Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Localização e mapeamento simultâneos de ambientes planos usando visão monocular e representação híbrida do ambiente

The goal of this work is to propose a SLAM (Simultaneous Localization and Mapping) solution based on Extended Kalman Filter (EKF) in order to make possible a robot navigates along the environment using information from odometry and pre-existing lines on the floor. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor . Then the image processing identifies floor lines and the parameters of these lines are mapped to world using a homography matrix. Finally, the identified lines are used in SLAM as landmarks in order to build a feature map. In parallel, using the corrected robot pose, the uncertainty about the pose and also the part non floor of the image, it is possible to build an occupancy grid map and generate a metric map with the obstacle s description. A greater autonomy for the robot is attained by using the two types of obtained map (the metric map and the features map). Thus, it is possible to run path planning tasks in parallel with localization and mapping. Practical results are presented to validate the proposal

Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação

This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which is a discrete mapping approach, where each cell stores the occupancy probability, the height of the terrain at current place in the environment and the variance of this height. This 2.5-dimensional representation allows that a mobile robot to know whether a place in the environment is occupied by an obstacle and the height of this obstacle, thus, it can decide if is possible to traverse the obstacle. Sensorial informations necessary to construct the map is provided by a stereo vision system, which has been modeled with a robust probabilistic approach, considering the noise present in the stereo processing. The resulting maps favors the execution of tasks like decision making in the autonomous navigation, exploration, localization and path planning. Experiments carried out with a real mobile robots demonstrates that this proposed approach yields useful maps for robot autonomous navigation

Mapeamento com Sonar Usando Grade de Ocupação baseado em Modelagem Probabilística

In this work, we propose a probabilistic mapping method with the mapped environment represented through a modified occupancy grid. The main idea of the proposed method is to allow a mobile robot to construct in a systematic and incremental way the geometry of the underlying space, obtaining at the end a complete environment map. As a consequence, the robot can move in the environment in a safe way, based on a confidence value of data obtained from its perceptive system. The map is represented in a coherent way, according to its sensory data, being these noisy or not, that comes from exterior and proprioceptive sensors of the robot. Characteristic noise incorporated in the data from these sensors are treated by probabilistic modeling in such a way that their effects can be visible in the final result of the mapping process. The results of performed experiments indicate the viability of the methodology and its applicability in the area of autonomous mobile robotics, thus being an contribution to the field

Técnicas visuais de localização e mapeamento simultâneos sem extração de primitivas geométricas da imagem

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments

Mapeamento geoambiental do campo de dunas Pirangi-Potengi com ênfase a San Vale e Lagoinha Natal/RN: um instrumento de apoio ao planejamento ambiental

The city of Natal-RN is constructed on dune areas with wavy relives softly waved and green areas that help to keep a pleasant climate, amongst these is distinguished field Pirangi-Potengi the dune with the areas of San Vale and Lagoinha. These environments are being substituted gradual for property and other workmanships of engineering on behalf of the urban expansion. This study the elaboration of a geoambiental mapping of Field had as objective generality Pirangi-Potengi the Dune with emphasis the San Vale and Lagoinha in Natal-RN. The done mapping had as objective specific to elaborate a vegetation map, a map of registers in cadastre of ambient problems to dunes, a map of flooding susceptibility, a map of vulnerability to the underground water contamination and a map of use and occupation of the ground. Of the carried through analysis, the area in study reveals sufficiently degraded, remaining only few green areas and dunares, as well as, the vulnerable presence of areas of vulnerability in floods and areas the contamination of the water-bearing one. The gotten results allow to affirm that this type of mapping, is of great importance for analysis and evaluation of the environment of the city

