Localização de robôs móveis em ambientes fechados utilizando câmeras montadas no teto

The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. Algorithms applied to the images search for the mark on top of the robot and by finding the mark they are able to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of the last years changed that situation and enabling the development and execution of such algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire the images, all in real time, intending to improve the robot localization process inside the environment. Being a localization method that takes just actual information in its calculations, the robot localization using images fit into the needs of this kind of place. Besides, it enables more accurate results and in real time, what is exactly the museum application needs.

Análise da indução de fluxo de ar por convecção livre em chaminé solar

Experiments were performed to study the effect of surface properties of a vertical channel heated by a source of thermal radiation to induce air flow through convection. Two channels (solar chimney prototype) were built with glass plates, forming a structure of truncated pyramidal geometry. We considered two surface finishes: transparent and opaque. Each stack was mounted on a base of thermal energy absorber with a central opening for passage of air, and subjected to heating by a radiant source comprises a bank of incandescent bulbs and were performed field tests. Thermocouples were fixed on the bases and on the walls of chimneys and then connected to a data acquisition system in computer. The air flow within the chimney, the speed and temperature were measured using a hot wire anemometer. Five experiments were performed for each stack in which convective flows were recorded with values ranging from 17 m³ / h and 22 m³ / h and air flow velocities ranging from 0.38 m / s and 0.56 m / s for the laboratory tests and air velocities between 0.6 m/s and 1.1m/s and convective airflows between 650 m³/h and 1150 m³/h for the field tests. The test data were compared to those obtained by semi-empirical equations, which are valid for air flow induced into channels and simulated data from 1st Thermodynamics equation. It was found that the chimney with transparent walls induced more intense convective flows than the chimney with matte finish. Based on the results obtained can be proposed for the implementation of prototype to exhaust fumes, mists, gases, vapors, mists and dusts in industrial environments, to help promote ventilation and air renewal in built environments and for drying materials, fruits and seeds

Os efeitos das queimadas na Amazônia em nível celular e molecular

The Amazon holds over half of the planet's remaining tropical forests and comprises the largest biodiversity in the world, accounting for approximately 60 % of the Brazilian territory. However, deforestation fires in the region causes serious problems to exposed human. The aim of this study was to evaluate the chemical compounds as well as the cellular and molecular effects after exposure to organic material extracted from particulate matter less than 10 µm (PM10) in the Amazon region. As for the chemical composition, n-alkanes analysis showed a prevalence of anthropogenic influence during the fires in the region. In addition, there was a predominance of monosaccharides from biomass burning markers. Also, the Polycyclic Aromatic Hydrocarbons (PAH) and their derivatives have also been identified in samples collected in the Amazon. By using the PAH concentrations was possible to calculate the BaP-equivalent and it was found that the dibenz(a) anthracene contributes with 83% to potential carcinogenic risk. As for the potential mutagenic risk, the benzo (a) pyrene is the HPA that has a major contribution in this analysis. It may be noted that the retene was the most abundant PAH. This compound was genotoxic and cause death by necrosis in the human lung cells. In biological tests, the data showed that organic PM10 is capable of causing genetic damage in both plant cells and in human lung cells. This damage cause an arrest in the G1 phase of the cell cycle exposed, increasing the expression of p53 and p21. Additionally, the PM10 caused cell death by apoptosis, increasing the foci of histone - H2AX. Given these results, it is important to emphasize the reduction and better control of biomass burning in the Amazon region thus improving the quality of health of the population being exposed. As clearly stated recently by the World Health Organization, the reduction of air pollution could save millions of lives annually.

Três alternativas estocásticas para modelar morbimortalidade por doenças respiratórias e cardiovasculares via variáveis atmosféricas

