Construção e validação de um receptor GPS para uso espacial

Global Positioning System, or simply GPS, it is a radionavigation system developed by United States for military applications, but it becames very useful for civilian using. In the last decades Brazil has developed sounding rockets and today many projects to build micro and nanosatellites has appeared. This kind of vehicles named spacecrafts or high dynamic vehicles, can use GPS for its autonome location and trajectories controls. Despite of a huge number of GPS receivers available for civilian applications, they cannot used in high dynamic vehicles due environmental issues (vibrations, temperatures, etc.) or imposed dynamic working limits. Only a few nations have the technology to build GPS receivers for spacecrafts or high dynamic vehicles is available and they imposes rules who difficult the access to this receivers. This project intends to build a GPS receiver, to install them in a payload of a sounding rocket and data collecting to verify its correct operation when at the flight conditions. The inner software to this receiver was available in source code and it was tested in a software development platform named GPS Architect. Many organizations cooperated to support this project: AEB, UFRN, IAE, INPE e CLBI. After many phases: defining working conditions, choice and searching electronic, the making of the printed boards, assembling and assembling tests; the receiver was installed in a VS30 sounding rocket launched at Centro de Lançamento da Barreira do Inferno in Natal/RN. Despite of the fact the locations data from the receiver were collected only the first 70 seconds of flight, this data confirms the correct operation of the receiver by the comparison between its positioning data and the the trajectory data from CLBI s tracking radar named ADOUR

Mapeamento da zona costeria protegida por arenitos de praia (Beachrocks) em Nísia Floresta - RN

The goal of this work comprises the detailed mapping of the coastal zone of the south coast of the State of Rio Grande do Norte. The emphasis of the study is the units of beachrocks and the features of the physical environment associated. The mapping of the beachrocks and of the adjacent coastal features is justified, among other aspects, by the fact that the beachrocks constitute an important protection agent against the sea erosion. By one side, they dissipate the energy of the sea waves and make possible the imprisonment of sediments in the foreshore. The beachrocks in the studied area are constituted of discontinuous strips, parallel to the coast line presenting emerged in some places, even in the highest tides, entirely submerged or partially buried by coastal sediments. These sandstones compose the landscape of big part of the coast and they are responsible for the partial dissipation of the energy of the waves on the studied coast. The methodology used in this work consisted of different techniques were used, as the use of aerial pictures of small format (FAPEFs), acquisition of data of system of global positioning (GPS) and later elaboration of thematic maps and of digital models of soil (MDTs). The results obtained in the mapping of the use and occupation of the soil, demonstrate the existence of strong human pressure in the coastal area (built lots and no built), occupying about 54,74% of built areas. This problem has been taking to degradation risks due to the inconsequent expansion of divisions into lots and tourist enterprises. The MDT came as an excellent resource, as visual as functional, being possible to visualize several angles and to act in three dimensions the relief of the area in study, as well as to identify the present features in the coastal area. By the importance of the bodies of beachrocks as a protection agent against the coastal erosion, faces were delimited in the sandstones based in geometric criteria, classifying them in, central face, outside face, inside face, break and undermiming. These last two associates to the erosion and washout in the base of these bodies. Field data indicate clearly that the most important process in the fracturing of the bodies is associated with mechanisms related to the gravity, being the joints formed by processes of gravitational sliding. Finally, the mapping of the coastal zone starting from aerial pictures of small format it made possible the identification of the elements that compose the beach strip, for accomplishing with larger detailed level and by presenting a better monitoring of the dynamics of the coastal zone

Estudo sobre a relação entre a atividade geomagnética e cintilações de sinais de GPS em Natal-RN (Brasil)

To identify the relationship between GPS scintillation in Natal-RN (Brazil) and geomagnetic disturbances of any intensities and variations, this work made analysis of the ionospheric behavior and magnetic indexes (Dst , AE and Bz of the interplanetary magnetic field) concerning to different periods of the solar cycle between 2000 and 2014. Part of the data of this research originated at the UFRN observatory, from a GEC Plessey board connected to an ANP -C 114 antenna, modified by Cornell University’s Space group Plasma Physics in order to operate the ScintMon, a GPS monitoring program. This study, therefore, found several cases of inhibited scintillations after the main phase of magnetic storms, a fact that, along with others, corroborated with categorization of Aarons (1991) and models of disturbed dynamo (according to Bonelli, 2008) and over-shielding penetration, defended by Kelley et al. (1979) and Abdu (2011) [4]. In addition to these findings, different morphologies were noted in such disruptions in the GPS signal in accordance with previous magnetic activities. It also found a moderate relationship (R2 = 0.52) between the Dst rate (concerning to specific time) and the average of S4 through a polynomial function. This finding therefore, corroborating Ilma et al. (2012) [17], is an important evidence that the scintillation GPS are not directly controlled by magnetic induction of storms. Completing this work, this relation did show itself as a way of partial predicting of scintillations.

