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

Estudo da Potencialidade da produção de tijolos de adobe misturado com outros materiais: uma alternativa de baixo custo para a construção civil

The production of the red pottery brick, made traditionally with clay, is a technique that is already stabled. However, in spite of the little complexity that involves the conventional process of these bricks production, it are exposed to many problems that begin in the fase of exploration of the mines, the problems get worse because of the lack of the clay's characterization, and they continue through the steps of the dough preparation, conformation of the products, the drying and the burning process. The wastefulness is shown and so is the low quality of the material produced. Among other factors, the high use of energy in the burning makes the cost of this material inaccessible to the low income consumer. Besides this, the destruction of the environment around the mines and the use of native vegetation to produce wood - the most used fuel in the pottery industry - make serious environmental damage. The production technique of a new type of simple brick (adobe), that has low cost and no environmental damage, can be the viable altemative to lower the cost of this part of the civil construction, and, consequently, in the building of cheaper houses. In this paper, the results of the mechanical resistance of the adobe brick are shown, using in its composition, clay, natural vegetable fibers, cement and plaster in a process that is completely handcrafted and manual. It is intented to make clear that are possible alternatives to be put in practice, with the simple process, using "raw earth" that has been used in the construction of houses in thousands of years, trying to solve these severe problems. Analysis and tests were performed to find results that could prove the possibility of the utilization of this kind of material. Other studies are in progress, and the new researches are necessary to enrich this work, but it stays the certainty that there is potential to produce bricks from adobe, as an alternative that has low cost to civil construction

Análise do uso e ocupação do solo das margens de um reservatório e a sua influência na qualidade da água

The building of water reservoirs has become a solution for water scarcity of the semiarid regions, however, the land use and occupation near the margins of the reservoirs have been causing serious damage to water quality, harming their use. This paper aims to analyze the land use and occupation in the margins of the Northeast reservoir and evaluate their influence on the water quality, to identify the areas and activities that represent an higher risk of contamination to the reservoir. The study was conducted at the reservoir Dourado, located in the city of Currais Novos - RN, during the period from August 2012 to February 2013. Were defined six areas regarding the land use and occupation, then, Water samples were collected from the margins in these areas for the characterization of water quality. The results showed that almost all Permanent Preservation Areas (PPA) from the reservoir is degraded, increasing the susceptibility of large input of nutrients and contaminants loads. The water reservoir showed low quality, being with strong evidence of eutrophication due to the nutrient accumulation arising from the activities surrounding the reservoir, mainly from agriculture and Livestock. The Areas 1 and 2 are the areas that present a greater risk of reservoir degradation, because are the possible major sources of nutrients (phosphorus total, orthophosphate and nitrate), however, due to the small size of the reservoir, any compound that reaches its margins ultimately affects the water quality of the same

Refletindo dificuldades de aprendizagem de alunos do ensino médio no estudo do equilíbrio químico

This research intends to identify the main conceptual mistakes committed by High School students when studying Chemical Equilibrium and also how the didactic books can influence in their formation. For the data - collecting we applied 150 questionnaires with 11 open questions e 4 restricted ones. Students from three different private schools in Natal-RN were used in this survey. The questionary about the book analysis tried to understand how the subject has been boarded, making it easier or not for the knowledge building. The books were chosen by being usually the most used ones at the chemistry classes in the schools in town. On the didactic book analysis we evaluated 12 items that tried to identify the clarity with which the books would bring up the subjects, the contextualization of the exercises, the analogies used, the amount and the quality of exercises, the connections between the subjects, and the retaken of important concepts. The questionary given to the students tried to get their knowledge about the concepts related to Chemical Equilibrium. The main mistakes found were: the definition of the state of equilibrium in a chemical reaction, the constant, the double headed arrow, confusions between mass and concentration, the representation of a microscopic reaction in equilibrium, partial pressure and total pressure, and the function of the catalyser. The results demonstrated a lot of insecurity or lack of knowledge about the subject when it was realized that there was a big number of blank questions and a considerable percentage of questions with conceptual errors. We concluded that those errors could be eased or even avoided if the didactic books and the teachers boarded the contents in a more conceptual form with the application of a largest number of good quality exercices, watching the building of definitions by the students, avoiding this way the formation of wrong concepts

