S-Educ: Um Simulador de Ambiente de Robótica Educacional em Plataforma Virtual

We propose a robotics simulation platform, named S-Educ, developed specifically for application in educational robotics, which can be used as an alternative or in association with robotics kits in classes involving the use of robotics. In the usually known approach, educational robotics uses robotics kits for classes which generally include interdisciplinary themes. The idea of this work is not to replace these kits, but to use the developed simulator as an alternative, where, for some reason, the traditional kits cannot be used, or even to use the platform in association with these kits. To develop the simulator, initially, we conducted research in the literature on the use of robotic simulators and robotic kits, facing the education sector, from which it was possible to define a set of features considered important for creating such a tool. Then, on the software development phase, the simulator S-Educ was implemented, taking into account the requirements and features defined in the design phase. Finally, to validate the platform, several tests were conducted with teachers, students and lay adults, in which it was used the simulator S-Educ, to evaluate its use in educational robotics classes. The results show that robotic simulator allows a reduction of financial costs, facilitate testing and reduce robot damage inherent to its use, in addition to other advantages. Furthermore, as a contribution to the community, the proposed tool can be used to increase adhesion of Brazilian schools to the methodologies of educational robotics or to robotics competitions

Controle de posição de uma plataforma plana para captação de radiação solar

This study aims at the design, development and performance evaluation of a flat platform to capture incident solar radiation. The design and implementation of a fuzzy system for the efficient control of the solar tracking movement of the platform are also presented

Uma plataforma de integração de middleware para computação ubíqua

One of the current challenges of Ubiquitous Computing is the development of complex applications, those are more than simple alarms triggered by sensors or simple systems to configure the environment according to user preferences. Those applications are hard to develop since they are composed by services provided by different middleware and it is needed to know the peculiarities of each of them, mainly the communication and context models. This thesis presents OpenCOPI, a platform which integrates various services providers, including context provision middleware. It provides an unified ontology-based context model, as well as an environment that enable easy development of ubiquitous applications via the definition of semantic workflows that contains the abstract description of the application. Those semantic workflows are converted into concrete workflows, called execution plans. An execution plan consists of a workflow instance containing activities that are automated by a set of Web services. OpenCOPI supports the automatic Web service selection and composition, enabling the use of services provided by distinct middleware in an independent and transparent way. Moreover, this platform also supports execution adaptation in case of service failures, user mobility and degradation of services quality. The validation of OpenCOPI is performed through the development of case studies, specifically applications of the oil industry. In addition, this work evaluates the overhead introduced by OpenCOPI and compares it with the provided benefits, and the efficiency of OpenCOPI s selection and adaptation mechanism

Projeto de Sistemas Integrados de Propósito Geral Baseados em Redes em Chip Expandindo as Funcionalidades dos Roteadores para Execução de Operações: A plataforma IPNoSys

It bet on the next generation of computers as architecture with multiple processors and/or multicore processors. In this sense there are challenges related to features interconnection, operating frequency, the area on chip, power dissipation, performance and programmability. The mechanism of interconnection and communication it was considered ideal for this type of architecture are the networks-on-chip, due its scalability, reusability and intrinsic parallelism. The networks-on-chip communication is accomplished by transmitting packets that carry data and instructions that represent requests and responses between the processing elements interconnected by the network. The transmission of packets is accomplished as in a pipeline between the routers in the network, from source to destination of the communication, even allowing simultaneous communications between pairs of different sources and destinations. From this fact, it is proposed to transform the entire infrastructure communication of network-on-chip, using the routing mechanisms, arbitration and storage, in a parallel processing system for high performance. In this proposal, the packages are formed by instructions and data that represent the applications, which are executed on routers as well as they are transmitted, using the pipeline and parallel communication transmissions. In contrast, traditional processors are not used, but only single cores that control the access to memory. An implementation of this idea is called IPNoSys (Integrated Processing NoC System), which has an own programming model and a routing algorithm that guarantees the execution of all instructions in the packets, preventing situations of deadlock, livelock and starvation. This architecture provides mechanisms for input and output, interruption and operating system support. As proof of concept was developed a programming environment and a simulator for this architecture in SystemC, which allows configuration of various parameters and to obtain several results to evaluate it

Projeto e implementação de uma plataforma MP-SoC usando SystemC

This work presents the concept, design and implementation of a MP-SoC platform, named STORM (MP-SoC DirecTory-Based PlatfORM). Currently the platform is composed of the following modules: SPARC V8 processor, GPOP processor, Cache module, Memory module, Directory module and two different modles of Network-on-Chip, NoCX4 and Obese Tree. All modules were implemented using SystemC, simulated and validated, individually or in group. The modules description is presented in details. For programming the platform in C it was implemented a SPARC assembler, fully compatible with gcc s generated assembly code. For the parallel programming it was implemented a library for mutex managing, using the due assembler s support. A total of 10 simulations of increasing complexity are presented for the validation of the presented concepts. The simulations include real parallel applications, such as matrix multiplication, Mergesort, KMP, Motion Estimation and DCT 2D

Cloud Integrator: uma plataforma para composição de serviços em ambientes de computação em nuvem

With the advance of the Cloud Computing paradigm, a single service offered by a cloud platform may not be enough to meet all the application requirements. To fulfill such requirements, it may be necessary, instead of a single service, a composition of services that aggregates services provided by different cloud platforms. In order to generate aggregated value for the user, this composition of services provided by several Cloud Computing platforms requires a solution in terms of platforms integration, which encompasses the manipulation of a wide number of noninteroperable APIs and protocols from different platform vendors. In this scenario, this work presents Cloud Integrator, a middleware platform for composing services provided by different Cloud Computing platforms. Besides providing an environment that facilitates the development and execution of applications that use such services, Cloud Integrator works as a mediator by providing mechanisms for building applications through composition and selection of semantic Web services that take into account metadata about the services, such as QoS (Quality of Service), prices, etc. Moreover, the proposed middleware platform provides an adaptation mechanism that can be triggered in case of failure or quality degradation of one or more services used by the running application in order to ensure its quality and availability. In this work, through a case study that consists of an application that use services provided by different cloud platforms, Cloud Integrator is evaluated in terms of the efficiency of the performed service composition, selection and adaptation processes, as well as the potential of using this middleware in heterogeneous computational clouds scenarios

N2N framework: uma plataforma para desenvolvimento de sistemas calaborativos distribuídos

O domínio alvo deste trabalho são os sistemas colaborativos distribuídos onde o foco está na troca dê mensagens entre usuários remotamente distribuídos. Nestes sistemas, há a necessidade das mensagens possuírem conteúdo multimídia e poderem ser entregues tanto a um usuário específico quanto a um grupo ou grupos de usuários. O objetivo deste trabalho é desenvolver um framework que facilite: a construção desse tipo de sistymas e diminua o tempo gasto com desenvolvimento através da técnica de reuso. Este trabalho apresenta o N2N Framework - Uma plataforma para desenvolvimento de Sistemas Colaborativos Distribuídos. O Framework foi concebido através da análise do comportamento de aplicações com características de multimídias colaborativas, como ambientes virtuais multi-usuários, chats, enquetes, e torcidas virtuais. O Framework foi implementado usando-se a plataforma Java. O N2N Framework facilita o design e implementação de sistemas colaborativos distribuídos, implementando a entrega das mensagens, e direcionando o desenvolvedor de aplicações para a preocupação com implementação de suas mensagens específicas e o processamento que delas decorre

Morfologia e sedimentologia da plataforma continental brasileira adjacente a São Bento do Norte e Caiçara do Norte-RN/NE-Brasil

This dissertation the results of a research developed in the area of São Bento do Norte and Caiçara do Norte, northern coast of the State of Rio Grande do Norte, during the period of June of 2000 to August of 2001, in the ambit of the projects MAMBMARÉ (CNPq/CTPETRO) and PROBRAL (CAPES/DAAD). The objective principal of this research was the characterization of the sedimentary dynamics of this coast, with base in data of coastal process (winds, currents, waves and tides), with topographical risings (beach profiles and dunes), satellite images and sedimentary analyses. The more specific objectives were accomplished the coastal monitoring of this coast, to verify the maintenance of an erosive tendency or progradacional after the groynes construction for contention of the erosion in the beach of Caiçara do Norte, as well as to verify the influence of the features of bottom of the platform interns adjacent on the pole petroliferous of Guamaré. The executed monitoramento allowed to identify that the movement of the sediments, along the year, in that area, is cyclical, reaching the largest oscillations during the months of winter (deposition) and they will summer (erosion). The sedimentologic studies indicated a general tendency for sands quartzosas, with gravel presence, moderately to good selected, with asymmetry predominantly negative. In agreement with the parameter of Dean (1957), used in the identification of the state morfodinâmico of the beaches, monitored beaches, are basically reflectivas with tendency to middlemen, what frames that space of the coast norte-riograndense, as a space strongly vulnerable to erosive processes. The studies developed in the platform, it interns of this area, allowed to visualize for the first time, in large scale, the distribution of the features of the submarine bottom to the batométrico coat of 25 meters. Being pointed out the presence of a high one topographical submerged, with about 5 meters of height, 1 km of width and more than 24 meters of extension, located in the platform it interns in front of São Bento do Norte; coincident with the trend of the system of flaws of Carnaubais. This feature relay an important paper on the control of the sedimentary processes and oceanographic, as well as in the coastal evolution of this area of the RN state, and they affect the area of the pole petroliferous of Guamaré directly. These results contribute to a better knowledge of the processes in the area, and consequently as subsidies implantation of measures of coastal and environmental protection for the cities of São Bento do Norte and Caiçara do Norte, as well as to understand how the geological-sedimentary processes and oceanographic, in this area, are influencing the characteristics geoambientais of the pole petroliferous of Guamaré

Aquisição, processamento e análise de dados de sísmica de alta resolução na plataforma continental norte do Rio Grande do Norte: Vale inciso do rio açu

On the modern Continental Shelf to the north of Rio Grande do Norte state (NE Brazil) is located a paleo-valley, submerged during the last glacial sea-level lowstand, that marks continuation of the most important river of this area (Açu River). Despite the high level of exploration activity of oil industry, there is few information about shallow stratigraphy. Aiming to fill this gap, situated on the Neogene, was worked a marine seismic investigation, the development of a processing flow for high resolution data seismic, and the recognition of the main feature morphology of the study area: the incised valley of the River Açu. The acquisition of shallow seismic data was undertaken in conjunction with the laboratory of Marine Geology/Geophysics and Environmental Monitoring - GGEMMA of Federal University of Rio Grande do Norte UFRN, in SISPLAT project, where the geomorphological structure of the Rio paleovale Açu was the target of the investigation survey. The acquisition of geophysical data has been over the longitudinal and transverse sections, which were subsequently submitted to the processing, hitherto little-used and / or few addressed in the literature, which provided a much higher quality result with the raw data. Once proposed for the flow data was developed and applied to the data of X-Star (acoustic sensor), using available resources of the program ReflexW 4.5 A surface fluvial architecture has been constructed from the bathymetric data and remote sensing image fused and draped over Digital Elevation Models to create three-dimensional (3D) perspective views that are used to analyze the 3D geometry geological features and provide the mapping morphologically defined. The results are expressed in the analysis of seismic sections that extend over the region of the continental shelf and upper slope from mouth of the Açu River to the shelf edge, providing the identification / quantification of geometrical features such as depth, thickness, horizons and units seismic stratigraphyc area, with emphasis has been placed on the palaeoenvironmental interpretation of discordance limit and fill sediment of the incised valley, control by structural elements, and marked by the influence of changes in the sea level. The interpretation of the evolution of this river is worth can bring information to enable more precise descriptions and interpretations, which describes the palaeoenvironmental controls influencing incised valley evolution and preservation to provide a better comprehensive understanding of this reservoir analog system

Geologia e geomorfologia dos recifes de Maracajaú-RN e plataforma rasa adjacente

This work focuses the geological and geomorphological characterization of the inner shelf in the West Coast of the Rio Grande do Norte state, particularly the reef coral barrier offshore of Maracajaú (Maxaranguape district). If developed without the necessary concerns, tourism and entertainment activities that have been widely increased during the last five years can lead to irreversible environmental damages to the biotic and abiotic ecosystems of the region. Regarding these aspects, it is crucial the realization of a detailed study to envisage the achievement of a self-sustainable development, especially with respect to the possibilities of a rational usage of the region. This is the aim of this manuscript, which consisted of an initial stage of digital modeling of the terrain with basis on digitalization and vectorization of the Nautical map number 803 (Naval Service of Brazil, 1971). Information obtained in this phase was improved with the digital processing of small format aerial photos acquired from six flights, which were integrated to form a photomosaic of the area. The refined maps produced with the data from Nautical and aerial photo-interpretations aided to locate 9 bathymetric profiles, which provided information about the sea floor relief of the whole area. This later aided in the choosing of areas to bottom sampling that, in its turn, helped to characterize sediments present in floor of the inner shelf. Sixty-four samples collected during this work were studied by granulometrical and chemical analysis; with the later one developed in order to measure carbonate and organic matter contents. Forty-two of these samples showed carbonate content higher than 80% and organic matter in the range of 0.58% to 24.06%. With respect to grain size, these samples are in the interval between fine- to mid-grained sands. Sands with grain sizes higher than this one are also composed by carbonate carapaces such as pale yellow to red rhodolites with ellipsoidal and spheroidal shapes. During determination of the submerse features, the small format aerial photos demonstrated to be a useful methodology to aid the delineation of the sea floor topography through shallow deep waters. The bathymetry, for its turn, revealed several features at the bottom of the platform, in which the most conspicuous are undulations and morphological details of the São Roque Channel. Examination of bottom, aside from sand, yielded the identification of bivalves, ostracods, fragments of bryozoans, spikes of sponges, spines of echinoderms, operculum of gastropods and foraminifers. From the above it is concluded that the multi-methodological approach developed in this study worked efficiently, permitting the geomorphological and environmental characterization of the inner shelf of the North Maracajaú

Caracterização morfológica e sedimentologica da plataforma, continental brasileira adjacente aos municípios de Fortim, Aracati e Icapuí- CE

The study area is located on the Brazilian Continental Shelf adjacent to Ceará State, inserted in the submerged Potiguar Basin. This area was submitted to extensional efforts during Upper Cretaceous, associated to the begining of the rifting that resulted in African and South American Continent separation. The main goal of this research was to better understand the sedimentary and geomorphological characteristics of the continental shelf adjacent to Fortim, Aracati and Icapuí (Ceará State). The used data base included geophysical (sides scan sonar and bathymetry studies) and sedimentological survey, associated to satellite image processing and interpretation. Inferences about suspended material and longshore drift was possible using satellite images, and differente bedforms were characterized such as: different kinds of dunes (longitudinal, cross and oblique), bioclastic banks, paleochannels, flat and rock bottom. The researched area comprehended about 2509,13 km2, where 6 different sedimentary facies, based on sediment composition and texture, could be recognized, such as: Bioclastic Sand, Siliciclastic Sand, Biosiliciclastic Sand, Bioclastic gravel, Biosiliciclastic sand with granule and gravel, and Silicibioclastic sand with granule and gravel. The integration of bathymetric, satellite image, side scan sonar and sedimentological data allow us a better characterization of this continental shelf area, as to advance in the knowledge of the continental shelf of the state of Ceara, a very important area to the oil industry because of its potential exploration and e exploitation, and to environmental survey as well

Caracterização geomorfológica e modelagem de dados espaciais na plataforma continental rasa do RN nos limites da folha Touros

This work focuses the geomorphological characterization and spatial data modeling in the shallow continental shelf within the Folha Touros limits (SB-25-CV-II), based on bathymetric data analysis and remote sensing products interpretation. The Rio Grande do Norte state is located in northeastern Brazil and the work area is located at the transition region between the eastern and northern portions of their coast. The bathymetric surveys were conduced between march and may 2009, using a 10 meters long vessel and 0.70 meters draught, equipped with global positioning system and echo sounder (dual beam, 200KHz , 14°). The fieldwork resulted in 44 bathymetric profiles espaced 1.5 km and 30 km average length. The bathymetric data amount were 111,200 points and were navigated 1395.7 km within na area about 1,850 km2. The bathymetric data were corrected for the tide level, vessel draught and were subsequently entered into a geographic information system for further processing. Analysis of remote sensing products was carried out using Landsat 7/ETM + band 1, from november 1999. The image was used for visualization and mapping submerged features. The results showed the presence of geomorphological features within the study area. Were observed, from the analysis of local bathymetry and satellite image, seven types of geomorphological features. The channels, with two longitudinals channels (e. g. San Roque and Cioba channels) and other perpendicular to the coast (e. g. Touros, Pititinga and Barretas). Coastal reef formations (Maracajaú, Rio do Fogo and Cioba). Longitudinal waves, described in the literature as longitudinal dunes. The occurrence of a transverse dune field. Another feature observed was the oceanic reefs, an rock alignment parallel to the coast. Were identified four riscas , from north to south: risca do Liso, Gameleira, Zumbi, Pititinga (the latter being described for the first time). Finally, an oceanic terrace was observed in the deepest area of study. Image interpretation corroborated with the in situ results, enabling visualization and description for all features in the region. The results were analysed in an integrating method (using the diferent methodologies applied in this work) and it was essential to describe all features in the area. This method allowed us to evaluate which methods generated better results to describe certain features. From these results was possible to prove the existence of submerged features in the eastern shallow continental shelf of Rio Grande do Norte. In this way, the conclusions was (1) this study contributed to the provision of new information about the area in question, particularly with regard to data collection in situ depths, (2) the method of data collection and interpretation proves to be effective because, through this, it was possible to visualize and interpret the features present in the study area and (3) the interpretation and discussion of results in an integrated method, using different methodologies, can provide better results

Caracterização geomorfológica e paleogeográfica da plataforma continental adjacente a foz do Rio Apodi-Mossoró, RN/Brasil

The brazilian marginal basins have a huge potential to generate and accumulate petroleum. Incised valleys which are eroded in response to a fall of relative sea level are related to potential reservoir as well, modern drowned-valley estuaries serve as harbors to petroleum and salt industries, fisheries, waste-disposal sites and recreational areas for a significant fraction of the world s population. The combined influence of these factors has produced a dramatic increase in research on modern and ancient incised-valley systems. This research is one expression of this interest. The integrated use of satellites images and high resolution seismic (bathymetry, sides scan sonar) was used on the Apodi River mouth-RN to characterizes the continental shelf This area is located at the Potiguar Basin in the NE Brazilian Equatorial Atlantic margin. Through bathymetric and side scan sonar data processing, a digital Terrain Model was developed, and a detailed geomorphologic analysis was performed. In this way was possible to recognize the geomorphologic framework and differents sismofacies, which may influence this area. A channel extending from the ApodiMossoró river mouth to the shelf edge dominates the investigated area. This structure can be correlated with the former river valley developed during the late Pleistocene sea level fall. This channel has two main directions (NW-SE and NE-SW) probably controlled by the Potiguar Basin structures. The western margin of the channel is relatively steep and pronounced whereas the eastern margin consists only of a gentle slope. Longitudinal bedforms and massive ridges also occur. The first are formed doe to the shelf sediment rework and the reef-like structures probably are relics of submerged beachrock-lines indicating past shoreline positions during the deglacial sea-level rise. The sub-bottom seismic data allow the identification of different sismic patterns and a marcant discontinuity, interpreted as the Upper

Camadas de tempestito grosso (coarse grained storm beds): exemplos do Permiano da bacia do Paraná

Tempestitos grossos constituem camadas delgadas de conglomerado gradando a arenito, com estratificação cruzada seguida de laminação ondulada truncante a simétrica e de drape/flaser de siltito/folhelho. Cinco exemplos extraídos do Permiano da bacia do Paraná ilustram esse tipo de depósito: três deles são de rochas siliciclásticas, contendo bioclastos de bivalves e vertebrados (Formação Rio Bonito-Membro Triunfo e Formação Palermo), enquanto os outros dois são de rochas carbonática e fosfática (respectivamente, formações Teresina e Corumbataí do Grupo Passa Dois). O componente tracional da base do tempestito grosso apresenta-se como arenite quartzoso/lítico ou grainstone oolítico com cimento calcífero preenchendo poros (casos das formações Palermo e Teresina). em sua maioria, os tempestitos grossos constituem pavimentos transgressivos intercalados em folhelhos ou tempestitos finos (arenitos muito finos a folhelhos com estratificação ondulada truncante-hummocky). em outro caso, extraído de subsuperfície, o pavimento transgressivo ocorre na base de uma sucessão progradante de barra de plataforma. O tempestito grosso da Formação Teresina constitui um evento transgressivo sobreposto a depósitos de barra de plataforma.