Um método para localização facial Invariante a rotação

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Técnicas visuais de localização e mapeamento simultâneos sem extração de primitivas geométricas da imagem

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments

Localização de um robô móvel usando odometria e marcos naturais

Several methods of mobile robot navigation request the mensuration of robot position and orientation in its workspace. In the wheeled mobile robot case, techniques based on odometry allow to determine the robot localization by the integration of incremental displacements of its wheels. However, this technique is subject to errors that accumulate with the distance traveled by the robot, making unfeasible its exclusive use. Other methods are based on the detection of natural or artificial landmarks present in the environment and whose location is known. This technique doesnt generate cumulative errors, but it can request a larger processing time than the methods based on odometry. Thus, many methods make use of both techniques, in such a way that the odometry errors are periodically corrected through mensurations obtained from landmarks. Accordding to this approach, this work proposes a hybrid localization system for wheeled mobile robots in indoor environments based on odometry and natural landmarks. The landmarks are straight lines de.ned by the junctions in environments floor, forming a bi-dimensional grid. The landmark detection from digital images is perfomed through the Hough transform. Heuristics are associated with that transform to allow its application in real time. To reduce the search time of landmarks, we propose to map odometry errors in an area of the captured image that possesses high probability of containing the sought mark

Controle fuzzy espacialmente diferenciado para um sistema de irrigação

Traditional irrigation projects do not locally determine the water availability in the soil. Then, irregular irrigation cycles may occur: some with insufficient amount that leads to water deficit, other with excessive watering that causes lack of oxygen in plants. Due to the nonlinear nature of this problem and the multivariable context of irrigation processes, fuzzy logic is suggested to replace commercial ON-OFF irrigation system with predefined timing. Other limitation of commercial solutions is that irrigation processes either consider the different watering needs throughout plant growth cycles or the climate changes. In order to fulfill location based agricultural needs, it is indicated to monitor environmental data using wireless sensors connected to an intelligent control system. This is more evident in applications as precision agriculture. This work presents the theoretical and experimental development of a fuzzy system to implement a spatially differentiated control of an irrigation system, based on soil moisture measurement with wireless sensor nodes. The control system architecture is modular: a fuzzy supervisor determines the soil moisture set point of each sensor node area (according to the soil-plant set) and another fuzzy system, embedded in the sensor node, does the local control and actuates in the irrigation system. The fuzzy control system was simulated with SIMULINK® programming tool and was experimentally built embedded in mobile device SunSPOTTM operating in ZigBee. Controller models were designed and evaluated in different combinations of input variables and inference rules base

Desenvolvimento radicular do algodoeiro em resposta à localização do fertilizante

A utilização de adubos pode-se tornar prejudicial caso o fertilizante não seja localizado adequadamente. No presente trabalho foram estudados o crescimento radicular do algodoeiro (Gossypium hirsutum), o crescimento inicial e a nutrição da planta, considerando o local de aplicação do fertilizante. O estudo foi realizado em vasos com parede de vidro. O fertilizante foi colocado a 5,0 cm abaixo e 0,0, 2,5, 5,0 e 10,0 cm ao lado das sementes. O crescimento radicular foi avaliado a cada três dias e, aos 21 dias após a emergência, as plantas foram coletadas, sendo avaliada a produção de matéria seca e a absorção de macronutrientes. A aplicação de fertilizante proporcionou crescimento inicial mais vigoroso do sistema radicular mesmo em solo previamente corrigido e adubado, o que é importante no estabelecimento da cultura. Somente houve bom crescimento inicial do sistema radicular e da parte aérea do algodoeiro quando o fertilizante foi aplicado de 5,0 a 10,0 cm ao lado e 5,0 cm abaixo das sementes.

Dificuldades de aprendizagem sobre conceitos de genética no ensino fundamental

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

A falta de ética e de espírito público na política brasileira

Unfortunately, the Brazilian politics has been characterized by lack of ethics. In a few exceptions, our representatives often behave in the exercise of power as if they were there to care for their own interests and not public affairs. Despite the dissatisfaction that the situation seems to trigger to society, the electorate does not get to transform their anger into effective gesture in order to withdraw from the public setting people who can not fulfill their mandate at the polls. Instead, the re-election of bad politicians has become commonplace fact. In this study, we proposed to discuss the matter in light of traditional philosophical theories, by selecting exponents of ethical thought from the Ancient Period to the Modern. We put special emphasis on behalf of amorality in Florentine thinker's ideas, to Machiavelli s political doctrine.

Praça: lugar de lazer: relações entre características ambientais e comportamentais na Praça Kalina Maia Natal RN

Nowadays, the urban chaos brings some problems to the citizens such as mental fatigue, irritability and lack of attention, emphasizing the need for open urban spaces, capable to contribute to the restoration of physical and mental balance of people. By the variety of alternative uses available, many of them related to the stimulus of entertainment activities, the squares have been identified as restorative environments, especially by its potential as a place of leisure. In this context, the objective of this dissertation is to understand the use of the square as leisure environment, by a square in Natal RN, establishing the relationship between environmental and behavioral characteristics. More specifically, I attempt to identify the major activities that happen there, the people that develop them and the spatial and temporal configurations of this occupation. Among the 290 squares available in the city, the Kalina Maia Square was selected, which is located in the district of Lagoa Nova. The case study chosen was based on criteria relating to scale, shape, location on the urban environment, variability of uses and conservation status. In the study were used behavioral mapping place-centered and people-centered, behavior trace analysis and 14 interviews. The results show that the square is used by people from different ages and social classes, subdivided into groups with specific days and times. These users are usually engaged in activities related to various types of leisure, with sports predominance. The relationship between spatial configuration and behavior shows that there is a sectorization of uses, being possible to identify the environmental characteristics that most favor observed activities, especially in relation to shading and presence of furniture and equipment. Moreover, throughout the day it appears that the affordances inherent to the various fixed objects on the square are decoded differently by various categories of users, by giving them insights that help the development of leisure activities that characterize each group

Dois testes de imageamento com GPR em problemas de controle ambiental em regiões tropicais: migração de dunas e localização de dutos de óleo enterrados

Because the penetration depth of Ground Penetrating Radar (GPR) signals is very limited in high conductive soils, the usefullness of this method in tropical regions is not yet completly known. The main objective of this researh is to test the usefullness of the method in Brazil. Two typical problems where GPR has been used in Europe and North American were choosed for this test: the first one is to characterize the internal structures of a sand body and the second problem is the localization of old buried pipes lines. The first test was done near the city of São Bento do Norte, in the northern coast of Rio Grande do Norte state, NE Brazil. In this region, there is a sand dune that is migrating very fast in the direction of adjacent settling areas. To characterize the internal structure of the dune and its relationship to the prevailing wind direction, as a preliminary step to understand the dune migration, GPR profiles using the 400 MHz frequency were performed in E-W, N-S, NE-SW, and SE-NW directions over the sand dune intersecting at the top of the dune. The practical resolution of the GPR data is around 30 cm; this was sufficient to distinguish individual foresets inside the dune. After applying the elevation correction to the data, we identified that dips of bedding structures are smallest for the N-S profile, which is perpendicular to the dominant wind direction, largest for the E-W profile, and intermediate for the SW-NE and SE-NW profiles. Foresets in the E-W profile dip with angles varying from 2 to 6 degrees. In the E-W profile, the water table and a horizontal truncation interface separating two generations of dunes were identified, as well as an abrupt directional change in the foreset patterns associated to a lateral contact between two dune generations, the older one extending to the west. The used high frequency of 400 Mhz does not allow a penetration deep enough to map completely these internal contacts. The second test was done near Estreito, a small town near Carnaúbais city, also in Rio Grande do Norte state. In this locality, there are several old pipe lines buried in area covered by plantations where digging should be minimized. Several GPR profiles using the 400 and 200 MHz frequency were performed trying to intercept perpendicularly the possible pipe lines. Because of the high conductivity of the soil, the raw original data can hardly be use to identify the pipe lines. However, after an adequate processing over the 200 MHz profiles, six pipe lines were identified. As a global result of the tests, GPR can be very usefull if the conductivity of the ground is low or, in the case of medium conductivities of the soils, if adequate processing is performed

