Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots

Gestão de pessoas, fato administrativo e racionalidades: um estudo em uma ONG de Natal-RN

This present work aimed to investigate, through the structuring element Fato Administrativo , the way rationality guides the processes of personnel management at the Associação Companhia TerrAmar , which operates in the district of Felipe Camarão in Natal/RN. This paper is characterized by a descriptive study, as it sought to establish the relationship between the materialization of the studied phenomenon - by means of a theoretical framework consisting of the following theories: Fato Administrativo (GUERREIRO RAMOS, 1983), Substantive and Instrumental Rationality (GUERREIRO RAMOS, 1981) and Proceedings of Personnel Management proposed by Joel Dutra (2004). As the main research findings, time as an intrinsic element of the Fato Administrativo - suffers much interference from external factors, especially from the sponsors of the researched organization and also from their bureaucratic control tools; not directly relating to the processes of Personnel Management, though. Among these, it was noticed that there isn‟t a dialogue between the sponsors and the theory, due to incompatibilities regarding the structure and nature of each organization. Both movement and development have stood out. These are processes that are guided by elements of substantive rationality, literally speaking, including personal, emancipatory and solidarity values. Thus, it is stated that for future research a compatible model of Personnel Management should be built and explored (compatible with the nature of nonprofit organizations). Understanding, in depth, the processes separately aiming to understand each work is also advised. Trying to fully understand the ways of overcoming the lack of skilled workers to perform activities in similar organizations needs to be considered as well

Influência das áreas verdes no microclima local: um estudo do conjunto habitacional Ponta Negra, Natal/RN

Owing to na intense process of urban development, urban uneasiness and discomfort in the daily life of populations have nowadays, especially in the big cities, become increasingly ordinary issues. Population density, degeneration of central areas and pollution are some of the environmental stressors the urban man is subjected to. The existence of open areas in the urban network contributes to a better movement of the air and transforms salubrity conditions. Yet, it has been noticed that parks and squares are disappearing from the heart of the city districts. In their place there are either unused plots of land where garbage has been dumped or nearly all-paved squares with meager or no vegetation at all. Such areas, when handled properly, play an important role in the city because in addition to being zones for rendering a mild climate they perform social, cultural and hygienic functions. Aiming at demonstrating that proper handling of green areas can favorably influence the local microclimate, we have attempted to develop analysis from the point of view of bioclimatizing attributes of urban form and their relationship to the local microclimate found in the eight open areas located in the Ponta Negra Housing Complex in the city of Natal/RN

Caracterização batimétrica e fisicooceanográfica do canal de acesso ao porto de Cabedelo/PB: uma análise ambiental ao derrame de óleo

