Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Influência da corrente de pulso, do tempo de pulso e diâmetro de gota sobre a estabilidade da transferência metálica no processo MIG-P

To obtain a process stability and a quality weld bead it is necessary an adequate parameters set: base current and time, pulse current and pulse time, because these influence the mode of metal transfer and the weld quality in the MIG-P, sometimes requiring special sources with synergistic modes with external control for this stability. This work aims to analyze and compare the effects of pulse parameters and droplet size in arc stability in MIG-P, four packets of pulse parameters were analysed: Ip = 160 A, tp = 5.7 ms; Ip = 300 A and tp = 2 ms, Ip = 350 A, tp = 1.2 ms and Ip = 350 A, tp = 0.8 ms. Each was analyzed with three different drop diameters: drop with the same diameter of the wire electrode; droplet diameter larger drop smaller than the diameter of the wire electrode. For purposes of comparison the same was determined relation between the average current and welding speed was determined generating a constant (Im / Vs = K) for all parameters. Welding in flat plate by simple deposition for the MIG-P with a distance beak contact number (DBCP) constant was perfomed subsequently making up welding in flat plate by simple deposition with an inclination of 10 degrees to vary the DBCP, where by assessment on how the MIG-P behaved in such a situation was possible, in addition to evaluating the MIG-P with adaptive control, in order to maintain a constant arc stability. Also high speed recording synchronized with acquiring current x voltage (oscillogram) was executed for better interpretation of the transfer mechanism and better evaluation in regard to the study of the stability of the process. It is concluded that parameters 3 and 4 exhibited greater versatility; diameters drop equal to or slightly less than the diameter of the wire exhibited better stability due to their higher frequency of detachment, and the detachment of the drop base does not harm the maintenance the height of the arc

O hipertexto eletrônico de meio ambiente : estratégias de leitura e navegação

The incorporation of computing in class instigate the use of the Internet and websites as a content support in the teaching/leaning process. This kind of practice had challenged the students to read through eletronic hypertextual means. In that way, we re trying to undestand which strategies of reading and navigation the students of the second and third grade of highschool levels are using when reading electronic hypertexts from the www.ambientebrasil.com.br website. The research took place in the Escola Estadual Jerônimo Rosado in Mossoró RN. Our theoretical base was estructured on the digital Technology (electronic hypertext estructure and it s navigation modes), in applied linguistics (act of reading) and in cognition (interaction of the reader with the text and the use of reading strategies in the virtual computing enviroment). The applied methodology was the case analysis which was developed with the reunion of collected data through qualitative reseach questionaries, direct observations and video recording sessions. The research demonstrates that reader s ability in the act of navigating on virtual sites activates his/her reading strategies. Also shows how the semantic architecture of the hyperlinks can interfere directly over the strategies of reading and navigation in specific websites. Our research also intend to demonstrate that the student use his strategies of linear text reading when are not accustomed to use the reading through websites in a regular basis. The investigation concludes observing that the amount of hypertexts per pages and the inappropriate use of the multimedia elements were harmful to the reading fluency

Mapeamento de recifes no Rio Grande do Norte: Touros e Macau/RN

Studies on the Brazilian continental shelf were developed between Touros and Macau-RN (NE Brazil) with the aim to mapping carbonate buildups, and especially, reef ecosystems. Remote sensing, submarine movies, bathymetric survey and diving were the methods used. This paper will focus on three main aspects of the Rio Grande do Norte reefs: 1) characterization of the coral fauna; 2) the classification and, 3) the distribution of the main northriograndense carbonate buildups. Reefs environments are found predominantly on the inner shelf adjacent to Touros, at depths shallower than 10 m. These reefs generally show NW-SE orientation parallel to the coastline and constitute groupings of knolls and patch reefs. A prominent carbonate buildup, where the corals are almost absents and algae incrustation is thin, occurs in average depths of 25 m, along the northern part of Rio Grande do Norte State and is classified as sandstone bank. Others sandstone banks, with smaller lengths and heights were mapped around 10 m depth. They should be related to an ancient coastline; however the corresponding litostratigraphic unit was not defined. This work is a contribution to the mapping of coral reef, in particular, and carbonate buildups, in general, on the Rio Grande do Norte coast

A criança com paralisia cerebral na educação infantil: um olhar sobre a prática docente

