Um sistema de visão para navegação robusta de uma plataforma robótica semi-autônoma

Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case)

Sistema inteligente para detecção de vazamentos em dutos de petróleo usando transformada Wavelet e redes neurais

This work consists in the use of techniques of signals processing and artificial neural networks to identify leaks in pipes with multiphase flow. In the traditional methods of leak detection exists a great difficulty to mount a profile, that is adjusted to the found in real conditions of the oil transport. These difficult conditions go since the unevenly soil that cause columns or vacuum throughout pipelines until the presence of multiphases like water, gas and oil; plus other components as sand, which use to produce discontinuous flow off and diverse variations. To attenuate these difficulties, the transform wavelet was used to map the signal pressure in different resolution plan allowing the extraction of descriptors that identify leaks patterns and with then to provide training for the neural network to learning of how to classify this pattern and report whenever this characterize leaks. During the tests were used transient and regime signals and pipelines with punctures with size variations from ½' to 1' of diameter to simulate leaks and between Upanema and Estreito B, of the UN-RNCE of the Petrobras, where it was possible to detect leaks. The results show that the proposed descriptors considered, based in statistical methods applied in domain transform, are sufficient to identify leaks patterns and make it possible to train the neural classifier to indicate the occurrence of pipeline leaks

Análise citoarquitetônica dos componentes do sistema de temporização circadiana do sagui (Calithrix jacchus), comparada com a inervação das suas principais aferências

The suprachiasmatic nucleus (SCN) of the anterior hypothalamus, together with the intergeniculate leaflet (IGL) of the thalamus are considered the central components of the circadian timing system (CTS) of mammals. This system is responsible for the generation and regulation of circadian rhythms by establishing a temporal organization of physiological processes and behaviors. The neuronal specific nuclear protein (NeuN) has been widely used as a neuronal marker in several studies. Since glial fibrillary acidic protein (GFAP) is a component of intermediate filaments found in the cytoplasm of astrocytes and is commonly used as a specific marker for these cells. This study aims to identify, in the marmoset, the NeuN immunoreactive neurons and glial cells immunoreactive to GFAP, as well as map the major route of photic synchronization of the STC, retinohypothalamic tract (RHT), and identify the indirect pathway to the SCN and pregeniculate nucleus (PGN) - structure homologous to IGL rodents, using immunohistochemical and cytoarchitectonic techniques. Observed in SCN the presence of neurons immunoreactive to NeuN and terminals immunoreactive subunit b of cholera toxin (CTb), neuropeptide Y (NPY) and serotonin (5- HT). In the PGN noted the presence of the NeuN and NPY immunoreactive neurons and the immunoreactive terminals CTb and 5-HT. Astrocytes are present throughout the extent of the SCN and the PGN this New World primate

Variabilidade espacial de atributos da fertilidade de um Latossolo Vermelho Distroférrico sob Sistema Plantio Direto

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Limites e evolução geodinâmica do Sistema Jaguaribeano, Província Borborema, Nordeste do Brasil

