一类轮式机器人的重心控制

介绍了一类建筑领域等非结构环境下使用的由6个转动关节和4个直动关节组成的轮式机器人,其特殊的结构加上重心控制,能使机器人在不平整地面上行走而不倾倒。绘制了机器人重心控制原理,推导出使机器人不倾倒的重心控制运动方程,给出了实验用的部分软硬件原理框图,并通过实验验证了方案的可行性。

AUV自动跟踪水下管道的试验研究

本文介绍了ＡＵＶ 跟踪水下管道的一种方法，讨论了几种跟踪方式的优、缺点，给出了控制系统原理图和试验结果

晚中生代松辽盆地形成的大地构造环境及成因机制

Directed by the theory of "Collision Tectonic Facies", the tectonic setting and dynamic mechanism of the formation of Songliao basin in late Mesozoic (J_3-K_1) are studied in the present thesis with the methods of petrology, petrochemistry, geochemistry and isotopic geochronology. The research contents in this paper include as followings. Firstly, the general tectonic frame is made up of different tectonic facies formed from Mid-late Proterozoic to Mesozoic, which are Huabei plate, the Chengde-Siziwangqi melange (Pz_1), the Wenduermiao magmatic arc (Pz_1), the Hegenshan-Chaogenshan melange (Pz_2), the accretion arec (Pz_1-P), the Raohe-Hulin melange (Mz), the magmatic arc (Mz) and the pull-apart basin on the magmatic arc (Mz). Secondly, the volcanic rock assemblages of Songliao basin and its adjacent area in late Mesozoic is the typical calc-alkaline of the magmatic arc. The types of volcanic rocks in the study area include basalts, basaltic andesites, andesites, dacites and rhyolites, and basic-intermediate volcanic rocks have higher alkalinity. The volcanic rock series in this area is the high-K calc-alkaline series. Thirdly, the total REE of volcanic rocks in Songliao basin and its adjacent area is higher than that of the chondrite. The pattern of the REE normalized by the chondrite shows the characteristics similar to that of the typical island arcs or the active continental margins in the earth, that is enrichment of LREE and depletion of Eu. The spider-diagram of the trace element normalized by the primitive mantle also expresses the similar features to that of the typical island arcs or the active continental margins, it has distinctive valleies of Nb, Ta, Sr, P, and Ti, as well as the peaks of La, Ce, Th, U, and K. The incompatible elements show that the high field strength elements, such as Nb, Ta, Ti, and P, are depletion while the low field strength elements, such as K, U, Pb, and Ba, are enrichment. These features are similar to those of orogenic volcanic rocks and imply the formation of the volcanic rocks in this area is related to the subduction. The degrees of both the enrichment of the HFS elements and depletion of the LFS elements become more obvious from basic to acid volcanic rocks, which suggests crustal contamination enhances with the magmatic crystallization and fractionation. The concentration of the compatible elements is W-shape, and anomalies in Cr and Ni suggest there is the contamination during the magmatic crystallization and fractionation. Fourthly, the isotopic age data prove the volcanic activity in the Songliao basin and its adjacent area started in the early-middle Jurassic, and ended in the end of the early Cretaceous-the beginning of the Cretaceous. The volcanism summit was the late Jurassic-the early Cretaceous (100 - 150Ma). Finally, the tectonic setting of volcanism in the late Mesozoic was magmatic arc, which originated the subduction of Raohe-Hulin trench to the northwest Asian plate. The subduction began in the middle Jurassic, and the collision orogenesis between the Sikhote-Alin arc and Asian continent was completed in the end of the early Cretaceous-the beginning of the late Cretaceous. The results of above tectonic processes were finally to format Nadanhada orogenic belt symbolized by the Raohe-Hulin suture or melange belt. The violently oblique movement of the Izanagi plate toward Asian plate in the late Mesozoic was the dynamic mechanism of above tectonic processes. At the same tome, the left-lateral strike-slip shear caused by the oblique movement of the Izanagi plate produced a series of strike-slip faults in east Asian margin, and the large scale displacements of these strike-slip faults then produced the pull-apart basing or grabens on the magmatic arc. Conclusively, the tectonic setting during the formation of the grabens of Songliao basin in the late Mesozoic was magmatic arc, and its dynamic mechanism was the pull-apart. In a word, there was a good coupling relation among the oblique subduction of the oceanic plate, collisional orogene between island arc and continental plate, strike-slip shear of the faults and the formation of the grabens in Songliao basin and its adjacent area in late Mesozoic. These tectonic processes were completed in the unoin dynamic setting and mechanism as above description.

