Influência da sequência de empilhamento nas propriedades mecânicas de laminados compósitos submetidos à tração

Composite laminates with plies in different directions finely dispersed are classified as homogenized. The expected benefits of homogenization include increased mechanical strength, toughness and resistance to delamination. The objective of this study was to evaluate the effect of stacking sequence on the tensile strength of laminates. Composite plates were fabricated using unidirectional layers of carbon/epoxy prepreg with configurations [903/303/-303]S and [90/30/-30]3S. Specimens were subjected to tensile and open hole tension (OHT) tests. According to the experimental results, the mean values of strength for the homogenized laminates [90/30/-30]3S were 140% and 120% greater for tensile and OHT tests, respectively, as compared to laminates with configuration [903/303/-303]S. The increase in tensile strength for more homogenized laminates was associated with the increment in interlaminar interfaces, which requires more energy to produce delamination, and the more complicated crack propagation through plies with different orientations. OHT strength was not affected by the presence of the hole due to the predominance of the interlaminar shear stress in relation to the stress concentration produced by the hole

Análise da eficiência de contratos de serviços de elevada especificidade terceirizados pela petrobras

The definition of the boundaries of the firms is subject that has occupied the organizational theorists long ago, being the seminal work of Coase (1937) indicated as the trigger for one theoretical evolution, with emphasis on governance structures, which led to a modern theory of incomplete contracts. The Transaction Cost Economics (TCE) and Agency Theory arise within this evolution, being widely used in studies related to the theme. Empirically, data envelopment analysis (DEA) has established itself as a suitable tool for analysis of efficiency. Although TCE argues that specific assets must be internalized, recent studies outside the mainstream of theory show that, often, firms may decide, for various reasons, hire them on the market. Researches on transaction costs face with the unavailability of information and methodological difficulties in measuring their critical variables. There`s still the need for further methodological deepening. The theoretical framework includes classic works of TCE and Agency Theory, but also more recent works, outside the mainstream of TCE, which warn about the existence of strategies in use of specific assets that aren`t necessarily aligned with the classical ideas of TCE. The Brazilian oil industry is the focus of this thesis, that aimed to evaluate the efficiency of contracts involving high specificity service outsourced by Petrobras. In order to this, we made the categorization of outsourced services in terms of specificity, as well the description of services with higher specificity. Then, we verified the existence of relationship between the specificity of services and a number of variables, being found divergent results than those that are preached by the mainstream of TCE. Then, we designed a DEA model to analyze the efficiency in the use of onshore drilling rigs, identified among the services of highest specificity. The next step was the application of the model to evaluate the performance of drilling rigs contracts. Finally, we verified the existence of relationship between the efficiency of contracts and a number of variables, being found, again, results not consistent with the theory mainstream. Regarding to analyze of efficiency of drilling rigs contracts, the model developed is compatible with what is found in academic productions in efficiency of drilling rigs. The results on efficiency show a wide range of scores, with efficiencies ranging from 31.79% to 100%, being low the sample efficiency average. There is consonance between the model results and the practices adopted by Petrobras. The results strengthen the DEA as an important tool in studies of efficiency with possibility to use for analysis other types of contracts. In terms of theoretical findings, the results reinforce the arguments that there are situations in which the strategies of the organizations, in terms of use of assets and services of high specificity, do not necessarily follow what is recommended by the mainstream of TCE

Mover/se(r) a gênese do corpo entre/corpos e seus trajetos no processo coreográfico

This paper proposes a reflection on the body between/bodies, especially in contemporary dance, in their path that starts from the choreographic construction, permeating the body of the choreographer, the dancer s body and when fulfills themselves as artistic expression, the body of the spectator. Initially discusses the body in dance as a body/space for convergence, connectedness and continuity, from the thought of the Greek philosopher Epicurus of Samos, in dialogue with the thought of Maurice Merleau-Ponty, Gilles Deleuze and José Gil. Reflect about the creation of this body/space in the relationship choreographer/dancer using as connecting thread the experiences of the author in his artistic path. Finally describes the process of creating the scenic experiment (h)áporos, which constitutes the practice scene of this dissertation, having as main objective the creation of spaces of convergence and interaction between a proponent and an affluent body that, in this move, transforms itself and the space that now cohabits / is

Purificação, caracterização e avaliação da atividade antiproliferativa de um inibidor de quimotripsina tipo kunitz de semente de Eryhrina velutina

