Mapeamento com Sonar Usando Grade de Ocupação baseado em Modelagem Probabilística

In this work, we propose a probabilistic mapping method with the mapped environment represented through a modified occupancy grid. The main idea of the proposed method is to allow a mobile robot to construct in a systematic and incremental way the geometry of the underlying space, obtaining at the end a complete environment map. As a consequence, the robot can move in the environment in a safe way, based on a confidence value of data obtained from its perceptive system. The map is represented in a coherent way, according to its sensory data, being these noisy or not, that comes from exterior and proprioceptive sensors of the robot. Characteristic noise incorporated in the data from these sensors are treated by probabilistic modeling in such a way that their effects can be visible in the final result of the mapping process. The results of performed experiments indicate the viability of the methodology and its applicability in the area of autonomous mobile robotics, thus being an contribution to the field

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.

Algorítmo de mapeamento usando modelagem probabilística

SOUZA, Anderson A.S. ; MEDEIROS, Adelardo A. D. ; GONÇALVES, Luiz Marcos G. . Algorítmo de mapeamento usando modelagem probabilística. In: SIMPOSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE, 2007, Natal. Anais... Natal, 2007.

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

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

Caracterização hidrodinâmica e morfo-sedimentar do estuário Potengi e áreas adjascentes: subsídios para controle e recuperação ambiental no caso de derrames de hidrocarboneto

This study presents the Environmental Sensibility Mapping to oil spillings on the Potengi estuary - RN and neighboring coastline through remote sensing data, collecting, treatment and integration of the geomorphologic, oceanographic (temperature, salinity, density, direction and intensity), meteorological (wind speed and direction) and high resolution seismic (bathymetry and sonography) data. The Potengi river estuary is located on the eastern coastline of the Rio Grande do Norte State, being inserted in the geological context for the coastal Pernambuco-Paraíba basin and spreading over 18 km; it shelters the Natal harbor zone and an oil terminal, centralizing, therefore, important oil transport operations that can cause accidental spillings. Under the oceanographic point of view, the Potengi estuary is characterized by the absence of any expressive thermic stratification, being classified as partially mixed, B type according to Pritchard (1955), and 2 type in conformity to the stratification-circulation diagram by Hansen & Rattray (1966). Two main wind systems are responsable for the formation of wave sets that occur in the area. The dynamic tide presents, in the Natal Harbor, mean amplitude in spring and quadrature tides, with around 2.8 and 2m, respectively. The mechanism of saline tide mixing was defined through the salinity which is the main parameter for the identification of this mechanism. Important variations of the salinity mean values (36.32 psu), temperature (28.11ºC) and density (22.96 kg/m3) in the estuarine waters presented features belonging to low latitude regions. The water temperature follows the air temperature variations, in the region, with expressive daily amplitudes. In this study, the identification of the estuarine bed morphology through bathymetric and sonographic analysis, had the purpose to evaluate the influence of the superficial and bottom currents for the bottom shaping. In this way, the use of the side scan sonar showed, to be very useful in the identification of the bottom morphology and its relationship with the predominant action of the tidal currents in the Potengi estuary. Besides, it showed how the sonograms can be a support to the comparison of the several patterns derived from the local hydrodynamic variations. The holocene sediments, which fill the estuarine channel, are predominantly sandy, varying from selected, sometimes silty. The sedimentation is controlled by the environmental hydrodynamic conditions, being recognized two important textural facies: Muddy Facies and Sandy Facies. The distribution of these textural facies apparently oscillates owing to the tidal cycle and flow intensity. Each one of the above mentioned data was integrated in a Geographic Information System (GIS), from which was produced the Environmental Sensibility Map to oil spillings with Coastal Sensibility Index (CSI) to the Potengi estuary. The integrated analysis of these data is essential to oil spilling contingency plans, in order to reduce the spilling environmental consequences and to make efficient the endeavours of contention and cleaning up/removal on the Natal Harbor. This study has the aim to collaborate for the increase of informations about the estuarine environment and contribute to a better management of the question: environment/polluting loads