The studied area is geologically located in the Northern Domain of the Borborema Province (Northeast Brazil), limited to the south by the Patos shear zone. Terranes of the Jaguaribeano system are dominant, flanked by the Piranhas (E and S sides) and Central Ceará (NE side) terranes. Its basement comprises gneiss -migmatite terrains of Paleoproterozoic to Archean age (2.6 to 1.9 Ga old), overprinted by neoproterozoic to cambrian tectonotherma l events. Narrow supracrustal belts ( schist belts) display a 1.6 to 1.8 Ga age, as shown by whole - rock Rb-Sr and zircon U-Pb and Pb/Pb dates in acid metavolcanics which dominate in the lower section of these sequences, and in coeval metaplutonics (granitic augen gneisses). From the stratigraphic point of view, three Staterian belts are recognized: 1. Orós Belt - made up by the Orós Group, subdivided in the Santarém (predominantly pure to impure quartzites, micaschists and metacarbonates) and Campo Alegre (metandesites, metabasalts, metarhyolites and metarhyodacites, interlayered with metatuffs and metasediments) formations, and by the Serra do Deserto Magmatic Suite (granitic augen gneisses). 2. Jaguaribe Belt - its lithostratigrahic-lithodemic framework is similar to the one of the Orós Belt, however with a greater expression of the volcano -plutonic components (Campo Alegre Formation and Serra do Deserto Magmatic Suite). The Peixe Gordo Sequence, separately described, is also related to this belt and contain s metasedimentary, metavolcanic (with subordinated volcanoclastics) and metaplutonic units. The first one correlated to the Orós Group and the latter the Serra do Deserto Magmatic Suite. 3. Western Potiguar Belt - represented by the Serra de São José Gro up, subdivided in the Catolezinho (biotite -amphibole gneisses with intercalations of metacarbonates, calcsilicate rocks, amphibolites and quartzite beds to the top) and Minhuins (quartzites, micaschists, metaconglomerates, calcsilicate rocks, acid to the b asic metavolcanics and metatuffs) formations. Its late Paleoproterozoic (Staterian) age was established by a Pb/Pb date on zircons from a granitic orthogneiss of the Catolezinho Formation. The petrographic characteristics and sedimentary structures of the Santarém Formation of the Orós Group point to deltaic to shallow marine depositional systems, overlain by deep water deposits (turbidites). The geodynamic setting of this region encompassed a large depositional basin, probably extending to the east of the Portalegre shear zone and west of the Senador Pompeu shear zone, with possible equivalents in the Jucurutu Formation of the Seridó Belt and in the Ceará Group of central Ceará. The Arneiróz Belt, west Ceará, displays some stratigraphic features and granito ids geochemically akin to the ones of the Orós Belt. The evolutionary setting started with an extensional phase which was more active in the eastern part of this domain (Western Potiguar and part of the Jaguaribe belts), where the rudite and psamite sedime ntation relates to a fluviatile rift environment which evolved to a prograding deltaic system to the west (Orós Group). The basaltic andesitic and rhyolitic volcanics were associated to this extensional phase. During this magmatic event, acid magmas also crystallized at plutonic depths. The Orós Group illustrates the environmental conditions in the western part of this domain. Later on, after a large time gap (1.6 to 1.1 Ga), the region was subjected to an extensional deformational episode marked by 900 Ma old (Sm-Nd data) basic rocks, possibly in connection with the deposition of the Cachoeirinha Group south of the Patos shear zone. In the 800 to 500 Ma age interval, the region was affected by important deformational and metamorphic events coupled with in trusion of granitic rocks of variable size (dykes to batholiths), related to the Brasiliano/Pan -African geotectonic cycle. These events produced structural blocks which differentiate, one from the other, according to the importance of anatectic mobilizatio n, proportion of high-grade supracrustals and the amount of neoproterozoic -cambrian granitoid intrusions. On this basis, a large portion of the Jaguaretama Block/Terrane is relatively well preserved from this late overprint. The border belts of the Jagua retama Block (Western Potiguar and Arneiroz) display kyanite-bearing (medium pressure) mineral associations, while in the inner part of the block there is a north-south metamorphic zoning marked by staurolite or sillimanite peak metamorphic conditions. Regarding the deformations of the Staterian supracrustal rocks, second and third phases were the most important, diagnosed as having developed in a progressive tectonic process. In the general, more vigorous conditions of PT are related to the interval tardi - phase 2 early-phase 3, whose radiometric ages and regional structuring indicators places it in the Brasiliano/Pan-African Cycle. In the Staterian geodynamic setting of Brazilian Platform , these sequences are correlated to the lower Espinhaço Supergroup (p.ex., Rio dos Remédios and Paraguaçu groups, a paleproterozoic rift system in the São Francisco Craton), the Araí and Serra da Mesa groups (north of Goiás, in the so -called Goiás Central Massif), and the Uatumã Group (in the Amazonian Craton). Granitic ( augen gneisses) plutonics are also known from these areas, as for example the A-type granites intrusive in the Araí and Serra da Mesa groups, dated at 1.77 Ga. Gravimetric and geological data place the limits of the Jaguaribeano System (terranes) along the Senador Pompeu Shear Zone (western border) and the Portalegre- Farias Brito shear zone (eastern and southern). However, the same data area not conclusive as regards the interpretation of those structures as suture of the terrane docking process. The main features of those shear zones and of involved lothological associations, appear to favour an intracontinental transpressional -transcurrent regime, during Neoproterozoic-Cambrian times, marking discontinuities along which different crustal blocks were laterally dispersed. Inside of this orogenic system and according to the magnetic data (total field map), the most important terrane boundary appears to be the Jaguaribe shear zone. The geochronological data, on some tectonostratigraphic associations (partly represented by the Ceará and Jucurutu groups), still at a preliminary level, besides the lack of granitic zonation and other petrotectonic criteria, do not allow to propose tectonic terrane assembly diagrams for the studied area