A relação gramatical objeto direto : implicações para o ensino de língua materna

This paper attempts to investigate the discourse manifestations of the grammatical relation direct object with respect to the syntactic, semantic and pragmatic properties that underlie this element. The research adopts theoretical orientation of the functionalism from North American and Brazilian schools inspired in Givón (1995, 2001), Hopper and Thompson (1980), Chafe (1979), Furtado da Cunha, Oliveira, Martelotta (2003) inter alia. From functionalism, the research uses principles of iconicity, markedness and informativity and it analize categories of transitivity, grounding and animacy. This research is anchored in prototype model (TAYLOR 1995); construction grammar model (GOLDBERG 1996, 2002). Both theoretical orientations share the view that language is a malleable living organism subject to socio-cultural context. Grammar is then the result of created, maintained, and systematized linguistic patterns developed from and used for language use. According to a functional linguistics and cognitivist linguistics verbs are stored in the speakers lexicon in syntactic-semantic frames which are more frequent. These frames carry information concerning obligatory and optional arguments and the semantic roles these arguments take in the clause. The analysis focuses on the semantic type of the verbs and its relationship with the argument encoded as a direct object observing the aspectual nature of verbs. Direct objects are classified according to their morphology (lexical or pronominal noun phrase), semantic role, informational content and animacy. This study discusses pedagogical implications with relation to how the grammatical concepts touched on this paper are treated in school textbooks. The empirical data come from Corpus Discurso & Gramática: a língua falada e escrita na cidade do Natal (FURTADO DA CUNHA, 1998). This corpus is composed of texts that contain spoken and written modalities. These modalities are in turn organized according to different types: personal narratives, retold narrative, description of preferred place, procedural place, procedural description and report on argumentation. The sample data totals 40 texts produced by four language consultants of the last graduation date. The paper shows that the same syntactic structures (formed through Subject-Verb-Object) correspond to different semantic-pragmatic structures in relation to specific communicative purposes even verb is an event, process or state. The argument structure are not aleatory but are related to experience; that is the way humans conceptualize the world and talk about it

Mecanismos de controle do trabalho escolar em propostas de escrita narrativa em livros didáticos de português (1974-2009)

This essay aims at investigating the writing proposals of Portuguese textbooks (LDP Livros Didáticos de Português) for Middle School (EF Ensino Fundamental), from 6th to 9th grade, from the 70s to 2009. It aims to check, though the discourse reported in the Portuguese Textbook, the control directed to the practice of the teacher and the student to do in the teaching situations. Theoretically, we search for contributions that come from the Discourse Analysis of French filiation, so we can analyze the ideological constructions present in the discourse of the ―LDP‖ more specific lly the control directed to the te cher nd student the users of the book, in writing activities. It started from a corpus of 63 textbooks whereof the following steps were performed: a) mapping of the writing proposals contemplated in the ―LDP‖ of high school; b cutting in the selection of propos l ccording to the rese rch go ls intended (writing proposals of narrative texts). After mapping the writing proposals presented in the ―LDP‖ bout the criteri mentioned bove we re d the writing propos ls to ch rt the quantity of proposals of textual writing productions in each textbook (which usually follows a pattern : 12 chapters and, at the end, the writing proposal. Nevertheless, some books present 2 (two) or more writing proposals at the end of each chapter). We did a cutting in the corpus initi lly constituted 63 ―LDP‖ nd we selected 12 writing proposals of narrative texts presented in the ―LDPs‖ to present wh t we intend to n lyze. Then, we separated these proposals into two groups: 1) activities which present ―instruction guide‖ to be followed by the student; 2) writing activities that allow the student write with no need to follow a text pattern, i.e., which encourage authorship. By means of analyses, it was possible to demonstrate that, in the Basic School, generally, the writing practices concentrate, primarily, on copying activities, reproduction, rewriting and, in more advanced levels, in activities that which start from preset models, asking the students to produce text with similar themes, following the suggested structure. It is about ideals that are supposed to be followed and imitated by the students, depriving them to assume their authorship. In order to insert the student in the world of writing it s necess ry to go beyond the model of c nonic l texts pr ctice th t puts the students f r from the possibility to be ― uthors‖. In contr st to this tendency, we face, nowadays, proposals that prioritize the authorship, the creation of a style

Modos de ler, formas de escrever a literatura enquanto objeto da ficção de Enrique Vila-Matas

