New developmental stages for common marmosets (Callithrix jacchus) using mass and age variables obtained by K-means algorithm and self-organizing maps (SOM)

LEÃO, Adriano de Castro; DÓRIA NETO, Adrião Duarte; SOUSA, Maria Bernardete Cordeiro de. New developmental stages for common marmosets (Callithrix jacchus) using mass and age variables obtained by K-means algorithm and self-organizing maps (SOM). Computers in Biology and Medicine, v. 39, p. 853-859, 2009

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

Geomorfologia e neotectônica no Vale do Apodi-Mossoró RN

Numerous studies have indicated that the Potiguar Basin is affected by Cenozoic tectonics. The reactivation of Cretaceous fault systems affect the post-rift units, witch include Neogene and overlying Quaternary sediments. In this context, the objectives of this thesis are the followings: (1) to characterize the effects of post-rift tectonics in the morphology of Apodi Mossoró-river valley located in the central portion of the Potiguar, (2) to characterize the drainage of the Apodi Mossoró river valley and investigate the behavior of their channels across active faults, and (3) to propose a geologic-geomorphological evolutionary model for the study area. This study used a geological and geomorphological mapping of the central part of the basin, with emphasis on the Quaternary record, luminescence dating of sediments, and geoelectric profiles of the area. The results reveal by maps of structural lineaments and drainage channels of the rivers form valleys that are affected by faults and folds. In Apodi-Mossoró valley, anomalies of channel morphology are associated with the deformation of the post-rift basin. These anomalies show the reactivation of major fault systems in the Potiguar Basin in Cenozoic. On a regional scale, can be seen through the vertical electric profiles that the Cenozoic tectonics is responsible for the elevation of a macro dome NE-SE-trending 70-km long and 50km wide and up to 270 above sea level. In this sector, the vertical electric profiles data show that the contact between the Cretaceous and Neogene rise more than 100m. This Is an important feature of inversion data obtained in this work showed that the deposits that cover the macro dome (Serra do Mel) have ages of 119 ka to 43 ka. In the river valley and surrounding areas Apodi-Mossoró ages vary between 319 ka and 2.7 ka. From these data it was possible to establish the correct geochronological posiconamento paleodepósitos of distinguishing them from the fluvial deposits of the Neogene (Barreiras Formation)

Monitoramento geoambiental do estuário do Rio Paraíba do Norte - PB por meio da cartografia temática digital e de produtos de sensoriamento remoto

The North Paraíba River Estuary, located in the eastern portion of the Paraíba State, Northeast Brazil, on coordinates 34º50 00 -34º57 30 S and 6º55 00 -7º7 30 W, constitutes a fluvio-marine plain formed by the North Paraíba River and its tributaries Sanhauá, Paroeira, Mandacaru, Tiriri, Tambiá, Ribeira and Guia. This estuary comprises an area of about 260 km2. Increasing human demands on the estuary area and inadequate environment managing have generated conflicts. The present work main purpose is to evaluate the geodynamic evolution of the North Paraíba River Estuary in the period from 1969 to 2001, using digital image processing techniques, thematic digital cartography and multitemporal data integration, combined to geological-geophysical field surveys. The SUDENE cartographic database, converted to digital format were, used to obtain occupation and topographic maps from 1969 and to generate a Digital Elevation Model (DEM). Digital Landsat 7 ETM+ and Spot HRVIR-PAN satellite images interpretation allowed the environmental characterization of the estuary. The most important digital processing results were achieved color composites RGB 5-4-3, 5-3-1, 5-2-NDWI and band ratio 7/4-5/3-4/2, 5/7-3/1-5/4). In addition the fusion image technique RGBI was used by the inclusion of the Spot HRVRI and Landsat 7 ETM+ panchromatic band on I layer with RGB triplets 5-4-3, 5-3-1 and 5/7-3/1-5/4. The DEM and digital images integration allowed the identification of seven geomorphological units: coastal tableland, flowing tray, tide plain, fluvial terrace, submerged dune, beach plain and beach). Both Side Scan Sonar and Echosound were used to analyse underwater surface and bedforms of the estuarine channel, sand predominance (fine to very fine) and 2D dune features 5 m wide and 0.5 m height. This investigation characterized the estuary as an environment dominated by regimen of average flow. The channel depth varies between 1 m and 11 m, being this last quota reached in the area of Porto de Cabedelo. The chanel estuary is relatively shallow, with erosion evidences mainly on its superior portion, attested by sand banks exposed during the low tide. Multitemporal digital maps from 1969 and 2001 integration were obtained through geoprocessing techniques, resulting the geodynamic evolution of the estuary based on landuse, DEM geomorphology and bathymetric maps

Sistemas de dunas do parque das Dunas e Barreiras do Inferno/Natal (RN: levantamento geológico /geofísico, elaboração do modelo deterministico e avaliação da vulnerabilidade/suscetibilidade

The current work was developed on the dune systems of the Parque das Dunas and Barreira do Inferno. These places are located in the cities of Natal and Parnamirim (RN, Brazil), respectively. This project has the purpose of developing the deterministic model on a specific blowout at Parque das Dunas, based in the geophysical interpretations of the lines gotten with the Ground Penetration Radar and the planialtimetric acquisitions of the topographical surface of the land. Also analyses of the vulnerability/susceptibility of these dune systems had been done in relation to the human pressures. To develop its deterministic model, it is necessary to acquire inner and outer geometries of the cited blowout. In order to depict inner geometries underneath the surface are used the GPR observing the altimetric control for topographical correction of the GPR lines. As for the outer geometries, the geodesic GPS gives us the planialtimetric points (x, y and z points) with milimetric precision, resulting in high-resolution surfaces. Using interpolation methods of the planialtimetric points was possible create Digital Elevations Models (DEM´s) of these surfaces. As a result, 1,161.4 meters of GPR lines were acquired on the blowout at the Parque das Dunas and 3,735.27 meters on the blowout at the Barreira do Inferno. These lines had been acquired with a 200 MHz antenna, except the 7 and 8 lines, for which we had been used a 100 MHz antenna. The gotten data had been processed and interpreted, being possible to identify boundary surfaces of first, second and third order. The first order boundary surface is related with the contact of the rocks of the Barreiras Group with the aeolian deposits. These deposits had been divided in two groups (Group 1 and Group 2) which are related with the geometry of stratum and the dip of its stratifications. Group 1 presented stratum of sigmoidal and irregular geometries and involved bodies where the reflectors had presented dips that had varied of 20 to the 28 degrees for the Parque das Dunas blowout and of 22 to the 29 degrees for the Barreira do Inferno blowout. Usually, it was limited in the base for the first order surface and in the top for the second order surface. Group 2 presented stratum of trough, wedge or lens geometries, limited in the base for the second order vi surface, where the corresponding deposits had more shown smoothed reflectors or with dips of low angle. The Deterministic and Digital Elevation Models had been developed from the integration and interpretation of the 2D data with the GOCAD® program. In Digital Elevations Models it was possible to see, for the localities, corridor or trough-shaped blowouts. In Deterministic Model it was possible to see first and second order boundary surfaces. For the vulnerability/susceptibility of the dune systems it was applied the methodology proposal by Boderè al (1991); however the same one did not show adequate because it evaluates actual coastal dunes. Actual coastal dunes are dunes that are presented in balance with the current environmental conditions. Therefore, a new methodology was proposal which characterizes the supplying and activity sedimentary, as well as the human pressures. For the methodology developed in this work, both the localities had presented a good management. The Parque das Dunas was characterized as a relic dune system and the Barreira do Inferno was characterized as a palimpsestic dune system. Also two Thematic Maps had been elaborated for the environmental characterization of the studied dune systems, with software ArcGis 8.3, and its respective data bases

Caracterização morfodinâmica do estuário do Rio Açu, Macau/RN

Estuaries are coastal environments ephemeral life in geological time, derived from the drowning of the shoreline as a function of elevation relative sea level. Such parallel systems is characterized by having two sources of sediment, the river and the sea. The study area comprises the Acu River estuary, located on the northern coast of Rio Grande do Norte State, in a region of intense economic activity, mainly focused on the exploration of oil onshore and offshore, likely to accidental spills. In the oil sector are developed for salt production, shrimp farming, agriculture, fisheries and tourism, which by interacting with sensitive ecosystems, such as estuaries, may alter the natural conditions, thus making it an area susceptible to contamination is essential in understanding the morphodynamic variables that occur in this environment to obtain an environmental license. Information about the submarine relief the estuaries are of great importance for the planning of the activity of environmental monitoring, development and coastal systems, among others, allowing an easy management of risk areas, and assist in the creation of thematic maps of the main aspects of landscape. Morphodynamic studies were performed in this estuary in different seasonal periods in 2009 to observe and quantify morphological changes that have occurred and relate these to the hydrodynamic forcing from the river and its interaction with the tides. Thus, efforts in this area is possible to know the bottom morphology through records of good quality equipment acquired by high resolution geophysical (side-scan sonar and profiler current by doppler effect). The combination of these data enabled the identification of different forms of bed for the winter and summer that were framed in a lower flow regime and later may have been destroyed or modified forms of generating fund scheme than the number according Froude, with different characteristics due mainly to the variation of the depth and type of sedimentary material they are made, and other hydrodynamic parameters. Thus, these features background regions are printed in the channel, sandy banks and muddy plains that border the entire area