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

Estudo da remoção de compostos orgânicos, benzeno e tolueno, em solução aquosa por processo oxidativo avançado do tipo Fenton

The oil and petrochemical industry is responsable to generate a large amount of waste and wastewater. Among some efluents, is possible find the benzene, toluene, ethilbenze and isomers of xilenes compounds, known as BTEX. These compounds are very volatily, toxic for environment and potencially cancerigenous in man. Oxidative advanced processes, OAP, are unconventional waste treatment, wich may be apply on treatment and remotion this compounds. Fenton is a type of OAPs, wich uses the Fenton s reactant, hydrogen peroxide and ferrous salt, to promove the organic degradation. While the Photo-Fenton type uses the Fenton s reactant plus UV radiation (ultraviolet). These two types of OAP, according to literature, may be apply on BTEX complex system. This project consists on the consideration of the utilization of technologies Fenton and Photo-Fenton in aqueous solution in concentration of 100 ppm of BTEX, each, on simulation of condition near of petrochemical effluents. Different reactors were used for each type of OAP. For the analyticals results of amount of remotion were used the SPME technique (solid phase microextraction) for extraction in gaseous phase of these analytes and the gas chromatography/mass espectrometry The arrangement mechanical of Photo-Fenton system has been shown big loss by volatilization of these compounds. The Fenton system has been shown capable of degradate benzene and toluene compounds, with massic percentage of remotion near the 99%.

Integração dos processos de flotação e foto-fenton para redução de óleos e graxas de água produzida em campos de petróleo

During production of oil and gas, there is also the production of an aqueous effluent called produced water. This byproduct has in its composition salts, organic compounds, gases and heavy metals. This research aimed to evaluate the integration of processes Induced Air Flotation (IAF) and photo-Fenton for reducing the Total Oils and Greases (TOG) present in produced water. Experiments were performed with synthetic wastewater prepared from the dispersion of crude oil in saline solution. The system was stirred for 25 min at 33,000 rpm and then allowed to stand for 50 min to allow free oil separation. The initial oil concentration in synthetic wastewater was 300 ppm and 35 ppm for the flotation and the photo-Fenton steps, respectively. These values of initial oil concentration were established based on average values of primary processing units in Potiguar Basin. The processes were studied individually and then the integration was performed considering the best experimental conditions found in each individual step. The separation by flotation showed high removal rate of oil with first-order kinetic behavior. The flotation kinetics was dependent on both the concentration and the hydrophilic-lipophilic balance (HLB) of the surfactant. The best result was obtained for the concentration of 4.06.10-3 mM (k = 0.7719 min-1) of surfactant EO 2, which represents 86% of reduction in TOG after 4 min. For series of surfactants evaluated, the separation efficiency was found to be improved by the use of surfactants with low HLB. Regarding the TOG reduction step by photo-Fenton, the largest oil removal reached was 84% after 45 min of reaction, using 0.44 mM and 10 mM of ferrous ions and hydrogen peroxide, respectively. The best experimental conditions encountered in the integrated process was 10 min of flotation followed by 45 min of photo-Fenton with overall TOG reduction of 99%, which represents 5 ppm of TOG in the treated effluent. The integration of processes flotation and photo-Fenton proved to be highly effective in reducing TOG of produced water in oilfields

Do cientista ao ativista: os problemas da ciência do texto e uma solução revolucionaria na obra de Terry Eagleton

The literary critic Terry Eagleton obtained notoriety in academic circles when he was recognized intellectually for his bestselling book Literary Theory: An Introduction. In this book, the English author boldly proposes the end of literature and literary criticism. However, Eagleton proposed years before, in his book Criticism and Ideology (1976), a scientific system of analysis of literary texts, which seemed less radical, both in theory and in method, than in his later theoretical proposal. Based on this, the objective of this dissertation is to present the English literary critic´s initial method, explaining the reasons that led him to abandon his initial project - of develop a method of analysis of the literary text on a Marxist scientific perspective - and to propose, in the following years, in his most famous book and others, a revolutionary vision that would go beyond textual analysis and make literary texts have a practical intervention in society. Finally, we explain what would be his idea of revolutionary criticism

