Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás

This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The proposed monitoring system aims to reduce accidents as well as to make possible the use of non-destructive techniques for detection and location of leaks caused by corrosion. To this end, the implementation of a prototype, its stabilization and a navigation strategy have been proposed. The control strategy is based on dividing the problem into two control hierarchical levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired values, while the higher one provide appropriate references signals to the lower level in order the quadrotor performs the desired movements. The navigation strategy for helicopter quadrotor is made using information provided by a acquisition image system (monocular camera) embedded onto the helicopter. Considering that the low-level control has been solved, the proposed vision-based navigation technique treats the problem as high level control strategies, such as, relative position control, trajectory generation and trajectory tracking. For the position control we use a control technique for visual servoing based on image features. The trajectory generation is done in a offline step, which is a visual trajectory composed of a sequence of images. For the trajectory tracking problem is proposed a control strategy by continuous servovision, thus enabling a navigation strategy without metric maps. Simulation and experimental results are presented to validate the proposal

Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

A Geração de inovação na carcinicultura do RN: Uma análise a partir da imersão social

This dissertation examines the organizational innovation as a nonlinear process, which occurs in a social and political context and, therefore, socially immersed. Examines the case of shrimp in the state of RN, starting from the following problem: although the norteriograndense shrimp occupies the largest producer of farmed shrimp from Brazil, has a series of bottlenecks concerning the generation of industry innovation, concerning the social relationships and policies between the various actors in the network, whether private or public, and its consequences in terms of opportunity and limits generated for the innovative dynamics. The objective of the research is to understand how the social embeddedness of political actors affects norteriograndense shrimp within the context of structural relations, the industry generation of innovation, throughout its technological trajectory . The approach of social embeddedness balances atomised perspectives, undersocialized and oversocialized, of economic action, considering both the human capacity to act as sources of constraint, whose mechanisms are analyzed the structural and political. In methodological terms this is a case study, analyzed from the research literature, documentary and experimental. Primary data were collected through semi-structured interviews and analyzed in depth by the technique of content analysis. Was adopted a longitudinal approach, seeking to understand the phenomenon from the perspective of the subjects, describing it in an inductive process of investigation. After characterizing the sector and defining their technological trajectory, the analysis of the results followed its four stages: (1) Introduction of Technology: 1973-1980, (2) Intensification of Research: 1981-1991, (3) Technological Adaptation, 1992 -2003, (4) Technological Crisis: 2004-2009. A cross-sectional analysis along the evolutionary trajectory revealed the character of structural changes and policies over time, and implications on the generating process of innovation. Note that, the technological limit to which the sector reached requires changes in technology standards, but is more likely that the potiguar shrimp is entering a new phase of his career in technology rather than a new technological paradigm

Dos movimentos sociais às funções institucionais: a Consolidação de uma geração política em Sergipe.

This study was presented to the Post-Graduation Program in Social Sciences at UFRN as part of the requisites for obtaining the title of Master in Social Sciences. It describes the results of the research From social movements to the institutional functions: the consolidation of a generation . Its main objective is to describe the history of a political generation that emerged from the social movements, in the 80 s, in Sergipe, and that nowadays occupies the main governmental positions in the State s political scenario. As its specific objectives, the research described the emerging of social movements in the 80s in Sergipe; it found in the social movements in Sergipe, in the 80s, the beginning of the history of a new political generation, and described the consolidation of this new political generation in institutional positions as the expression of a new group of power in Sergipe s politics. Among the social movements that gained visibility in that period and that projected their leadership into the political scenario of Sergipe, this study highlights: the students movement, teacher s movement, bank clercks movement, miners movement, and rural workers movement. It utilized as methodology the research in sites, magazines, and the use of testimonies from semi-structured interviews. The main leadership of the five movements that were analyzed is, nowadays, governing the state, administering the capital s city hall, and performing legislative work at the Legislative Assembly of Sergipe, and at the Chamber of City Councilmen of Aracaju. This study described the political history of the main leadership of that generation of militants and organizers of social movements, and of left party groups in Sergipe, highlighting that their consolidation in the political scenario of the State meant the consolidation of a new group of power in Sergipe s politics.