Classificação de técnicas e auxílio à navegação de busca com base em sua carga cognitiva, precisão e eficiência

Navigation, in both virtual and real environments, is the process of a deliberated movement to a specific place that is usually away from the origin point, and that cannot be perceived from it. Navigation aid techniques (TANs) have as their main objective help finding a path through a virtual environment to a desired location and, are widely used because they ease the navigation on these unknown environments. Tools like maps, GPS (Global Positioning System) or even oral instructions are real world examples of TAN usage. Most of the works which propose new TANs for virtual environments aim to analyze their impact in efficiency gain on navigation tasks from a known place to an unknown place. However, such papers tend to ignore the effect caused by a TAN usage over the route knowledge acquisition process, which is important on virtual to real training transfer, for example. Based on a user study, it was possible to confirm that TANs with different strategies affects the performance of search tasks differently and that the efficiency of the help provided by a TAN is not inversely related to the cognitive load of the technique’s aids. A technique classification formula was created. This formula utilizes three factors instead of only efficiency. The experiment’s data were applied to the formula and we obtained a better refinement of help level provided by TANs.

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

Desempenho internacional de empresas exportadoras: um modelo estrutural baseado em capacidades organizacionais e ambiente

The internationalization as an organizational phenomenon fundamentally strategic had as theoretical contributions some Schools that throughout the decades 60, 70, and 80 developed behavioral and economic approaches in order to explain the process. The behavioral approach deals with the perception of phenomenon as a gradual process from the perspective of the executives behavior (JOHANSON and VAHLNE, 1977; HALLÉN and WIEDERSHEIM - PAUL, 1979; CZINKOTA, 1985). This phenomenon in permanent theoretical and managerial evolution made an opportunity to build this investigation, whose goal is to analyse the impact comes from organizational capabilities and the external environment on the international performance of exporting firms. For both, were used as theoretical basis two types of analysis for the comprehension of international performance: Strategic Management - Industrial Organization and Resource-Based View and International Businesses - Current Economic and Behavioral. It was made a cross-sectional survey-based explanatory research, including 150 exporting companies with operations in the Northeast of Brazil. A conceptual model was made with eight constructs and eight research hypotheses, representative of the effects of external factors on international performance. The data were processed using the Exploratory Factor Analysis and Structural Equation Modeling. The structural equations model was reespecified and estimated through the use of the maximum-likelihood method up to achieve adequated values of indexes of adjustment. As the main theoretical contribution, were identified organizational and physical resources which shows the importance of the management skills development, of the learning capability and capability to establish strategic alliances abroad. That because the knowledge, as the operational point of view as in its strategic application, offers to organization conditions of market positioning which can create opportunities sustainable competitive advantages and which impact the performance of international companies

Contribuição da Geodésia ao monitoramento costeiro do Litoral Setentrional do Rio Grande do Norte, área de influência da indústria petrolífera

The general objective of this thesis has been seasonal monitoring (quarterly time scale) of coastal and estuarine areas of a section of the Northern Coast of Rio Grande do Norte, Brazil, environmentally sensitive and with intense sediment erosion in the oil activities to underpin the implementation of projects for containment of erosion and mitigate the impacts of coastal dynamics. In order to achieve the general objective, the work was done systematically in three stages which consisted the specific objectives. The first stage was the implementation of geodetic reference infrastructure for carrying out the geodetic survey of the study area. This process included the implementation of RGLS (Northern Coast of the RN GPS Network), consisting of stations with geodetic coordinates and orthometric heights of precision; positioning of Benchmarks and evaluation of the gravimetric geoid available, for use in GPS altimetry of precision; and development of software for GPS altimetry of precision. The second stage was the development and improvement of methodologies for collection, processing, representation, integration and analysis of CoastLine (CL) and Digital Elevation Models (DEM) obtained by geodetic positioning techniques. As part of this stage have been made since, the choice of equipment and positioning methods to be used, depending on the required precision and structure implanted, and the definition of the LC indicator and of the geodesic references best suited, to coastal monitoring of precision. The third step was the seasonal geodesic monitoring of the study area. It was defined the execution times of the geodetic surveys by analyzing the pattern of sediment dynamics of the study area; the performing of surveys in order to calculate and locate areas and volumes of erosion and accretion (sandy and volumetric sedimentary balance) occurred on CL and on the beaches and islands surfaces throughout the year, and study of correlations between the measured variations (in area and volume) between each survey and the action of the coastal dynamic agents. The results allowed an integrated study of spatial and temporal interrelationships of the causes and consequences of intensive coastal processes operating in the area, especially to the measurement of variability of erosion, transport, balance and supply sedimentary over the annual cycle of construction and destruction of beaches. In the analysis of the results, it was possible to identify the causes and consequences of severe coastal erosion occurred on beaches exposed, to analyze the recovery of beaches and the accretion occurring in tidal inlets and estuaries. From the optics of seasonal variations in the CL, human interventions to erosion contention have been proposed with the aim of restoring the previous situation of the beaches in the process of erosion.