Comprovação da real comunicação entre o endodonto e o periodonto através do canal cavo inter-radicular e sua prevalência em molares inferiores humanos

The neurovascular system of the pulp and of the periodontium is interconnected and among the possible intercommunications between these two tissues, there is the cavo inter-radicular canal. It is a small canal that goes through any inter-radicular dentine and arises in the furca region of the multi-radicular teeth. Its predominance has been studied in the literature, by several methodologies, with divergent results. The objective of this work was to establish, in vitro, the predominance of the cavo inter-radicular canal, in human lower molars, through the diaphanization technique and dye leakage. For this research, 140 teeth (100 first and second 40 lower molars) were selected, extracted due to different reasons, belonging to a teeth bank of the Endodontics discipline of the Dentistry College at Federal University of Rio Grande do Norte. The teeth were preserved in formol until the moment of use and immersed in physiological solution. Had the endodontic access fulfilled and the whole external surface, except for the furcation, sealed with two layers of nail enamel. The cleaning of the pulpar chamber floor was carried out with sodium hypochlorite solution 5%, being this solution renewed every 5 minutes, during 1 hour. The teeth were immersed in Indian dye and, after drying of the dye, they had their crowns split up in the amelo-cemental junction. Then, they were examined in a stereomicroscope, where marks of the coloring were observed in the furcation and on the pulpar floor. After this recording, the sample was diaphanized and with the transparent teeth, it was possible to observe in the stereomicroscope, the true inter-radicular canals. As a result of this experiment, the presence of these canals was observed in 13 % of the first and 7, 5 % of the second evaluated molars. The study showed that both the presence of the cavo inter-radicular canal is real and the diaphanization and dye leakage is an efficient method for this type of research

Dependência química em mulheres :um estudo sobre o consumo de medicamentos ansiolíticos no serviço público de saúde de Natal/RN

This work was concerned to investigate the meaning attributed to anxiolytic drugs by women, in public health service. It proposes a joint analysis through a link between three dimensions: the woman, the drug, and public health service itself, in an hegemonic medical assistance model. It is observed that the relation between these elements has a great influence over the use and construction of a particular meaning, by the user. The medication is analysed as a consumption merchandise and as an health symbol. In this way, it reflects a biologized vision, which believes the drug as a solution for all health problems. It tries to analyse the generalized medical prescription for anxiolythics and it s consequences. It focalizes also the production and utilization of public health services by patients, mainly women. The question related to the use of anxiolytics and the meaning construted by women is analysed focusing the way that relations of masculine/feminine gender are organized in our society. At this point of view, it tries to understand the dimension that these questions have in subjectivity production, and how it acts in the health/disease process. Finally, this work tries to understand, in a broad sense, the use of anxiolytics looking at the problem not only as a biological question, but also as a cultural matter. The research was done over seventeen women, all of them anxiolytic users. It was used, as research instrument, semi-structured interview associated with methodological analysis of user s speeches

Utilização de sílica gel organofuncionalizada para adsorção de íons metálicos em solução aquosa

In this work the organosilanes aminopropyltriethoxysilane, 3-mercaptopropyltryethoxisilane and n[-3-(trimetoxisilyl)propyl]ethylenetriamine, as well as tetraethylortosilicate (TEOS), were employed to produce, by sol-gel method, organofuncionalized silicon samples. The prepared samples were characterized by elementar analys by thermogravimetry and infrared spectroscopy. Those samples were employed to adsorb Cd2+, Pb2+, Ni2+ and Zn2+ from aqueous solutions (10, 20, 40, 60 and 80 mg L-1). In typical experiments, 50 mg of the organometrix was suspended in 20 mL of metal cation solutions at four different contact times: 30, 60, 90 and 120 minutes. The total amount of adsorbed cations were measured by atomic absorption spectrometry. To all investigated matrices, the following adsorption capacity was observed: Ni2+ > Zn2+ > Cd2+ > Pb2+. Such sequence is closely related with the cation radius, as well as the cation hardness

efeito da aplicação de uma solução salina no crescimento e na composição química da atriplex nummularia

