Representation of odometry errors on occupancy grids

SOUZA, Anderson A. S. ; SANTANA, André M. ; BRITTO, Ricardo S. ; GONÇALVES, Luiz Marcos G. ; MEDEIROS, Adelardo A. D. Representation of Odometry Errors on Occupancy Grids. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Metodologia para análise da dependabilidade de Smart Grids

Smart Grids are a new trend of electric power distribution, the future of current systems. These networks are continually being introduced in order to improve the reliability of systems, providing alternatives to energy supply and cost savings. Faced with increasing electric power grids complexity, the energy demand and the introduction of alternative sources to energy generation, all components of system require a fully integration in order to achieve high reliability and availability levels (dependability). The systematization of a Smart Grid from the Fault Tree formalism enable the quantitative evaluation of dependability of a specific scenario. In this work, a methodology for dependability evaluation of Smart Grids is proposed. A study of case is described in order to validate the proposal. With the use of this methodology, it is possible to estimate during the early design phase the reliability, availability of Smart Grid beyond to identify the critical points from the failure and repair distributions of components.

Representation of odometry errors on occupancy grids

SOUZA, Anderson A. S. ; SANTANA, André M. ; BRITTO, Ricardo S. ; GONÇALVES, Luiz Marcos G. ; MEDEIROS, Adelardo A. D. Representation of Odometry Errors on Occupancy Grids. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Análise de viabilidade de injeção de fluidos alternativos ao vapor em reservatórios de óleo pesado

Many of hydrocarbon reserves existing in the world are formed by heavy oils (°API between 10 and 20). Moreover, several heavy oil fields are mature and, thus, offer great challenges for oil industry. Among the thermal methods used to recover these resources, steamflooding has been the main economically viable alternative. Latent heat carried by steam heats the reservoir, reducing oil viscosity and facilitating the production. This method has many variations and has been studied both theoretically and experimentally (in pilot projects and in full field applications). In order to increase oil recovery and reduce steam injection costs, the injection of alternative fluid has been used on three main ways: alternately, co-injected with steam and after steam injection interruption. The main objective of these injection systems is to reduce the amount of heat supplied to the reservoir, using cheaper fluids and maintaining the same oil production levels. This works discusses the use of carbon dioxide, nitrogen, methane and water as an alternative fluid to the steam. The analyzed parameters were oil recoveries and net cumulative oil productions. The reservoir simulation model corresponds to an oil reservoir of 100 m x 100 m x 28 m size, on a Cartesian coordinates system (x, y and z directions). It is a semi synthetic model with some reservoir data similar to those found in Brazilian Potiguar Basin. All studied cases were done using the simulator STARS from CMG (Computer Modelling Group, version 2009.10). It was found that waterflood after steam injection interruption achieved the highest net cumulative oil compared to other fluids injection. Moreover, it was observed that steam and alternative fluids, co-injected and alternately, did not present increase on profitability project compared with steamflooding

Ciência e espiritualidade: conversas com pacientes terminais

It has been reflected on Science and spirituality having as focus the relation between them and the process lived by terminal patients after the confirmation of the finitude of their lives. It has searched with this research to excite discussions that corroborate the tematization of a possible dialogue between science and spirituality, signaling perspectives of debates and formation of an understanding of the problematic that involves these human constructs in the development of alternatives for the understanding of the life finitude. We point out the moment of split between science and spirituality through the cartesian paradigm from a historical approach and after focusing the illness and death as foundation for our discussion. We use as methodological strategy, focal talks with terminal patients having as guidance a guideline with five punctuations: the singular citizen, diagnosis impacts, indicators of science, spirituality marks and death fear that served of base for analysis and data interpretation in according to selected theoretical foundations. Thus, it was possible to perceive that science, although not to keep an explicit dialogue with spirituality, it has pointed through is representation forms to the process indicatives that will culminate with the death. And these indicators had shown that in this direction it is efficient. We believe that the confrontation of the death can happen through of a new science that dialogues with the spirituality, where does not have separation between reason and emotion on the part of science; as well as it does not have reason disdain on the part of the spirituality