As praças e a parceria público-privada em Natal/RN

Defined as public space or space open of common use, the square is a fundamental space for the urban life. Its function depends so much of the historical context, as of its location in the city, but general way, it is associated to leisure activities. In spite of its importance, many Brazilian squares are abandoned and degraded, some are used improperly, other they never left the paper and they are wastelands, most of the time, transformed in garbage deposits. The lack of appropriate equipments in the squares or to the precariousness of the same ones, such as banks, illumination and places for the different age groups; the lack of the "nature", in other words, of green; and the maintenance lack is some of the problems observed at the squares of Natal/RN. The maintenance is essential factor for the own existence of the square, so much in relation to the physical quality of the space, as in relation to the presence, or no, of users. In that work, we studied the squares of Natal/RN and the partnership public-private as form of shared administration of the public space. Our objective is to understand as it feels that partnership in the production and maintenance of squares in Natal/RN and which the benefits for the involved parts. For so much, we rescued the production of squares historically in the city of Natal/RN; We analyzed the legislation that regularizes the adoption of squares in some Brazilian municipal districts and the Bill of Adoption of Public Squares and of Sports and Green Areas in Natal/RN; and, last we analyzed three natalenses squares that had private investment in the construction, it reforms and/or maintenance. The "partnerships" involved exchange for land, environmental and social compensations, always assisting to the private interests, and nothing was registered or documented in the competent public organs. With that dissertation we wanted to contribute for the valorization of the squares and the relevance of the construction, renewal and maintenance of those public spaces in the city of Natal/RN, as life spaces, of encounters, of leisure

Prevalência e localização espacial dos casos de tracoma detectados em escolares de Botucatu, São Paulo - Brasil

OBJETIVO: Avaliar a prevalência de tracoma em escolares de Botucatu/SP-Brasil e a distribuição espacial dos casos. MÉTODOS: Foi realizado um estudo transversal, em crianças de 7-14 anos, que frequentavam as escolas do ensino fundamental de Botucatu/SP, em novembro/2005. O tamanho da amostra foi estimado em 2.092 crianças, considerando-se a prevalência histórica de 11,2%, aceitando-se erro de estimação de 10% e nível de confiança de 95%. A amostra foi probabilística, ponderada e acrescida de 20%, devido à possível ocorrência de perdas. Examinaram-se 2.692 crianças. O diagnóstico foi clínico, baseado na normatização da Organização Mundial da Saúde (OMS). Para avaliação dos dados espaciais, utilizou-se o programa CartaLinx (v1.2), sendo os setores de demanda escolar digitalizados de acordo com as divisões do planejamento da Secretaria de Educação. Os dados foram analisados estatisticamente, sendo a análise da estrutura espacial dos eventos calculadas usando o programa Geoda. RESULTADOS: A prevalência de tracoma nos escolares de Botucatu foi de 2,9%, tendo sido detectados casos de tracoma folicular. A análise exploratória espacial não permitiu rejeitar a hipótese nula de aleatoriedade (I= -0,45, p>0,05), não havendo setores de demanda significativos. A análise feita para os polígonos de Thiessen também mostrou que o padrão global foi aleatório (I= -0,07; p=0,49). Entretanto, os indicadores locais apontaram um agrupamento do tipo baixo-baixo para um polígono ao norte da área urbana. CONCLUSÃO: A prevalência de tracoma em escolares de Botucatu foi de 2,9%. A análise da distribuição espacial não revelou áreas de maior aglomeração de casos. Embora o padrão global da doença não reproduza as condições socioeconômicas da população, a prevalência mais baixa do tracoma foi encontrada em setores de menor vulnerabilidade social.

Interação entre fatores visuais e olfativo em localização de recursos pela mosca-varejeira, Chrysomya megacephala (Fabricius) (Diptera: Calliphoridae), em condições naturais

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Tromboflebite superficial: epidemiologia, fisiopatologia, diagnóstico e tratamento

A tromboflebite superficial de membros inferiores é doença de ocorrência comum, estando associada a diversas condições clínicas e cirúrgicas. Historicamente considerada doença benigna, devido à sua localização superficial e ao fácil diagnóstico, o tratamento foi conservador durante muito tempo, na maioria dos casos. Entretanto, relatos recentes de freqüências altas de complicações tromboembólicas associadas - 22 a 37% para trombose venosa profunda e até 33% para embolia pulmonar - alertaram para a necessidade de abordagens diagnósticas e terapêuticas mais amplas, visando diagnosticar e tratar essas possíveis complicações. A possibilidade da coexistência dessas e de outras desordens sistêmicas (colagenoses, neoplasias, trombofilias) interfere na avaliação e influencia a conduta terapêutica, que pode ser clínica, cirúrgica ou combinada. No entanto, devido à falta de ensaios clínicos controlados e às incertezas quanto a sua história natural, o diagnóstico e o tratamento da tromboflebite superficial continuam indefinidos. Neste trabalho, foi feita uma revisão da literatura analisando-se a epidemiologia, fisiopatologia e estado atual do diagnóstico e tratamento da tromboflebite superficial.

Sobre o limiar para a produção de pares e localização de partículas sem spin

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)