Climate and air pollution, among others, are responsible factors for increase of health vulnerability of the populations that live in urban centers. Climate changes combined with high concentrations of atmospheric pollutants are usually associated with respiratory and cardiovascular diseases. In this sense, the main objective of this research is to model in different ways the climate and health relation, specifically for the children and elderly population which live in São Paulo. Therefore, data of meteorological variables, air pollutants, hospitalizations and deaths from respiratory and cardiovascular diseases a in 11-year period (2000-2010) were used. By using modeling via generalized estimating equations, the relative risk was obtained. By dynamic regression, it was possible to predict the number of deaths through the atmospheric variables and the betabinomial-poisson model was able to estimate the number of deaths and simulate scenarios. The results showed that the risk of hospitalizations due to asthma increases approximately twice for children exposed to high concentrations of particulate matter than children who are not exposed. The risk of death by acute myocardial infarction in elderly increase in 3%, 6%, 4% and 9% due to high concentrations CO, SO2, O3 and PM10, respectively. Regarding the dynamic regression modeling, the results showed that deaths by respiratory diseases can be predicted consistently. The beta-binomial-poisson model was able to reproduce an average number of deaths by heart insufficiency. In the region of Santo Amaro the observed number was 2.462 and the simulated was 2.508, in the Sé region 4.308 were observed and 4.426 simulated, which allowed for the generation of scenarios that may be used as a parameter for decision. Making with these results, it is possible to contribute for methodologies that can improve the understanding of the relation between climate and health and proved support to managers in environmental planning and public health policies.

Qualidade do ar interior e conforto térmico : um estudo em espaços de estacionamento em Natal/RN

The recent tendency to utilize parking lots for other purposes has demonstrated that more time has been spent by visitors, mainly in great cities. Therefore, this paper investigates the thermal comfort and the air quality indoors in areas specifically used as parking lots by analyzing the direct relation between such environments and vehicular pollution. The thermal comfort and the quality of air indoors in parking lots with different architectonic typology (ground-floor and underground) are also studied, aiming to contribute to the proposition of suitable new areas designated to human usage. Field research was done, in two distinct periods within different weather conditions (January and July) in, two naturally cooled, parking lots located in Natal - RN. The internal environment agents were measured by using tools for air temperature, humidity, speed and direction; interviews with employees and visitors and chemical analysis through appropriate tools to analyze specific material, carbon monoxide and ozone. The results showed that chemical agents densely concentrate mostly in the closed parking space, aggravated by weather conditions, which dissatisfied the visitors. Still, it was shown that architectonic typology, alongside topographical aspects compromise internal environmental conditions, which increases the retention of pollution, leading to dissatisfactory thermal comfort levels and becoming less suitable for usage by visitors considering air and thermal comfort aspects. Consequently, they are not suitable for human stay due to the poor quality of the indoor air

Qualidade do ar interior e conforto térmico : um estudo em espaços de estacionamento em Natal/RN

The recent tendency to utilize parking lots for other purposes has demonstrated that more time has been spent by visitors, mainly in great cities. Therefore, this paper investigates the thermal comfort and the air quality indoors in areas specifically used as parking lots by analyzing the direct relation between such environments and vehicular pollution. The thermal comfort and the quality of air indoors in parking lots with different architectonic typology (ground-floor and underground) are also studied, aiming to contribute to the proposition of suitable new areas designated to human usage. Field research was done, in two distinct periods within different weather conditions (January and July) in, two naturally cooled, parking lots located in Natal - RN. The internal environment agents were measured by using tools for air temperature, humidity, speed and direction; interviews with employees and visitors and chemical analysis through appropriate tools to analyze specific material, carbon monoxide and ozone. The results showed that chemical agents densely concentrate mostly in the closed parking space, aggravated by weather conditions, which dissatisfied the visitors. Still, it was shown that architectonic typology, alongside topographical aspects compromise internal environmental conditions, which increases the retention of pollution, leading to dissatisfactory thermal comfort levels and becoming less suitable for usage by visitors considering air and thermal comfort aspects. Consequently, they are not suitable for human stay due to the poor quality of the indoor air

Análise bioclimática e investigação do conforto térmico em ambientes externos: uma experiência no bairro de Petrópolis em Natal/RN