This study aimed to analyze the effect of a saline solution on growth and chemical composition of Atriplex nummularia, shrubby plant, absorbing salts used in the diet of animals and the management of water and saline soils. These plant seedlings were planted and grown in a reserved area at the Federal University of Rio Grande do Norte. The plantation was divided into two blocks, in which one of them was irrigated with saline solution with a concentration of 2840 mgL-1 of NaCl and the second group was irrigated with drinking water. After six months, the plants were collected, harvested and divided into three parts: leaf, thin and thick stem. Monthly, dimension measurements were carried out for cataloging the growth of Atriplex. Ion Chromatography (IC) and Optical Emission Spectroscopy Inductively Coupled Plasma (ICP-OES) were used to analyze the chemical composition of the partition plant parts. The results of these analyses revealed that an absorption process of anions and cations by Atriplex nummularia plant during its growth was achieved, in particular by a higher concentration of sodium and chloride ions. Scanning electron microscopy images showed and confirmed the presence of small crystals on the leaf surface. Electrical conductivity and pH measurements of the aerial parts of the plant were carried out and these results showed that the leaf is the plant part where there is a largest concentration of ions. In addition, measurements of specific surface were obtained from irrigated plants with saline solution, achieving higher surface area, in all cases. Plant dimensions obtained monthly showed that the plants irrigated with water grew 5% more than those plants irrigated with saline solution. Based on results obtained, Atriplex plant showed a higher potential to survive and adapt to environments (aquatic or geological) with high levels of salinity and this property can be used as a tool for removing salts/metals from industrial contaminated soils and effluents.

Remediação de solos contaminados com diesel por lavagem com solução de tensoativos

Combating pollution of soils is a challenge that has concerned researchers from different areas and motivated the search for technologies that aim the recovery of degraded soils. Literature shows numerous processes that have been proposed with the intent of remediating soils contaminated by oils and other by-products of the oil industry, considering that the processes available have, generally, high operating costs, this work proposes a costeffective alternative to the treatment of Diesel-contaminated soils. The washing solutions were prepared using water as aqueous phase, the saponified coconut oil (OCS) as surfactant and n-butanol as co-surfactant. In this study, the soil was characterized by physical and chemical analyses. The study of diesel desorption from the soil was held in bath, using hexane and washing solutions, which had 10 and 20 wt.% active matter (AM - co-surfactant/surfactants) respectively. The study of the influence of active matter concentration and temperature in bath agitated used an experimental planning. The experiment also developed a system of percolation in bed to wash the soil and studied the influence of the concentration of active substance and volume of washing solution using an experimental planning. The optimal times to achieve hexane extraction were 30 and 180 min, while the best results using a 10% AM was 60 min and using a 20% AM was 120 min. The results of the experimental planning on bath showed that the maximum diesel removal was obtained when at a 20 wt.% of AM and under 50 °C, removing 99.92% of the oil. As for experiments in the system of percolation soil bed, the maximum diesel removal was high when the volume of the washing solution was of 5 L and the concentration of 20% AM. This experiment concluded that the concentration of AM and the temperature were vital to bath experiments for diesel removal, while in the system of percolation soil bed only concentration of AM influenced the soil remediation

