Localização de robôs móveis em ambientes fechados utilizando câmeras montadas no teto

The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. Algorithms applied to the images search for the mark on top of the robot and by finding the mark they are able to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of the last years changed that situation and enabling the development and execution of such algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire the images, all in real time, intending to improve the robot localization process inside the environment. Being a localization method that takes just actual information in its calculations, the robot localization using images fit into the needs of this kind of place. Besides, it enables more accurate results and in real time, what is exactly the museum application needs.

O plano de texto e as marcas linguísticas da responsabilidade enunciativa no artigo de opinião do vestibular 2010 da UFRN

With this thesis, we investigate papers produced by candidates to the vestibular 2010 from UFRN related to the (non) taking on of different points of view in the textual zone of the argumentation and counter-argumentation. The candidates had to produce an opinion article about the polemic theme of the security cameras. The corpus of this research contents 100 papers produced by the candidates to the vestibular 2010 from different areas (humans I, humans II, technological I, technological II and biomedical). To this study, we are based on theoretical perspectives from authors of different theories and linguistic fields that dialog among them. In this direction, we follow Bakhtin (1995), Rabatel (2008 a, 2008 b), Guentchéva (1994, 1996, 2011) and Rodrigues, Passeggi e Silva Neto (2010), among others, that are concerned to dialogism, enunciative theories, discuss analyzes, and linguistic of the text. This group of linguistic approach is linked to the Textual Analyze of the Discuss (ADAM, 2011), that conducts analyze of the data of this research. Related to the methodology, we follow the qualitative analyze in an interpretative way. We investigate how the candidate, as a writer, takes on information inserted in his/her paper. With this in mind, this research tries to answer the following questions: (1) How the candidate organizes his/her discuss in respect to the enunciative responsibility? (2) Which linguistic marks conduct to identify the different voices in the texts? (3) How the textual plan is presented in the opinion article? (4) In which part of the textual plan is possible to identify the enunciative responsibility? In this sense, the aims of this study are identify, describe, analyze and interpret the different voices presented in the text and the way the candidate takes on (or not) the different points of view presented in the papers during argumentation and counterargumentation movement. In general, the results reveal that the presence of linguistic marks (connectors, people marks, among others) design the grade of enunciative responsibility of the writer, stimulating his/her involving and taking on enunciative responsibility.