Caracterização morfológica e sedimentologica da plataforma, continental brasileira adjacente aos municípios de Fortim, Aracati e Icapuí- CE

The study area is located on the Brazilian Continental Shelf adjacent to Ceará State, inserted in the submerged Potiguar Basin. This area was submitted to extensional efforts during Upper Cretaceous, associated to the begining of the rifting that resulted in African and South American Continent separation. The main goal of this research was to better understand the sedimentary and geomorphological characteristics of the continental shelf adjacent to Fortim, Aracati and Icapuí (Ceará State). The used data base included geophysical (sides scan sonar and bathymetry studies) and sedimentological survey, associated to satellite image processing and interpretation. Inferences about suspended material and longshore drift was possible using satellite images, and differente bedforms were characterized such as: different kinds of dunes (longitudinal, cross and oblique), bioclastic banks, paleochannels, flat and rock bottom. The researched area comprehended about 2509,13 km2, where 6 different sedimentary facies, based on sediment composition and texture, could be recognized, such as: Bioclastic Sand, Siliciclastic Sand, Biosiliciclastic Sand, Bioclastic gravel, Biosiliciclastic sand with granule and gravel, and Silicibioclastic sand with granule and gravel. The integration of bathymetric, satellite image, side scan sonar and sedimentological data allow us a better characterization of this continental shelf area, as to advance in the knowledge of the continental shelf of the state of Ceara, a very important area to the oil industry because of its potential exploration and e exploitation, and to environmental survey as well

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

Monitoramento costeiro das praias de São Bento do Norte e Caiçara do Norte RN: implicações para o pólo petrolífero de Guamaré

This dissertation the results of a research developed in the area of São Bento do Norte and Caiçara do Norte, northern coast of the State of Rio Grande do Norte, during the period of June of 2000 to August of 2001, in the ambit of the projects MAMBMARÉ (CNPq/CTPETRO) and PROBRAL (CAPES/DAAD).The objective principal of this research was the characterization of the sedimentary dynamics of this coast, with base in data of coastal process (winds, currents, waves and tides), with topographical risings (beach profiles and dunes), satellite images and sedimentary analyses. The more specific objectives were accomplished the coastal monitoring of this coast, to verify the maintenance of an erosive tendency or progradacional after the groynes construction for contention of the erosion in the beach of Caiçara do Norte, as well as to verify the influence of the features of bottom of the platform interns adjacent on the pole petroliferous of Guamaré. The executed monitoramento allowed to identify that the movement of the sediments, along the year, in that area, is cyclical, reaching the largest oscillations during the months of winter (deposition) and they will summer (erosion). The sedimentologic studies indicated a general tendency for sands quartzosas, with gravel presence, moderately to good selected, with asymmetry predominantly negative. In agreement with the parameter of Dean (1957), used in the identification of the state morfodinâmico of the beaches, monitored beaches, are basically reflectivas with tendency to middlemen, what frames that space of the coast norteriograndense, as a space strongly vulnerable to erosive processes. The studies developed in the platform, it interns of this area, allowed to visualize for the first time, in large scale, the distribution of the features of the submarine bottom to the batométrico coat of 25 meters. Being pointed out the presence of a high one topographical submerged, with about 5 meters of height, 1 km of width and more than 24 meters of extension, located in the platform it interns in front of São Bento do Norte; coincident with the trend of the system of flaws of Carnaubais. This feature relay an important paper on the control of the sedimentary processes and oceanographic, as well as in the coastal evolution of this area of the RN state, and they affect the area of the pole petroliferous of Guamaré directly. These results contribute to a better knowledge of the processes in the area, and consequently as subsidies implantation of measures of coastal and environmental protection for the cities of São Bento do Norte and Caiçara do Norte, as well as to understand how the geological-sedimentary processes and oceanographic, in this area, are influencing the characteristics geoambientais of the pole petroliferous of Guamaré

Análise hidrodinâmica e morfodinâmica do complexo estuarino do Rio Piranhas-Açu/RN, Nordeste do Brasil

