Qualidade do solo da camada de cobertura final em área de disposição de resíduos no semiárido tropical

The final disposal of municipal solid waste in unsuitable areas without an infrastructure that meets the health measures and environmental protection, coupled with the lack of technical criteria in phase and decommissioning of the dump can promote environmental degradation. Alternatively to minimize the impacts of this activity for the stabilization of the area by isolating the massive waste with implementation of an adequate and finished by a layer of soil for plant growth final cover system. In this context, the present study aimed to evaluate the quality of the final cover in the area of a disabled dump the tropical semi-arid region in order to assist the process of recovery of these areas. The study area is located in the tropical semi-arid region in São João do Sabugi /RN. Soil samples were collected in the dump area and bushland as a benchmark of quality. To which they were subjected to analysis of physical attributes (particle density, bulk density, grain size and porosity), chemical properties (pH, K + , Na+ , Ca2 + , Mg2 + and Al3 + exchangeable, potential acidity, available phosphorus, sum of bases, CEC, base saturation, aluminum saturation, saturation Na + and adsorption ratio sodium, total organic carbon and total nitrogen) and total and soluble concentrations of heavy metals (Mn, Pb, Zn, Cd, Cu, Mo, Co, Cr, Ba and Ni). The differences between physical and chemical soil under native forest and final cover showing reduction of soil quality in the area off to the dump, which hinders the development of native vegetation and the recovery of the area. The absence of superior waterproofing to allow vertical transfer between the solid waste and the final cover promoted enrichment by chemical elements and heavy metals in excess can impair revegetation. Deficiencies found in the construction process of the final cover point to the need for intervention to accelerate the process of stabilization and recovery of the area of the local ecosystem

Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás

This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal