Caracterização da dinâmica ambiental da região costeira do município de Galinhos, litoral setentrional do Rio Grande do Norte

This doctorate thesis concerning on the Characterization of the Environmental Dynamics of the Coastal Area of the Municipal district of Galinhos, Septentrional Coast of Rio Grande do Norte State, is located in the influence area of the Guamaré Petroliferous Pole, having as general objective the understanding of the active coastal dynamics in the region of Galinhos, whose specific objectives were: To study the variation of the coast line in the decades of 1954, 1967,1988, 1996, 2000, from remote sensing products; To elucidate the hypothesis of the region of Galinhos to have been an old system of islands barriers, using as basic tool the penetration radar in the soil - GPR; To monitor and to characterize the coastal dynamics of the study area starting from monthly data of beach profiles, sedimentological analysis, hydrodynamic data and environmental characterization data; which were used to feed the database of the N-NE network of Environmental Monitoring of Areas under Influence of the Petroliferous Industry;(REDE05/FINEP/CNPq/CTPETRO/ PETROBRAS). This research is justified, of the environmental point of view, by involving the mangrove ecosystem considered one of the most delicated environments of the State. From the viewpoint of the petroleum exploration, the systems of islands barriers are favorable for hydrocarbons reservoirs and, consequently important targets to the oil and gas industry, becoming this region attractive in comparison with similar lithified environments. With the results of the variability study in the position of the coast line in the Municipal district of Galinhos/RN from the analysis of remote sensing images, it was possible to investigate the changes in the coast line in temporal scale; the use of directional filters allowed to emphasize linings in the direction NE and to identify submerged features such as sandwaves. The use of GPR enabled the confirmation of paleochannels existence and thus confirmed the hypothesis that the Galinhos spit was formed from an old system of islands barriers. The results of the granulometric analyses indicated that in the summer period the sediments in the profiles A and B in the foreshore portion were classified with the granulometry of sand with scattered gravel and in the shoreface were constituted by sand, but in the winter period these same morphologic compartments were constituted by sand with sparse gravel and siltic sand respectively. In the profile C, in the summer and in the winter, the shoreface and foreshore compartments presented predominantly constituted by sand with sparse gravel. The hydrodynamic results showed that the largest wave heights were registered in the month of February (62 cm) and the highest period of 1,00 m/s in the month of May, the sense of the coastal currents was kept among the quadrants SW and NW, and the winds coming from NE were predominant. The analysis of the beach profiles demonstrated that in the profile A, although it had occurred erosion and deposition during the monitored months, the morphology of the referred profile was kept constant. In the profiles B and C, there were abrupt changes in the morphology, during the monitored months, having been identified a cyclic pattern in the features of the foreshore zone sometimes forming longitudinal sandy bars and in other times forming berm. These results evidenced, therefore, that studies of this nature are of fundamental importance for the coastal zoning, aiming subsidies to the organs managers in the closing of decisions as for the implantation of enterprises in the area, and for the industry of the petroleum through generation of information that subsidize the implementation and location of petroliferous structures adequate to this environment

Proposta metodológica para o imageamento, caracterização, parametrização e geração de modelos virtuais de afloramentos

The aim of this work was to describe the methodological procedures that were mandatory to develop a 3D digital imaging of the external and internal geometry of the analogue outcrops from reservoirs and to build a Virtual Outcrop Model (VOM). The imaging process of the external geometry was acquired by using the Laser Scanner, the Geodesic GPS and the Total Station procedures. On the other hand, the imaging of the internal geometry was evaluated by GPR (Ground Penetrating Radar).The produced VOMs were adapted with much more detailed data with addition of the geological data and the gamma ray and permeability profiles. As a model for the use of the methodological procedures used on this work, the adapted VOM, two outcrops, located at the east part of the Parnaiba Basin, were selected. On the first one, rocks from the aeolian deposit of the Piaui Formation (Neo-carboniferous) and tidal flat deposits from the Pedra de Fogo Formation (Permian), which arises in a large outcrops located between Floriano and Teresina (Piauí), are present. The second area, located at the National Park of Sete Cidades, also at the Piauí, presents rocks from the Cabeças Formation deposited in fluvial-deltaic systems during the Late Devonian. From the data of the adapted VOMs it was possible to identify lines, surfaces and 3D geometry, and therefore, quantify the geometry of interest. Among the found parameterization values, a table containing the thickness and width, obtained in canal and lobes deposits at the outcrop Paredão and Biblioteca were the more relevant ones. In fact, this table can be used as an input for stochastic simulation of reservoirs. An example of the direct use of such table and their predicted radargrams was the identification of the bounding surface at the aeolian sites from the Piauí Formation. In spite of such radargrams supply only bi-dimensional data, the acquired lines followed of a mesh profile were used to add a third dimension to the imaging of the internal geometry. This phenomenon appears to be valid for all studied outcrops. As a conclusion, the tool here presented can became a new methodology in which the advantages of the digital imaging acquired from the Laser Scanner (precision, accuracy and speed of acquisition) were combined with the Total Station procedure (precision) using the classical digital photomosaic technique

Estudo Comparativo de gráaficos de probabilidade normal para Anáalise de experimentos fatoriais não replicados

Two-level factorial designs are widely used in industrial experimentation. However, many factors in such a design require a large number of runs to perform the experiment, and too many replications of the treatments may not be feasible, considering limitations of resources and of time, making it expensive. In these cases, unreplicated designs are used. But, with only one replicate, there is no internal estimate of experimental error to make judgments about the significance of the observed efects. One of the possible solutions for this problem is to use normal plots or half-normal plots of the efects. Many experimenters use the normal plot, while others prefer the half-normal plot and, often, for both cases, without justification. The controversy about the use of these two graphical techniques motivates this work, once there is no register of formal procedure or statistical test that indicates \which one is best". The choice between the two plots seems to be a subjective issue. The central objective of this master's thesis is, then, to perform an experimental comparative study of the normal plot and half-normal plot in the context of the analysis of the 2k unreplicated factorial experiments. This study involves the construction of simulated scenarios, in which the graphics performance to detect significant efects and to identify outliers is evaluated in order to verify the following questions: Can be a plot better than other? In which situations? What kind of information does a plot increase to the analysis of the experiment that might complement those provided by the other plot? What are the restrictions on the use of graphics? Herewith, this work intends to confront these two techniques; to examine them simultaneously in order to identify similarities, diferences or relationships that contribute to the construction of a theoretical reference to justify or to aid in the experimenter's decision about which of the two graphical techniques to use and the reason for this use. The simulation results show that the half-normal plot is better to assist in the judgement of the efects, while the normal plot is recommended to detect outliers in the data

Desenvolvendo e gerenciando compostagem de resíduos sólidos urbanos: para geração de renda e repasse de tecnologia à acrevi

Nowadays, as well as in the past decades, the dumping of biodegradable organic waste in landfill is common practice in Brazil, as well as in most parts of the world. Nevertheless due to its rapid decomposition and release of odors, this practice hamper’s the operation and implementation of a recycling system. These facts encouraged our research to find an efficient system for the management of organic waste, not only for the use of official workers responsible for managing these wastes, but also for non-governmental institutions. The Recycling for Life Community Association – ACREVI (Associação Comunitária Reciclando para a Vida), together with the municipal authorities of Mossoró-RN, Brazil, have assumed the social role of collecting and recycling solid waste produced by most of the local population. However, it was observed that the organic waste it collected was not receiving any treatment. This present work aims to make compost with mixed waste (green waste and organic household), and then do chemical analysis of the material in view to use the waste as organic fertilizer. The objective being: to share the knowledge acquired by putting it into a very simple language accessible to people with little education. The experiment was conducted at ACREVI, Mossoró (RN), and the compost was obtained following the method "windrow", forming three cells (I, II, III) with conical shape, dimensions of 1.6 meters and 2.0 meters in diameter for cells I and II, and 1.0 meters high and 2.0 meters in diameter for cell III. The process was accompanied by analysis: CHN elemental, a variation of cell temperature, humidity, pH, TKN, bulk density, nutrients and heavy metals. Stabilized organic compounds reached the C/N ratio of 10.4/1 cell I and 10.4/1 in the cell II in the cell, showing how good soil conditions, with potential to improve the physical properties of any soil and pH acid soils, has presented the cell III at the end of the process the C/N 26/1, is a high ratio may be associated with the stack size III, thus changing the optimal conditions for the occurrence of the process. The levels of heavy metals in the analyzed compounds were lower than those established by the SDA normative instruction, Nº 27, of 5 June, 2006. The use of pruning trees and grass are used in small-scale composting, while generating a quality compost in the final process, it also created an important condition for a correct sizing of the composting piles. Under the studied conditions it is not advisable to use cells with a height of 1.00 m in height and 2.00 m in diameter, as these do not prevent the rapid dissipation of heat and thus can not be a good product at the end of composting. The composting process in the shed of the association and the preparation of the primer enabled the development of an alternative technology to generate income for members of ACREVI.