Adelle de Oliveira: trajetória de vida e prática Pedagógica (1900-1940)

This work analyses pedagogical practices of Adelle Sobral de Oliveira, from 1900 to 1940, in order to notice how her performance as educator and administrator took place in Externato Angelo Varela in the Rio Grande do Norte city of Ceará-Mirim within a time in which the public teaching started to be considered modern in the State. Adelle was a self learner who developed an important role as a mentality mentor of a generation in the region. As the research corpus we have taken the five Reading Books written by Felisberto de Carvalho used by Adelle in her Externato, interviews with her ex-students and researches in the newspapers of her time, in the Public Archives and in the Historical and Geographic Institute of Rio Grande do Norte, and also in the governors messages, Education Department documents such as laws, and government decrees and acts. It was also taken as a research font the Publich Archives of Ceará-Mirim. The aim of this PhD thesis is understand the primary instruction spreading and modernization in the countryside of Rio Grande do Norte, which began with her teaching pedagogical practices. The research results show Adele Oliveira used practical and experimental modern methodological teaching methods in the subjects she taught. Due to this, in her scholar routine, she avoided physical punishment and mechanical teaching and learning strategies

A Geração de inovação na carcinicultura do RN: Uma análise a partir da imersão social

This dissertation examines the organizational innovation as a nonlinear process, which occurs in a social and political context and, therefore, socially immersed. Examines the case of shrimp in the state of RN, starting from the following problem: although the norteriograndense shrimp occupies the largest producer of farmed shrimp from Brazil, has a series of bottlenecks concerning the generation of industry innovation, concerning the social relationships and policies between the various actors in the network, whether private or public, and its consequences in terms of opportunity and limits generated for the innovative dynamics. The objective of the research is to understand how the social embeddedness of political actors affects norteriograndense shrimp within the context of structural relations, the industry generation of innovation, throughout its technological trajectory . The approach of social embeddedness balances atomised perspectives, undersocialized and oversocialized, of economic action, considering both the human capacity to act as sources of constraint, whose mechanisms are analyzed the structural and political. In methodological terms this is a case study, analyzed from the research literature, documentary and experimental. Primary data were collected through semi-structured interviews and analyzed in depth by the technique of content analysis. Was adopted a longitudinal approach, seeking to understand the phenomenon from the perspective of the subjects, describing it in an inductive process of investigation. After characterizing the sector and defining their technological trajectory, the analysis of the results followed its four stages: (1) Introduction of Technology: 1973-1980, (2) Intensification of Research: 1981-1991, (3) Technological Adaptation, 1992 -2003, (4) Technological Crisis: 2004-2009. A cross-sectional analysis along the evolutionary trajectory revealed the character of structural changes and policies over time, and implications on the generating process of innovation. Note that, the technological limit to which the sector reached requires changes in technology standards, but is more likely that the potiguar shrimp is entering a new phase of his career in technology rather than a new technological paradigm

Jovens terena na cidade de Campo Grande (MS) Política e geração

Research with indigenous in urban context are gaining steam in recent years, particularly with the intensification of migration resulting from problems such as lack of land for subsistence. However, in relation to Terena, subjects in this study, the contemporary anthropological research aimed at residents in cities still are not privileged, especially to youth. Thus, the dissertation has as main objective the discussion around some axes, among them indigenous youth Terena ethnicity politics, - indigenous movement - and racism. These themes appeared during fieldwork where privileged six trajectories of young Terena who migrated to Campo Grande (MS) and have different ways to mean the city and experiencing everyday life

Henrique Novaes: técnica, território e cidade em uma trajetória profissional: Brasil, primeira metade do século XX

The career of civil engineer Henrique de Novaes, a remarkable figure in the academic, technical and political fields, demonstrates its extensive and relevant work across Brazil in the first half of the twentieth century. It covered from the design of water supply and sewage works, road and rail transport networks, works against drought in the Northeast, hydroelectric and harbor facilities to the urbanization planning and architectural projects, which displays a systematic and multiple production. City and territory conformed to his fields of verification, practical and above all, transformation. The search for understanding of the inclusion of a social actor in this process thus contributes to the specific analysis of the doings of Henrique de Novaes, who graduated at Polytechnic School of Rio de Janeiro in 1906. From a polymorphic activity in different scales, one tries to figure how, through academic education or professional practice, urban history in Brazil can be told or built. The introduction of technological innovations matched the purposes of planning and urban sprawl, as well as met the specifications of regulation and institutionalization of public infrastructure services at the time. The overall plans proposed by the engineer thought of the city as a whole, interconnected to the structural networks. At the same time, the knowledge of a larger physical scale the territory bounces back in the urban in a relationship of reciprocity and completeness. The objective research, therefore, tries to understand the roles played by Henrique de Novaes s works and academic education in the accomplishment of systematic modernization of Brazilian urban space and territory, recovering a little known historical figure by current historiography. It is proposed, as methodological axis, that the study of this professional career configures itself as an essential element for understanding the idea of progress embodied in the technical studies and proposals for improvements and sanitation nationwide in the first half of the twentieth century . The primary sources for the construction of this analysis were technical articles in journals of the period ( Clube de Engenharia , Viação e Revista Brasileira de Engenharia ), and technical reports, government messages, newspaper articles published at the time, autobiographical reports and the engineer s verbal communications with relatives. The work is structured in three chapters: "Biographical traces, academic education and 'technical and political' activities" illustrates the initiation into the technical, public and political environment; Chapter 2, "Technique and territory" outlines his network understanding through sanitation and transport services; Chapter 3 "Technique and City" describes the influence of polytechnics knowledge on the propositions of modernization of cities; Finally, "Final Thoughts: An Evaluation," presents an overview of the affiliations and practice of an engineer in the different scales, and its contribution to the modernization of Brazilian urban and territorial space