Este trabajo busca analizar cómo algunos aspectos presentes en la obra de ficción del escritor catalán Enrique Vila-Matas permiten pensar las prácticas de la escritura literaria contemporánea. A partir de una forma híbrida que reconsidera las relaciones tanto entre los géneros como entre los discursos crítico y de ficción, la obra del autor se propone reflexionar sobre sus propias posibilidades en el contexto sociocultural contemporáneo. De este modo, a través de una ficción que muchas veces adquiere los atributos del ensayo, Vila-Matas trae al centro de sus enredos la discusión de cuestiones relacionadas con los impases de una escritura que vuelve su atención para el destino de una tradición literaria desvinculada de los preceptos meramente mercadológicos contemporáneos. Su manera crítica de abordar la literatura y la experimentación en busca de nuevas posibilidades permite asociarlo tanto a Laurence Sterne como al proyecto literario de Jorge Luis Borges. Estos autores tienen propuestas que tratan de superar los límites del texto, ya que ahí está el deseo de acogerse a la ficción para demostrar la inestabilidad de los elementos de una cultura, apropiándose y desestabilizando los discursos y las claras distinciones entre los saberes. En este sentido, las diversas formas en que Vila- Matas se apropia de los textos de otros y construye una obra de carácter fuertemente intertextual denuncian jerarquizaciones y modos de circulación de textos que permiten aproximarse de la tensión existente entre temas como influencia, citación, prácticas de lectura y escritura

Reqsys-MDD: uma ferramenta para mapeamento entre modelos de features e requisitos em linhas de produto de software

The approach Software Product Line (SPL) has become very promising these days, since it allows the production of customized systems on large scale through product families. For the modeling of these families the Features Model is being widely used, however, it is a model that has low level of detail and not may be sufficient to guide the development team of LPS. Thus, it is recommended add the Features Model to other models representing the system from other perspectives. The goals model PL-AOVgraph can assume this role complementary to the Features Model, since it has a to context oriented language of LPS's, which allows the requirements modeling in detail and identification of crosscutting concerns that may arise as result of variability. In order to insert PL-AOVgraph in development of LPS's, this paper proposes a bi-directional mapping between PL-AOVgraph and Features Model, which will be automated by tool ReqSys-MDD. This tool uses the approach of Model-Driven Development (MDD), which allows the construction of systems from high level models through successive transformations. This enables the integration of ReqSys-MDD with other tools MDD that use their output models as input to other transformations. So it is possible keep consistency among the models involved, avoiding loss of informations on transitions between stages of development

Mapeamento de stakeholders nas áreas conexas de turismo e meio ambiente: um estudo em João Pessoa/PB

The present study aims to understand the perception in a manager perspective of the relationship between the stakeholders of tourism and environmental management in João Pessoa (PB). It is a qualitative, transversal, descriptive and exploratory research, held with keys stakeholders of tourism and environment in the capital of Paraíba. The data were collected through structured interviews and the analysis of the minutes of the municipal council of tourism, called COMTUR/ JP. The data research allowed us to affirm that the environmental stakeholders have a higher academic background than those of tourism, on the other hand the tourism stakeholders‟ have longer experience time than the environmental stakeholders‟. In general, the use of environmental resources for tourism is noticed as positively by the tourism stakeholders‟ and as intermediate for the environmental stakeholders‟, the tourism development is consider to be a non predatory active in João Pessoa, but it is very concentrate in the coastal area, the remnants of Atlantic Forest or protected areas are not used for tourism. The main environmental impacts cause by tourism according to the stakeholders interviewed (tourism and environment) were the environmental degradation of reef, beach pollution and the construction of tourism facilities in areas that should be protected, however, there was a stakeholder who believes that the tourism development in Paraíba is so nascent that it is unable to impact the environment. The performance of SETDE, PBTUR and SUDEMA was consider inconsistent by some of the interviewed stakeholders‟. The NGO representatives believe that the most important thing is a paradigm shift from the entrepreneurs and the local population. Despite the apparently close relationship between tourism and environment management in João Pessoa (PB), some actions of tourism agencies and the state government has left some unhappy important environmental stakeholders indicating that the relationship between tourism and environment in the city is becoming tenser each year

Mapeamento geoambiental e avaliação dos impactos ambientais como subsídios para o planejamento e gestão socioambiental do estuário do rio Mamanguape/PB