Implicações tectônicas na hidrologia do aqüífero Barreiras e sistema lacustre do Bonfim, Nísia Floresta-RN

This MSc dissertation presents the results of a research carried out in a 500 km2 area in the Nísia Floresta county. The main goal of the research was to evaluate fault influence on hidrology features of aquifers and lakes, mainly in the Barreiras Group and in the Bonfim lake cluster respectively. The Precambrian crystalline basement is made of Caicó Complex rocks. They are capped by cretaceous sedimentary rocks and by cenozoic sedimentary rocks. Only the latter outcrop in the study area, wheareas the former are described in boreholes. Faults cut across all stratigraphic units and their main trends are NW, NE and E-W, which have been generated by E-W compression. Subordinate N-S trending faults also take place and have been generated by N-S oriented compression. Fault controlled hydrologic features are observed throughout the study area. There are sudden changes in saturated thicknesses of the Barreiras Aquifer due to vertical displacement of the Barreiras Group. The most important underground water source of the Bonfim Lake is related to abrupt thickness changes of the aquifer. In addition, the main faults control the underground drainage network and, probably, change in direction of equipotential surfaces seen on the potenciometric map. Regarding the surface hydrologic features, faults also control river and stream channels, as well as lake origin and shapes. The Bonfim Lake, in particular, has its peculiar shape, which follows NW and NE lineaments, and origin related to faulting and probably underground carstics processes

Aplicação do Sensoriamento Remoto e do Sistema de Informações Geográficas na Detecção de Manchas de Óleo na Região do Pólo de Exploração de Guamaré, R.N.

Objective to establish a methodology for the oil spill monitoring on the sea surface, located at the Submerged Exploration Area of the Polo Region of Guamaré, in the State of Rio Grande do Norte, using orbital images of Synthetic Aperture Radar (SAR integrated with meteoceanographycs products. This methodology was applied in the following stages: (1) the creation of a base map of the Exploration Area; (2) the processing of NOAA/AVHRR and ERS-2 images for generation of meteoceanographycs products; (3) the processing of RADARSAT-1 images for monitoring of oil spills; (4) the integration of RADARSAT-1 images with NOAA/AVHRR and ERS-2 image products; and (5) the structuring of a data base. The Integration of RADARSAT-1 image of the Potiguar Basin of day 21.05.99 with the base map of the Exploration Area of the Polo Region of Guamaré for the identification of the probable sources of the oil spots, was used successfully in the detention of the probable spot of oil detected next to the exit to the submarine emissary in the Exploration Area of the Polo Region of Guamaré. To support the integration of RADARSAT-1 images with NOAA/AVHRR and ERS-2 image products, a methodology was developed for the classification of oil spills identified by RADARSAT-1 images. For this, the following algorithms of classification not supervised were tested: K-means, Fuzzy k-means and Isodata. These algorithms are part of the PCI Geomatics software, which was used for the filtering of RADARSAT-1 images. For validation of the results, the oil spills submitted to the unsupervised classification were compared to the results of the Semivariogram Textural Classifier (STC). The mentioned classifier was developed especially for oil spill classification purposes and requires PCI software for the whole processing of RADARSAT-1 images. After all, the results of the classifications were analyzed through Visual Analysis; Calculation of Proportionality of Largeness and Analysis Statistics. Amongst the three algorithms of classifications tested, it was noted that there were no significant alterations in relation to the spills classified with the STC, in all of the analyses taken into consideration. Therefore, considering all the procedures, it has been shown that the described methodology can be successfully applied using the unsupervised classifiers tested, resulting in a decrease of time in the identification and classification processing of oil spills, if compared with the utilization of the STC classifier

Nova versão do sistema de avaliação de terras - SIAT

O SIAT é um sistema especialista para Avaliação de Terras derivado do MicroLEIS - Land Evaluation Information System desenvolvido na Espanha. Na primeira versão, as 12 variáveis foram adaptadas e ajustadas para condições tropicais, assim como a estrutura do programa e o banco de dados. Os testes de campo mostraram que os melhores resultados foram obtidos para escalas próximas de 1:100.000. Nesta segunda versão, os intervalos das variáveis foram redefinidos e uma interface de comunicação com o SIG IDRISI foi introduzida, permitindo a troca de dados entre os dois programas. Outra modificação importante foi a adoção de uma equação para calcular a erosividade no lugar de mapa apresentado no Manual do Usuário. Os testes de campo mostraram que o uso do SIAT é agora mais funcional, com melhor resolução, permitindo trabalhar com escalas em torno de 1:50.000, além de ser adaptável para todo o território brasileiro. A versão do SIAT pode ser obtida pelo endereço www.rc.unesp.br/igce/ceapla/biblioteca/softwares/siat.html.