This study was intended to investigate how the urban form has been influencing the changes in the climate of the city and make a correlation between the climate and the thermal sensation of the users of open spaces. The research was developed in the district of Petrópolis in Natal/ RN whose occupation has been almost consolidated. Among other reasons, this district was selected because it was planned considering the environmental aspects of comfort. The methodologies used are based on KATZSCHNER (1997) and OLIVEIRA (1988) studies, which suggest the drawing and analysis of maps of the area under study, including topography, height of the buildings, land use, green areas, and types of soil pavement, as well as measurement of the environmental variables: air temperature, relative humidity, direction and wind speed for a comparative study. As part of this, study local users of the district were interviewed about their thermal sensations in open spaces. For the statistical analysis, data was collected at 10 distinct points characterized by BUSTOS ROMERO (2002), being 8 within the district and 2 at different places (outside the district), at climatologic stations, in 3 periods (August/2000, January/2002 and June/2002), for 4 consecutive days for each measurement (from Sunday to Wednesday) at the time of lower and higher temperatures in the city, 6:00 am and 1:00 pm, respectively. At the same time interviews were carried out with users of the open spaces in the area, totaling 171 valid formularies. The urban form showed a rather leveled topography, great diversity of land use and height of the buildings, with the existence of an area mostly occupied with high buildings, very little green area and soil practically impermeable. The statistical analysis showed high temperature and humidity levels. The wind direction is predominantly Southeast with extremely variable speeds. When the data from this district is compared with the data from other areas in the city and its outskirt, it was observed that this district is hotter and less ventilated than the others; besides, most users said that they felt uncomfortable in the local environmental conditions. The results of the analysis generated a zoning for the district with recommendations for soil occupation. The profile of the user was defined regarding the thermal comfort, as well as some discussion about the comfort parameters, including the proposal of limiting areas of temperature and humidity for the thermal comfort in the open spaces

Alteração da qualidade do solo em zona ripária sob diferentes usos: potencial de poluição para um manancial tropical

The demographic growth press environments that are more susceptible to perturbations, like riparian areas, without knowing about the effects of replacing these natural environments by different land uses on soil quality and, consequently, on watershed. The study of soil quality has evolved as an important tool for soil sustainable management of this component of the biosphere that affects aquatic and terrestrial ecosystems functions. Thus, physical and chemical soil proprieties were measured to assess soil quality under different land uses (agricultural, pasture, urban, industrial and natural vegetation,) in the riparian zone of Extremoz Lake, an important human water source, evaluating whether the soil offers potential risk to water pollution. Data were subjected to descriptive statistics and Principal Component Analysis (PCA). The results showed negative changes in soil quality such as alkalinization and increase in P, Pb, Mn and Zn contents in most anthropized areas. The sandy texture and low organic matter content in all soils showed the fragility of the soil to erosion and leaching of elements in excess to water bodies, evidencing that this soils has potential to diffuse contaminants. Conservative management of soil is necessary to provide an adequate ecological state in riparian zones of the Extremoz Lake, thus allowing controlling and buffering diffuse sources of pollution to this important water supply source

Poluição sonora: um grave problema na cidade de Mossoró-RN

In the latest decades, we have observed some environment alterations of big proportions in our planet. Sound pollution, visual pollution, water pollution, air pollution, soil pollution, all the principal kinds of environment pollution have raised in the path of economy development. In Mossoró it is not different; the environment has suffered a long and continuous damage caused by predatory abuse. The river is polluted, the ciliar vegetation of Carnauba was totally altered and with it a part of the local fauna disappeared. In fact, the city urban environment has, and continues to be, deeply altered and the sound pollution is a reflex of the urban modifications undergone in the city as time goes by. Through bibliographic review, the gauging of noise and fieldwork, this research project had the objective of analyzing the principal activities that cause sound pollution in the urban perimeter of the city of Mossoró, RN, emphasizing the causes, effects and spacial distribution of the polluter agents, as well as understanding how the environmental laws treat the sound issue in the urban environment of the city. The President Dutra avenue, where popular events of Mossoró take place and an important access for the city, was the chosen place to study this pollution that became, recently, another hindrance that interferes on the life quality of the local population. The results of this brief research emphasizes the urgency to alert society, specially about the importance of law and public organs that are located in our city, therefore solving problems such as the aforementioned above

Determinação da concentração de metais no material particulado (PM10 e PM2,5) do ar atmosférico em uma área urbana da cidade do Natal – RN