Beco da lama: formas e cores de uma plástica da vida

Our research goes a remarkable setting of Natal-RN. This is a place where we find art practices and artworks territorialities building the margin of museums, art galleries and institutional galleries. Its geography includes an area popularly known as Mud Alley. Along geography that we critically about how some processes of sociability, which formed the margins of institutional fields, can, and its progeny, compose new possibilities to relate to art and artistic practices. Thinking about the dialogues and clashes that positioning the margins can offer, we investigated the role of bookstores, bars and other spaces of the Alley in the promotion and dissemination of artistic practices, focusing on how these spaces handle the work, the artists and the patrons Beco da Lama. Our integration into the search field resulted in collecting testimonials, pictures and watching expressions which, together with sensations obtained during the years of integration in that setting, help make our empirical material. To follow us methodologically this investigation, we looked at a higher frequency, a theoretical support of authors: Gilles Deleuze, Félix Guattari and Giorgio Agamben. With them compose an investigative diagram to think about the art of Alley, noting the relationship of the Alley with the established field of art, as well as towards the rest of the city. The results point to the view of a singular event that shows artistic practices writing in the margins of institutional spaces, new territoriality for contact with art. The term territoriality points to situations formed by practices, feelings, wishes, expressions, and poetic subjectivity that can tell us we are confronted with an event comprising it as the moment of realization of potentialities, desires, subjectivities and spatialities training, flocks, movements. In our case, the event while the Mud Alley Alley Arts forced us to rethink the role and the place of art and artist in Natal-RN

Melhoria da segurança pública: uma proposta para alocação de unidades policiais utilizando o modelo das p-medianas e do caixeiro viajante

The decrease in crime is one of the core issues that cause concern in society today. This study aims to propose improvements to public safety from the choice of points to the location of police units, ie the points which support the car and the police. For this, three models were developed in order to assist decision making regarding the best placement of these bases. The Model of Police Units Routing has the intention to analyze the current configuration of a given region and develop optimal routes for round preventative. The Model of Allocation and Routing for New Police Units (MARNUP) used the model of facility location called p-median weighted and traveling salesman problem (TSP) combined aiming an ideal setting for regions that do not yet have support points or to assess how far the distribution is present in relation to that found in solution. The Model Redefinition and Routing Unit Police (MRRUP) seek to change the current positioning taking into account the budgetary constraints of the decision maker. To verify the applicability of these models we used data from 602 points to instances of police command that is responsible for the capital city of Natal. The city currently has 31 police units for 36 of these 19 districts and police have some assistance. This reality can lead to higher costs and higher response times for answering emergency calls. The results of the models showed that in an ideal situation it is possible to define a distance of 500 km/round, whereas in this 900 km are covered by approximately round. However, a change from three-point lead reduced to 700 km / round which represents a decrease of 22% in the route. This reduction should help improve response time to emergency care, improving the level of service provided by the increase of solved cases, reducing police shifts and routing preventive patrols

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

Navegação cooperativa de um robô humanóide e um robô com rodas usando informação visual

This work presents a cooperative navigation systemof a humanoid robot and a wheeled robot using visual information, aiming to navigate the non-instrumented humanoid robot using information obtained from the instrumented wheeled robot. Despite the humanoid not having sensors to its navigation, it can be remotely controlled by infra-red signals. Thus, the wheeled robot can control the humanoid positioning itself behind him and, through visual information, find it and navigate it. The location of the wheeled robot is obtained merging information from odometers and from landmarks detection, using the Extended Kalman Filter. The marks are visually detected, and their features are extracted by image processing. Parameters obtained by image processing are directly used in the Extended Kalman Filter. Thus, while the wheeled robot locates and navigates the humanoid, it also simultaneously calculates its own location and maps the environment (SLAM). The navigation is done through heuristic algorithms based on errors between the actual and desired pose for each robot. The main contribution of this work was the implementation of a cooperative navigation system for two robots based on visual information, which can be extended to other robotic applications, as the ability to control robots without interfering on its hardware, or attaching communication devices