Conciliação entre modelos de mecanismos avançados de oxidação eletroquímica

Many pollutants dumped in waterways, such as dyes and pesticides, have become so ubiquitous that they represent a serious threat to human health. The electrochemical oxidation is presented as an alternative clean, efficient and economic degradation of wastewater containing organic compounds and a number of advantages of this technique is to just not make use of chemical reagents, since only electrical energy is consumed during the removal of pollutants organic. However, despite being a promising alternative, still needs some tweaking in order to obtain better efficiency in the elimination of persistent pollutants. Thus, this study sought a relationship between a recently discovered phenomenon that reflects the participation of dissolved oxygen in solution in the electrochemical oxidation process, as an anomaly, present a kinetic model that shows instantaneous current efficiency (ICE) above 100% limited by theory, manifested for some experiments with phenolic compounds with H2SO4 or HClO4 as supporting electrolyte with electrodes under anodic oxidation on boron doped diamond (BDD). Therefore it was necessary to reproduce the data ICE exposes the fault model, and thus the 2-naphthol was used as phenolic compound to be oxidised at concentrations of 9, 12 and 15 mmol L-1, and H2SO4 and HClO4 to 1 mol L-1 as a supporting electrolyte under a current density of 30 mA cm-2 in an electrochemical reactor for continuous flow disk configuration, and equipped with anodes DDB at room temperature (25 oC). Experiments were performed using N2 like as purge gas for eliminate oxygen dissolved in solution so that its influence in the system was studied. After exposure of the anomaly of the ICE model and investigation of its relationship with dissolved O2, the data could be treated, making it possible for confirmation. But not only that, the data obtained from eletranálise and spectroscopic analysis suggest the involvement of other strongly oxidizing species (O3 (ozone) and O radicals and O2 -), since the dissolved O2 can be consumed during the formation of new strong oxidizing species, not considered until now, something that needs to be investigated by more accurate methods that we may know a little more of this system. Currently the performance of the electrocatalytic process is established by a complex interaction between different parameters that can be optimized, so it is necessary to the implementation of theoretical models, which are the conceptual lens with which researchers see

RR3D: Uma solução para renderização remota de imagens médicas tridimensionais

The visualization of three-dimensional(3D)images is increasigly being sed in the area of medicine, helping physicians diagnose desease. the advances achived in scaners esed for acquisition of these 3d exames, such as computerized tumography(CT) and Magnetic Resonance imaging (MRI), enable the generation of images with higher resolutions, thus, generating files with much larger sizes. Currently, the images of computationally expensive one, and demanding the use of a righ and computer for such task. The direct remote acess of these images thruogh the internet is not efficient also, since all images have to be trasferred to the user´s equipment before the 3D visualization process ca start. with these problems in mind, this work proposes and analyses a solution for the remote redering of 3D medical images, called Remote Rendering (RR3D). In RR3D, the whole hedering process is pefomed a server or a cluster of servers, with high computational power, and only the resulting image is tranferred to the client, still allowing the client to peform operations such as rotations, zoom, etc. the solution was developed using web services written in java and an architecture that uses the scientific visualization packcage paraview, the framework paraviewWeb and the PACS server DCM4CHEE.The solution was tested with two scenarios where the rendering process was performed by a sever with graphics hadwere (GPU) and by a server without GPUs. In the scenarios without GPUs, the soluction was executed in parallel with several number of cores (processing units)dedicated to it. In order to compare our solution to order medical visualization application, a third scenario was esed in the rendering process, was done locally. In all tree scenarios, the solution was tested for different network speeds. The solution solved satisfactorily the problem with the delay in the transfer of the DICOM files, while alowing the use of low and computers as client for visualizing the exams even, tablets and smart phones

Reengenharia do framework cosmos: uma solução para prover suporte e adaptações abertas.

Self-adaptive software system is able to change its structure and/or behavior at runtime due to changes in their requirements, environment or components. One way to archieve self-adaptation is the use a sequence of actions (known as adaptation plans) which are typically defined at design time. This is the approach adopted by Cosmos - a Framework to support the configuration and management of resources in distributed environments. In order to deal with the variability inherent of self-adaptive systems, such as, the appearance of new components that allow the establishment of configurations that were not envisioned at development time, this dissertation aims to give Cosmos the capability of generating adaptation plans of runtime. In this way, it was necessary to perform a reengineering of the Cosmos Framework in order to allow its integration with a mechanism for the dynamic generation of adaptation plans. In this context, our work has been focused on conducting a reengineering of Cosmos. Among the changes made to in the Cosmos, we can highlight: changes in the metamodel used to represent components and applications, which has been redefined based on an architectural description language. These changes were propagated to the implementation of a new Cosmos prototype, which was then used for developing a case study application for purpose of proof of concept. Another effort undertaken was to make Cosmos more attractive by integrating it with another platform, in the case of this dissertation, the OSGi platform, which is well-known and accepted by the industry