Sanitarismo e planejamento urbano: a trajetória das propostas urbanísticas para Natal entre 1935 e 1969

The Escritório Saturnino de Brito (Saturnino de Brito Office), created in 1920 under the sanitaristic guidance of the engineer Saturnino de Brito, has a vast record of works throughout the whole national territory, even after the death of its founder, in 1929 at which point his son, and also engineer, Saturnino de Brito Filho, assumed the head of the company , with a compromise to continue his father s work and assure his administrative, technical and urbanistic principles up until the early 1980s, when that institution came to an end. The scarcity of theorical studies about this Office, alongside the importance of the contributions it made in countless cities, oriented the focus of this study on its performance in Natal, where it remained from 1935 to 1969, designing, executing and managing sanitationist works and the services associated with them and going through several political, economical, social, cultural and urbanistic contexts periodicized in this work into three moments. Thus, it is intended to analyze how the Saturnino de Brito Office behaved and adapted itself to the conjunctural changes that unfolded into each of these moments, and more specifically, to observe the forms of intervention adopted the principles, the instruments and the scope aiming to verify the transition of the sanitaristic set of urbanistic ideas into the urban planning as a development strategy on a local level

Análise da trajetória de poços horizontais em reservatório de óleo pesado

The application of thermal methods, to increase the recovery of heavy oil in mature fields through drainage with multilateral and horizontal wells, has been thoroughly studied, theorically, experimentally, testing new tools and methods. The continuous injection of steam, through a steam injector well and a horizontal producer well in order to improve horizontal sweep of the fluid reservoir, it is an efficient method. Starting from an heterogeneous model, geologically characterized, modeling geostatistics, set history and identification of the best path of permeability, with seismic 3D, has been dubbed a studying model. It was studied horizontal wells in various directions in relation to the steam and the channel of higher permeability, in eight different depths. Into in the same area were studied, the sensitivity of the trajectories of horizontal wells, according to the depth of navigation. With the purpose of obtaining the highest output of oil to a particular flow, quality, temperature and time for the injection of steam. The wells studied showed a significant improvement in the cumulative oil recovery in one of the paths by promoting an alternative to application in mature fields or under development fields with heavy oil

Modos de ser e modos de viver : a trajetória dos estrangeiros em Natal/RN

This work aims to understand the trajectory of immigrants living in Natal / RN, between the years 1990 and 2009, their motivations for this change, their sociability relations, as well as the impact of this group in Natal and specifically, in the district of Ponta Negra, where most of them established their residences or work. Considering that the historical, political, economical and social environment where these immigrants are inserted, are different from that experienced by former immigrants who came to Brazil in the late nineteenth and early twentieth centuries, a period of mass migration, it was revealed that immigration studied in contemporary Natal constitutes a new configuration (Elias, 1994). This new configuration is represented by several characteristics that distinguish this contemporary immigration, as: the relationship established by these foreigners, both with their country of origin and the destination, the formation of social networks that offer support to newcomers and those already installed, the relations of sociability with locals and a new relationship of belonging with the space, since the possibility of coming and going from one country to the other, allows a (re)production of their original ?? social and economic life in the new space. The research methodology was based on the analysis of narrative interviews, in light of the theory of Schütze (1977) in order to understand the faces of this immigration. As theoretical support for the data analysis the theories of authors such as Norbert Elias, presentedin his work about the established and outsiders, Pierre Bourdieu, and his concept of habitus, distinction and style of life, Georg Simmel, and his study of life in the metropolis, his analysis of the foreigner and his theory of sociability, among others. This study attempted to give visibility to foreigners living in Natal, who experience the dynamics of the district of Ponta Negra and reconstruct their daily relations of sociability in this space. In fact, the presence of foreigners in this urban context allows for the construction of new configurations, both in terms of the physical space of the neighborhood, which has been modified by the touristification process and the real estate market, which is molded to meet this demand, but also in their social sphere, with regard to the relations established between foreign residents and locals. In seeking to characterize these migratory experiences it could be understood that the trajectories of each foreigner is part of a broader social structure, which cannot be evaluated neither disconnected from the contexts in which they operate, nor under a single point of view

A trajetória dos movimentos socioambientais em Sergipe : personagens, instituições e estratégias de comunicação

