model of the human ope...

In this paper mobile robot control laws, including obstacle avoidance based on distance seasonal information are proposed. The mobile robot is assumed to evolve in a semi-structured environment. The control systems are based on the use of the extended impedance concept, in which the relationship between fictitious forces and motion error is regulat...