Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação

This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which is a discrete mapping approach, where each cell stores the occupancy probability, the height of the terrain at current place in the environment and the variance of this height. This 2.5-dimensional representation allows that a mobile robot to know whether a place in the environment is occupied by an obstacle and the height of this obstacle, thus, it can decide if is possible to traverse the obstacle. Sensorial informations necessary to construct the map is provided by a stereo vision system, which has been modeled with a robust probabilistic approach, considering the noise present in the stereo processing. The resulting maps favors the execution of tasks like decision making in the autonomous navigation, exploration, localization and path planning. Experiments carried out with a real mobile robots demonstrates that this proposed approach yields useful maps for robot autonomous navigation

Atividade β-D-N-Acetilglucosaminidásica de enzimas imobilizadas extraídas da Artemia franciscana e possíveis aplicações biotecnológicas

A β-D-N-acetilglucosaminidase extracted and partially isolated from crustacean Artemia franciscana by ammonium sulfate precipitation and filtration gel chromatography Bio Gel A 1.5m. the enzyme was immobilized on ferromagnetic Dacron yielding a insoluble active derivative with 5.0 units/mg protein and 10.35% of the soluble enzyme activity. β-D-N-acetilglucosaminidase-ferromagnetic Dacron was easily removed from the reaction mixture by a magnetic field, it was reused for ten times without loss in its activity. The ferromagnetic Dacron was better activated at pH 5.0. The particles visualized at scanning electron microscope (SEM) had presented different sizes, varying between 721nm and 100µm. Infra red confirmed immobilization on support, as showed by primary amino peaks at 1640 and 1560 cm-1 . The immobilize enzyme presented Km of 2.32 ± 0.48 mM and optimum temperature of 50°C. Bought presented the same thermal stable of the soluble enzyme and larger enzymatic activity at pH 5.5. β-D-N-acetilglucosaminidase-Dacron ferromagnético showed sensible for some íons as the silver (AgNO3), with loss of activity. The β-D-N acetilglucosaminidase activity for mercury chloride (HgCl2), whom is one of the most toxic substance joined in nature, it was presented activity already diminished at 0,01mM and lost total activity at 4mM, indicating sensitivity for this type of metal. β-D-N-acetilglucosaminidase-ferromagnetic Dacron showed degradative capacity on heparan sulfate, the enzyme still demonstrated degradative capacity on heparan sulphate, suggesting a possible application to produce fractions of this glycosaminoglycan

Estruturação litosférica da Província Borborema ao longo da Transecta Angüera (BA) Macau (RN), com base em dados gravimétricos

Since 2005, geophysical surveys have been carried out in the Precambri-an Borborema Province, along two transects with 800 km long each one. A pool of Brazilian public universities and institutions has been acquired deep refrac-tion seismic, gravity and magnetotelluric, with the purpose to model the conti-nental lithosphere of the region. This paper present the gravity survey of the second transect, that crosses the Borborema Province from SW to NE, passing through the São Francisco Craton, Transversal and Meridional zones and Rio Grande do Norte Domain, in the Setentrional Zone. In this way, it cuts some important geologic structures, like the limit of the São Francis Craton and the Borborema Province, Paleozoic and Mesozoic sedimentary basins of Tucano, Jatobá and Potiguar and the extensive Pernambuco and Patos shear zones. Recognition techniques gravity sources in the subsurface, such as spectral analysis and Euler Deconvolution, were applied to the Bouguer anomalies, as well as their regional and residual components. These techniques provided in-formation on possible anomalous bodies, which correlated with pre-existing geological and geophysical data, subsidized a 2.5 D gravity modeling of the lithosphere beneath the Borborema Province and its southern limit with the São Francisco Craton.