Motor de indução trifásico sem mancais com bobinado dividido: otimização do sistema de posicionamento radial

This dissertation dea1s with the active magnetic suspension controI system of an induction bearingIess motor configured with split windings. It analyses a dynamic modeI for the radial magnetic forces actuating on the rotor. From that, it proposes a new approach for the composition of the currents imposed to the machine's stator. It shows the tests accomplished with a prototype, proving the usefulness of the new actuating structure for the radial positioning controI. Finnaly, it points out the importance of adapting this structure to well-known rotational controI techniques, continuing this kind of equipment research, which is carried out at Federal University of Rio Grande do Norte since 2000

Desenvolvimento e testes de software de um receptor de GPS para uso espacial

Spacecraft move with high speeds and suffer abrupt changes in acceleration. So, an onboard GPS receiver could calculate navigation solutions if the Doppler effect is taken into consideration during the satellite signals acquisition and tracking. Thus, for the receiver subject to such dynamic cope these shifts in the frequency signal, resulting from this effect, it is imperative to adjust its acquisition bandwidth and increase its tracking loop to a higher order. This paper presents the changes in the GPS Orion s software, an open architecture receiver produced by GEC Plessey Semiconductors, nowadays Zarlink, in order to make it able to generate navigation fix for vehicle under high dynamics, especially Low Earth Orbit satellites. GPS Architect development system, sold by the same company, supported the modifications. Furthermore, it presents GPS Monitor Aerospace s characteristics, a computational tool developed for monitoring navigation fix calculated by the GPS receiver, through graphics. Although it was not possible to simulate the software modifications implemented in the receiver in high dynamics, it was observed that the receiver worked in stationary tests, verified also in the new interface. This work also presents the results of GPS Receiver for Aerospace Applications experiment, achieved with the receiver s participation in a suborbital mission, Operation Maracati 2, in December 2010, using a digital second order carrier tracking loop. Despite an incident moments before the launch have hindered the effective navigation of the receiver, it was observed that the experiment worked properly, acquiring new satellites and tracking them during the VSB-30 rocket flight.

Controle dinâmico de robôs móveis com acionamento diferencial

This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con¯guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented

O conceito de consciência em o ser e o nada de J.-P. Sartre

This current discourse intends to prove how consciousness or Being-for-itself presents the idea that in its operation one can emphasize that it s Nothingness, transience and liberty in Jean-Paul Sartre s work O Ser e o Nada. To testify the proposed idea, the conception that Sartre gives to consciousness, representing nothingness, without any content that is connected to the possessor objects of a transphenomenal existence will be the starting point. This way, consciousness will be analyzed transcendently to the object that it s not, demonstrating its revealer-revealed condition, because it unveils a concrete world that exists against its idea, functioning as the revealer intentionality that there are beings instead of nothingness, obeying the ontological proof defended by Sartre. From this idea, every kind of consciousness will always be consciousness of something, a glance of the world, avoiding the fact that the consciousness could be considered nothing in the world. In order to live its original negation state of the world, apprehending this same world, with the purpose of a knowledge, it needs to be divided in two: the first degree consciousness or previous-reflexive cogito, that turns the proper reflexion possible, because, it s the consciousness proper transphenomenality of being different of all that connected to its existence being only its consequence; and the cogito, responsible to the positioning of the first degree consciousness, while aware of its own consciousness, that is, while being certain that knows. From this point, the way to untangle the consciousness or Being-for-itself will be developed as being Chasm, Liberty and transience. From this idea, it s intended to know how consciousness, that in Sartre s thoughts is originally nothing, could turn into Liberty that is presented in the field of transience? In other words, how these three internal structures imbricate one another to form consciousness in Sartre? First of all, it has to be considered the review of a conduct of human reality, the inquiry, that will be possible to understand how Nothingness exists as the mold of all kind of negation. After this, it will be shown, considering its way of existence, the human reality that is connected to Para-si, determined like nothingness, still is proposed like Liberty. Form this point, it will be possible to gleam how Liberty is lived deeply by Para-si in the shape of chasm, trying to how Para-si turns into nothingness, creating a chasm based on its proper liberty. Then, Liberty will be the proper mechanism used by Para-si to modificate its original chasm. The way Being-for-itself has to build to gain its goal will be projecting in transience, the building of something possible that brings one being back. However, will be demonstrated like Chasm can occupy the moment of a choice turning the decision instant an anguish stage, based on the failing of stability of the Being-for-itself, once nothingness persists in the field of the possibilities that human beings preserves in its essence while being essentially Liberty. From this idea, anguish will be studied as the proper consciousness of Liberty, being bad-faith the attempt of avoid Liberty trying to gain a shelter contradicting the fact that life is done of continual choices