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

Inferência geográfica para delimitação de corredores ecológicos: um estudo de caso para a Mata Atlântica do município de Tibau do Sul/RN

The Atlantic Forest biome occupies much of the Atlantic coast of Brazil, in addition to portions of Paraguay and Argentina. Due mainly to its biodiversity which falls in the group of global hotspots, i.e., areas that have high priority for conservation. Although currently there are some available devices that assist in their protection in the course of the history of occupation and exploitation of the Brazilian territory, this biome has gone, and is still going through, an intense process of devastation, caused mainly by the pressure from economic activities, culminating in a significant reduction of its area and consequent fragmentation of the landscape, which brings with hosts a series of problems at various scales and aspects. As in most municipalities included in the reach area of the biome, the situation of forest fragmentation in Tibau do Sul / RN is quite critical, reflecting on a truly diverse landscape with broad typology of land uses. Among the alternatives aimed at the conservation of this biome include the creation of protected areas and the creation of ecological corridors, the latter being more efficient by connecting the remaining forests, increasing landscape connectivity, providing significant gains in relation to biodiversity. However, a major problem on implementation of Ecological Corridors projects is related to the selection of areas for this purpose, in this sense Geography can provide important contributions through the integrated study of landscape in the light of the geosystemic approach and the use of Geographical Information System (GIS) in order to permit assessment of reality having as a base the integration of ecological, biological and man-made aspects. Thus, this research aims to indicate potential areas and propose scenarios delimitation of Ecological Corridors in the municipality of Tibau do Sul / RN through Geographic Inference techniques in GIS platform. Therefore, the methodology adopted is based on the Geosystemic approach. From these elements were created 4 models to indicate potential areas for implementation of Ecological Corridors from the environmental perspective (potential erosion), socioeconomic (cover and land prices), legislative (areas protected by environmental legislation) and integrated (combination of environmental factors, socioeconomic and legislative), which in turn served as a basis for proposing scenarios aimed at this purpose. The results showed that all models can be quite useful in indicating potential areas for the establishment of ecological corridors, especially when based on an integrated approach between environmental and anthropogenic. The Corridors delimitation proposes shown may perform duties beyond the establishment of connectivity between fragments, since they also may have usefulness in controlling erosion and protecting fragile environments. Among the models developed, the integrated constituted itself as the best option because it enabled the interconnection of a larger number of fragments from a better use of the potentialities present in the landscape

Transporte longitudinal de sedimento na zona costeira de Natal/RN

The longshore sediment transport (LST) is determinant for the occurrence of morphological changes in coastal environments. Understanding their movement mechanisms and transport is an essential source of information for the project design and coastal management plans. This study aims to characterize, initially, the active hydrodynamic circulation in the study area, comprised of four beach sectors from the south coast of Natal, assessing the average annual LST obtained through three proven equations (CERC, Kamphuis and Bayram et al.), defining the best formulation for the study area in question, and analyze the seasonal variability and the decadal transport evolution. The coastal area selected for this work constitutes one of the main tourist corridors in the city, but has suffered serious damage resulting from associated effects of hydrodynamic forcings and their disorderly occupation. As a tool was used the Coastal Modelling System of Brazil (SMC-Brazil), which presents integrated a series of numerical models and a database, properly calibrated and validated for use in developing projects along the Brazilian coastline. The LST rates were obtained for 15 beach profiles distributed throughout the study area. Their extensions take into account the depth of closure calculated by Harllermeier equation, and regarding the physical properties of the sediment, typical values of sandy beaches were adopted, except for the average diameter, which was calculated through an optimization algorithm based on equilibrium profile formulation proposed by Dean. Overall, the results showed an intensification of hydrodynamic forcings under extreme sea wave conditions, especially along the headlands exist in the region. Among the analyzed equations, Bayram et al. was the most suitable for this type of application, with a predominant transport in the south-north direction and the highest rates within the order of 700.000 m3 /year to 2.000.000 m3 /year. The seasonal analysis also indicated a longitudinal transport predominance in the south to north, with the highest rates associated with the fall and winter seasons. In these periods are observed erosive beach states, which indicate a direct relationship between the sediment dynamics and the occurrence of more energetic sea states. Regarding the decadal evolution of transportation, it was found a decrease in transport rate from the 50’s to the 70’s, followed by an increase until the 2000’s, coinciding with the beginning of urbanization process in some stretches of the studied coastline.

Os youtubers e a representação do certo, errado, adequado e inadequado no trabalho com a variação linguística em sala de aula

Some of the current discussions in the teaching of Portuguese Language (LP) pertain to how the school should deal with the phenomenon of language variation in the classroom. In 2010, for example, an explosion of talk took over the academic corridors: a book, entitled "Por uma vida melhor", the collection "Viver, Aprender", published by the MEC (Ministry of Education and Culture) to students EJA (Youth and Adults) brought notions regarding linguistic variation, even in their first chapter. In it is clear the notion that it is possible to make use of structures as "pretty boy", instead of "pretty boys", depending on the context in which such use is insert. Therefore, the discussions focused around the notions of variety cultivated, standard and popular measuring them to the possibilities of linguistic appropriateness. The community was surprised by the defense of the "power" to use, since it would be the school space to teach a standard "default", and not the possibility of legitimate use of grammatical patterns that clashed with those recommended in traditional grammars. The television media has been responsible for a major blaze that MEC had endorsed the use in schools of a book that legitimized such linguistic patterns. The quarrel was released on Youtube and in that space, netizens expressed themselves for or against the proposal of LD often directing the discussion to questions of a purely political. We observed that, on one side, loomed arguments related to Sociolinguistics (BAGNO , 2002, 2003, 2007, 2009; BAGNO, M.; STUBBS, M., Gagne, G., 2006; Bortoni - RICARDO, S.M., 2008; Tarallo, F., 1982; U. Weinreich, MARVIN I. HERZOG, Labov, W., 1968, Labov 1972, etc.); another, arguments concentrated on defending the school is the area of language teaching standard, and not fit to bring certain discussions within an LD. It was from these words, that this research was born. Interested in the particular way that the community media, which seemed to have no training in linguistics, understand the concepts of right, wrong, appropriate and inappropriate, so intimate in academic circles. Our thoughts take as reference the theoretical studies on the question of sociolinguistic variation and education, official documents that guide the "work" with the Portuguese language in the classroom, like the NCP (National Curriculum) and Curriculum Proposal for Education Youth and Adult (PCEJA). In our analysis, we found that LD" For a better life "makes no apology for teaching the "error", but it raises discussions about the possibility of "change", linked to factors and different order. We realize how significant it is to observe how speakers of a language are positioned in relation to language teaching which they are not speakers and scholars. Our study showed that certain issues regarding the teaching of the Portuguese language, as is the case of linguistic variation, points are far from being resolved, either for linguists and/or grammarians, whether for language speakers.