296 resultados para Navegação


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A Ilha da Madeira, rodeada pelo Oceano Atlântico, foi sempre um ponto estratégico de passagem de barcos, de diversos países, pelos mais variados motivos. O contacto com os tripulantes originou um crescente desejo de emigrar, de conhecer o que estava para além do vasto mar. Começaram a circular notícias sobre as facilidades de emprego noutros países que se estavam a desenvolver, como Brasil, Curaçau, África do Sul, Venezuela, bem como noutras partes do mundo. O trabalho na Ilha era árduo. O madeirense, cansado de trabalhar em terrenos de difícil cultivo e de transportar mercadoria às costas por caminhos íngremes e perigosos, deixou-se incentivar por estas notícias, que eram realçadas pelos engajadores. O ilhéu começou a olhar para a emigração como uma possibilidade de melhorar as condições de vida e de trabalho. As novidades do sucesso de outros conterrâneos na Venezuela motivaram os madeirenses. Depois de obterem a documentação necessária, nomeadamente a autorização consular (permisso) e o termo de responsabilidade ou carta de chamada, partiam para este país com o desejo de lucro. Começando, muitas vezes, a trabalhar por conta de outrem, os madeirenses, por serem empreendedores, rapidamente tornavam-se comerciantes. Dominaram e enriqueceram nas mais diversas actividades: padarias, snacks de sandes e sumos (fuentes de soda), mercearias (abastos), restaurantes, construção civil, agências de viagens, transportes colectivos, entre outras. A par da documentação histórica, há que considerar o tratamento literário da emigração para a Venezuela: a criação da imagem do país de acolhimento, do “outro”, o venezuelano, e do “eu” emigrante, o português, que se depara com uma situação existencial de diferença. A literatura recorre a aspectos relacionados com o ambiente sócio-cultural e com a época em questão: o casamento por procuração, a partida do homem que deixa a noiva ou a mulher em terra natal, as remessas enviadas pelos emigrados, a viagem no transatlântico Santa Maria, um dos mais prestigiosos navios da Companhia Colonial de Navegação, entre outros assuntos. Em suma, a literatura funciona como um espelho da realidade da história da emigração.

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In the last decades, the oil, gas and petrochemical industries have registered a series of huge accidents. Influenced by this context, companies have felt the necessity of engaging themselves in processes to protect the external environment, which can be understood as an ecological concern. In the particular case of the nuclear industry, sustainable education and training, which depend too much on the quality and applicability of the knowledge base, have been considered key points on the safely application of this energy source. As a consequence, this research was motivated by the use of the ontology concept as a tool to improve the knowledge management in a refinery, through the representation of a fuel gas sweetening plant, mixing many pieces of information associated with its normal operation mode. In terms of methodology, this research can be classified as an applied and descriptive research, where many pieces of information were analysed, classified and interpreted to create the ontology of a real plant. The DEA plant modeling was performed according to its process flow diagram, piping and instrumentation diagrams, descriptive documents of its normal operation mode, and the list of all the alarms associated to the instruments, which were complemented by a non-structured interview with a specialist in that plant operation. The ontology was verified by comparing its descriptive diagrams with the original plant documents and discussing with other members of the researchers group. All the concepts applied in this research can be expanded to represent other plants in the same refinery or even in other kind of industry. An ontology can be considered a knowledge base that, because of its formal representation nature, can be applied as one of the elements to develop tools to navigate through the plant, simulate its behavior, diagnose faults, among other possibilities

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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

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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

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This research focuses on the fishery activity, aligned to knowledge of past generations, and the transformation to those who depend on this activity for their livelihood, at the seashore community of Pitangui in Extremoz municipality, which lies 40 km away from Natal, seat of the state of Rio Grande do Norte. The intense modernization which has taking place during the last few years may be considered the result of a number of economic, social and cultural factors, as the introduction of new fishery technology. On the other hand, the present study seeks to show how this changing process happened, and to what extent those affected understand and evaluate this transformation. The methodology to carry out the ethnographic work was mainly adopted by qualitative methods and techniques - by participant observation, oral history, photography and the audiovisual records besides reference to data extracted under quantitative methods, as an important instrument of analyses. This induces a conclusion that the transformation of the community is a consequence of the globalized market, though still tied up to specific local relations. The emerging results are: the use of new fishery technology, and new ways of orientation and navigation; the opening to new jobs and occupational activity, the re-order of space s appropriation; changing sociability, larger access to consumer goods, besides bringing on some new conflicts land appropriation and the fishery and the protection of the environment. All this comprehended as a result of the movement of the local relations participating in the global spaces