A chymotrypsin inhibitor was purified from Erythrina velutina seeds by ammonium sulphate fractionation, affinities chromatographies on Trypsin-Sepharose, Quimotrypsin-Sepharose and reversed phase C-18 FPLC/AKTA system. The inhibitor, named EvCI, shown molecular mass of 17 kDa, as determined by SDSPAGE. 2D-PAGE showed four isoinhibitors with pI values of 4,42, 4,63, 4,83 and 5,06, with molecular mass of 17 kDa each. The aminoacid sequence of EvCI was determined by MALDI-TOF-MS and showed a high similarity with other Kunitz-type inhibitor of Erythrina variegata. EvCI competitively inhibited chymotrypsin, with Ki of 4 x10-8 M, but did not inhibited trypsin, pancreatic elastase, bromelain and papain. The inhibitory activity of EvCI was stable over wide pH and temperature ranges. In the presence of DTT 100 mM for 120 min, EvCI lost 50 % of activity. Cytotoxicity was studied in HeLa, MDA, HepG2, K562 and PC3 cells after 72-h incubation period. EvCl inhibited HeLa cells growth with an IC50 value of 50 μg/ml. Subsequent studies in HeLa cells analysis of cell death by annexin V/PI double-staining and cell cycle, using flow cytometry. The results provide evidence for a cytostatic activity of EvCl and support further studies on potential application of this inhibitors as an antiproliferative agent in combined therapy against cervical cancer

Avaliação espectrofotométrica do manchamento de resinas odontológicas contendo nanopartículas

Composite resins have been subjected to structural modifications aiming at improved optical and mechanical properties. The present study consisted in an in vitro evaluation of the staining behavior of two nanohybrid resins (NH1 and NH2), a nanoparticulated resin (NP) and a microhybrid resin (MH). Samples of these materials were prepared and immersed in commonly ingested drinks, i.e., coffee, red wine and acai berry for periods of time varying from 1 to 60 days. Cylindrical samples of each resin were shaped using a metallic die and polymerized during 30 s both on the bottom and top of its disk. All samples were polished and immersed in the staining solutions. After 24 hours, three samples of each resin immersed in each solution were removed and placed in a spectrofotome ter for analysis. To that end, the samples were previously diluted in HCl at 50%. Tukey tests were carried out in the statistical analysis of the results. The results revealed that there was a clear difference in the staining behavior of each material. The nanoparticulated resin did not show better color stability compared to the microhybrid resin. Moreover, all resins stained with time. The degree of staining decreased in the sequence nanoparticulated, microhybrid, nanohybrid MH2 and MH1. Wine was the most aggressive drink followed by coffee and acai berry. SEM and image analysis revealed significant porosity on the surface of MH resin and relatively large pores on a NP sample. The NH2 resin was characterized by homogeneous dispersion of particles and limited porosity. Finally, the NH1 resin depicted the lowest porosity level. The results revealed that staining is likely related to the concentration of inorganic pa rticles and surface porosity

Uma metodologia para a análise do desempenho sustentável dos postos de revenda de combustível na cidade de Natal/RN, com o uso de data envelopment analysis-DEA