A transversalidade no currículo do ensino fundamental: as questões ambientais em foco

This thesis is the result of an investigation about the transversality of the environmental issues into the daily curriculum of High Schools (from first to eighth grade). The research field was the county of Santo Antonio de Jesus in the state of Bahia, Brazil. The investigation is related with the challenge that the present model of social development and organization has put to the school institution: to bring the regular discussion about Environmental Education (EE) to the school s daily life. Facing the complexity of the socio-environmental issues and the basic functions of Education, the object of study was restricted to the identification of the challenges and paradoxes of the EE inside the curriculum organization of Politic-Pedagogic Project of the schools and the teachers daily practices. About the methodology, we adopted different references for the qualitative research: sociology, history, economy, and education. As for the investigative procedures about the teacher s practices, we related the school s daily practices to the context of the community. We also adopted several investigative procedures, such as questionnaires, interviews, observations and formative intervention. The theoretical basis was organized based on references to curriculum organization, environmental culture, teacher education and also considering the pillars of a capitalistic system that is based on consumerism and that generates social exclusion. At the initial considerations, we contextualized the contemporary environmental issues in an attempt to interpret the conditions of the EE transversality into the school s daily practices, which are still oriented to the traditional Cartesian Education. Based on the collected data, we found the reasons for the teachers dilemma and reluctances to the insertion of the environmental issues into the organization of the work plan and into the management of a school. Nevertheless, the results also signed promising possibilities to the EE tranversality, in case the curriculum of the school could be more sensible towards the cultural and social-economical issues of a community. We especially questioned The National Curriculum Parameter s (PCN), which is considered highly insufficient to inform the teachers about the environmental issues, facing the actual local conditions of social and pedagogic work. The final considerations showed the role and the importance of this research as one strategy to organize the curriculum education into the perspective of the transversality of environmental issues inside the education of both teacher and student

Formação da habilidade de interpretar gráficos cartesianos em licenciandos em química segundo a teoria de P. Ya. Galperin

It has been remarkable among the Science Teaching debates the necessity that students do not learn only theories, laws and concepts, but also develop skills which allows them to act towards a critical citizenship. Therefore, some of the skills for the natural sciences learning must be taught consciously, intentionally and in a planned way, as component of a basic competence. Studies of the last twenty years have shown that students and teachers have plenty of difficulties about skills development and, among several, the skill of interpreting Cartesian graphics, essential for the comprehension of Natural Science. In that sense, the development of that type of professional knowledge during the initial education of future Chemistry teachers has become strategic, not only because they need to know how to use it, but also because they need to know how to teach it. This research has as its general objective the organization, development and study of a process of formation of the skill of interpreting Cartesian graphics as part of the teachers professional knowledge. It has been accomplished through a formative experience with six undergraduate students of the Teaching Degree Course of Chemistry of Universidade Federal do Rio Grande do Norte (UFRN Federal University of Rio Grande do Norte), in Brazil. In order to develop that skill, we have used as reference P. Ya. Galperin s Theory of the Stepwise Formation of Mental Actions and Concepts and its following qualitative indicators: action form, degree of generalization, degree of consciousness, degree of independence and degree of solidness. The research, in a qualitative approach, has prioritized as instruments of data collecting the registering of the activities of the undergraduate students, the observation, the questionnaire and the diagnosis tests. At the first moment, a teaching framework has been planned for the development of the skill of interpreting Cartesian graphics based on the presupposed conceptions and steps of Galperin s Theory. At the second moment, the referred framework has been applied and the process of the skill formation has been studied. The results have shown the possibility of develop the skill conscious about the invariant operation system, with a high degree of generalization and internalized the operational invariant in the mental plane. The students have attested the contributions at that type of formative experience. The research reveals the importance of going deeper about the teaching comprehension of the individualities tied to the process of internalization, according to Galperin s Theory, when the update of abilities as part of the teaching professional knowledge is the issue