Uso do GPR na geração de modelos estáticos 3D para o planejamento de lavra de minerais pesados depositados em dunas eólicas

This project was developed as a partnership between the Laboratory of Stratigraphical Analyses of the Geology Department of UFRN and the company Millennium Inorganic Chemicals Mineração Ltda. This company is located in the north end of the paraiban coast, in the municipal district of Mataraca. Millennium has as main prospected product, heavy minerals as ilmenita, rutilo and zircon presents in the sands of the dunes. These dunes are predominantly inactive, and overlap the superior portion of Barreiras Formation rocks. The mining happens with the use of a dredge that is emerged at an artificial lake on the dunes. This dredge removes sand dunes of the bottom lake (after it disassembles of the lake borders with water jets) and directs for the concentration plant, through piping where the minerals are then separate. The present work consisted in the acquisition external geometries of the dunes, where in the end a 3D Static Model could be set up of these sedimentary deposits with emphasis in the behavior of the structural top of Barreiras Formation rocks (inferior limit of the deposit). The knowledge of this surface is important in the phase of the plowing planning for the company, because a calculation mistake can do with that the dredge works too close of this limit, taking the risk that fragments can cause obstruction in the dredge generating a financial damage so much in the equipment repair as for the stopped days production. During the field stages (accomplished in 2006 and 2007) topographical techniques risings were used with Total Station and Geodesic GPS as well as shallow geophysical acquisitions with GPR (Ground Penetrating Radar). It was acquired almost 10,4km of topography and 10km of profiles GPR. The Geodesic GPS was used for the data geopositioning and topographical rising of a traverse line with 630m of extension in the stage of 2007. The GPR was shown a reliable method, ecologically clean, fast acquisition and with a low cost in relation to traditional methods as surveys. The main advantage of this equipment is obtain a continuous information to superior surface Barreiras Formation rocks. The static models 3D were elaborated starting from the obtained data being used two specific softwares for visualization 3D: GoCAD 2.0.8 and Datamine. The visualization 3D allows a better understanding of the Barreiras surface behavior as well as it makes possible the execution of several types of measurements, favoring like calculations and allowing that procedures used for mineral extraction is used with larger safety

Estudo da dinâmica costeira da região da foz do rio Piranhas-Açu para geração de mapas de sensibilidade do litoral ao derramamento de óleo

The study area is located in the northern coast of Rio Grande do Norte State comprising the mouth of Açu-Piranhas river including the cities of Porto do Mangue e Areia Branca. The local geological setting comprises Cretaceous, Tertiary and Quaternary geological units of the Potiguar Basin. One is about a region of high morphologic instability due to action of the rigorous dynamic coastal processes, beyond the intense human activities mainly for the performance of the petroliferous industry, salt farms and tanks of shrimp industry.For the accomplishment of this work Landsat 5 TM and Landsat 7 ETM + from four distinct dates were used as cartographic base, in which one applied techniques of digital processing to elaborate thematic maps of the existing natural resources to support the geologic and geomorphologic characterization and the soil and landuse maps. The strategy applied was the interpretation of multitemporal images from aerial and orbital remote sensors alIied to the terrain truth recognition, integrated through a Geographic Information System. These activities had alIowed the production of Sensitivity Maps of the Coast to Oil Spilling for the area, on the basis of the Coastal Sensibility Index. Taking into account the seasons were created maps to distinct datas: July 2003 represents the winter months that presented a sensibility lower when compared with the month of December 2003. For the summer months greater sensitivity is due to the hydrodynamic data that suggest a lesser capacity of natural cleanness of the oil and its derivatives in spilling case.These outcomes are an important and useful database to support an assessment to a risk situation and to taking decision in the face of an environmental disaster with oil spilling in coastal area, alIowing a complete visualization of the area and identifying all portions in the area with thei environmental units and respective Coastal Sensibility Index.