Metafísica e moralidade na filosofia de Schopenhauer

This work posits a mutual implication between metaphysics and morality in the philosophy of Schopenhauer and seeks to clarify the many nuances that take place in this relation. Each chapter offers a perspective in which the relation between metaphysics and morality can be addressed. Thus, by exposing some important aspects of representation theory of Schopenhauer, we try, in the first chapter, explain the relationship between his idealism and his conception of morality; in the second chapter, the determinism present both in nature and in moral actions, determinism that establishes the relationship between morality and metaphysics through the very notion of a metaphysical nature; in the third chapter, relationship between metaphysics and morality that takes place through the notion of freedom as denial of the previous determinism, freedom possible to the genius, to the saint and to the ascetic. All of these perspectives, however, presuppose the distinction between phenomenon and thing-initself, figuring this distinction as crucial in building of this metaphysic that seeks to protect the moral significance of the world while denying the existence of God

O conceito de consciência em o ser e o nada de J.-P. Sartre

This current discourse intends to prove how consciousness or Being-for-itself presents the idea that in its operation one can emphasize that it s Nothingness, transience and liberty in Jean-Paul Sartre s work O Ser e o Nada. To testify the proposed idea, the conception that Sartre gives to consciousness, representing nothingness, without any content that is connected to the possessor objects of a transphenomenal existence will be the starting point. This way, consciousness will be analyzed transcendently to the object that it s not, demonstrating its revealer-revealed condition, because it unveils a concrete world that exists against its idea, functioning as the revealer intentionality that there are beings instead of nothingness, obeying the ontological proof defended by Sartre. From this idea, every kind of consciousness will always be consciousness of something, a glance of the world, avoiding the fact that the consciousness could be considered nothing in the world. In order to live its original negation state of the world, apprehending this same world, with the purpose of a knowledge, it needs to be divided in two: the first degree consciousness or previous-reflexive cogito, that turns the proper reflexion possible, because, it s the consciousness proper transphenomenality of being different of all that connected to its existence being only its consequence; and the cogito, responsible to the positioning of the first degree consciousness, while aware of its own consciousness, that is, while being certain that knows. From this point, the way to untangle the consciousness or Being-for-itself will be developed as being Chasm, Liberty and transience. From this idea, it s intended to know how consciousness, that in Sartre s thoughts is originally nothing, could turn into Liberty that is presented in the field of transience? In other words, how these three internal structures imbricate one another to form consciousness in Sartre? First of all, it has to be considered the review of a conduct of human reality, the inquiry, that will be possible to understand how Nothingness exists as the mold of all kind of negation. After this, it will be shown, considering its way of existence, the human reality that is connected to Para-si, determined like nothingness, still is proposed like Liberty. Form this point, it will be possible to gleam how Liberty is lived deeply by Para-si in the shape of chasm, trying to how Para-si turns into nothingness, creating a chasm based on its proper liberty. Then, Liberty will be the proper mechanism used by Para-si to modificate its original chasm. The way Being-for-itself has to build to gain its goal will be projecting in transience, the building of something possible that brings one being back. However, will be demonstrated like Chasm can occupy the moment of a choice turning the decision instant an anguish stage, based on the failing of stability of the Being-for-itself, once nothingness persists in the field of the possibilities that human beings preserves in its essence while being essentially Liberty. From this idea, anguish will be studied as the proper consciousness of Liberty, being bad-faith the attempt of avoid Liberty trying to gain a shelter contradicting the fact that life is done of continual choices

Jardim do Seridó: A construção dos espaços públicos na Veneza Seridoense nas primeiras décadas do século XX

As the space and the city are objects of desires, interests, seduction, sedition, appropriations, battles, victories, defeats, require to be analyzed historically. This research investigates and discusses the construction of public spaces in Jardim do Seridó City, backwoods of Rio Rio Grande do Norte, in the first decades of twentieth century, when the municipality was chaired by Heráclio Pires Fernandes, who ruled from 1917 to 1930 and was graduated from the University of Pharmacy of Recife, where he contacted the architectural, political and artistic influences circulating in the capital of Pernambuco. In the first decades of the twentieth century, the space of Jardim earns statements and practices, against the discourse of modernity, which sought to justify the title of Veneza Seridoense . At the time, the city had undergone several transformations in its public spaces through the construction of the Butchery, the Market, the Public Roads connecting the city to other urban centers, the building of the Bridge of the Pedra Lavrada Farm, the Elementary School Antônio de Azevedo , the creation of the Music Band Euterpe Jardinense , the Literary and Recreative Guild, the pavilion, the paving, tree planting, lighting, streets naming and listing of the annual painting of households, the arrival of automobiles, mail and telegraph. The construction of these new sceneries and the arrival of equipments generated impacts in the daily life of the population and were received differentiated ways by individuals involved in the process, which shows the tension between old and new, the relationship between history and space