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A caracterização da variabilidade espacial dos atributos do solo é indispensável para subsidiar práticas agrícolas de maneira sustentável. A utilização da geoestatística para caracterizar a variabilidade espacial desses atributos, como a resistência mecânica do solo à penetração (RP) e a umidade gravimétrica do solo (UG), é, hoje, prática usual na agricultura de precisão. O resultado da análise geoestatística é dependente da densidade amostral e de outros fatores, como o método de georreferencimento utilizado. Desta forma, o presente trabalho teve como objetivo comparar dois métodos de georreferenciamento para a caracterização da variabilidade espacial da RP e da UG, bem como a correlação espacial dessas variáveis. Foi implantada uma malha amostral de 60 pontos, espaçados em 20 m. Para as medições da RP, utilizou-se de penetrógrafo eletrônico e, para a determinação da UG, utilizou-se de trado holandês (profundidade de 0,0-0,1 m). As amostras foram georreferenciadas, utilizando-se do método de Posicionamento por Ponto Simples (PPS), com de (retirar) receptor GPS de navegação, e Posicionamento Relativo Semicinemático, com receptor GPS geodésico L1. Os resultados indicaram que o georreferenciamento realizado pelo PPS não interferiu na caracterização da variabilidade espacial da RP e da UG, assim como na estrutura espacial da relação dos atributos.

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This essay presents and discusses knowledge obtained through tradition taken as knowledge built along generations, transmitted from mouth to mouth and everyday experiences result of a non-scientific knowledge based on observation and hints given by more experient generations. The referred icon used to develop such a discussion in this essay is fishing. We point out the knoledge which enables the fishermen, among other dominions, to: find out the fish and other animals feeding habits; find their way through by astral influence during night navigation and learn the tide flowing based on the moon cycle. On what comes to fishing knowledge, the research was organized based on a bibliographic study about several ways of fishing in the Northern, Northeastern, Southern and Southestern regions of Brazil. In the Northern and Northeastern regions, the field research was also focused. Having interviews, photographs and films as reference, this part of the research was divided into two parts: the first one situated in the Amazonian Region in na area called Baixo-Tocantins, in the State of Pará where we worked with fishermen in the small towns of Abaetetuba and Igarapé-Miri; and the second one was held in the Northeastern region of Brazil, in the State of Rio Grande do Norte, where we worked with fishermen on the Piató Lake, in the small city of Assú. We tarted discussing based on a descriptive study of the fishing techniques used, aiming to identify them as an ordered activity, differed and classified by knoledge obtained through the years, based on the relationship between man and Nature. Creativity, stimulated by human curiosity, is also discussed and shown as a result of various fishing journeys. The myths, as a component of the fishing world, especially those which describe the relationship between men and waters, also have an outstanding place. At last, two fishing techniques belonging to the research field reference, are also described and analysed under the focus of construction and systematization of the knowledge related to fishing. The theory approach is based on reflection upon the tradition knowledge discussed by Almeida (2001), Balandier (1997), Câmara Cascudo (1957, 2000, 2002) and Claude Lévi-Strauss (1976, 1987 and 1991). The essay is an exercise of knowledge production which defends the "relink" of knowledge, as Edgar Morin suggests when dealing with the sciences of complexity

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Trigonometry, branch of mathematics related to the study of triangles, developed from practical needs, especially relating to astronomy, Surveying and Navigation. Johann Müller, the Regiomontanus (1436-1476) mathematician and astronomer of the fifteenth century played an important role in the development of this science. His work titled De Triangulis Omnimodis Libri Quinque written around 1464, and published posthumously in 1533, presents the first systematic exposure of European plane and spherical trigonometry, a treatment independent of astronomy. In this study we present a description, translation and analysis of some aspects of this important work in the history of trigonometry. Therefore, the translation was performed using a version of the book Regiomontanus on Triangles of Barnabas Hughes, 1967. In it you will find the original work in Latin and an English translation. For this study, we use for most of our translation in Portuguese, the English version, but some doubt utterance, statement and figures were made by the original Latin. In this work, we can see that trigonometry is considered as a branch of mathematics which is subordinated to geometry, that is, toward the study of triangles. Regiomontanus provides a large number of theorems as the original trigonometric formula for the area of a triangle. Use algebra to solve geometric problems and mainly shows the first practical theorem for the law of cosines in spherical trigonometry. Thus, this study shows some of the development of the trigonometry in the fifteenth century, especially with regard to concepts such as sine and cosine (sine reverse), the work discussed above, is of paramount importance for the research in the history of mathematics more specifically in the area of historical analysis and critique of literary sources or studying the work of a particular mathematician

