Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots

Odometria visual baseada em técnicas de structure from motion

Visual Odometry is the process that estimates camera position and orientation based solely on images and in features (projections of visual landmarks present in the scene) extraced from them. With the increasing advance of Computer Vision algorithms and computer processing power, the subarea known as Structure from Motion (SFM) started to supply mathematical tools composing localization systems for robotics and Augmented Reality applications, in contrast with its initial purpose of being used in inherently offline solutions aiming 3D reconstruction and image based modelling. In that way, this work proposes a pipeline to obtain relative position featuring a previously calibrated camera as positional sensor and based entirely on models and algorithms from SFM. Techniques usually applied in camera localization systems such as Kalman filters and particle filters are not used, making unnecessary additional information like probabilistic models for camera state transition. Experiments assessing both 3D reconstruction quality and camera position estimated by the system were performed, in which image sequences captured in reallistic scenarios were processed and compared to localization data gathered from a mobile robotic platform

Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Planejamento cooperativo de tarefas em um ambiente de futebol de robôs

Este trabalho apresenta o desenvolvimento de um método de coordenação e cooperação para uma frota de mini-robôs móveis. O escopo do desenvolvimento é o futebol de robôs. Trata-se de uma plataforma bem estruturada, dinâmica e desenvolvida no mundo inteiro. O futebol de robôs envolve diversos campos do conhecimento incluindo: visão computacional, teoria de controle, desenvolvimento de circuitos microcontrolados, planejamento cooperativo, entre outros. A título de organização os sistema foi dividido em cinco módulos: robô, visão, localização, planejamento e controle. O foco do trabalho se limita ao módulo de planejamento. Para auxiliar seu desenvolvimento um simulador do sistema foi implementado. O simulador funciona em tempo real e substitui os robôs reais. Dessa forma os outros módulos permanecem praticamente inalterados durante uma simulação ou execução com robôs reais. Para organizar o comportamento dos robôs e produzir a cooperação entre eles foi adotada uma arquitetura hierarquizada: no mais alto nível está a escolha do estilo de jogo do time; logo abaixo decide-se o papel que cada jogador deve assumir; associado ao papel temos uma ação específica e finalmente calcula-se a referência de movimento do robô. O papel de um robô dita o comportamento do robô na dada ocasião. Os papéis são alocados dinamicamente durante o jogo de forma que um mesmo robô pode assumir diferentes papéis no decorrer da partida

Uma arquitetura baseada em SCTP e SIP para suporte a aplicações VoIP móveis e a especificação formal do seu módulo de controle

New versions of SCTP protocol allow the implementation of handover procedures in the transport layer, as well as the supply of a partially reliable communication service. A communication architecture is proposed herein, integrating SCTP with the session initiation protocol, SIP, besides additional protocols. This architecture is intended to handle voice applications over IP networks with mobility requirements. User localization procedures are specified in the application layer as well, using SIP, as an alternative mean to the mechanisms used by traditional protocols, that support mobility in the network layer. The SDL formal specification language is used to specify the operation of a control module, which coordinates the operation of the system component protocols. This formal specification is intended to prevent ambiguities and inconsistencies in the definition of this module, assisting in the correct implementation of the elements of this architecture

Controle fuzzy espacialmente diferenciado para um sistema de irrigação

Traditional irrigation projects do not locally determine the water availability in the soil. Then, irregular irrigation cycles may occur: some with insufficient amount that leads to water deficit, other with excessive watering that causes lack of oxygen in plants. Due to the nonlinear nature of this problem and the multivariable context of irrigation processes, fuzzy logic is suggested to replace commercial ON-OFF irrigation system with predefined timing. Other limitation of commercial solutions is that irrigation processes either consider the different watering needs throughout plant growth cycles or the climate changes. In order to fulfill location based agricultural needs, it is indicated to monitor environmental data using wireless sensors connected to an intelligent control system. This is more evident in applications as precision agriculture. This work presents the theoretical and experimental development of a fuzzy system to implement a spatially differentiated control of an irrigation system, based on soil moisture measurement with wireless sensor nodes. The control system architecture is modular: a fuzzy supervisor determines the soil moisture set point of each sensor node area (according to the soil-plant set) and another fuzzy system, embedded in the sensor node, does the local control and actuates in the irrigation system. The fuzzy control system was simulated with SIMULINK® programming tool and was experimentally built embedded in mobile device SunSPOTTM operating in ZigBee. Controller models were designed and evaluated in different combinations of input variables and inference rules base

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

Influência das condições de cultivo na produção de antígenos recombinantes de Leishmania i. chagasi utilizando Escherichia coli M15 cultivada em incubador rotativo e biorreator