The increasing use of fossil fuels in line with cities demographic explosion carries out to huge environmental impact in society. For mitigate these social impacts, regulatory requirements have positively influenced the environmental consciousness of society, as well as, the strategic behavior of businesses. Along with this environmental awareness, the regulatory organs have conquered and formulated new laws to control potentially polluting activities, mostly in the gas stations sector. Seeking for increasing market competitiveness, this sector needs to quickly respond to internal and external pressures, adapting to the new standards required in a strategic way to get the Green Badge . Gas stations have incorporated new strategies to attract and retain new customers whom present increasingly social demand. In the social dimension, these projects help the local economy by generating jobs and income distribution. In this survey, the present research aims to align the social, economic and environmental dimensions to set the sustainable performance indicators at Gas Stations sector in the city of Natal/RN. The Sustainable Balanced Scorecard (SBSC) framework was create with a set of indicators for mapping the production process of gas stations. This mapping aimed at identifying operational inefficiencies through multidimensional indicators. To carry out this research, was developed a system for evaluating the sustainability performance with application of Data Envelopment Analysis (DEA) through a quantitative method approach to detect system s efficiency level. In order to understand the systemic complexity, sub organizational processes were analyzed by the technique Network Data Envelopment Analysis (NDEA) figuring their micro activities to identify and diagnose the real causes of overall inefficiency. The sample size comprised 33 Gas stations and the conceptual model included 15 indicators distributed in the three dimensions of sustainability: social, environmental and economic. These three dimensions were measured by means of classical models DEA-CCR input oriented. To unify performance score of individual dimensions, was designed a unique grouping index based upon two means: arithmetic and weighted. After this, another analysis was performed to measure the four perspectives of SBSC: learning and growth, internal processes, customers, and financial, unifying, by averaging the performance scores. NDEA results showed that no company was assessed with excellence in sustainability performance. Some NDEA higher efficiency Gas Stations proved to be inefficient under certain perspectives of SBSC. In the sequence, a comparative sustainable performance and assessment analyzes among the gas station was done, enabling entrepreneurs evaluate their performance in the market competitors. Diagnoses were also obtained to support the decision making of entrepreneurs in improving the management of organizational resources and promote guidelines the regulators. Finally, the average index of sustainable performance was 69.42%, representing the efforts of the environmental suitability of the Gas station. This results point out a significant awareness of this segment, but it still needs further action to enhance sustainability in the long term

Concentração da posse da terra e o programa nacional de crédito fundiário - uma análise para o estado do Rio Grande do Norte, 2006 - 2012

O objetivo do trabalho é propor um estudo sobre a relação do Programa Nacional de Crédito Fundiário - PNCF, no estado do Rio Grande do Norte, e sua concentração fundiária. Ou seja, se o PNCF está sendo direcionado, para as microrregiões que apresentam maior índice de concentração, de acordo com o índice de Gini, e se as áreas adquiridas através do crédito fundiário estão emergindo nestas microrregiões. Para isto, o estudo levantou a hipótese de que o PNCF no estado do Rio Grande do Norte não está sendo conduzida, de modo a reduzir a concentração fundiária, dentre as microrregiões do estado. Ou seja, não existe correlação entre o índice de Gini, da concentração fundiária, e as áreas adquiridas através do programa. Além disso, o trabalho buscou realizar uma discussão da literatura sobre os programas de reforma agrária assistida pelo mercado. Apresentando os autores que são exaltadores do modelo e das suas potencialidades, atrelando as causas dos problemas levantados como sendo de ordem técnica e operacional, onde os principais autores desta linha são: Van Zyl, Kirsten & Binswanger, (1996), Deininger & Binswanger, (1999). Têm-se também a apresentação da posição dos autores adeptos as políticas fundiárias pautadas na dinâmica e liberação dos mercados de terras, mas que visam contribuir com estudos que permitam uma redução para o custo elevado e a sua incapacidade de abarcar a esfera social, em decorrência do pagamento á vista e a preço de mercado aos donos das terras, são eles: De Janvry & Sadoulet (2002), Gordillo (2002), Banerjee (1999), Jaramillo (1998) e Burki & Perry (1997). Todavia, apresentou-se a corrente de autores que ressalta a natureza socialmente agressiva da Reforma Agrária Assistida pelo Mercado (RAAM), sendo os seus principais contribuidores: El-Ghonemy (2001); Barros, Schwartzman & Sauer (2003); Borras Jr. (2006, 2003 e 2003a); Garoz et al. (2005); Sauer & Pereira (2006); Pereira (2005, 2006 e 2010); Sauer (2010); Lahiff, Borras Jr. & Kay (2007). Em sequência, o trabalho apresentou a transição e características dos programas de acesso à terra, no Brasil, a partir da década de 1990, bem como, alguns indicadores do PNCF, no Brasil e o estado do Rio Grande do Norte. Apresentou-se também os indicadores da concentração fundiária, no Brasil e no estado. Através dos dados do Censo Agropecuário de 2006 foi possível calcular o índice de Gini da distribuição fundiária nas microrregiões no estado do Rio Grande do Norte. Com os dados fornecidos pela Secretaria de Estado de Assuntos Fundiários e de Apoio à Reforma Agrária - SEARA mostrou-se a distribuição das linhas de crédito do PNCF e as áreas adquiridas, entre os anos de 2006 e 2012. Por fim, o valor do coeficiente de correlação simples (r) igual a (0,2865), que com base no teste bilateral da distribuição de t de Student chegou-se no resultado para T calculado no valor de (1,2333), que ao ser comparado com o valor de T crítico igual a (2,898), com 17 graus de liberdade, a um nível de significância de 1%, pode aceitar a hipótese de partida, ou seja, que o PNCF não estava sendo direcionado para diminuir a concentração fundiária no estado

