An optical flow-based sensing system for reactive mobile robot navigation

This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.

Lucidez-Embriaguez, movimento e arrebatamento: homens,(Semi)deuses que perambulam e a educação menor num bairro de uma rede municipal

A tese afirma a vida por meio das biopotências que se manifestam em movimentações invisíveis aos olhos acostumados a permitir o ver, o julgar e o falar. Foca o tempo presente, na comunicação em redes, traz em si a potência de reatar a multidão, com a capacidade de sondar possibilidades mostrando o que antes parecia opaco e impossível. Perambular é ligar nas redes quentes de um bairro com/no/do território ao privilegiar o movimento, o processo, sempre caminhando pelas vias e conexões abertas, aposta estética-ética-política nos paradoxos sem superação e não hierarquizados. Toma como método de pesquisa-intervenção elementos de uma cartografia de movimentos e devires, traçando um perambular rizomático em que são problematizados a constituição do problema de pesquisa, que considera a construção do conhecimento diversificada, descentralizada e horizontalizada. Problematiza as práticas discursivas de si em suas relações com a biopolítica, a governabilidade e a biopolítica das populações. O que está(rá) rolando nesse bairro, no que foi chamado de criança, adolescente, escola, compor para que as coisas apareçam, junto com outros que vivem a loucura em duplas e trios. A tese é a possibilidade da existência de uma educação menor na periferia para as populações marginalizadas, muçulmanizadas. Educação menor, da sala de aula, do bairro, do cotidiano de professores, familiares e alunos. Educação que permite revolucionários, na medida em que alguma revolução ainda faz sentido na educação nesses dias. A educação menor constitui-se, assim, num empreendimento de militância, de professores militantes. Plano das afecções em que não há unidades, apenas intensidade. A tese fala do processo, de como reproduzir, ou não, os modos de subjetividade dominante, não se trata de medidas - "menor" ou "pequeno". Nesse sentido, é preciso considerar os efeitos de produção de subjetividade e a incorporação dos fatos à própria vida. A tese analisa movimentos instituintes buscando reconhecê-los em sua natureza contestatória e transgressora e ter conhecimento de como se organiza na escola e muito além dela. Discutindo a produtividade dessa coreografia do perambular, esboçamos movimentos que denominamos: estradas que levam a nada, além muro

Cidade-paisagem : novas perspectivas sobre a preservação da paisagem urbana no Brasil

The edification of the landscape in the scientific and social field, in speech as in the method, is taken in this study as a complex process, from which were developed relationships of dominance on the perception of space, which persist strongly consolidated, since the genesis of the conceptual practice till its actual praxis. Historically, the landscape studies took place slowly, immersed in many questions, in face of the multiplicity of meanings that the concept offers. In the psyche, the notion of landscape is present since a long time ago, as an unconscious human being practice, even before any ideological hypothesis formulation. However its materialization in the social conscious will come only from painting, and specially with the perspective, through the technicity of the view, at first wandering the infinity, now ordained in a frame‟. Since then, the landscape is perceived according to the order of the view, as the equivalent of nature and beauty, assuming at the same time, an important symbolic value, since it is linked to mnemonic and subjective processes that the being build with the territory. The domain on this space-cognitive experience, characteristic of the contemporary, consolidates in the social imaginary, building consensus on the landscape, whose aesthetic references make a cultural appeal, very pertinent to the actual capitalist dynamics of production the space worldwide, mainly of the spectacle and commodification of cities promoted by the city marketing. In Brazil, this consensual ideology of the landscape surpass the social imaginary and also dominates the political imaginary, whereas the main instrument for preserving the landscape, Decree-law 25, from November 30, 1937, and its limit to those of exceptional value or remarkable feature. The analysis of the processes for putting under governmental trust for inscription of goods by the landscape value, reveals the dominant, if not exclusive, adoption of selection criteria related to aesthetic aspects. Abstain, therefore, from what the nation considers patrimony , other landscapes that, besides not having, at first, remarkable aesthetic value, play a crucial role as an inheritance from ancestor relations between man and space and pre- existing condition for the same present and future relations. From this historical background, the research seeks to transfer into contemporaneity, the ideological analysis of the concept and its relation with the building of the landscape in the collective imaginary, in order to recognize, in current practices to landscape preservation, as much this genesis, rooted in aesthetics, remains strongly consolidated, feeding the current dynamics of consumption and commodification of the city. Therefore, as preliminary conclusion, one can state that the identification of landscapes of different value, especially aesthetic, maintains and intensify the treatment of the city as an object, a standard‟ commodity to be sold / traded on the world market, in detriment of its recognition as a dynamic process that, even though inserted in the global context, develops specificifities and peculiarities, inherent to the production of space, as Lefebvre preconizes, that is, to the production of life, social product , as characteristic, dissent generator