Engenharia nos sertões nordestinos: o Gargalheiras, a Barragem Marechal Dutra e a comunidade de Acari, 1909-1958

In Brazil, between the late nineteenth and early decades of the twentieth, polytechnic engineers assumed an important role in discussing the establishment of a modern country. The problem of drought in northeastern Brazil gave the professionals performance, within an interventional process more mounts, the conception plans and measures for the purposeful integration of the territory afflicted. With the foundation of Inspetoria de Obras Contra as Secas (IOCS), in 1909, the actions to combat drought and would be institutionalized, them, studies performed out by technical and scientific committees would be systematically applied in the Brazilian Northeast. So, This work was central objective understand the historical process inplantation of a whole infrastructure of modern character by professional technical and their consequences within the Northeast Geographic space, in specific, in the municipality of Acari in the State of Rio Grande do Norte, in the first half of the twentieth century. The politics of the government, through technical education and scientific engineers polytechnics, would emphasize, during the twentieth century, the building of dams, and irrigation canals, wells, railways, highways, between other elements, that would soon transform the physical space-northeast, specifically, the territory acariense. These works began to contribute to the setting of man backcountry their land, promote the regular practice of agriculture even in periods of drought and, the integration, especially, economic of territory acariense the other producing regions of Rio Grande do Norte and the Northeast as well as promoting the modification of the landscape of the world backcountry. These actions functioned as elements of modernity and progress that transformed the space by favoring by favoring the formation of urban networks (urban) in this space

O psicólogo na proteção social especial: atuação junto às vítimas de violação de direitos no CREAS

The objective of this research was to investigate psychologist‟s practices at the Reference Specialized Center of Social Assistance (CREAS), special social care unit of medium complexity of the Unique System of Social Assistance (SUAS). With the creation of CREAS occurred the reorganization of specialized services and programs which were scattered within the socialassitantial network and began to be part of this center, creating a mosaic of actions directed to people with their rights violated. At the same time, there was a significant arrival of psychologists to the field of Social Assistance and their questioning facing specialized social demands and the (un)definitions of SUAS‟ policy concerning to special social protection. Was aimed in this research to investigate how psychologist‟s practices are developed at CREAS using semi-structured interviews and following the practices developed by three psychologists at a CREAS in the state of Rio Grande do Norte (RN), indicated by the Ministry of Social Development and Fight against Hunger (MDS) as one of the national references in 2008. It was highlighted a complex work field, which is delineated between the user´s rights perspective and the maintenance of historical difficulties concerning to the Social Assistance. In which the professional is requested to act toward the fight against rights violation, but does not find a field where is possible inter-sector and articulated work, in addition of being exposed to the precariousness of work and the weakness of employment ties, associated to the lack of formation to work in the area. Accordingly, there is still a range of challenges to psychologists in the building of a profession which confront risk situations and break off rights violation.

Abordagem dirigida a modelos para redes de sensores sem fio

Research on Wireless Sensor Networks (WSN) has evolved, with potential applications in several domains. However, the building of WSN applications is hampered by the need of programming in low-level abstractions provided by sensor OS and of specific knowledge about each application domain and each sensor platform. We propose a MDA approach do develop WSN applications. This approach allows domain experts to directly contribute in the developing of applications without needing low level knowledge on WSN platforms and, at the same time, it allows network experts to program WSN nodes to met application requirements without specific knowledge on the application domain. Our approach also promotes the reuse of the developed software artifacts, allowing an application model to be reused across different sensor platforms and a platform model to be reused for different applications

Análise das medidas de boa e má diversidade na construção de comitês de classificadores através de metaheurísticas de otimização multiobjetivo