This study aimed to assess ambient air quality in a urban area of Natal, capital of Rio Grande do Norte (latitude 5º49'29 '' S and longitude 35º13'34'' W), aiming to determine the metals concentration in particulate matter (PM10 and PM2,5) of atmospheric air in the urban area o the Natal city. The sampling period for the study consisted of data acquisition from January to December 2012. Samples were collected on glass fiber filters by means of two large volumes samplers, one for PM2,5 (AGV PM 2,5) and another for PM10 (PM10 AGV). Monthly averages ranged from 8.92 to 19.80 g.m-3 , where the annual average was 16,21 g.m-3 for PM10 and PM2,5 monthly averages ranged from 2,84 to 7,89 g.m -3 , with an annual average of 5,61 g.m-3 . The results of PM2,5 and PM10 concentrations were related meteorological variables and for information on the effects of these variables on the concentration of PM, an exploratory analysis of the data using Principal Component Analysis (PCA) was performed. The results of the PCA showed that with increasing barometric pressure, the direction of the winds, the rainfall and relative humidity decreases the concentration of PM and the variable weekday little influence compared the meteorological variables. Filters containing particulate matter were selected in six days and subjected to microwave digestion. After digestion samples were analyzed by with Inductively Coupled Plasma Mass Spectrometry (ICP-MS). The concentrations for heavy metals Vanadium, Chromium, Manganese, Nickel, Copper, Arsenic and lead were determined. The highest concentrations of metals were for Pb and Cu, whose average PM10 values were, respectively, 5,34 and 2,34 ng.m-3 and PM2,5 4,68 and 2,95 ng.m-3 . Concentrations for metals V, Cr, Mn, Ni, and Cd were respectively 0,13, 0,39, 0,48, 0,45 and 0,03 ng.m-3 for PM10 fraction and PM2,5 fraction, 0,05, 0,10, 0,10, 0,34 and 0,01 ng.m-3. The concentration for As was null for the two fractions

Foraminíferos como ferramenta de estudo na geologia ambiental do estuário do Rio Potengi e da plataforma interna, RN, Brasil

The Potengi River estuary has been affected by various anthropogenic factors over the years, as periodic dredging, industrial and domestic waste, traffic and other factors, causing various environmental disasters, including the notorious ecological accident in July 2007, which covered the municipalities of São Gonçalo do Amarante, Macaíba and Natal. Foraminifera serve as viable study tools in these environments; they are able to identify ecologically stressed environments, pointing out hydrographic changes and depositional environments in estuaries. The necessity to check the differences in environmental gradients in places anthropically impacted in Potengi River and adjacent inner shelf through species of foraminifera, and, the responses of these organisms to physical, chemical and geological factors is to provide baseline in the diagnosis of environments. The results show the dominance of opportunistic Ammonia tepida, Bolivina striatula, Quinqueloculina patagonica and Q. miletti especially in regions close to shrimp farms and Baldo Channel sewage in fine grain environments; and Q. lamarckiana indicates penetration of the saline waters in Potengi River. The occurrence of low-salinity tolerant foraminiferal species typical of mangrove environments as Trochammina inflata and T. squamata in Potengi River Channel suggest they probably could have been transported from mangrove area near the Potengi river mouth to the inner shelf regions. These findings suggest Potengi River is able to export mixohaline and mangrove organisms to inner shelf. Two distinct environments were observed, the outermost area is more influenced by marine influence and the innermost area is less influenced. Calcareous and agglutinated species dominate Potengi River, while mouth and inner shelf areas are dominated by calcareous, agglutinated and porcelaneous species, which are typical of highly saline and hydrodynamic environments and the contributive factors that controls foraminiferal distribution were balance of marine and freshwater currents, grain size, availability of CaCO3 and organic matter.

Foraminíferos como ferramenta de estudo na geologia ambiental do estuário do Rio Potengi e da plataforma interna, RN, Brasil

The Potengi River estuary has been affected by various anthropogenic factors over the years, as periodic dredging, industrial and domestic waste, traffic and other factors, causing various environmental disasters, including the notorious ecological accident in July 2007, which covered the municipalities of São Gonçalo do Amarante, Macaíba and Natal. Foraminifera serve as viable study tools in these environments; they are able to identify ecologically stressed environments, pointing out hydrographic changes and depositional environments in estuaries. The necessity to check the differences in environmental gradients in places anthropically impacted in Potengi River and adjacent inner shelf through species of foraminifera, and, the responses of these organisms to physical, chemical and geological factors is to provide baseline in the diagnosis of environments. The results show the dominance of opportunistic Ammonia tepida, Bolivina striatula, Quinqueloculina patagonica and Q. miletti especially in regions close to shrimp farms and Baldo Channel sewage in fine grain environments; and Q. lamarckiana indicates penetration of the saline waters in Potengi River. The occurrence of low-salinity tolerant foraminiferal species typical of mangrove environments as Trochammina inflata and T. squamata in Potengi River Channel suggest they probably could have been transported from mangrove area near the Potengi river mouth to the inner shelf regions. These findings suggest Potengi River is able to export mixohaline and mangrove organisms to inner shelf. Two distinct environments were observed, the outermost area is more influenced by marine influence and the innermost area is less influenced. Calcareous and agglutinated species dominate Potengi River, while mouth and inner shelf areas are dominated by calcareous, agglutinated and porcelaneous species, which are typical of highly saline and hydrodynamic environments and the contributive factors that controls foraminiferal distribution were balance of marine and freshwater currents, grain size, availability of CaCO3 and organic matter.