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

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

Análise de risco à erosão costeira na região de Tibau do Sul/RN através de mapeamento geoambiental e análise morfodinâmica

The research area is located on the county of Tibau do Sul, in the east coast of Rio Grande do Norte State, about 80km south of the capital Natal. The tourism represents the main income activity and Pipa beach is the most visited beach in the city, annually receives a large influx of domestic and foreign tourists. Some recent studies have reported the occurrence of coastal erosion in this littoral, being the main objective of the research, analyze the existing coastal erosion, through two methodologies, the geoenvironmental mapping and beach morphodynamics. The geoenvironmental mapping was done from oblique aerial photographs and field visits, which sought to carry out first the geomorphological mapping, with the purpose of analyzing features that suggest susceptible areas to erosion, as areas without protection of natural dunes, marine terraces, or sandstones (beach-rocks and ferruginous sandstones), areas with the presence of gullies and stretches where the sea-cliffs were in direct contact with the action of the sea, representing the beginning of the beach profile. In the morphodynamic study sought to carry out the survey of the physical and morphological characteristics, the analysis of sediment grain of the beaches and finally the analysis of the morphodynamic parameters to generate a table of risk to erosion by sector of the beach. The morphodynamic parameters were defined by the methodology proposed by Short (2006), in which considers different patterns of dynamism on beaches with characteristics favorable and unfavorable to erosive profiles. The maps indicated different levels of risk to the segments of the beaches analyzed, suggesting risk to erosion low and low to moderate only in areas north and northwest of the beaches of Madeiro and Curral, and levels of moderate and high risk sectors in the south and southeast of these beaches . The beach of Pipa showed moderate levels of risk and moderate to high at the ends and high risk to erosion in the central portion. The study of the coastal environment, its morphological evolution, and areas with problems of erosion, are of fundamental importance to assist coastal management policies, giving grants for planning activities undertaken in these regions

Mapeamento digital de análogos a reservatórios petrolíferos: exemplos para depósitos fluviais da Unidade Açu-3 - Bacia Potiguar

In the current work are presented the results about the study of digital mapping of analogs referents the fluvial oil reservoirs in the Açu Formation. With the regional recognizing in the south corner of Potiguar Basin was selected a area of 150 Km square in the west of Assu city. In this area was chosen the outcrops for the digital mapping and from the data fields and remote sensors were done the depositional architectural for the fluvial deposits, which it was named coarse meandering fluvial systems. In the deposits were individualized 3 (three) fluvial cycles, which they was separated by bounding surface of fifth order. Such cycles are preferentially sandy, with fining-upward sequence finished in flood plain deposits. Inner of the sandy levels of the filling channels were characterized least cycles, normaly incomplete, constituted by braided sandy bodies and bounding surfaces of fourth order. In the mapped area was chosen a outcrop with great exposition, where it was possible to see tipical deposits of filling channel and was in this outcrop that was done the digital mapping. In this outcrop was used diverse technics and tools, which they integrated sedimentological, altimetric (GPS, Total Station), LIDAR (Light Detection and Ranging), digital photomosaic of high resolution and of the inner geometries (Ground Penetration Radar) data sets. For the integrating, interpretation and visualization of data was used software GoCAD®. The final product of the outcrop digital mapping was the photorealistic model of part of the cliff (or slope) because the observed reflectors in the radargrams were absents. A part of bar oblique accretion was modeled according to GPR gride of 200x200 meters in the alluvial Assu river probable recent analog. With the data of inner geometries was developed the three-dimentional sedimentary architectural, where it was possible characterize sand sheet deposits and many hierarchy of braided channels. At last, simulations of sedimentary geometries and architectures of the Potiguar Basin Fluvial Reservoirs were done with PetBool software, in order to understand the capacity of this program in simulations with a lot of numbers of conditioning wells. In total, 45 simulations was acquired, where the time and the channel numbers increase in relation of the conditioning wells quantity. The deformation of the meanders was detected from the change of simulated dominion dimensions. The presence of this problem was because the relationship between the simulated dominion and the width of the meander