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.

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

MyPersonal-EPG: um EPG personalizável e com suportes a recomendações para o SBTVD

In this work we present the architecture and implementation of MyPersonal-EPG, a personal EPG with support to recommendations, built on top of the Ginga middleware, that fulfill the following requirements: (i) to allow users to build their own personal programming grids, based on programming guides from several broadcasters; (ii) to offer a mechanism to tune the desired channels on the moment the selected programs are about to begin; (iii) to allow users to select the desired programs categories; (iv) to offer programs recommendations, in both synchronous and asynchronous way, based on the categories previously selected by users; (v) to allow users to modify the current configuration options; (vi) to allow the creation of several users accounts, so that each user can store its own information. The application‟s usability test is also presented and its results are discussed and analyzed

Imageamento digital de paleocavernas colapsadas com georadar

In this study, the methodological procedures involved in digital imaging of collapsed paleocaves in tufa using GPR are presented. These carbonate deposits occur in the Quixeré region, Ceará State (NE Brazil), on the western border of the Potiguar Basin. Collapsed paleocaves are exposed along a state road, which were selected to this study. We chose a portion of the called Quixeré outcrop for making a photomosaic and caring out a GPR test section to compare and parameterize the karst geometries on the geophysical line. The results were satisfactory and led to the adoption of criteria for the interpretation of others GPR sections acquired in the region of the Quixeré outcrop. Two grids of GPR lines were acquired; the first one was wider and more spaced and guided the location of the second grid, denser and located in the southern part of the outcrop. The radargrams of the second grid reveal satisfactorily the collapsed paleocaves geometries. For each grid has been developed a digital solid model of the Quixeré outcrop. The first model allows the recognition of the general distribution and location of collapsed paleocaves in tufa deposits, while the second more detailed digital model provides not only the 3D individualization of the major paleocaves, but also the estimation of their respective volumes. The digital solid models are presented here as a new frontier in the study of analog outcrops to reservoirs (for groundwater and hydrocarbon), in which the volumetric parameterization and characterization of geological bodies become essential for composing the databases, which together with petrophysical properties information, are used in more realistic computer simulations for sedimentary reservoirs.

Proposta metodológica para o imageamento digital e modelagem virtual 3d de um bloco de rochas travertinas

In this paper we present the methodological procedures involved in the digital imaging in mesoscale of a block of travertines rock of quaternary age, originating from the city of Acquasanta, located in the Apennines, Italy. This rocky block, called T-Block, was stored in the courtyard of the Laboratório Experimental Petróleo "Kelsen Valente" (LabPetro), of Universidade Estadual de Campinas (UNICAMP), so that from it were performed Scientific studies, mainly for research groups universities and research centers working in brazilian areas of reservoir characterization and 3D digital imaging. The purpose of this work is the development of a Model Solid Digital, from the use of non-invasive techniques of digital 3D imaging of internal and external surfaces of the T-Block. For the imaging of the external surfaces technology has been used LIDAR (Light Detection and Range) and the imaging surface Interior was done using Ground Penetrating Radar (GPR), moreover, profiles were obtained with a Gamma Ray Gamae-spectômetro laptop. The goal of 3D digital imaging involved the identification and parameterization of surface geological and sedimentary facies that could represent heterogeneities depositional mesoscale, based on study of a block rocky with dimensions of approximately 1.60 m x 1.60 m x 2.70 m. The data acquired by means of terrestrial laser scanner made available georeferenced spatial information of the surface of the block (X, Y, Z), and varying the intensity values of the return laser beam and high resolution RGB data (3 mm x 3 mm), total points acquired 28,505,106. This information was used as an aid in the interpretation of radargrams and are ready to be displayed in rooms virtual reality. With the GPR was obtained 15 profiles of 2.3 m and 2 3D grids, each with 24 sections horizontal of 1.3 and 14 m vertical sections of 2.3 m, both the Antenna 900 MHz to about 2600 MHz antenna. Finally, the use of GPR associated with Laser Scanner enabled the identification and 3D mapping of 3 different radarfácies which were correlated with three sedimentary facies as had been defined at the outset. The 6 profiles showed gamma a low amplitude variation in the values of radioactivity. This is likely due to the fact of the sedimentary layers profiled have the same mineralogical composition, being composed by carbonate sediments, with no clay in siliciclastic pellitic layers or other mineral carrier elements radioactive