The aim of this study was the seasonal characterization of the morphology, sedimentology and hydrodynamic of the Açu, Cavalos and Conchas estuaries. These estuaries are inserted in a semi-arid climate area and form the mouth of the hydrographic basin of the Piranhas-Açu river, that represent the discharge of the largest watershed in the state. They are embedded in an environment consisting of a fluvial-marine floodplain, mangrove ecosystem, sandbanks, fields of dunes, spits and sandy beaches. Adjacent to the natural units are the main local socioeconomic activities (oil industry, salt industry, shrimp farming, fishing and tourism) are dependent on this river and its conservation. The environmental monitoring is necessary because it is an area under constant action of coastal processes and at high risk of oil spill. The acquisition and interpretation of hydrodynamic, sonographic and sediment data was conducted in two campaigns, dry season (2010) and rainy season (2011), using respectively the current profiler ADCP Doppler effect, the side-scan sonar and Van Veen sampler. In these estuaries: Açu, Cavalos and Conchas were identified the following types of bedforms: flatbed and Dunes 2-D and 3-D (small to medium size), generated at lower flow regime (Froude number <1). Structures such as ripples were observed in the Açu estuary mouth. The higher values of flow discharge and velocity were recorded in the Açu estuary (434,992 m³.s-¹ and 0,554 m.s-¹). In rainy season, despite the record of highest values of discharge and flow velocities at the mouth, the energy rates upstream did not differ much from the data of the dry season. However, in all estuaries were recorded an increase in speed and flow, with reservation to the flow in the Açu estuary and flow at the mouth of the Conchas estuary. Sediment grain sizes tend to increase towards the mouth of the estuary and these ranged from very fine sand to very coarse sand, medium sand fraction being the most recurrent. Based on the data acquired and analyzed, the estuaries Açu, Cavalos and Conchas are classified as mixed , dominated by waves and tides. According to their morphology, they are classified as estuaries constructed by bar and according to the classification by salinity, estuaries Conchas and Cavalos were ranked as hypersaline estuaries, and Açu as hypersaline and vertically well mixed type C

Caracterização sonográfica e sismoestratigráfica de alta resolução do estuário do Rio Potengi, Natal - RN

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Caracterização geomorfológica e paleogeográfica da plataforma continental adjacente a foz do Rio Apodi-Mossoró, RN/Brasil

The brazilian marginal basins have a huge potential to generate and accumulate petroleum. Incised valleys which are eroded in response to a fall of relative sea level are related to potential reservoir as well, modern drowned-valley estuaries serve as harbors to petroleum and salt industries, fisheries, waste-disposal sites and recreational areas for a significant fraction of the world s population. The combined influence of these factors has produced a dramatic increase in research on modern and ancient incised-valley systems. This research is one expression of this interest. The integrated use of satellites images and high resolution seismic (bathymetry, sides scan sonar) was used on the Apodi River mouth-RN to characterizes the continental shelf This area is located at the Potiguar Basin in the NE Brazilian Equatorial Atlantic margin. Through bathymetric and side scan sonar data processing, a digital Terrain Model was developed, and a detailed geomorphologic analysis was performed. In this way was possible to recognize the geomorphologic framework and differents sismofacies, which may influence this area. A channel extending from the ApodiMossoró river mouth to the shelf edge dominates the investigated area. This structure can be correlated with the former river valley developed during the late Pleistocene sea level fall. This channel has two main directions (NW-SE and NE-SW) probably controlled by the Potiguar Basin structures. The western margin of the channel is relatively steep and pronounced whereas the eastern margin consists only of a gentle slope. Longitudinal bedforms and massive ridges also occur. The first are formed doe to the shelf sediment rework and the reef-like structures probably are relics of submerged beachrock-lines indicating past shoreline positions during the deglacial sea-level rise. The sub-bottom seismic data allow the identification of different sismic patterns and a marcant discontinuity, interpreted as the Upper

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.

Algorítmo de mapeamento usando modelagem probabilística

SOUZA, Anderson A.S. ; MEDEIROS, Adelardo A. D. ; GONÇALVES, Luiz Marcos G. . Algorítmo de mapeamento usando modelagem probabilística. In: SIMPOSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE, 2007, Natal. Anais... Natal, 2007.