Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Um lugar para chamar de "meu" :estudo sobre relação afetiva com o lugar de moradores da praia de Pipa-RN

The chores and the daily physical and social demands make us feel more and more the need to be in a familiar and restoring environment, with which we frequently establish emotional bonds. The interaction with places for resting and leisure, exemplified in the Environmental Psychology literature as recreational and home environments, allow us to exercise our potentials and to strengthen our (personal and collective) identity. Bearing this in mind, this dissertation has as aim to study the relation of affection between the place and the inhabitants of the community of Pipa-RN, which has turned from fishermen s village into tourist destination, bringing with it many changes to the local population. To accomplish that, we made use of behavioral observations, interviews, and graphic and photographic documentation with 30 subjects selected through a network of indications, attending to the criterion loving Pipa . After analysis and systematization of the answers, we identified three super-categories: 1) Love, characterized by the strong representation that an environment has upon an individual without, necessarily, there being an affective link, allowing it to be nurtured from a distance and dissociated from the desire to be present; 2) Attachment, demonstrated by the difficulty in leaving the place, a bond that can be mediated by personal financial investments or expectation of future benefits; 3) Affiliation, which refers to the feeling of belonging to the place and its community, sharing its history, culture, habits, etc., independent from the place of birth. These super-categories are not exclusive, on the contrary, they can form combinations which we denominate as situations, that could vary from 01 (individual involved with none of the three) to 07 (individual involved with the three); there wasn t the combination between Attachment and Affiliation. These results showed that within the framework of relations of affection with the place, there are countless possibilities of interaction individual-environment, determined by the physicalenvironmental characteristics and by the assessment that each individual makes of it. With this small contribution to the theme, we hope to enlighten the perspectives for future research, especially involving the relation of affection for places and the adoption of proenvironmental conducts, as a question of preservation of the ecosystems and of the quality of life of the inhabitants

Mudanças no Código Florestal e seu impacto na ecologia e diversidade dos mamíferos no Brasil

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

Efeitos do estado e especificidade do treinamento aeróbio na relação %VO2max versus %FCmax durante o ciclismo

OBJETIVO: Determinar os efeitos do estado e especificidade de treinamento aeróbio na relação entre o percentual do consumo máximo de oxigênio (%VO2max) e o percentual da frequência cardíaca máxima (%FCmax) durante o exercício incremental realizado no cicloergômetro. MÉTODOS: Sete corredores, 9 ciclistas, 11 triatletas e 12 sedentários, todos do sexo masculino e aparentemente saudáveis, foram submetidos a um teste incremental até a exaustão no cicloergômetro. Regressões lineares entre %VO2max e %FCmax foram determinadas para cada indivíduo. Com base nessas regressões, foram calculados %FCmax correspondentes a determinados %VO2max (50, 60, 70, 80 e 90%) de cada participante. RESULTADOS: Não foram encontradas diferenças significantes entre todos os grupos nos %FCmax para cada um dos %VO2max avaliados. Analisando-se os voluntários como um único grupo, as médias dos %FCmax correspondentes a 50, 60, 70, 80 e 90% %VO2max foram 67, 73, 80, 87, e 93%, respectivamente. CONCLUSÃO: Nos grupos analisados, a relação entre o %VO2max e %FCmax durante o exercício incremental no ciclismo não é dependente do estado e especificidade do treinamento aeróbio.

Máxima fase estável de lactato é ergômetro-dependente em modelo experimental utilizando ratos

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

Diversity of social wasps (Hymenoptera, Vespidae, Polistinae) in three fragments of semideciduous seasonal forest in the northwest of São Paulo State, Brazil

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

Birds of a habitat spectrum in the Itirapina Savanna, São Paulo, Brazil (1982-2003)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Questioning the implementation of habitat corridors: a case study in interior São Paulo using ants as bioindicators

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

Fenologia reprodutiva e disponibilidade de frutos de espécies arbóreas em mata ciliar no rio Formoso, Mato Grosso do Sul

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

A multimetric index based on fish fauna for the evaluation of the biotic integrity of streams at a mesohabitat scale

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

Combinação linear ponderada na definição de áreas prioritárias à conectividade entre fragmentos florestais em ambiente SIG

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Armonía y discordancia entre los asentamientos humanos y el medio ambiente en América Central y el Caribe

Incluye Bibliografía

Cambios estructurales en las actividades agropecuarias: de lo primario a las cadenas globales de valor

Incluye Bibliografía

Incidencia de las reformas estructurales sobre la agricultura boliviana

Incluye Bibliografía

Análisis del régimen de concesiones viales en Argentina, 1990-2008

Incluye Bibliografía