Uma ecologia de base complexa

This thesis objective systemize and discuss the ecological knowledge constructed by means of tradition knowledge with basis in a complex ecology (MORIN, 2002b). The conception of tradition knowledge (ALMEIDA, 2001c) corresponds to a diversity of knowledgement, of men and women, constructed from heteroclite elements of the geographic way, making use of analogies and homologies which serves as the base for this scientific inquiry. These knowledge are extremely related the context where these people are inserted. To construct an ecology of complex base is to understand that the reality is not given previously, and that its construction assumes indissociability among the elements that composes it, that is, between nature and society, material and immaterial elements. To incorporate the disorder, the uncertainty, the unpredictable and the auto-echo-organization as guide principles of a new ecology, constitutes in a new vision of the biological science and the scientific ecology in direction to a science of complexity. The work focuses the ecological knowledge of the Piató lagoon, municipality of Açu, in the State of Rio Grande do Norte, having as interlocutor of this boarding Mr. Francisco Lucas da Silva (known in the local as Chico Lucas), fisherman and agriculturist, who was born, and lives until today, in the community of Areia Branca, around the lagoon. Having for base the method as strategy (MORIN, 2001a), the research construction was performed through the realization of more than 10 trips carried out between the years of 2005 and 2007. In these trips the ecological aspects of the environments such as, the flora and the fauna, as well as the environmental impacts on the lagoon, were obtained in recorded dialogues and interviews with Chico Lucas, which were later transcripts. The information from there showed a natural and social complex reality, little known by Cartesian science, since it brings a wealth of details of daily life full, over all, for tradition knowing of the people that had lived there and the ones who remain living there. The thesis looks to understand the strategies of thought and the knowledge production referring to traditional knowing and its ability of interchange between different cognitive operators. The ecological knowledge that emerges of these knows reveals a systemic perception of the environment, presenting the beings and phenomena in its peculiarities and its degrees of complexity, but immutable in its indissociability

A busca de sintomáticos respiratórios de tuberculose na prática e perspectiva do agente comunitário de saúde nos distritos sanitários de Natal

The objective of this work - which is characterized analyze the search for symptomatic tuberculosis in practice and perspective of the Community Health Agent (ACS) in the districts of Natal. Methods: This is a cross-sectional study. The study population was 646 professionals, and conducted a probabilistic random sampling, stratified by districts. The data were collected from one instrument to collect data based on Primary Care Assesment Toll (PCAT) and analyzed by descriptive statistics. The sample consisted of ACS was 87% female. Among the study participants 58% completed high school and 120 months of exercise training (95% CI 111.9 to 129.5) on average. 90% were USF. The average follow-up of cases found were 2 cases of TB since the beginning of the career of the ACS and the last three years the average is presented in a case accompanied. The ACS received satisfactory ratings on the bond of trust with the user, so as access to homes in the community. The ACS reported for denying the fear of being positive result was the biggest reason for not performing the sputum. All units have a professional that responds to the Tuberculosis Control Program. Regarding the structural capacity of primary care settings for the diagnosis of TB, we observed satisfactory levels in different districts of pots for sputum collection, however, a point that deserves attention from managers is lack of materials for packaging sputum. Fear of positive result was one of the reasons for the refusal of sputum collection, followed by alcoholism. With regard to TB suspects, all responded that ACS always suspect when the user has TB coughs, but in all districts were noticed at low delivery of requests for applications for smear. BSR in TB control, is characterized in practice as a complex action goes beyond technical expertise and contact with the family that breaks with the Cartesian. The BSR is part of the ACS can perform them from the daily visits. We conclude that the ACS is difficult to achieve. This practice should not be the privilege of this actor, but the entire team of primary care. We must rethink the practices of TB care, seeing the health surveillance while aegis of the working process of primary care teams for early diagnosis and thereby reduce TB in communities

Controle adaptativo robusto para um modelo desacoplado de um robô móvel

This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Existência e liberdade: a trans-descendência extática da vida no livro A religião e o nada de Nishitani Keiji