O processo de invenção de si: um estudo sobre a construção identitária de pedagogas em formação

This work was developed in the course of Pedagogy, Universidade Federal do Rio Grande do Norte. Aims to understand the process of identity construction of teachers and educators in initial training. We started from the idea that such process was made by a complex and interdependent movement, once it was an inventive phenomenon wrought by individuals who are authors and actors of the story of their "real life" (KAUFMANN). This identity is rooted in the trajectories and social biographical experiences (FERREIRA), relationships with the constructed and accumulated knowledge in this route (CHARLOT) and in the developing of a sense of cultural belonging institutionally constructed (Luckmann, Berger). Then, the training involves relationships with knowledge in several instances, considering the effects, in one hand, the historic-social production and, in another hand, from the positions of subject and their biographical itinerary, existential and formative. We used the methodology of the Comprehensive Interview (KAUFMANN; SILVA), associated with a network of theoretical references, empirical and very analytical and interpretive activity. She researcher also relied on the "sensitive listening" (BARBIER), empathic attitude of "listening / seeing" the subject, and the notion of "intellectual artisan" (MILLS). The individual interviews were supplemented by the Focus Group. The approach was multi-referential (ARDOINO; MACEDO), with the intertwining of different perspectives, allowing a more complex configuration and less reductionist. In the analysis and interpretation we located the starting point, genesis of identity whose dynamics is not rigidly determined, but localized in space-time that precedes entry into the initial training. It is the time of concerns, questions and reflections about what you want to be in the future professional life. In sequence, we saw the route, multifaceted process whose the direction is the increasing involvement of individuals with their training. This training is engendered by the relations with the curricular, extracurricular and discursive knowledge, as simultaneous dynamics of self training and socio training. The self training of the individuals, understanding the critical, ethic and authority reading of their own experiences, is also seen as an exercise of shared responsibility, it assumes that the relationship with others meanings and professor mediation. The socio training refers to the collective subject and turns to the historical production and diversified knowledge, and comprehension of the various training instances. Self training and socio training are both objects of negotiation, because they are provocative of new designs, and cultural and identity maps, mobilizing the senses towards new meanings of themselves and the professional reality. It is in this interdependence between what is historically produced and the experiences of the subjects, who we located the arrival, considering it as a radically incomplete process of the professional identity and the building itself.

Validação de instrumentos para avaliação da habilidade e do conhecimento acerca da medida da pressão arterial

This study aimed to validate tools for evaluating the ability and knowledge about blood pressure (BP) among nursing students. It is a cross-sectional, descriptive, quantitative and methodological study accomplished at the Universidade Federal do Rio Grande do Norte (UFRN), Universidade do Estado do Rio Grande do Norte (UERN) and a private university of the state. The sample consisted of 27 judges of research selected from the inclusion criteria: nursing, teachers of the semiology and/or semiotics discipline, with at least 1 year of experience, being from UFRN, EEN, UERN and private university of the state and and agree to participate voluntarily with the signing of the consent form. The research was development in three stages: construction of two instruments based on the scientific literature, resulting in a structured checklist consists of 28 items and a knowledge questionnaire with 12 questions; submission of the instruments to the judges, in the period from June to September 2012, which should evaluate each item in appropriate , appropriate with changes and inappropriate , addition to making an overall assessment of each instrument based on 10 requirements; validation and verification to the level of agreement among the judges, through the application of Kappa and Content Validity Index (CVI). Was used the consensus level greater than 0.61 (good) to the Kappa index and greater than 0.75 for CVI. Was approved by the Ethics in Research / HUOL. After being coded and tabulated, the data were analyzed using descriptive statistics. Of the 27 judges who evaluated the instrument, 77.8% are female, with a mean age of 36.6 (± 9.0) years, 63.0% worked in UFRN, 74.1% had academic master and 63.0% worked exclusively on teaching. Average length of teaching experience was 7.9 (± 8.0) years and in the semiology and/or semiotics discipline of 5.5 (± 6.7) years. In the judgment of structured checklist and questionnaire of knowledge about blood pressure mensurement any item/question was considered inappropriate since all obtained level of agreement within the indices established (CVI> 0,75 E Kappa> 0.61). In relation to structured checklist, of those 28 items present, 9 showed perfect concordance index (CVI = 1.00, Kappa = 1.00) and another 19 were considered appropriate with changes, especially with regard to clarity and vocabulary. In the questionnaire of knowledge, among the 12 questions that comprised, 7 had perfect concordance index and the others were considered appropriate with changes as requirements as clarity, vocabulary, and feasible sequence of instructional topics. In terms of a overall evaluating of instruments, the structured checklist got CVI of 0.94 and Kappa of 0.89 and the knowledge questionnaire, CVI of 0.97 and a kappa of 0.94. Both instruments proved to be valid as to their content, configuring it as clear and objective tools of assessment of knowledge and ability on blood pressure, being of nursing students as well as others students and health professionals, since the use of valid measures seeking to reduce the risk of distorting the results