大别山岩石圈有效弹性厚度初步研究

As powerful tools to study the lithosphere dynamics, the effective elastic thickness (Te) as well as the envelope of yielding stress of lithosphere have been attracted great attention of geoscientists in the past thirty years. The oceanic lithosphere, contrary to the continental lithosphere, has more fruits for its simple structures and evolution process. In continent, the lithosphere commonly is complex and variable in the rheological, thermal structures, and has a complicated history. Therefore, the application of the effective elastic thickness in continent is still a subject to learn in a long time. Te, with the definition of the thickness of an elastic plate in theory flexured by the equal benging of the real stress in the lithosphere plate (Turcotte, 1982), marks the depth of transition between elastic and fluid behaviors of rocks subjected to stress exceeding 100 MPa over the geological timescales (McNutt, 1990). There are three methods often adapted: admittance or isostatic response function, coherence and forwarding. In principle, the models of Te consist of thermal-rheological, non-linear Maxwell, non-linear work hardening and rheological layered models. There is a tentative knowledge of Te that it is affected by the following factors: crustal thickness, crust-mantle decoupling, plate bending, boundary conditions of plate (end forces and bending moments), stress state, sedimentary layer, faulting effect, variation in the mountain belts' strike, foreland basin, inheritance of tectonic evolution, convection of mantle, seismic depth and lithosphere strength. In this thesis, the author introduces the geological sketch of the Dabie collisional orogenic belt and the Hefei Basin. The Dabie Mts. is famous for the ultra-high pressure metamorphism. The crustal materials subducted down to the depth of at least 100 km and exhumed. So that the front subjects arise such as the deeply subduction of continent, and the post-collisional crust-mantle interaction. In a geological journey at June of 1999, the author found the rarely variolitic basaltic andesite in the Dabie Mts. It occurs in Susong Group, near Zhifenghe Countryside, Susong County, Anhui Province. It is just to the south of the boundary between the high-grade Susong melange and the ultra-high grade South Dabie melange. It has a noticeable knobby or pitted appearance in the surface. The size of the varioles is about 1-4 mm. In hand-specimen and under microscope, there are distinct contacts between the varioles and the matrice. The mineralogy of the varioles is primarily radiate plagioclase, with little pyroxene, hornblende and quartz. The pyroxene, hornblende and quartz are in the interstices between plagioclase. The matrix is consisted of glass, and micro-crystals of chlorite, epidote and zoisite. It is clearly subjected and extensive alteration. The andesite has an uncommon chemical composition. The SiO_2 content is about 56.8%, TiO_2 = 0.9%, MgO = 6.4%, (Fe_2O_3)_(Total) = 6.7% ～ 7.6%, 100 Mg/(Mg+Fe) = 64.1 ～ 66.2. Mg# is significantly high. The andesite has higher abundances of large-lithophile trace elements (e.g. K, Ba, Sr, LREE), e.g. La/Nd = 5.56-6.07, low abundances of high-strength-field elements (HFSE, e.g. Ta, Nb, P, Ti), particularly Ta and Nb strongly depleted. These are consistent with the characteristics of subducted-related magmas (Pearcce, 1982; Sun and McDonaugh, 1989). In the spider diagram of trace elements, from Ce to right hand, the abundances of elements decrease quickly, showing a characteristic of the continental margins (Pearce, 1982). There has a strongly enrichment of light-rare-earth elements, with a significant diffraction of REEs (the mean value of (La/Yb)_N is 32.84). No Eu anomaly, but there are anomaly high (La/Yb)_N = 28.63-36.74, (La/Y)_N = 70.33 - 82.84. The elements Y and Yb depleted greatly, Y < 20 ppm, Y_N = 2.74-2.84, Yb_N = 2.18 - 2.35. From the La-(La/Sm) diagram, the andesite is derived from partial melting. But the epsilone value of Nd is -18.7 ～ -19.2, so that the material source may be the mantle materials affected by the crustal materials. The Nd model age is 1.9 Ga indicating that the basaltic andesite was resulted from the post-collisional crust-mantle interaction between the subducted Yangze carton and the mantle of Sino-Korea carton. To obtain the Te of the lithosphere beneath the Dabie Mts. and the Hefei Basin, the author applies the coherence method in this thesis. The author makes two topography-gravity profiles (profiles 7~(th) and 9~(th)) across the Dabie Mts. and the Hefei Basin, and calculates the auto-coherence, across coherence, power spectrum, across power spectrum of the topography and gravity of the two profiles. From the relationships between the coherence and the wave-number of profiles. From the relationships between the coherence and the wave-number of profiles 7~(th) and 9~(th), it is obtained that the characteristic wavelengths respectively are 157 km and 126 km. Consequently the values of effective elastic thickness are 6.5 km and 4.8 km, respectively. However, the Te values merely are the minimum value of the lithosphere because the coherencemethod in a relative small region will generate a systemic underestimation. Why there is a so low Te value? In order to check the strength of the lithosphere beneath the Dabie Mts., the authore tries to outline the yielding-stress envelope of the lithosphere. It is suggested that the elastic layers in the crust and upper mantle are 18 km and 35 km, respectively. Since there exist a low viscosity layer about 3-5 km thickness, so it is reasonable that the decoupling between the crust and mantle occurred. So the effective thickness of the lithosphere can be estimated from the two elastic layers. Te is about 34 km. This is the maximum strength of the lithosphere. We can make an approximately estimation about the strength of the lithosphere beneath the Dabie Mts.: Te is about 20-30 km. The author believes that the following factors should be responsible for the low Te value: (1) the Dabie Mts. has elevated strongly since K_3-J_1. The north part of the Dabie Mts. elevates faster than the south part today; (2) there occur large active striking faults in this area. And in the east, the huge Tan-Lu striking fault anyway tends to decrease the lithosphere strength; (3) the lithosphere beneath the Dabie Mts. is heter-homogeneous in spatio-temporal; (4) the study area just locates in the adjacent region between the eastern China where the lithosphere thickness is significantly reduced and the normal western China. These factors will decrease the lithosphere strength.

晚中新世以来中国北方风成沉积的磁性地层学和沉积学研究

The past two decades have witnessed an unprecedented growth of interest in the palaeoenvironmental significance of the Pleistocene loess deposits in northern China. However, it is only several years ago that the Tertiary red clay sequence underlying Pleistocene loess attracted much attention. One of the major advances in recent studies of eolian deposits on the Loess Plateau is the verification of the eolian origin for the Tertiary red clay sediments. The evidence of the eolian origin for the red clay is mainly from geochemical and sedimentological studies. However, sedimentological studies of the red clay deposits are still few compared with those of the overlying loess sediments. To date, the red clay sections located near Xifeng, Baoji, Lantian, Jiaxian, and Lingtai have been studied, with an emphasis on magnetostratigraphy. These sections have a basal age ranging from ～4.3 Ma to ～7.0 Ma. The thickness of the sections varies significantly, depending perhaps on the development of local geomorphological conditions and the drainage system. Although the stratigraphy of the red clay sections has been recorded in some detail, correlation of the red clay sequences has not yet been undertaken. Geological records (Sun J. et al., 1998) have shown that during glacial periods of the Quaternary the deserts in northem China were greatly expanded compared with modern desert distribution. During interglacial periods, desert areas contracted and retreated mostly to northwestern China because of the increase in inland penetration of monsoonal precipitation. According to pedogenic characteristics of the red clay deposits, the climatic conditions of the Loess Plateau is warmer and wetter generally in the Neogene than in the late Pleistocene. Panicle analyses show that grain size distribution of the red clay sequence is similar to that of the paleosols in the Pleistocene loess record, thus implying a relatively remote provenance of the red clay materials. However, the quantitative or semiquantitative estimates of the distance from the source region to the Loess Plateau during the red clay development remains to be investigated. In this study, magnetostratigraphic and sedimentological studies are conducted at two thick red clay sequences-Jingchuan and Lingtai section. The objectives of these studies are focused on further sedimentological evidence for the eolian origin of the red clay, correlation of red clay sequences, provenance of the red clay, and the palaeoclimate reconstruction in the Neogene. Paleomagnetic studies show that the Jingchuan red clay has a basal age of 8.0 Ma, which is 1 million years older than the previously studied Lingtai section. The Lingtai red clay sequence was divided into five units on the basis of pedogenica characteristics (Ding et al., 1999a). The Jingchuan red clay sequence, however, can be lithologically divided into six units according to field observations. The upper five units of the Jingchuan red clay can generally correlate well with the five units of the Lingtai red clay. Comparison of magnetic susceptibility and color reflectance records of four red clay sections suggests that the Lingtai red clay sequence can be the type-section of the Neogene red clay deposits in northern China. Pleistocene loess and modem dust deposits have a unimodal grain-size distribution. The red clay sediments at Jingchuan and Lingtai also have a unimodal grain-size distribution especially similar to the paleosols in the Pleistocene loess record. Sedimentological studies of a north-south transect of loess deposits above S2 on the Loess Plateau show that loess deposits had distinct temporal and spatial sedimentary differentiation. The characteristics of such sedimentary differentiation can be well presented in a triangular diagram of normalized median grain size, normalized skewness, and normalized kurtosis. The triangular diagrams of the red clay-loess sequence at Lingtai and Jingchuan indicate that loess-paleosol-red clay may be transported and sorted by the same agent wind, thus extending the eolian record in the Loess Plateau from 2.6 Ma back to about 8.0 Ma. It has been recognized that during the last glacial maximum (LGM) the deserts in northern China had a distribution similar to the present, whereas during the Holocene Optimum the deserts retreated to the area west of the Helan Mountains. Advance-retreat cycles of the deserts will lead to changes in the distance of the Loess Plateau to the dust source regions, thereby controlling changes in grain size of the loess deposited in a specific site. To observe spatial changes in sedimentological characteristics of loess during the last glacial-interglacial cycle, the texture of loess was measured along the north-south transect of the Loess Plateau. Since the southern margin of the Mu Us desert during the LGM is already known, several models of grain size parameters versus the minimum distance from the source region to depositional areas were developed. According to these semiquantitative models, the minimum distance from the source region to Lingtai and Jingchuan areas is about 600 km during the Neogene. Therefore the estimated provenance of the Tertiary red clay deposits is the areas now occupied by the Badain Jaran desert and arid regions west of it. The ratio of the free iron to total iron concentration attests to being a good proxy indicator for the summer monsoon evolution. The Lingtai Fe_20_3 ratio record shows high values over three time intervals: 4.8-4.1 Ma, 3.4-2.6 Ma, and during the interglacial periods of the past 0.5 Ma. The increase in summer monsoon intensity over the three intervals also coincides with the well-developed soil characteristics. It is therefore concluded that the East-Asia summer monsoon has experienced a non-linear evolution since the late Miocene. In general, the East Asia summer monsoon was stronger in Neogene than in Quaternary and the strongest East Asia summer monsoon may occur between 4.1 and 4.8 Ma. The relatively small ice volume and high global temperature may be responsible for the strong summer monsoon during the early Pliocene.

A experiência de vida e as expectativas futuras de famílias beneficiárias de RSI

Dissertação de Mestrado apresentada à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Psicologia, especialização em Psicologia Clínica e da Saúde.

Possible Exotic Phases in the One-Dimensional Extended Hubbard Model

We investigate numerically the ground state phase diagram of the one-dimensional extended Hubbard model, including an on--site interaction U and a nearest--neighbor interaction V. We focus on the ground state phases of the model in the V >> U region, where previous studies have suggested the possibility of dominant superconducting pairing fluctuations before the system phase separates at a critical value V=V_PS. Using quantum Monte Carlo methods on lattices much larger than in previous Lanczos diagonalization studies, we determine the boundary of phase separation, the Luttinger Liquid correlation exponent K_rho, and other correlation functions in this region. We find that phase separation occurs for V significantly smaller than previously reported. In addition, for negative U, we find that a uniform state re-enters from phase separation as the electron density is increased towards half filling. For V < V_PS, our results show that superconducting fluctuations are not dominant. The system behaves asymptotically as a Luttinger Liquid with K_rho < 1, but we also find strong low-energy (but gapped) charge-density fluctuations at a momentum not expected for a standard Luttinger Liquid.

Newly resolved relationships in an early land plant lineage: Bryophyta class Sphagnopsida (peat mosses).

UNLABELLED: PREMISE OF THE STUDY: The Sphagnopsida, an early-diverging lineage of mosses (phylum Bryophyta), are morphologically and ecologically unique and have profound impacts on global climate. The Sphagnopsida are currently classified in two genera, Sphagnum (peat mosses) with some 350-500 species and Ambuchanania with one species. An analysis of phylogenetic relationships among species and genera in the Sphagnopsida were conducted to resolve major lineages and relationships among species within the Sphagnopsida. • METHODS: Phylogenetic analyses of nucleotide sequences from the nuclear, plastid, and mitochondrial genomes (11 704 nucleotides total) were conducted and analyzed using maximum likelihood and Bayesian inference employing seven different substitution models of varying complexity. • KEY RESULTS: Phylogenetic analyses resolved three lineages within the Sphagnopsida: (1) Sphagnum sericeum, (2) S. inretortum plus Ambuchanania leucobryoides, and (3) all remaining species of Sphagnum. Sister group relationships among these three clades could not be resolved, but the phylogenetic results indicate that the highly divergent morphology of A. leucobryoides is derived within the Sphagnopsida rather than plesiomorphic. A new classification is proposed for class Sphagnopsida, with one order (Sphagnales), three families, and four genera. • CONCLUSIONS: The Sphagnopsida are an old lineage within the phylum Bryophyta, but the extant species of Sphagnum represent a relatively recent radiation. It is likely that additional species critical to understanding the evolution of peat mosses await discovery, especially in the southern hemisphere.

Finite groups and geometries: a view on the present state and on the future

The model: groups of Lie-Chevalley type and buildingsThis paper is not the presentation of a completed theory but rather a report on a search progressing as in the natural sciences in order to better understand the relationship between groups and incidence geometry, in some future sought-after theory Τ. The search is based on assumptions and on wishes some of which are time-dependent, variations being forced, in particular, by the search itself.A major historical reference for this subject is, needless to say, Klein's Erlangen Programme. Klein's views were raised to a powerful theory thanks to the geometric interpretation of the simple Lie groups due to Tits (see for instance), particularly his theory of buildings and of groups with a BN-pair (or Tits systems). Let us briefly recall some striking features of this.Let G be a group of Lie-Chevalley type of rank r, denned over GF(q), q = pn, p prime. Let Xr denote the Dynkin diagram of G. To these data corresponds a unique thick building B(G) of rank r over the Coxeter diagram Xr (assuming we forget arrows provided by the Dynkin diagram). It turns out that B(G) can be constructed in a uniform way for all G, from a fixed p-Sylow subgroup U of G, its normalizer NG(U) and the r maximal subgroups of G containing NG(U).

La otra Ley de Foucault. Una lectura crítica

Few studies have addressed the relationship between law and power in the works of Michel Foucault. Some authors emphasize that law performs a completely secondary role in the diagram of power of modernity, while others argue that there is a close link between power relations and the law. Foucault's Law by Golden and Fitzpatrick aims to renew these discussions and reconstruct another law of Foucault. In this paper I make a critical reading of this work, highlighting the faulty presentation that the authors carried out of the works of Foucault.

Bilinear-biquadratic spin-1 chain undergoing quadratic Zeeman effect

The Heisenberg model for spin-1 bosons in one dimension presents many different quantum phases, including the famous topological Haldane phase. Here we study the robustness of such phases in front of a SU(2) symmetry-breaking field as well as the emergence of unique phases. Previous studies have analyzed the effect of such uniaxial anisotropy in some restricted relevant points of the phase diagram. Here we extend those studies and present the complete phase diagram of the spin-1 chain with uniaxial anisotropy. To this aim, we employ the density-matrix renormalization group together with analytical approaches. The complete phase diagram can be realized using ultracold spinor gases in the Mott insulator regime under a quadratic Zeeman effect.

Citizenship Attributes as the Basis for Intergroup Differentiation:Implicit and Explicit Intergroup Evaluations

Recent research (e.g. Barnes, Auburn & Lee, 2004) suggests that citizenship opportunities and resources may be afforded or denied to individuals according to their group memberships. We consider how the generic processes of intergroup differentiation by which groups are socially devalued and excluded can reflect divergent conceptualizations of citizenship among different groups. As part of a wider investigation of social exclusion, a combination of methods was used to investigate the relative intergroup perceptions of residents from more and less affluent areas in Limerick city, Ireland. Participants (n=214) completed the implicit association test and rated a fictional character on a series of citizenship-relevant dimensions. All participants displayed negative
implicit associations with designated disadvantaged areas in Limerick. The results of the explicit prejudice assessment illustrated that these negative associations are matched by a lower overall attribution of positive characteristics to residents from these areas relative to residents from a more affluent area. On examination of each group’s relative rating of traits, residents from less affluent
areas appear doubly disadvantaged as they are devalued in terms of both outgroup and ingroup understandings of citizenship attributes.

Where the Lake Meets the Sea: Strong Reproductive Isolation Is Associated with Adaptive Divergence between Lake Resident and Anadromous Three-Spined Sticklebacks

Contact zones between divergent forms of the same species are often characterised by high levels of phenotypic diversity over small geographic distances. What processes are involved in generating such high phenotypic diversity? One possibility is that introgression and recombination between divergent forms in contact zones results in greater phenotypic and genetic polymorphism. Alternatively, strong reproductive isolation between forms may maintain distinct phenotypes, preventing homogenisation by gene flow. Contact zones between divergent freshwater-resident and anadromous stickleback (Gasterosteus aculeatus L.) forms are numerous and common throughout the species distribution, offering an opportunity to examine these contrasting hypotheses in greater detail. This study reports on an interesting new contact zone located in a tidally influenced lake catchment in western Ireland, characterised by high polymorphism for lateral plate phenotypes. Using neutral and QTL-linked microsatellite markers, we tested whether the high diversity observed in this contact zone arose as a result of introgression or reproductive isolation between divergent forms: we found strong support for the latter hypothesis. Three phenotypic and genetic clusters were identified, consistent with two divergent resident forms and a distinct anadromous completely plated population that migrates in and out of the system. Given the strong neutral differentiation detected between all three morphotypes (mean FST = 0.12), we hypothesised that divergent selection between forms maintains reproductive isolation. We found a correlation between neutral genetic and adaptive genetic differentiation that support this. While strong associations between QTL linked markers and phenotypes were also observed in this wild population, our results support the suggestion that such associations may be more complex in some Atlantic populations compared to those in the Pacific. These findings provide an important foundation for future work investigating the dynamics of gene flow and adaptive divergence in this newly discovered stickleback contact zone.

Lancefield group C and G streptococci in human infection : molecular typing, virulence and antimicrobial susceptibility

Tese de doutoramento, Ciências e Tecnologias da Saúde (Microbiologia), Universidade de Lisboa, Faculdade de Medicina, 2014

Estudo da influência da fragmentação no custo da produção de agregados graníticos

Hoje em dia algumas das principais preocupações que se tem na exploração a céu aberto, são a diminuição de custos e a máxima rentabilidade dos equipamentos. São dois aspectos que estão interligados uma vez que a rentabilização dos equipamentos tem como resultado directo a diminuição dos custos de todas as operações inerentes à exploração a céu aberto e, consequentemente, a diminuição dos custos finais de produção. É por essa lógica de pensamento que se procurou perceber e compreender o funcionamento e a rentabilidade dos equipamentos em função dos diferentes estados de fracturação do maciço rochoso. Este estudo foi realizado numa pedreira a norte de Portugal e complementa outros estudos já realizados, com o objectivo de definir características do diagrama de fogo que assegurem a maior rentabilidade da referida exploração. O estudo baseia-se em determinar os rendimentos da pá carregadora calculando os tempos de ciclo, isto é, o tempo que a pá demorou a carregar, a movimentar e a descarregar o material desmontado dos vários rebentamentos. Calculou-se o rendimento do martelo demolidor na fragmentação de grandes blocos, que não entrariam directamente no britador primário, o qual também foi alvo de estudo, nomeadamente, no que diz respeito aos tempos de encravamento e de britagem, onde se tentou correlacionar esses tempos com os vários desmontes e estimou-se o consumo de energia do britador primário utilizando a equação de Bond. Por fim, realizou-se um estudo comparativo do consumo energético entre as várias fases da exploração a céu aberto. Foram realizados levantamentos geológico-geotécnicos de superfícies de descontinuidades recorrendo à técnica de amostragem linear nas superfícies do maciço rochoso para perceber o tipo de fragmentação e orientação do mesmo.