Uma proposta de slam com determinação de informações geométricas do ambiente

PEDROSA, Diogo P. F. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. . Uma Proposta de SLAM com Determinação de Informações Geométricas do Ambiente. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 16, Salvador, BA, 2006. Anais... Salvador: CBA, 2006. v. 1. p. 1704-1709

Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Uma arquitetura de software baseada em componentes visualização de informações industriais

Due to the current need of the industry to integrate data of the beginning of production originating from of several sources and of transforming them in useful information for sockets of decisions, a search exists every time larger for systems of visualization of information that come to collaborate with that functionality. On the other hand, a common practice nowadays, due to the high competitiveness of the market, it is the development of industrial systems that possess characteristics of modularity, distribution, flexibility, scalability, adaptation, interoperability, reusability and access through web. Those characteristics provide an extra agility and a larger easiness in adapting to the frequent changes of demand of the market. Based on the arguments exposed above, this work consists of specifying a component-based architecture, with the respective development of a system based on that architecture, for the visualization of industrial data. The system was conceived to be capable to supply on-line information and, optionally, historical information of variables originating from of the beginning of production. In this work it is shown that the component-based architecture developed possesses the necessary requirements for the obtaining of a system robust, reliable and of easy maintenance, being, like this, in agreement with the industrial needs. The use of that architecture allows although components can be added, removed or updated in time of execution, through a manager of components through web, still activating more the adaptation process and updating of the system

Uma abordagem para manipulação de informações geográficas utilizando Scalable Vectors Graphics

In this work, we propose a Geographical Information System that can be used as a tool for the treatment and study of problems related with environmental and city management issues. It is based on the Scalable Vector Graphics (SVG) standard for Web development of graphics. The project uses the concept of remate and real-time mar creation by database access through instructions executed by browsers on the Internet. As a way of proving the system effectiveness, we present two study cases;.the first on a region named Maracajaú Coral Reefs, located in Rio Grande do Norte coast, and the second in the Switzerland Northeast in which we intended to promote the substitution of MapServer by the system proposed here. We also show some results that demonstrate the larger geographical data capability achieved by the use of the standardized codes and open source tools, such as Extensible Markup Language (XML), Document Object Model (DOM), script languages ECMAScript/ JavaScript, Hypertext Preprocessor (PHP) and PostgreSQL and its extension, PostGIS

Geoprocessamento aplicado a gestão de informações territoriais do município de Grossos-RN :estudo multitemporal do uso e ocupação do solo

The present work was carried through in the Grossos city - RN and had as main objectives the elaboration of an physicist-ambient, socioeconomic survey and execution a multisecular evaluation of 11 years, between 1986 and 1996, using remote sensing products, to evaluate the modifications of the land use, aiming at the generation of an information database to implementation a geographical information system (GIS) to management the this city. For they had been in such a way raised given referring the two Demographic Censuses carried through by the IBGE (1991 and 2000) and compared, of this form was possible to the accomplishment of an evaluation on the demographic aspects (degree of urbanization, etária structure, educational level) and economic (income, habitation, vulnerability, human development). For the ambient physical survey the maps of the natural resources had been confectioned (simplified geology, hydrography, geomorphologi, veget covering, ground association, use and occupation), based in comments of field and orbital products of remote sensoriamento (images Spot-HRVIR, Landsat 5-TM and IKONOS - II), using itself of techniques of digital picture processing. The survey of these data and important in the identification of the potentialities and fragilities of found ecosystems, therefore allows an adequate planning of the partner-economic development by means of an efficient management. The project was part of a partnership between the Grossos city hall the municipal City hall of Grossos - RN and the Geoscience post-graduate program of the UFRN, more specifically the Geomatica laboratory LAGEOMA

Desenvolvimento e implantação de um sistema de gestão de pedidos de informação endereçados à Universidade Federal do Rio Grande do Norte a partir do serviço de informações ao cidadão (E-SIC)

Among the numerous policy changes that the world has experienced in recent years, occupies a prominent place in the quest for greater transparency of public agencies. Transparency has been an important tool in the accountability of the State to promote greater participation of the society by providing information that was previously restricted knowledge of public agencies. Brazil, following this trend, promulgated in May 2012 the Access to Information Act that seeks to disclose the actions of the State at all levels, in all public administration agencies. On the same day of the enactment of the law is provided society with a site that is empowering citizens to make their requests for information to government agencies. The Federal University of Rio Grande do Norte, which at that time had no a tool to assist them in managing this demand. This project has the objective to describe, build and implement a solution to solve this problem using Design Science Research as methodology. As result, the solution built in this research became a new module of the institution s ERP became it capable to control the entire process, and will be helpful to others partners which use our system ERP

O papel das rotas e da obtenção de informações sobre a eficiência no forrageio de dinoponera quadriceps em ambiente natural