Análise bioclimática e investigação do conforto térmico em ambientes externos: uma experiência no bairro de Petrópolis em Natal/RN

This study was intended to investigate how the urban form has been influencing the changes in the climate of the city and make a correlation between the climate and the thermal sensation of the users of open spaces. The research was developed in the district of Petrópolis in Natal/ RN whose occupation has been almost consolidated. Among other reasons, this district was selected because it was planned considering the environmental aspects of comfort. The methodologies used are based on KATZSCHNER (1997) and OLIVEIRA (1988) studies, which suggest the drawing and analysis of maps of the area under study, including topography, height of the buildings, land use, green areas, and types of soil pavement, as well as measurement of the environmental variables: air temperature, relative humidity, direction and wind speed for a comparative study. As part of this, study local users of the district were interviewed about their thermal sensations in open spaces. For the statistical analysis, data was collected at 10 distinct points characterized by BUSTOS ROMERO (2002), being 8 within the district and 2 at different places (outside the district), at climatologic stations, in 3 periods (August/2000, January/2002 and June/2002), for 4 consecutive days for each measurement (from Sunday to Wednesday) at the time of lower and higher temperatures in the city, 6:00 am and 1:00 pm, respectively. At the same time interviews were carried out with users of the open spaces in the area, totaling 171 valid formularies. The urban form showed a rather leveled topography, great diversity of land use and height of the buildings, with the existence of an area mostly occupied with high buildings, very little green area and soil practically impermeable. The statistical analysis showed high temperature and humidity levels. The wind direction is predominantly Southeast with extremely variable speeds. When the data from this district is compared with the data from other areas in the city and its outskirt, it was observed that this district is hotter and less ventilated than the others; besides, most users said that they felt uncomfortable in the local environmental conditions. The results of the analysis generated a zoning for the district with recommendations for soil occupation. The profile of the user was defined regarding the thermal comfort, as well as some discussion about the comfort parameters, including the proposal of limiting areas of temperature and humidity for the thermal comfort in the open spaces

A importância da Arquitetura da Informação no planejamento de ambientes digitais inclusivos

SANTOS, Raimunda Fernanda dos; SILVA, Eliane Ferreira da. A importância da Arquitetura da Informação no planejamento de ambientes digitais inclusivos.In: SEMINÁRIO DE PESQUISA DO CENTRO DE CIÊNCIAS SOCIAIS APLICADAS,17.,2012,Natal/RN. Anais... Natal/RN: Centro de Ciências Sociais Aplicadas, 2012. Trabalho oral.

Comportamento do consumidor: um estudo do mercado imobiliário em condomínios verticais fechados na região metropolitana de Natal

The research in question looked for to establish the relation between the motivation (of the proprietor of apartment) to change itself of another one apartment, in closed vertical condominium (residential mobility) in the period of the recognition of the necessity, and the satisfaction with the apartment after consume. The universe or the population chosen for the development of the study was of proprietors of apartment in vertical condominiums located in the region metropolitan of Natal. The analysis of data was made using the techniques of linear regression and logistic regression between variables. The linear regression found relations between the motivations for housing change and the satisfaction in after consume with some attributes of the apartment. The logistic regression showed that relations between the motivations for change and the general satisfaction to the apartment exist as a whole, in the period after consumes. With regard to the motivation to change itself of a apartment for another one, some reasons shown more motivation them the others. The research found different degrees of satisfaction with certain characteristics of the apartment and degrees of no satisfaction with others. Finally the results of the research had contributed for the reply of the problem that guided the present study, therefore had obtained in such a way to find how much logistic not linear relations between the two periods purchase (recognition of the necessity and evaluation after consume) and had elucidated the process that goes since the choice the product until the satisfaction of the necessities