Algoritmo treansgenético na solução do problema do Caixeiro Viajante

The Traveling Purchaser Problem is a variant of the Traveling Salesman Problem, where there is a set of markets and a set of products. Each product is available on a subset of markets and its unit cost depends on the market where it is available. The objective is to buy all the products, departing and returning to a domicile, at the least possible cost defined as the summation of the weights of the edges in the tour and the cost paid to acquire the products. A Transgenetic Algorithm, an evolutionary algorithm with basis on endosymbiosis, is applied to the Capacited and Uncapacited versions of this problem. Evolution in Transgenetic Algorithms is simulated with the interaction and information sharing between populations of individuals from distinct species. The computational results show that this is a very effective approach for the TPP regarding solution quality and runtime. Seventeen and nine new best results are presented for instances of the capacited and uncapacited versions, respectively

Uma abordagem através de algoritmos transgenéticos para o problema da configuração do traçado de uma rede de distribuição de gás natural

Este trabalho apresenta um algoritmo transgenético híbrido para a solução de um Problema de Configuração de uma Rede de Distribuição de Gás Natural. O problema da configuração dessas redes requer a definição de um traçado por onde os dutos devem ser colocados para atender aos clientes. É estudada neste trabalho uma maneira de conectar os clientes em uma rede com arquitetura em forma de árvore. O objetivo é minimizar o custo de construção da rede, mesmo que para isso alguns clientes que não proporcionam lucros deixem de ser atendidos. Esse problema pode ser formulado computacionalmente através do Problema de Steiner com Prêmios. Este é um problema de otimização combinatória da classe dos NPÁrduos. Este trabalho apresenta um algoritmo heurístico para a solução do problema. A abordagem utilizada é chamada de Algoritmos Transgenéticos, que se enquadram na categoria dos algoritmos evolucionários. Para a geração de soluções inicias é utilizado um algoritmo primaldual, e pathrelinking é usado como intensificador

Estudo da atividade sísmica em São Caetano-PE em 2007

In this dissertation we studied the seismic activity in the São Caetano county, Pernambuco State, Northeastern Brazil, located near the Pernambuco Lineament. The Pernambuco Lineament is a one of Neoproterozoic continental-scale shear zones that deforms the Borborema province. The seismicity estudied occurred in a NE trending branch of Pernambuco Lineament. The seismic activity in São Caetano started in 2006 and in May 20th, 2006 a 4,0 mb earthquake hit there. This was the largest earthquake ever reported in Pernambuco State. This dissertation is the result of a campaign done in the period from Februay 1th 2007 to July 31 th 2007. In this campaign up to nine three-component digital seismographic stations were deployed and the collected data was used to determine hypocenters and focal mechanism. A total of 214 earthquakes, recorded at least by three stations, were analyzed. To determine hypocenters and time origin the HYPO71 program was used assuming a half-space model with parameters : VP (P-wave velocity) equal to 5.90 km/s and the ratio VP/VS 1.70, where VS is the S-wave velocity. The earthquakes hypocentral distribution was approximately 4 km long and agrees with the NE-SW direction of the Pernambuco Lineamento branch. Hypocentres depth range from 2 to 8 km. The composed focal mechanism was made from a group of 14 selected earthquakes. We try firstly to find the fault plane solution matching the polarity distribution at stations, using the FPFIT program. The result was 43 deg ± 15 deg for strike, 59 deg ± 9 deg for dip and -142 deg ± 15 deg for rake. We also fitted a plane using the hypocentral distribution to obtain the dip and azimuth of the hypocentral distribution. The results obtained by this fit were 58 deg for the azimuth, 55 deg for the dip and -155 deg for rake. This result shows a mechanism of a strike-slip dextral fault with a normal component. This dissertation shows, once more, that there is a good correlation between the seismic activity and geological features in the region near the Pernambuco Lineament and its NE branches