Análise do uso da terra na microbacia do Arroio do Meio - Santa Maria - RS, por Sistema de Informações Geográficas e imagem de satélite

O objetivo desse trabalho foi verificar a viabilidade do uso de um Sistema de Informações Geográficas (SIG) e a imagem de satélite para a análise do uso atual da terra e localização de áreas onde possam estar ocorrendo conflitos entre capacidade e uso do solo, na microbacia hidrográfica do Arroio do Meio. Foram utilizadas técnicas de geoprocessamento, como álgebra entre mapas, consulta ao banco de dados e reclassificação de imagens. Uma microbacia foi escolhida como objeto deste estudo, por ser considerada por muitos autores como sendo uma das melhores unidades para o planejamento e desenvolvimento sócioeconômico dos habitantes do meio rural. Na microbacia estudada, foram encontrados 555ha cobertos com florestas, compreendendo 24% da área total. As lavouras com área de 1.314ha ocupam a maior parte da microbacia (56%). Os campos de pastagens cobrem 184ha, ou seja, 8% da área total. As áreas alagadas representam 11% da área da microbacia, tendo respectivamente 265ha. Foram detectados ainda, 31ha sombreados (1%) onde não se determinou com exatidão o uso da terra. Nas áreas com declividade superior a 47%, foram detectados 32ha sem cobertura de florestas, perfazendo 1,4% da área da microbacia. em declives superiores a 30%, existem 71ha (3%) sendo usados para a agricultura. A área ocupada com Chernossolos e Neossolos Litólicos, unidade de mapeamento Ciríaco-Charrua em declividade maior que 30% sem cobertura florestal é de 14ha (0,6%). de acordo com a declividade e o solo, as áreas de conflito alcançam 5% da área total, o que demonstra que, na maior parte da microbacia, a terra está sendo usada de acordo com sua capacidade.

Caracterização geométrica de um sistema fluvial, formação Ttaquaquecetuba, Terciário da Bacia de São Paulo

The objective of this study is the geometric characterization of a fluvial system, exemplified by the Itaquaquecetuba Formation. The studied area is a quarry located in Itaquaquecetuba, distant 35 km from the city of São Paulo, which is inserted in the context of São Paulo Basin. Fluvial systems are important hydrocarbon reservoirs, and this study may contribute with an analogue for ancient reservoirs. It was elaborated ten facies logs along a distance of 200 m (log spacing of 20 m), with a vertical column (thickness) of 40 m for each log. Eight facies cycles, and its lateral chrono-correlation allowed to map the potential reservoir and non-reservoir facies within each cycle. Regarding the depositional model for the studied section, it is assumed an alluvial fan system composed of meandering and ribbon-type fluvial channels.

Sistema de informações geográficas aplicado à espacialização da capacidade de uso da terra

This research aimed to study land use capability classes in Pratânia, São Paulo State, Brazil, by using the Geographic Information System (GIS), in order to find out the appropriate planning system for soil use. The watershed covers an area of 21,773.61 ha and is located among the coordinates 22°44'48S and 22°52'17S and 48°38'21W and 48°48'07W. The land use capability map was made from the slope and soil maps, based on the features of each kind of soil and the land use capability table for class assessment. It was possible to conclude that IIIs was the most significant subclass. Slope classes from 0% to 20% were present in more than 97% of Pratânia, being the plane areas the most representative ones (55%). GIS showed to be an excellent tool for determining land use capability, because the geoprocessing use facilitates and activates the digital data crossing, allowing its storage for future environmental planning.

Generalização cartográfica para um Sistema de Navegação e Guia de Rota em Automóvel áudio-dinâmico com múltiplas escalas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação in vitro da resistência de união do cerômero ao sistema de cimentação adesiva, através do teste de micro-tração. Efeito de diferentes tratamentos de superfície

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Diagnóstico ambiental na sub-bacia do Ribeirão Pouso Alegre com a utilização de um sistema de informação geográfica

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise dinâmica por Wavelets em um sistema com fricção seca e amortecimento

Pós-graduação em Física - IGCE