Desenvolvimento de um sistema computacional para geração automática de mapas de vulnerabilidade como ferramenta de auxílio às ações de prevenção ao derramamento de óleo em áreas costeiras

The northern portion of the Rio Grande do Norte State is characterized by intense coastal dynamics affecting areas with ecosystems of moderate to high environmental sensitivity. In this region are installed the main socioeconomic activities of RN State: salt industry, shrimp farm, fruit industry and oil industry. The oil industry suffers the effects of coastal dynamic action promoting problems such as erosion and exposure of wells and pipelines along the shore. Thus came the improvement of such modifications, in search of understanding of the changes which causes environmental impacts with the purpose of detecting and assessing areas with greater vulnerability to variations. Coastal areas under influence oil industry are highly vulnerable and sensitive in case of accidents involving oil spill in the vicinity. Therefore, it was established the geoenvironmental monitoring of the region with the aim of evaluating the entire coastal area evolution and check the sensitivity of the site on the presence of oil. The goal of this work was the implementation of a computer system that combines the needs of insertion and visualization of thematic maps for the generation of Environmental Vulnerability maps, using techniques of Business Intelligence (BI), from vector information previously stored in the database. The fundamental design interest was to implement a more scalable system that meets the diverse fields of study and make the appropriate system for generating online vulnerability maps, automating the methodology so as to facilitate data manipulation and fast results in cases of real time operational decision-making. In database development a geographic area was established the conceptual model of the selected data and Web system was done using the template database PostgreSQL, PostGis spatial extension, Glassfish Web server and the viewer maps Web environment, the GeoServer. To develop a geographic database it was necessary to generate the conceptual model of the selected data and the Web system development was done using the PostgreSQL database system, its spatial extension PostGIS, the web server Glassfish and GeoServer to display maps in Web

Evidências da herança geotectônica pré-cambriana na geração da barcia potiguar: um estudo geofísico multdisciplinar

The 3D gravity modeling of the Potiguar rift basin consisted of a digital processing of gravity and aeromagnetic data, subsidized by the results of Euler deconvolution of gravity and magnetic data and the interpretation of seismic lines and wells descriptions. The gravity database is a compilation of independent geophysical surveys conducted by several universities, research institutions and governmental agencies. The aeromagnetic data are from the Bacia Potiguar and Plataforma Continental do Nordeste projects, obtained from the Brazilian Petroleum Agency (ANP). The solutions of the Euler Deconvolution allowed the analysis of the behavior of the rift main limits. While the integrated interpretation of seismic lines provided the delimitating horizons of the sedimentary formations and the basement top. The integration of these data allowed a 3D gravity modeling of basement topography, allowing the identification of a series of internal structures of the Potiguar rift, as well intra-basement structures without the gravity effect of the rift. The proposed inversion procedure of the gravity data allowed to identify the main structural features of the Potiguar rift, elongated in the NE-SW direction, and its southern and eastern faulted edges, where the sedimentary infill reachs thicknesses up to 5500 m. The southern boundary is marked by the Apodi and Baixa Grande faults. These faults seem to be a single NW-SE oriented fault with a strong bend to NE-SW direction. In addition, the eastern boundary of the rift is conditioned by the NE-SW trending Carnaubais fault system. It was also observed NW-SE oriented faults, which acted as transfer faults to the extensional efforts during the basin formation. In the central part of the residual anomaly map without the gravity effect of the rift stands out a NW-SE trending gravity high, corresponding to the Orós-Jaguaribe belt lithotypes. We also observe a gravity maximum parallel to the Carnaubais fault system. This anomaly is aligned to the eastern limit of the rift and reflects the contact of different crustal blocks, limited by the eastern ward counterpart of the Portalegre Shear Zone

Analise dos impactos socioambientais da instalacao das unidades de bombeio de petroleo na area urbana de Mossoro - RN

Conselho Nacional de Desenvolvimento Científico e Tecnológico

analise da dispersao de ondas de superficie na provincia borborema, Nordeste do Brasil