Validação de conteúdo de instrumentos sobre conhecimento e habilidade em sondagem nasogástrica

Este estudo teve como objetivo construir e validar conteúdo de instrumentos avaliativos sobre conhecimento e habilidade de enfermagem no procedimento de sondagem nasogástrica. Trata-se de um estudo metodológico realizado na Universidade Federal do Rio Grande do Norte (UFRN) e na Universidade do Estado do Rio Grande do Norte (UERN). A amostra foi composta por 23 juízes, selecionados a partir dos critérios de inclusão: serem enfermeiros, docentes nas disciplinas de Semiologia e/ou Semiotécnica de Enfermagem, ter no mínimo um ano de experiência nestas disciplinas e ser das instituições selecionadas para o estudo. A pesquisa se desenvolveu em três etapas: (A) construção de dois instrumentos com base na revisão da literatura que resultou em um roteiro de observação da habilidade estruturado composto por 28 itens e um questionário sobre o conhecimento com 12 questões; (B) submissão dos instrumentos aos juízes, no período de junho a setembro de 2012, os quais deveriam julgar cada item como adequado , adequado com alterações ou inadequado , além de fazer uma avaliação geral de cada instrumento baseada em 10 critérios adaptados do referencial metodológico de Pasquali; e (C) validação com a verificação do nível de concordância entre os juízes, por meio da aplicação do Índice de Validade de Conteúdo (IVC) e do Índice Kappa. Utilizou-se o nível de consenso maior que 0,75 para o IVC e maior que 0,61 (bom) para o Índice Kappa. Estudo aprovado pelo Comitê de Ética em Pesquisa do Hospital Universitário Onofre Lopes (CEP/HUOL), sob CAAE nº 0002.0.294.000-10. Após serem codificados e tabulados, os dados foram analisados por meio de estatística descritiva. Dos 23 juízes, 87% eram do sexo feminino, com média de idade de 36,5 anos, 73,9% atuavam na UFRN, 78,3% possuíam mestrado acadêmico e 69,6% atuavam exclusivamente na docência. A média de tempo de experiência na docência foi de 7,9 anos e nas disciplinas de Semiologia e/ou Semiotécnica de Enfermagem foi de 5,6 anos. No julgamento do roteiro de observação estruturado e do questionário sobre o conhecimento, nenhum item/questão considerou-se inadequado, uma vez que todos obtiveram nível de concordância dentro dos índices estabelecidos (IVC > a 0,75 e Kappa > 0,61). Em relação ao roteiro estruturado para avaliar habilidade, dos 28 itens presentes, 13 apresentaram índice de concordância perfeito (IVC=1,00; Kappa= 1,00) e outros 15 foram considerados adequados com alterações, principalmente no que diz respeito à sequência instrucional dos tópicos, clareza e vocabulário. No questionário sobre o conhecimento, dentre as 12 questões que o compunham, 03 apresentaram índice de concordância perfeito e as demais adequadas com alterações quanto aos critérios vocabulário, clareza, atualização e precisão. Em relação à avaliação geral dos instrumentos, o roteiro estruturado de habilidade obteve IVC de 0,95 e Kappa de 0,91 e o questionário do conhecimento, IVC de 0,97 e Kappa de 0,94. Os dois instrumentos mostraram-se válidos quanto ao seu conteúdo, e constituem ferramentas para fomentar a qualidade da assistência de enfermagem em relação ao conhecimento e à habilidade em sondagem nasogástrica

A influência do modelo de triplice hélice no grau de maturidade de inovação: um estudo de caso em empresas participantes do projeto PRÓ-INOVA/NAGI no estado do RIO GRANDE DO NORTE

Public investments in the development of innovation in the country, either through the rigging of public universities, either through public announcements of the promotion, increased dramatically in recent years. To analyze the efficiency and effectiveness of the use of public resources is especially in times of austerity, essential for the development of a country. In this context, this research aims to identify the influence of public investments to promote innovation in the degree of maturity of innovative companies in the state of the RN. Another goal is to identify the regional influence from the installation site - capital or countryside, in the performance of the companies studied in the degree of innovation. The theoretical basis of the understanding of the scope of the concept of innovation and its determination for the purposes of this study. Typology, degree of innovation, evaluation methodologies and mechanisms to support innovation : Still on the theme of innovation additional concepts that help the reader to a greater understanding, such as are presented. Following is approached conceptualization of the triple helix, highlighting the concepts advocated by Etzkowitz and Leydesdorff, Salomon and Silva and Ipiranga, Freitas and Paiva, among others. With regard to methodological aspects, we propose a descriptive, exploratory and explanatory research quantitative and qualitative approach with the target audience group of companies served by INOVA PRO- NAGI design - multi-institutional action from a public resource called FINEP promotes the development of innovative companies in the State of Rio Grande do Norte - in 2013. The research should provide reflection and understanding of the influence of public investment in innovation, which by means of qualitative predictive variables associated with quantitative method to explain which variables are significant variations in the degree of maturity of enterprises studied

Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás

This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal

Calibração cega de receptores cinco-portas baseada em separação cega de fontes

The exponential growth in the applications of radio frequency (RF) is accompanied by great challenges as more efficient use of spectrum as in the design of new architectures for multi-standard receivers or software defined radio (SDR) . The key challenge in designing architecture of the software defined radio is the implementation of a wide-band receiver, reconfigurable, low cost, low power consumption, higher level of integration and flexibility. As a new solution of SDR design, a direct demodulator architecture, based on fiveport technology, or multi-port demodulator, has been proposed. However, the use of the five-port as a direct-conversion receiver requires an I/Q calibration (or regeneration) procedure in order to generate the in-phase (I) and quadrature (Q) components of the transmitted baseband signal. In this work, we propose to evaluate the performance of a blind calibration technique without additional knowledge about training or pilot sequences of the transmitted signal based on independent component analysis for the regeneration of I/Q five-port downconversion, by exploiting the information on the statistical properties of the three output signals

Localização de robôs móveis autônomos utilizando fusão sensorial de odometria e visão monocular

The development and refinement of techniques that make simultaneous localization and mapping (SLAM) for an autonomous mobile robot and the building of local 3-D maps from a sequence of images, is widely studied in scientific circles. This work presents a monocular visual SLAM technique based on extended Kalman filter, which uses features found in a sequence of images using the SURF descriptor (Speeded Up Robust Features) and determines which features can be used as marks by a technique based on delayed initialization from 3-D straight lines. For this, only the coordinates of the features found in the image and the intrinsic and extrinsic camera parameters are avaliable. Its possible to determine the position of the marks only on the availability of information of depth. Tests have shown that during the route, the mobile robot detects the presence of characteristics in the images and through a proposed technique for delayed initialization of marks, adds new marks to the state vector of the extended Kalman filter (EKF), after estimating the depth of features. With the estimated position of the marks, it was possible to estimate the updated position of the robot at each step, obtaining good results that demonstrate the effectiveness of monocular visual SLAM system proposed in this paper

Uma ferramenta para Análise Multiresolução de dados não regularmente amostrados

Digital signal processing (DSP) aims to extract specific information from digital signals. Digital signals are, by definition, physical quantities represented by a sequence of discrete values and from these sequences it is possible to extract and analyze the desired information. The unevenly sampled data can not be properly analyzed using standard techniques of digital signal processing. This work aimed to adapt a technique of DSP, the multiresolution analysis, to analyze unevenly smapled data, to aid the studies in the CoRoT laboratory at UFRN. The process is based on re-indexing the wavelet transform to handle unevenly sampled data properly. The was efective presenting satisfactory results