La inclusión de los niños con discapacidad en la educación infantil, además de ser un tema poco planteado en la comunidad científica, es un reto actual en lo que se refiere a la práctica docente. Basándose en este aspecto, nuestro objetivo en esta investigación realizada, que resultó en la elaboración de este trabajo, fue analizar cómo se procesa la práctica docente con vistas a la inclusión escolar de un niño con parálisis cerebral, en un Centro Municipal de Educación Infantil (CMEI), en la ciudad de Natal / RN. Más específicamente, buscamos: reflexionar sobre la práctica de la profesora responsable por la clase, en lo que se refiere al desarrollo del niño con parálisis cerebral; analizar las interacciones entre educador y niño con parálisis cerebral; observar la práctica docente en la perspectiva de favorecer la interacción entre el niño con parálisis cerebral y otros niños. Para ello, realizamos una pesquisa exploratoria, cualitativa, y así que optamos por el método del Estudio de Caso. Utilizamos como procedimientos metodológicos el análisis documental, la investigación bibliográfica, la entrevista semiestructurada, la observación y la filmación de escenas relacionadas a la práctica docente. Los sujetos de la investigación fueron la profesora y el niño con parálisis cerebral. Los datos construidos durante la investigación señalaron el hecho de que la práctica de la profesora no estaba encaminada a las necesidades específicas de la alumna con parálisis cerebral, todavía, se desarrollaba de una manera similar para todos los niños en la clase. La presencia de limitaciones significativas para la inclusión de la niña con parálisis cerebral en la educación infantil puede ser considerado como el resultado de la ausencia de una adecuada preparación docente, tanto en el nivel de la formación inicial, cuanto de una formación continua y también la escasez de directrices para el maestro, en proceso; directrices estas acerca de la educación de los niños con parálisis cerebral, lo que hacía imposible a la profesora contribuir de manera efectiva a su mayor desarrollo cognitivo y social.

Um estudo sobre a variabilidade do vento no nordeste do Brasil através de métodos estatísticos e via modelos dinâmicos de meso e micro escala

The objective of this study was to determine the seasonal and interannual variability and calculate the trends of wind speed in NEB and then validate the mesoscale numerical model for after engage with the microscale numerical model in order to get the wind resource at some locations in the NEB. For this we use two data sets of wind speed (weather stations and anemometric towers) and two dynamic models; one of mesoscale and another of microscale. We use statistical tools to evaluate and validate the data obtained. The simulations of the dynamic mesoscale model were made using data assimilation methods (Newtonian Relaxation and Kalman filter). The main results show: (i) Five homogeneous groups of wind speed in the NEB with higher values in winter and spring and with lower in summer and fall; (ii) The interannual variability of the wind speed in some groups stood out with higher values; (iii) The large-scale circulation modified by the El Niño and La Niña intensified wind speed for the groups with higher values; (iv) The trend analysis showed more significant negative values for G3, G4 and G5 in all seasons and in the annual average; (v) The performance of dynamic mesoscale model showed smaller errors in the locations Paracuru and São João and major errors were observed in Triunfo; (vi) Application of the Kalman filter significantly reduce the systematic errors shown in the simulations of the dynamic mesoscale model; (vii) The wind resource indicate that Paracuru and Triunfo are favorable areas for the generation of energy, and the coupling technique after validation showed better results for Paracuru. We conclude that the objective was achieved, making it possible to identify trends in homogeneous groups of wind behavior, and to evaluate the quality of both simulations with the dynamic model of mesoscale and microscale to answer questions as necessary before planning research projects in Wind-Energy area in the NEB

Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Avaliação de heterociclo do tipo mesoiônico solubilizado em sistema microemulsionado para aplicação em dutos

The efficiency of inhibition to corrosion of steel AISI 1018 of surfactant coconut oil saponified (SCO) and heterocyclic type mesoionics (1,3,4-triazólio-2-tiolato) in systems microemulsionados (SCO-ME and SCO-ME-MI) Of type O/A (rich in water emulsion) region with the work of Winsor IV. The systems microemulsionados (SCO-ME and SCO-ME-MI) were evaluated with a corrosion inhibitor for use in saline 10,000 ppm of chloride enriched with carbon dioxide (CO2). The assessment of corrosion inhibitors were evaluated by the techniques of linear polarization resistance (LPR) and loss of weight (MW) in a cell instrumented given the gravity and electrochemical devices. The systems were shooting speed of less than 60 minutes and efficiency of inhibition [SCO-ME (91.25%) and SCO-ME-MI (98.54%)]