The Borborema Province, Northeastern Brazil, had its internal structure investigated by different geophysical methods like gravity, magnetics and seismics. Additionally, many geological studies were also carried out to define the structural domains of this province. Despite the plethora of studies, there are still many important open aspects about its evolution. Here, we study the velocity structure of S-wave in the crust using dispersion of surface waves. The dispersion of surface waves allows an estimate of the average thickness of the crust across the region between the stations. The inversion of the velocity structure was carried out using the inter-station dispersion of surface waves of Rayleigh and Love types. The teleseismic events are mainly from the edges of the South and North American plates. The period of data collection occurred between 2007 and 2010 and we selected 7 events with magnitude above 5.0 MW and up to 40 km depth. The difference between the events back-azimuths and the interstation path was not greater than 10. We also know the depth of the Moho, results from Receiver Functions (Novo Barbosa, 2008), and use those as constrains in inversion. Even using different parameterizations of models for the inversion, our results were very similar the mean profiles velocity structure of S-wave. In pairs of stations located in the Cear´a Central Domain Borborema the province, there are ranges of depths for which the velocities of S are very close. Most of the results in the profile near the Moho complicate their interpretation at that depth, coinciding with the geology of the region, where there are many shear zones. In particular, the profile that have the route Potiguar Bacia in inter-station, had low velocities in the crust. We combine these results to the results of gravimetry and magnetometry (Oliveira, 2008) and receptor function (Novo Barbosa, 2008). We finally, the first results on the behavior of the velocity structure of S-wave with depth in the Province Borborema

Prospecção tecnológica para geração de energia eólica

The acceleration of technological change and the process of globalization has intensified competition and the need for new products (goods and services), resulting in growing concern for organizations in the development of technological, economic and social advances. This work presents an overview of the development of wind energy-related technologies and design trends. To conduct this research, it is (i) a literature review on technological innovation, technological forecasting methods and fundamentals of wind power; (ii) the analysis of patents, with the current technology landscape studied by means of finding information in patent databases; and (iii) the preparation of the map of technological development and construction of wind turbines of the future trend information from the literature and news from the sector studied. Step (ii) allowed the study of 25 644 patents between the years 2003-2012, in which the US and China lead the ranking of depositors and the American company General Electric and the Japanese Mitsubishi stand as the largest holder of wind technology. Step (iii) analyzed and identified that most of the innovations presented in the technological evolution of wind power are incremental product innovations to market. The proposed future trends shows that the future wind turbines tend to have a horizontal synchronous shaft, which with the highest diameter of 194m and 164m rotor nacelle top, the top having 7,5MW generation. The materials used for the blades are new materials with characteristics of low density and high strength. The towers are trend with hybrid materials, uniting the steel to the concrete. This work tries to cover the existing gap in the gym on the use of technological forecasting techniques for the wind energy industry, through the recognition that utilize the patent analysis, analysis of scientific articles and stories of the area, provide knowledge about the industry and influencing the quality of investment decisions in R & D and hence improves the efficiency and effectiveness of wind power generation

A geração de 27 e o barroco: la mirada exuberante

From the context of the degree‘s creation of Spanish literature and language‘s course, at UFRN, came the motivation to make this research, that presents a literary study of a poet‘s group known as Generación del 27, that came in to light at Spain, on 1920. A lot of aspects of this study are themes of many others disciplines, of this degree (Spanish Literature II, IberianAmerican Literature, Spanish Culture, Translation in Spanish Language). This work will also serve as inspiration to new reflections and proposes of translations, as bridges between the language that goes and the other that comes. It is the Translation as comprehension‘s negotiation between languages, it is the decir casi lo mismo, here in poem‘s form (ECO, 2007), in the attempt to conclude new learning, that will be shared with undergraduate and graduate students, being at teaching area, extension or new researches. To contextualize this generation‘s studies, were elected the anthologies organized by Gerardo Diego, called Poesía Española (Antologías), published on 2007, by Ediciones Cátedras, and the Antología Comentada de La Generación del 27, wrote by Víctor García de La Concha, published on 2006, by Editorial Espasa Calpe. The research took Generacion Del 27 as their object of research and - from many others critical reading about the poetry made by those young poets, their creative vocation of aesthetics and vanguard – wanted to understand the context of literary‘s creation of those poets del 27. We form our foundation with contributions by Antonio Maravall (2009), Eugenio D‘ors (s.d) Severo Sarduy (1999), Lezama Lima (2011), Alfonso Reyes (1958) e Deleuze (2005) among others that brought the comprehension of the baroque‘s language, giving emphasis to pluridirectional movement, deconstructing it‘s linearity, creating others new forms, as returns, circles, spirals favoring encounters, detachment or equal points of departure and arrivals. In this way, the poets del 27 approached the baroque of six hundred on a re-reading, and made of the third centenary‘s celebration of the Góngora‘s a Mirada exuberante death, to the return of baroque‘s spirit. Alfonso Reyes e Rubén Darío said that real lights highlighted the paths of this poets generation: The light that desdobra scintillates on García Lorca, Jorge Gullén, Dámaso Alonso, Gerardo Diego and the bullfighter Ignacio Sánchez Mejías, poets that expressed tributes in big style to Soledades author, at Madrid‘s Caffe and all Spain.

Controle em modo dual adaptativo robusto aplicado a um sistema de geração de energia elétrica

Synchronous machines, widely used in energy generation systems, require constant voltage and frequency to obtain good quality of energy. However, for large load variati- ons, it is difficult to maintain outputs on nominal values due to parametric uncertainties, nonlinearities and coupling among variables. Then, we propose to apply the Dual Mode Adaptive Robust Controller (DMARC) in the field flux control loop, replacing the tradi- tional PI controller. The DMARC links a Model Reference Adaptive Controller (MRAC) and a Variable Structure Model Reference Adaptive Controller (VS-MRAC), incorpora- ting transient performance advantages from VS-MRAC and steady state properties from MRAC. Moreover, simulation results are included to corroborate the theoretical studies.

Proteção em sistemas elétricos com geração distribuída utilizando a transformada wavelet

A typical electrical power system is characterized by centr alization of power gene- ration. However, with the restructuring of the electric sys tem, this topology is changing with the insertion of generators in parallel with the distri bution system (distributed gene- ration) that provides several benefits to be located near to e nergy consumers. Therefore, the integration of distributed generators, especially fro m renewable sources in the Brazi- lian system has been common every year. However, this new sys tem topology may result in new challenges in the field of the power system control, ope ration, and protection. One of the main problems related to the distributed generati on is the islanding formation, witch can result in safety risk to the people and to the power g rid. Among the several islanding protection techniques, passive techniques have low implementation cost and simplicity, requiring only voltage and current measuremen ts to detect system problems. This paper proposes a protection system based on the wavelet transform with overcur- rent and under/overvoltage functions as well as infomation of fault-induced transients in order to provide a fast detection and identification of fault s in the system. The propo- sed protection scheme was evaluated through simulation and experimental studies, with performance similar to the overcurrent and under/overvolt age conventional methods, but with the additional detection of the exact moment of the fault.

Geração de padrão de marcha adaptável para uma órtese ativa de membros inferiores

Atualmente com o crescente aumento de dispositivos robóticos destinados para aplicação na área de mobilidade de pessoas que sofreram algum tipo de lesão medular, se faz necessário desenvolver novas ferramentas para tornar tais equipamentos mais adaptáveis, seguros e autônomos. Para que as órteses robóticas que auxiliam na locomoção de pessoas paraplégicas possam desempenhar sua função, estas devem ser capazes de reproduzir os movimentos perdidos com o máximo de fidelidade e segurança em ambientes que eventualmente possam conter obstáculos de diferentes tipos como buracos, escadas e calçadas. As órteses robóticas para membros inferiores têm a capacidade de caminhar, subir e descer degraus, todavia, esses movimentos, na maioria das vezes, não se adaptam ao ambiente, sendo assim, para uma órtese robótica que foi projetada para subir um degrau com uma determinada altura ao se deparar com um degrau maior provavelmente não conseguirá realizar essa tarefa com a mesma segurança. Para solucionar esse e outros problemas, esse trabalho apresenta um Sistema de Auxílio à Locomoção (SAL) dotado de um planejador de passos e um gerador de referências angulares com características antropomórficas para a órtese robótica Ortholeg. O SAL utiliza dados antropométricos do usuário para gerar um padrão de marcha personalizado, dessa forma, a órtese em questão é capaz de adaptar o tamanho do passo para não colidir com obstáculos presentes no ambiente e transpor buracos com diversos tamanhos, subir e descer escadas e calçadas com diferentes valores de altura e comprimento. Para desenvolver o sistema de auxílio à locomoção foram adaptadas técnicas de planejamento de caminho, usadas a princípio em robôs bípedes. São apresentados vários experimentos que mostram a órtese Ortholeg realizando alguns movimentos com características antropomórficas para diferentes distâncias de caminhada e três tipos de obstáculos: degrau, buraco e calçada. A autonomia adquirida com a utilização do sistema de planejamento apresentado facilita a utilização de órteses robóticas como também garante uma maior segurança ao usuário.