In this study, we investigated the role of routes and information attainment for the queenless ant species Dinoponera quadriceps foraging efficiency. Two queenless ant colonies were observed in an area of Atlantic secondary Forest at the FLONA-ICMBio of Nisia Floresta, in the state of Rio Grande do Norte, northeastern Brazil, at least once a week. In the first stage of the study, we observed the workers, from leaving until returning to the colony. In the second stage, we introduced a acrylic plate (100 x 30 x 0,8 cm) on a selected entrance of the nest early in the morning before the ants left the nest. All behavioral recordings were done through focal time and all occurence samplings. The recording windows were of 15 minutes with 1 minute interval, and 5 minute intervals between each observation window. Foraging was the main activity when the workers were outside the nest. There was a positive correlation between time outside the nest and distance travelled by the ants. These variables influenced the proportion of resource that was taken to the nest, that is, the bigger its proportion, the longer the time outside and distance travelled during the search. That proportion also influenced the time the worker remained in the nest before a new trip, the bigger the proportion of the item, the shorter was the time in the nest. During all the study, workers showed fidelity to the route and to the sectors in the home range, even when the screen was in the ant´s way, once they deviated and kept the route. The features of foraging concerning time, distance, route and flexibility to go astray by the workers indicate that decisions are made by each individual and are optimal in terms of a cost-benefit relation. The strategy chosen by queenless ants fits the central place foraging and marginal value theorem theories and demonstrate its flexibility to new informations. This indicates that the workers can learn new environmental landmarks to guide their routes

Aplicação do Sensoriamento Remoto e do Sistema de Informações Geográficas na Detecção de Manchas de Óleo na Região do Pólo de Exploração de Guamaré, R.N.

Objective to establish a methodology for the oil spill monitoring on the sea surface, located at the Submerged Exploration Area of the Polo Region of Guamaré, in the State of Rio Grande do Norte, using orbital images of Synthetic Aperture Radar (SAR integrated with meteoceanographycs products. This methodology was applied in the following stages: (1) the creation of a base map of the Exploration Area; (2) the processing of NOAA/AVHRR and ERS-2 images for generation of meteoceanographycs products; (3) the processing of RADARSAT-1 images for monitoring of oil spills; (4) the integration of RADARSAT-1 images with NOAA/AVHRR and ERS-2 image products; and (5) the structuring of a data base. The Integration of RADARSAT-1 image of the Potiguar Basin of day 21.05.99 with the base map of the Exploration Area of the Polo Region of Guamaré for the identification of the probable sources of the oil spots, was used successfully in the detention of the probable spot of oil detected next to the exit to the submarine emissary in the Exploration Area of the Polo Region of Guamaré. To support the integration of RADARSAT-1 images with NOAA/AVHRR and ERS-2 image products, a methodology was developed for the classification of oil spills identified by RADARSAT-1 images. For this, the following algorithms of classification not supervised were tested: K-means, Fuzzy k-means and Isodata. These algorithms are part of the PCI Geomatics software, which was used for the filtering of RADARSAT-1 images. For validation of the results, the oil spills submitted to the unsupervised classification were compared to the results of the Semivariogram Textural Classifier (STC). The mentioned classifier was developed especially for oil spill classification purposes and requires PCI software for the whole processing of RADARSAT-1 images. After all, the results of the classifications were analyzed through Visual Analysis; Calculation of Proportionality of Largeness and Analysis Statistics. Amongst the three algorithms of classifications tested, it was noted that there were no significant alterations in relation to the spills classified with the STC, in all of the analyses taken into consideration. Therefore, considering all the procedures, it has been shown that the described methodology can be successfully applied using the unsupervised classifiers tested, resulting in a decrease of time in the identification and classification processing of oil spills, if compared with the utilization of the STC classifier

Desenvolvimento de aplicações móveis baseadas em sistemas de informações web existentes

Considerando a era da computação móvel percebe-se que os sistemas de informaçãoestão passando por um processo de metamorfose para possibilitar que seus usuários utilizemnovas formas de acessos às informações a partir de dispositivos móveis. Isso se deveprincipalmente ao aumento da popularidade de dispositivos como smartphones e tablets.Impulsionado por esse novo cenário de computação, que está mudando velhos hábitos ecriando novas maneiras da sociedade acessar informações que até então só eram acessíveisatravés de computadores tradicionais, crescem as demandas por aplicações móveis corporativas.Esse aumento é ocasionado pela necessidade das empresas garantirem aos seusclientes novas formas de interações com seus serviços. Dessa forma, esse trabalho tem oobjetivo de apresentar um estudo referente ao desenvolvimento de aplicações móveis eum processo denominado Metamorphosis, que provê um conjunto de atividades organizadasem três fases: requisitos, projeto e implantação, para auxiliar no desenvolvimentode aplicações móveis corporativas baseadas em sistemas de informações web existentes.

Uma proposta de slam com determinação de informações geométricas do ambiente

PEDROSA, Diogo P. F. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. . Uma Proposta de SLAM com Determinação de Informações Geométricas do Ambiente. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 16, Salvador, BA, 2006. Anais... Salvador: CBA, 2006. v. 1. p. 1704-1709