Escherichia coli has been one of the most widely used hosts in recombinant protein production, in both laboratory and industrial scale since the advent of recombinant DNA technology. Despite the substantial progress of studies on the molecular biology and immunology of infections, there is currently no medication-based prophylaxis capable of preventing leishmaniasis. As such, there is a great need to identify specific antigens for the development of vaccines and diagnostic kits against visceral leishmaniasis. Thus, the primary goal of the present study is to assess the influence of cultivation conditions on the production of Leishmania chagasi antigens, carried out in a rotating incubator and bioreactor. To that end, several assays were conducted to evaluate the kinetic behavior of antigens (648, 503) of Leishmania. i. chagasi in two different compositions of media (2xTY, TB), with and without an inducer. In order to improve expression, assays were performed in a benchtop bioreactor using the best conditions obtained in a rotating incubator, in addition to assessing the influence of stirring speed. Results show that high complexity of the cultivation medium favored kinetic growth of clones (648, 503). However, in assays submitted to induction by IPTG, this elevated complexity did not promote the expression of recombinant proteins. Expression of antigens 648 and 503 exhibited behavior associated with growth and, in terms of location, proteins 648 and 503 are intracellularly stored. Lactose may be the most adequate inducer in protein expression, when considering factors, cost, toxicity and stability. Elevated stirring may increase cell growth in clone 53, although it may not result in high concentrations for the protein of interest. On the other hand, positive results were obtained for all recombinant clones (648, 503) tested, confirmed by the electrophoretic profile

Controle sanitário e ambiental de um projeto de reúso em um complexo de prédios corporativos

The study that resulted in this dissertation was developed at OU RNCE PETROBRAS, in Natal, which implemented a project of rational use and reuse of water, including use of wastewater from a Sewage Treatment Plant (STP) already in place, diluted with water from own wells for irrigation of green area of the building complex corporate enterprise. Establish a methodology that can serve as guidelines for future projects controlled reuse of water like this was the objective of this research. Been proposed, implemented and evaluated three instruments of sanitary and environmental control: 1) adaptation of sewage treatment plant and quality control of the treated effluent 2) analysis of soil-nutrient interaction in the irrigated area, 3) knowledge of the local hydrogeology, especially with regard to the direction of flow of the aquifer and location of collection wells of Companhia de Águas e Esgotos do Rio Grande do Norte (CAERN) situated in the surroundings. These instruments have proven sufficient and appropriate to ensure the levels of sanitary and environmental control proposed and studied, which were: a) control of water quality off the STP and the output of the irrigation reservoir, b) control of water quality sub surface soil and assessment of progress on soil composition, c) assessment of water quality in the aquifer. For this, we must: 1) establishing the monitoring plan of the STP and its effluent quality sampling points and defining the parameters of analysis, improve the functioning of that identifying the adequacy of flow and screening as the main factors of operational control, and increase the efficiency of the station to a relatively low cost, using additional filters, 2) propose, implement and adapt simple collectors to assess the quality of water percolating into the soil of the irrigated area, 3) determine the direction of groundwater flow in the area study and select the wells for monitoring of the aquifer.

Eficiência de uma ETE em escala real composta por reator UASB seguido de lodo ativado

In the state of Rio Grande do Norte (RN), Brazil, there are about 80 sewage treatment systems being the predominant technology waste stabilization ponds. The Baldo s WWTP , due to its location and low availability of area, was designed as a hybrid conventional system (UASB reactor followed by activated sludge with biodiscs) at a tertiary level, being the most advanced WWTP in the State and also with the larger treatment capacity (1620 m3/h) .The paper presents the results of its performance based on samples collections from May to December 2012. Composite samples of the effluent of the grit chamber, UASB reactors, anoxic chambers, aeration tanks and treated effluent were collected weekly, every 4 hours for 24 hours. The results showed that the WWTP effluent presented adequate ranges of temperatures, pH and DO, however removal efficiencies of BOD and TSS were below the predicted by design. The UASB reactors also showed removals of BOD and TSS less than expected, due to the accumulation of sludge in the reactors, which eventually, was washed out in the effluent. The nitrification process was not satisfactory mainly due to problems in the oxygen distribution in the aeration tanks. The removal of ammonia and TKN were high, probably by the assimilation process

Dificuldades de aprendizagem sobre conceitos de genética no ensino fundamental

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

A Representação discursiva da figura feminina no jornal O Porvir (Currais Novos/Rio Grande do Norte - 1926-1929)