Committees of classifiers may be used to improve the accuracy of classification systems, in other words, different classifiers used to solve the same problem can be combined for creating a system of greater accuracy, called committees of classifiers. To that this to succeed is necessary that the classifiers make mistakes on different objects of the problem so that the errors of a classifier are ignored by the others correct classifiers when applying the method of combination of the committee. The characteristic of classifiers of err on different objects is called diversity. However, most measures of diversity could not describe this importance. Recently, were proposed two measures of the diversity (good and bad diversity) with the aim of helping to generate more accurate committees. This paper performs an experimental analysis of these measures applied directly on the building of the committees of classifiers. The method of construction adopted is modeled as a search problem by the set of characteristics of the databases of the problem and the best set of committee members in order to find the committee of classifiers to produce the most accurate classification. This problem is solved by metaheuristic optimization techniques, in their mono and multi-objective versions. Analyzes are performed to verify if use or add the measures of good diversity and bad diversity in the optimization objectives creates more accurate committees. Thus, the contribution of this study is to determine whether the measures of good diversity and bad diversity can be used in mono-objective and multi-objective optimization techniques as optimization objectives for building committees of classifiers more accurate than those built by the same process, but using only the accuracy classification as objective of optimization

PERFIS ESTRATÉGICOS E PERCEPÇÃO DA QUALIDADE: um estudo nos restaurantes da rota turística de Natal-RN

This work is a study of strategic management of catering establishments in the tourist route from Natal, through the study of the strategic profile of the manager and the level of satisfaction with the quality of services offered. Identifies the strategic profile prevalent in the studied sector, measures the level of customer satisfaction with services and associate the two constructs to distinguish the services of strategic profile. Uses population of 33 restaurants, built for convenience, from a list composed establishments associated with the Brazilian Association of Bars and Restaurants - ABRASEL, Veja magazine Christmas food and drink 2011/2012 and information from the natives. It presents statistical methodology used for descriptive bivariate analysis complemented by quantitative data. The quantitative characteristics of the population shows non-normality checked by the Shapiro-Wilks. Used the Kruskal-Wallis test for the realization of the association of variables and the Mann-Whitney test to perform post-test. It shows the strategic profile prevalent in the sector of restoration in Natal is the analyzer, although other types were detected. Notes that the level of satisfaction with the quality of service is getting a high score approximately 5 points in a 6-point Likert scale. Demonstrates that the client can tell the quality of services between the different strategic profiles. Identifies distinction between services provided by prospector profile compared to other profiles, indicating the size as the tangible aspects that presents noticeable difference. Certifies that these variables affect the environment of the restaurant in the building of strategic profile and reflect on the service provided. Concludes that the quality of services provided by catering establishments is influenced by the type of establishment and strategic profile of the study of this relation to establishments offering development opportunities and improving the quality of their services

Empreendedorismo social e protagonismo juvenil: a estratégia socioeducativa do projeto Oasis de intervivência universitária

This dissertation aims to analyze the strategy of socio Intervivência University Project OASIS training of community development from the perspective of social entrepreneurship. This project was part of the context of a sort of university extension, called Intervivência University, which emerged in 2008 through the announcement MCT / CNPq / CT-Agribusiness / MDA - No. 23/2008 - Intervivência University Program. With the analysis of the OASIS project sought to identify a strategy socio, which was used elements of popular education and aimed to develop young people within the social entrepreneurship that made contributions to such has taken actions in their communities seeking range of social gains. For this, the methodological aspect, it was used in the research, a qualitative approach, case study, content analysis, semi-structured interviews and non-participant observation. In the theoretical aspect was addressed in the affairs of: social entrepreneurship, with emphasis on the concept, their differentiations of business entrepreneurship and social responsibility, and characterizing the social entrepreneur, popular education, as for the development of social entrepreneurship is the need for a new way of thinking and seeing reality for the people, and youth leadership, given the importance in the context of social action, to have young people seeking a better life for their communities. Addressed the theory were drawn categories (capital, empowerment and youth participation) and subcategories of analysis (value, attitude, behavior, trust, cooperation, civic participation) used in this work. Given the information and analysis of interviews and observations could be perceived that the strategy promoted socio Project OASIS changes, or the reaffirmation of values, resulting in new attitudes and, consequently, new behaviors in the students interviewed. Has been identified in them the development of trust and cooperation. In the aspect of civic awakening was observed in some of them only. In relation to juvenile activity was perceived to develop actions aimed at social benefits for all respondents. Thus, the OASIS Project Intervivência University made contributions to the young participants in the research aspect of social entrepreneurship, influencing them in developing activities in the social sphere in which cities are embedded