The State of Paraíba is one of the most dynamic states of Brazil, strategically located in the northeast, is notable for the excellent potential for integration of different transportation modes forming the states of Rio Grande do Norte, Pernambuco and Alagoas. The dynamic that occurs with port activity causes changes in the space where it is installed. And the elements of this space are always more than suffering direct or indirect influences as the flow in the port is expanded. Therefore, this region became subject to the accidental spillage of oil, because it presents a heavy traffic of ships of various sizes that can run aground or collide with oil causing accidental events. The study of geomorphological and sedimentological compositions of seafloor becomes important as more is known about the relationships between these parameters and associated fauna, and can identify their preferred habitats. The database background, acoustically collected along the proposed study area, is a wealth of information, which were duly examined, cataloged and made available. Such information can serve as an important tool, providing a geomorphological survey of the sedimentary area studied, and come to subsidize, in a flexible, future decision making. With the study area Port of Cabedelo, Paraíba - Brazil, this research aimed to evaluate the influence of the tidal surface and background in modeling the seabed, including the acquisition of information about the location of submerged rocky bodies and the depth of these bodies may turn out to be natural traps for the trapping of oil in case of leaks, and obtain the relationship between types of bed and the hydrodynamic conditions present in the region. In this context, for this study were collected bathymetric data (depth) and physical oceanographic (height of water column, water temperature, intensity and direction of currents, waves and turbidity), meteorological (rainfall, air temperature, humidity, winds and barometric pressure) of the access channel to the Port of Cabedelo / PB and its basin evolution (where the cruise ships dock), and includes tools of remote sensing (Landsat 7 ETM +, 2001), so that images and the results are integrated into Geographic Information Systems and used in the elaboration of measures aimed at environmental protection areas under the influence of this scale facilities, serving as a grant to prepare a contingency plan in case of oil spills in the region. The main findings highlight the techniques of using hydroacoustic data acquisition together bathymetric surveys of high and low frequency. From there, five were prepared in bathymetric pattern of Directorate of Hydrography and Navigation - DHN, with the depth in meters, on a scale of 1:2500 (Channel and Basin Evolution of Access to Port of Cabedelo), where there is a large extent possible beachrocks that hinder the movement of vessels in the port area, which can cause collisions, running aground and leaking oil. From the scatter diagram of the vectors of currents, it can be seen as the tidal stream and undergoes a channeling effect caused by the bidirectional effect of the tide (ebb and flood) in the basin of the Port of Cabedelo evolution in NW-direction SE and the highest speed of the currents occurs at low tide. The characterization weather for the period from 28/02 to 04/07/2010 values was within the expected average for the region of study. The multidisciplinary integration of products (digital maps and remote sensing images), proved to be efficient for the characterization of underwater geomorphological study area, reaching the aim to discriminate and enhance submerged structures, previously not visible in the images

Efeitos de florações de cianobactérias sobre os cladóceros ceriodaphnia dubia e daphnia gessneri

Cyanobacterial blooms are common in eutrophic reservoirs in Brazilian northeastern semi-arid. Given this reality, the present study aimed to analyze the effect of potentially toxic cyanobacterial blooms in Gargalheiras reservoir (semi-arid) on the cladocerans Ceriodaphnia dubia and Daphnia gessneri. In vitro chronic bioassays were performed with reservoir water dilutions from August/2011 to May/2012 and the following effects were evaluated on: intrinsic rate of population growth (r), reproductive parameters (age of first reproduction and fecundity per capita) and cladocerans movements. Phytoplankton was dominated by Cylindrospermopsis raciborskii and Planktothrix agardhii and saxitoxin and microcystin were detected in reservoir water. In most months C. dubia showed differences in r between control (absence of cyanobacteria) and treatments, and has shown negative effects on reproductive parameters. In all months paralysis of swimming movements was observed in C. dubia when both C. raciborskii and saxitoxin (cyanotoxin neurotoxic) were present in water. While C. dubia was sensitive to the reservoir water containing cyanobacteria, D. gessneri showed less intense negative effects in r and reproductive parameters. Furthermore, D. gessneri showed no paralysis of swimming movements. These results support the hypothesis in the literature that D. gessneri is resistant to the Cylindrospermopsis effects. The clone‟s life history may be a key to understand the results. The C. dubia clone, isolated from eutrophicated environment, is in the lab for ten years and it is an exotic species in Brazil. D. gessneri is a common species in the country and this clone was isolated from the Gargalheiras reservoir (where there are constant blooms of potentially toxic cyanobacteria) a year ago. Perhaps the recent contact with cyanobacteria explain the higher resistance presented by this D. gessneri clone. In conclusion, the cladocerans studied have different levels of sensitivity to cyanobacteria, characterizing species-specific responses

A experiência educativa do Lições de Cidadania (2005-2013)

Tomamos como un fenómeno a ser estudiado en nuestra investigación las prácticas educativas del Lições de Cidadania. O Lições fue creado como un proyecto y más tarde transformado en un Programa de extensión que se centra en la Educación Popular y los Derechos Humanos, forjado en la reflexión - acción - reflexión. Contribuyó a la reorganización de la formación juridica, extensión universitaria y la situación política de la Universidad Federal de Río Grande do Norte. Circunscribiendo nuestro estudio entre los años 2005 y 2013, tuvo como objetivo identificar, analizar y sistematizar los procesos educativos del Lições que tuvieron lugar durante este período en UFRN y en las comunidades que han dialogado con los sujetos de extensión. Nos guiamos durante la investigación en dos preguntas: ¿Cuáles son las bases educativas del Lições de Cidadania? Y, como el Lições de Cidadania hay operado en el mundo? Estas cuestiones sulearam largo de nuestro estudio y nos llevaron a tomar el paradigma Indiciário señalado por Ginzburg, en su obra: Mitos, Emblemas, Signos: Morfología e Historia (1989). Como una estrategia de investigación, se utilizó la entrevista conversacional libre para el diálogo directo con los chicos y chicas que construyeron el Lições de Cidadania, además de recurrir a la extensa documentación de investigación, principalmente a través de correos electrónicos y actas de las reuniones de planificación del Lições. Llamamos a la rueda de la conversación, el concepto de tránsito en Freire, Vivência y Zona de Desarrollo Próximo de Vygotsky y Peregrinación y Itinerancia en Barbosa Jr. y Tavares. Después de la búsqueda para entender las prácticas educativas del Lições a través de la palabra auténtica de las personas y de los documentos, hemos sido capaces de comprender más profundamente la estructura y la acción del Proyecto a lo largo de su existencia, indicando, para nosotros, que, en realidad, fue un Proyecto de extensión que en la promoción de contacto directo de los estudiantes con las comunidades, también promovió cambios significativos en la manera de ser y vivir de los estudiantes

Úlceras de pressão: um estudo com pacientes de unidade de terapia intensiva

To characterize patients according to gender, age category, internment time, diagnostical hypothesis and location of the pressure ulcer; to identify the susceptibility conditions, intrinsical and extrinsical factors present on ICU patients and to verify on the existence of association between the susceptibility conditions and the intrinsecal and extrinsecal factors on the occurrence of PU. Methods: It is a descriptive study, of longitudinal design of the panel type, with quantitative approach, performed on two ICU s of a private hospital located in Natal/RN, with 40 patients interned at these units. The data collection was performed on all three shifts through a structured observation and physical exam of the patients' skin form seeking to identify the presence of PU. Results: The greatest occurence of PU was on individuals of the male gender (70%) when compared to the female gender (30%), that difference being statistically significant (p=0,0267), with the male gender presenting 4,3 times greater chance of developing PU than the female; the predominant age category was from 60 years of age on (85%), 60,0% presented 1 to 2 PU s after 7 (seven) days of permanence in the ICU s, the predominant diagnostical hypothesis on the patients with PU were the respiratory diseases (42,3%) and the most frequent locations of PU were the sacral region (40,0%) and heels (36,0%). 25 PU s of stage I were diagnosed on 50,0% of the followed patients, with general incidence of 50,0% on both ICUs. from the 88 variables researched, 75 were identified on the patients from the study, being the predominant conditions (anemia, hypotension, leukocytosis, other diseases hypertension blood pressure, cardiac insuffience, pneumonia - and ansiolythic), the intrinsecal factors (diminished muscular strenght and/or mass, discrete edema, totally compromised mobile coordination and total inability for movement on the bed) and the extrinsecal factors (inadequate mattress type, permanence on a single position for >2 hours, shearing/friction force, bed clothes with folds that leave marks on the body, pressure force) predominated on patients with PU. The male gender variables (p=0,0267,OR=4,3), sedation (p=0,0006,OR=4,1), psychomotive agitation (p=0,0375,OR=5,8) and leukocytosis (p=0,0285,OR=5,0) presented a significant statistical diference when analyzed independently. We verified an association of 17,3%, statistically significant (p=0,0384), between the susceptibility conditions (anemia, leukocytosis and hypotension), the intrinsecal factors (age equal or above 60 years, diminished/absent pain sensibility and smooth, fine or delicate skin) and the extrinsecal factors (inadequate mattress, pressure forces, shearing/friction force, permanence on a single position for more than 2 hours, elevation between 30 to 45 degrees and inadequate bed clothes' conditions), with a chance ratio of 4,6 times the risk of occurrence of PU on the patients that presented the referred association. Conclusion: The incidence of PU detected on the ICU-interned patients was high and we made evident the existence of association between the susceptibility conditions, the intrinsecal and extrinsecal factors on the occurrence of PU s on the ICUinterned patients, and thus we accept the alternative hypothesis proposed on the study

Desenvolvimento de um equipamento para avaliação do desempenho de geomantas

O controle sobre os processos erosivos é uma necessidade constatada em vários segmentos da engenharia. A movimentação de terra necessária para a execução de taludes rodoviários, por exemplo, pode resultar em taludes de corte ou aterro vulneráveis à erosão superficial. Dentre as alternativas tecnológicas para controle de erosão a utilização de geossintéticos se apresenta como uma solução potencial. A referida aplicação encontra-se em amplo desenvolvimento em alguns países como, por exemplo, nos EUA. No Brasil, a especificação de geossintéticos para controle de erosão é limitada pela ausência de caracterização desses produtos e de normas nacionais, sendo a única fonte técnica de informação, os catálogos dos fabricantes. Neste contexto, o objetivo deste trabalho é construir um equipamento e desenvolver métodos de ensaio para caracterização e avaliação de geossintéticos utilizados no controle de erosão superficial, com base na ASTM D7101. Além de um simulador de chuvas, o equipamento é composto por uma bancada de testes formada por: rampa de escoamento, mesa de suporte e núcleos de solo. Utilizando a bancada construída, foram realizados ensaios para avaliar o funcionamento do equipamento e o desempenho de uma geomanta na redução da taxa de erosão superficial. Os ensaios foram realizados com intensidades de precipitação de 100 ± 4mm/h e 150 ± 4mm/h, durante 30 minutos, com intervalo de leitura de 5 minutos. Os resultados obtidos nos ensaios sem a presença da geomanta mostraram uma perda de solo acentuada durante as chuvas simuladas, com uma iv tendência de crescimento linear da perda de solo acumulada em função do tempo de ensaio. Nos ensaios realizados com a presença da geomanta observou-se a ação de proteção do geossintético com uma redução da ordem de 90% da perda de solo acumulada para todas as intensidades de chuvas utilizadas

A oficina como método de desenvolvimento de projeto do produto aplicado à atividade jangadeira de Ponta Negra Natal-RN

The jangadas (brazilian fishing rafts) are rudimentary artisanal vessels intrinsic to the Northeast of Brazil. The fishery with jangadas is highly representative in the State of Rio Grande do Norte, and source of income for many families in addition to being a strong cultural icon. Is still alive despite the difficulties, bringing the history and customs of the fishermen and their people. However, is in process of extinction due to factors such as the low profitability of the activity, tourism and urbanization. From the understanding of activity involving their context and circumstances, based on identified problems regarding the conditions of use of jangadas as the unpredictability, the risk of accidents, poor working conditions, hygiene and housing, this dissertation aims to: analyzing the design of the jangada on the beach of Ponta Negra and its relationship with the activity in relation to health, safety, productivity and environment, and from such assessments, together with the results achieved during the workshops of the project, proposing a cart to move the raft, adapted to the local fisherman activity studied. To perform analysis of jangadeira activity, we used a methodology based on ergonomic work analysis - AET (WISNER, 1987; GUÈRIN, 2001; VIDAL, 2008, SALDANHA, 2004 and Carvalho, 2005). For data collection were used observational and interaction methods as a conversational action, verbalizations, photographs and video. It is emphasized that the search for solutions appropriate to the jangadeira activity was possible through the collaboration of several people, not just an informational level and understanding during the work activity, but effectively contributing to the making decisions

Localização e planejamento de caminhos para um robô humanóide e um robô escravo com rodas

This work presents the localization and path planning systems for two robots: a non-instrumented humanoid and a slave wheeled robot. The localization of wheeled robot is made using odometry information and landmark detection. These informations are fused using a Extended Kalman Filter. The relative position of humanoid is acquired fusing (using another Kalman Filter) the wheeled robot pose with the characteristics of the landmark on the back of humanoid. Knowing the wheeled robot position and the humanoid relative position in relation to it, we acquired the absolute position of humanoid. The path planning system was developed to provide the cooperative movement of the two robots,incorporating the visibility restrictions of the robotic system

Multi-resolução com fóvea móvel para redução e abstração de dados em tempo real

We propose a new approach to reduction and abstraction of visual information for robotics vision applications. Basically, we propose to use a multi-resolution representation in combination with a moving fovea for reducing the amount of information from an image. We introduce the mathematical formalization of the moving fovea approach and mapping functions that help to use this model. Two indexes (resolution and cost) are proposed that can be useful to choose the proposed model variables. With this new theoretical approach, it is possible to apply several filters, to calculate disparity and to obtain motion analysis in real time (less than 33ms to process an image pair at a notebook AMD Turion Dual Core 2GHz). As the main result, most of time, the moving fovea allows the robot not to perform physical motion of its robotics devices to keep a possible region of interest visible in both images. We validate the proposed model with experimental results

Uma metodologia para redução de incertezas em sistema de medição de vazão de óleo e gás

The objective of this research is to discuss about the need for implementation of new alternatives for the implementation on the metrological control: on the findings of initial and subsequent measurements, the control procedures of measurement uncertainty applied in assessing the loss or remains found in handling operations of bulk liquids, when used turbine meters used in measuring the tax on the business of Petrobras, due to the current environment of legal metrology and scientific, both domestic and international. We aim, with these alternatives: standardizing the minimization of random and systematic errors, the estimate of the remaining errors, as well as the management control of metrological calibration procedures, control of measurement uncertainty, and contribute to the change in the form of performance of legal metrology and scientific disseminating new information to change management of metrological control, objectively focused on aspects of supervision in implementing these activities in the control of the uncertainties of measurement used in our processes in the fiscal measurement system Petrobras. Results are presented, information and comments on the influence of measurement uncertainty in the current results of the fiscal and transfer of custody. This will emphasize the need, among other things, improvement and expansion of metrological control monitored by setting a better meet demand, calibration equipment and measuring instruments for Petrobras. Finally, we intend to establish the need for improving the method of evaluation of the data meter applied to the current management control of measurement uncertainty by proposing a methodology for addressing the problem, as well as highlighting the expected results.

Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Construção e controle inteligente de um manipulador robótico com dois graus de liberdade

The present work shows the development and construction of a robot manipulator with two rotary joints and two degrees of freedom, driven by three-phase induction motors. The positions of the arm and base are made, for comparison, by a fuzzy controller and a PID controller implemented in LabVIEW® programming environment. The robot manipulator moves in an area equivalent to a quarter of a sphere. Experimental results have shown that the fuzzy controller has superior performance to PID controller when tracking single and multiple step trajectories, for the cases of load and no load

Sistema de teleoftalmologia para auxílio ao pré-diagnóstico de disfunções oculomotoras

The vision is one of the five senses of the human body and, in children is responsible for up to 80% of the perception of world around. Studies show that 50% of children with multiple disabilities have some visual impairment, and 4% of all children are diagnosed with strabismus. The strabismus is an eye disability associated with handling capacity of the eye, defined as any deviation from perfect ocular alignment. Besides of aesthetic aspect, the child may report blurred or double vision . Ophthalmological cases not diagnosed correctly are reasons for many school abandonments. The Ministry of Education of Brazil points to the visually impaired as a challenge to the educators of children, particularly in literacy process. The traditional eye examination for diagnosis of strabismus can be accomplished by inducing the eye movements through the doctor s instructions to the patient. This procedure can be played through the computer aided analysis of images captured on video. This paper presents a proposal for distributed system to assist health professionals in remote diagnosis of visual impairment associated with motor abilities of the eye, such as strabismus. It is hoped through this proposal to contribute improving the rates of school learning for children, allowing better diagnosis and, consequently, the student accompaniment