The objective of this paper is to analyze how the female figure was portrayed in discursive narratives in the bi-weekly newspaper O PORVIR , which circulated in Currais Novos, in the state of Rio Grande do Norte, Brazil, between May 2, 1926 and January 20, 1929. Our analysis was based on the semantics of the text, by applying one of the primary concepts used in Textual Analysis of Speeches, Discursive Representation (ADAM, 2011; RODRIGUES; PASSEGGI; SILVA NETO, 2010). Textual Analysis of Speeches has its roots in Textual Linguistics and consists of a theoretical and descriptive approach (ADAM, 2011). This research is characterized as documentary (SEVERINO, 2007) and its corpus includes a review of 39 editions of the aforementioned newspaper, of which we extracted 292 articles that dealt with the female figure and 396 statements for analysis. We used the following semantic categories: referencing (CASTILHO, 2010; NEVES, 2007; KOCH; MARCUSCHI, 1998; MARCUSCHI, 2008; KOCH, 2009); predication (NEVES, 2007; RODRIGUES; PASSEGGI; SILVA NETO, 2010); modification (ADAM, 2011); and spacial and temporal localization (RODRIGUES; PASSEGGI; SILVA NETO, 2010). Our analysis revealed that lady, mother, wife and homemaker were most represented, and always combined with questions about motherhood, marriage and devotion to the home. Such representation does not diverge from pre-colonial models in the early twentieth century, which served as a standard for the female figure

Representações discursivas no discurso político. Não me fiz sigla e legenda por acaso : o discurso de renúncia do senador Antonio Carlos Magalhães (30/05/2001)

O objetivo deste trabalho é investigar como as representações discursivas do locutor e dos alocutários são construídas no discurso de renúncia ao mandato de senador, proferido por Antonio Carlos Magalhães (ACM), na 62ª sessão deliberativa ordinária, em 30/5/2001. A perspectiva teórica que adotamos situa-se no campo da Linguística do Texto, com foco na abordagem da Análise Textual dos Discursos ATD (Adam, 2011). A noção de representação discursiva apresentada pela ATD constitui um dos aspectos da dimensão semântica do texto e baseia-se parcialmente nos trabalhos de Grize sobre a esquematização (1990, 1996). Complementamos as categorias de análise com contribuições que nos permitem detalhar a expressão linguística, textual, e discursiva das representações discursivas (Neves, 2006; Castilho 2010; Rodrigues, Passeggi, Silva Neto, 2010; Rodrigues et al. 2012; Passeggi, 2012). O enfoque metodológico é qualitativo, descritivo e interpretativista (Minayo, 1994; Trivinõs; 1987; Gil, 2002). Os procedimentos de análise utilizam as categorias semânticas de referenciação, predicação, modificação (de referentes e predicações), localização espacial e temporal, conexão e comparação. A representação discursiva do locutor (ACM) é constituída pelo conjunto de representações mais específicas, expressas nas referenciações e nas suas modificações: vítima; político; sigla; baiano, nordestino; presidente do senado; senador confiante; condenado. ACM, como protagonista, assume sempre a sua voz no discurso, manifesta seus pontos de vista e posiciona-se como sujeito ativo, consciente da importância do seu papel político e social, que o torna alvo e vítima das ações dos adversários. Complementando essa referenciação, as predicações e suas modificações se expressam através de verbos de ação, em especial, verbos na 1ª pessoa do singular que marcam o tempo presente, real e conclusivo de ações que constroem um cenário positivo para si mesmo. A localização temporal e espacial, indica as ações realizadas pelos participantes nas diversas etapas temporais selecionadas pelo texto, articuladas a três espaços principais: o Senado Federal, o Brasil e, naturalmente, a Bahia. Por sua vez, conectores adversativos (sobretudo, mas ), explicativos e condicionais acompanham e estruturam o ritmo argumentativo do discurso de renúncia de ACM

O mercado imobiliário e a reinvenção da Ribeira, Natal - RN: verticalizar para renovar?

The real estate dynamic originates new spatial forms, which can determine new uses and new places. We tried to analyze this work, the spatial transformations in the Ribeira district, Natal / RN, due to the advancement of the housing market that is gradually transforming the landscape with the introduction of new types of housing, especially by verticalization. The verticalization of the neighborhood occurs almost at once, changing the local landscape. Notwithstanding this process, given the rapid growth of Natal in the last two decades and the strategic location of the neighborhood, it is pertinent to note that, if not the process of vertical integration, perhaps the neighborhood had been at the mercy of other urban interventions and other approach the real estate market. The research used as instruments interviews with actors who work in the property market in the town and representatives of organizations that have implemented major legislation in the area, the Instituto de Patrimônio Histórico e Artístico Nacional (IPHAN) and the Secretaria de Meio Ambiente e Urbanismo (SEMURB) as well as photographs on the area, in order to verify this new configuration that has been consolidated in the district. To support the theoretical discussion, there was a documentary and bibliographical research. In this way, the object of study of this search sees the uniqueness of urban renewal in the district of Ribeira and its relationship with the historic preservation laws and incentives for residential occupation in the neighborhood, especially regarding the vertical building