The dialog between the East philosophy and the Western thinking allow us to think the problems inherent to our time from several point of views. Nishitani Keiji, from the Kyoto School, sees the contemporaneity, or the time of the technic, for Heidegger, as derivation and as an immediate consequence of perspective introduced in the modern era form the Cartesian s cogito which creates a barrier that separates man and world. Scientific thinking that dominates our era was created from the thinking that ennobles human reason to the detriment of the others things in the world, determining that the knowledge just can be produced by the man himself and his set of rational powers. However, alerts us Nishitani, this point of view derived from modern thought which imposes subjectivity egocentric type besides not apprehend things in their truth, neither achieves the true self of man. In an attempt to overcome the abuses produced in modernity and that reverberates in our way of be until today, our philosopher will propose the point of view of the nothingness (śūnyatā) as a way to trans-descendance, that is, to overcome the traditional thinking overvalues the reason for the encounter with the original face of man, which by no longer impose its cognitive power can know all things in their true, in the tathatā

Efeitos de campos aleatórios e de anisotropias em vidros de spins

Ising and m-vector spin-glass models are studied, in the limit of infinite-range in-teractions, through the replica method. First, the m-vector spin glass, in the presence of an external uniform magnetic field, as well as of uniaxial anisotropy fields, is consi-dered. The effects of the anisotropics on the phase diagrams, and in particular, on the Gabay-Toulouse line, which signals the transverse spin-glass ordering, are investigated. The changes in the Gabay-Toulouse line, due to the presence of anisotropy fields which favor spin orientations along the Cartesian axes (m = 2: planar anisotropy; m = 3: cubic anisotropy), are also studied. The antiferromagnetic Ising spin glass, in the presence of uniform and Gaussian random magnetic fields, is investigated through a two-sublattice generalization of the Sherrington-Kirpaktrick model. The effects of the magnetic-field randomness on the phase diagrams of the model are analysed. Some confrontations of the present results with experimental observations available in the literature are discussed

Assinaturas antropogênicas de elementos maiores e traços em poeira urbana na cidade do Natal-RN

Although there are many studies on urban dust contamination by heavy metals in developed countries, little attention has been paid to this type of study in developing countries, including Brazil. Therefore, a series of investigations were performed to provide signatures of heavy metals in urban dust and assess the potential sources in the city of Natal - RN-Brazil. The fraction of these sediments was studied to pass through a sieve of 63 micrometers. For the study analyzed two groups of samples, one collected in September 2009 at the end of the rainy season (9 samples) and one collected in January 2010 in the dry season (21 samples). So in all, thirty sediment samples were collected from the street. Then, in Fluorescence Spectrometry X-rays were determined major elements SiO2, Na2O, K2O, Al2O3, MgO, P2O5, Fe2O3, MnO, TiO2 and CaO, and trace Rb, Cr, Ni, Cu, Zn, Sr and Pb by an ICPOES was determined Zn, V, Na, K, Ni, Mn, Mg, P, Fe, Cr, Cu, Pb, Ba, Ca and Al from leaching HCl 0.5 mol L-1 . The results of the concentrations of elements show that the greater presence of these occurs in the dry season, except for Si which is higher in the rainy season. Analyses by geoaccumulation Index (IGEO) Enrichment Factor (EF), Contamination Factor (CF), analysis correlation and Hierarchical Cluster, confirm that Zn, Cu and Pb is anthropogenic character. Zinc may be derived from various sources related to motor vehicles or the road signs and street grids. The elements Na, K, Mg and Ca may be related to droplets suspended in air containing cations and anions present in seawater (salty), common in Christmas throughout the year, brought by winds SE-NW. The elements Na, Mg, Ca and K are the most abundant in seawater and were analyzed in this study. This indicates that the source of these additional elements detected by analyzing the contamination factor may be the very sea. Moreover, Ni, Fe, Cr and Ba can be either as a source of anthropogenic geogênica. The source of Ca is different, because it comes in lime and paint (painting guides of buildings and streets) in construction materials, but may also be present in sediments in the fragments of shells or carbonate bioclasts common in the coastal area