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This Thesis deals with the usability in some sites of hotels placed in a specific region of Brazil. Usability is the property of a site that shows how it allows the user get all information available without a large effort and in a clear and objective way. A questionnaire was used as a tool to value, by the common user perspective, navigation, on line reservation simulation, appreciation of the available content and, by this way, an easiness in the interaction site-users. As a result, it is possible to say that, considering all material analyzed, those sites that present usability criterion are more interactive and dynamic, demonstrating an easy navigation in a users view. By other side, it was possible to note that, about heuristics used in the search, the most of the websites demonstrated a deficiency in questions as firmness, user control and how to avoid mistakes. There was still valued as deficiency by the most of users in websites the general characters and the view of user. It was presented, seeing general characters, that a big part of the websites needs tools that can make user rapidly find what looks for. It was yet possible to see that users don't believe in secret when websites ask them some information. This is a point that needs to be appreciated because it causes some insecurity during navigation

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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

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This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which is a discrete mapping approach, where each cell stores the occupancy probability, the height of the terrain at current place in the environment and the variance of this height. This 2.5-dimensional representation allows that a mobile robot to know whether a place in the environment is occupied by an obstacle and the height of this obstacle, thus, it can decide if is possible to traverse the obstacle. Sensorial informations necessary to construct the map is provided by a stereo vision system, which has been modeled with a robust probabilistic approach, considering the noise present in the stereo processing. The resulting maps favors the execution of tasks like decision making in the autonomous navigation, exploration, localization and path planning. Experiments carried out with a real mobile robots demonstrates that this proposed approach yields useful maps for robot autonomous navigation

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This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment

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O presente trabalho foi realizado com o objetivo de estudar a coleta e o descarte de plantas aquáticas em diferentes locais e infestações do sistema Tietê/Paraná, no reservatório de Jupiá. A operação foi realizada com auxílio de instrumentação instalada em uma colhedora de plantas aquáticas, com sistema de GPS dotado de sinal de correção diferencial. Os tempos gastos para carregar e descarregar a colhedora foram determinados por cronometragem, e a distância do ponto final de coleta ao ponto de descarte e o tempo de deslocamento, por cronometragem e uso de GPS convencional. em algumas coletas foram demarcados polígonos, instruindo-se o operador a trabalhar exclusivamente na área correspondente. A interpretação dos resultados permitiu determinar a participação do tempo de coleta em relação ao tempo total de operação, indicando um valor significativo do ponto de vista operacional (>70%). Considerando o descarte em áreas infestadas com taboa, o deslocamento total médio foi de apenas 383 m, com gasto médio de 200,96 s. Os valores de capacidade operacional da colhedora oscilaram entre 0,23 e 1,60 ha h-1, indicando valor médio de 4,48 ha dia-1. A maior limitação à capacidade operacional associou-se à velocidade média de deslocamento, com maior agravante em áreas com altas infestações ou profundas. Considerando-se o deslocamento da colhedora, houve grande dificuldade de orientação em condições normais de operação, inviabilizando a manutenção de espaçamentos uniformes entre as faixas de coleta e sobrepondo as passagens. Conclui-se que a avaliação operacional indicou a impossibilidade de operar a colhedora sem o auxílio de um sistema de navegação que permita orientar a sua movimentação nas áreas de controle.

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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

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O objetivo deste estudo foi comparar cotas de vértices de uma poligonal, considerando dados coletados por três diferentes receptores GPS, usando como testemunha uma estação total. Os dados foram obtidos em uma poligonal fechada, sendo posteriormente tratados pelo software Topograph. As cotas obtidas pelos três receptores foram confrontadas com aquelas calculadas a partir do levantamento com a estação total, mediante a aplicação do teste t, constatando-se que as mesmas foram satisfatórias para o equipamento GPS Trimble® 4600 LS. Para o equipamento GPS Trimble® modelo PRO XR, as cotas não foram totalmente satisfatórias, mas possíveis de serem consideradas em anteprojetos. Para o equipamento GPS Garmin® de navegação 12 XS, as cotas mostraram-se inaceitáveis para a finalidade estudada.