The research aimed to study the emergence, role, and the possibilities of environmental movements in Sergipe, running through an analysis of the period between 1983 and 2011. This goal has been guided by the core issue of research, which was to analyze the relationship between the mission, structure and action of environmental organizations in Sergipe. The research arose from the need to map and critically evaluate the environmental movement in Sergipe. The methodological procedures focused on the literature search, survey papers in Sergipe a time gap of 28 years, detailed analysis of nine "movements" and selected in-depth interviews, semi-structured interviews with dozens of social actors involved in the area. In conclusion, we observed that environmentalism in Sergipe, from its inception, was associated with recovery of consciousness regarding the environment, to combat local problems of degradation, and the search for legitimacy of public opinion. Although the environmental movement have been, at times, the attention of mass media, the movement failed to leave the niche and achieve a more representative portion of society. You can still see the deep relationship between the profile of environmental leaders, capital strength and the practical results of the environmental actions and finally, it was observed that the action of the movements has much stronger bond with the relationship of the organization and its main leaders with the other "environmentalist," than with the structure and mission of the institution

Da aliança ao democratismo: a trajetória do PFL no Rio Grande do Norte (1985-2006)

This thesis analyzes the political and electoral trajectory of the PFL in Rio Grande do Norte from its beginning in 1985 until his last electoral dispute in 2006, before the process of rebuilding occurred in 2007. The central argument of the thesis is that the PFL occupied side by side with the PMDB the central position in the dynamic of the state partisan politics. This was due to its ability to control the process of disputes for majority positions in the state, especially for Senate vacancies. The hypothesis that support the central argument are related to the trajectory of the formation of the party still under the military regime, where the group that took over the leadership of the party enjoyed privileged conditions for the consolidation of political and electoral power. Another factor associated with their performance was the force that was developed in the second-largest electoral college in the state, Mossoró. To these hypotheses we add the role Jose Agripino Maia who, leading without competitors within the party, concentrated a large power in making decisions in face of adverse contexts to ensure (his) conditions for success in majoritarian disputes

Nas sombras da família coelho: a dinâmica de uma dominação política

As one of the most important cities in the state of Pernambuco, Petrolina is settled in the Pernabucanian backwoods, a place that still holds its own traditions and manners. Petrolina s economy is mainly based on primary activities. It s politics is run by Family groups which preserve themselves and remain in power, using the clientelism, which could be said as a give and get practice. That means that the suffrage is a currency to exchange benefits. The present study analyses facts occurred in the political history of the Coelho s Family, which still dominates the local Politics. They persist as heirs of the old system of Coronelism that is maintaining their power structuring a political machine, which is able to make them unbeatable for over fifty years. Despite of a family internal division, it benefits all of them, directly or indirectly. Based on empirical observation, we set a brief historical of the Coelho s family facts, in order to demonstrate the range of their power through the ancestry, which is to say we ve described the local political labyrinths. Our metodological choices were driven by the comprehensive sociology, through the Weberian ideal types, in order to find the answers for the historical, social and political conformation of the facts, in consonance with the reality. According to that, we ve studied the Coelho s political trajectory from 1968 to 2012, considering the election periods. Commonplace: where a new generation becomes active subjects on a new apprenticeship, moral and intellectual. After all, they are all family heirs

Entre o pavilhão e o inferno: trajetória dos meninos infratores no CEDUC Pitimbu

Cet étude est une recherche sur les significations imaginaires de la violence pratiquée par des jeunes délinquants ou à laquelle ils sont soumis, dans la condition de confinés chez le Centre Éducationnel CEDUC/PITIMBU, lieu où l investigation a été faite. Dans la mésure où le sujet de la violence se présente plein de manifestations, nous proposons ici une réflexion sur l imaginaire de la production théorique sur la question et en même temps nous nous proposons identifier jusqu à quel point les diverses visions scientifiques établient un savoir qui finit par limiter une conception plus complexe et profonde des réseaux de la violence. Le parcours théorique et méthodologique realisé nous a permis concluire que certaines interventions finissent par renforcer des situations limites vécues à l intèrieur du Centre par les jeunes déliquants. Parmi d autres aspects, nous traitons de l espace de l institution, leurs objectifs, routines, aussi bien que sur les principaux expressions de la violence qu apparaissent dans les récits des jeunes. Nous traitons de leurs origines socioculturelles, en signalant les milieux d oú ils viennent et leur vie quotidienne. Ainsi, nous traitons d analyser les éléments de la culture constituée, les valeurs, la « loi de plus fort », le pouvoir, le courage, la peur, l astuce, la sagesse et les rêves. Nous remarquons aussi la notion de « destin » qui renvoie à l idée que le crime et la mort sont inéluctables. Nous nous occupons de réfléchir sur le rôle de l institution dans le renforcement de la violence et dans la reproduction de valeurs sociales. Dans cet étude, nous utilisons l analyse des trajectoires de vie des jeunes délinquants pour comprendre la réalité de la violence à laquelle ils sont soumis