Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Análise de desempenho de um refrigerador de pequeno porte com drop in de refrigerantes hidrocarbonetos

From what was stated in the Montreal Protocol, the researchers and refrigeration industry seek substitutes for synthetic refrigerants -chlorofluorocarbons (CFCs) and HCFCs (HCFC) - that contribute to the depletion of the ozone layer. The phase-out of these substances was started using as one of the replacement alternatives the synthetic fluids based on hydro fluorocarbons (HFCs) that have zero potential depletion of the ozone layer. However, contribute to the process of global warming. HFC refrigerants are greenhouse gases and are part of the group of gases whose emissions must be reduced as the Kyoto Protocol says. The hydrocarbons (HC's), for not contribute to the depletion of the ozone layer, because they have very low global warming potential, and are found abundantly in nature, has been presented as an alternative, and therefore, are being used in new home refrigeration equipment in several countries. In Brazil, due to incipient production of domestic refrigerators using HC's, the transition refrigerants remain on the scene for some years. This dissertation deals with an experimental evaluation of the conduct of a drinking fountain designed to work with HFC (R-134a), operating with a mixture of HC's or isobutane (R-600a) without any modification to the system or the lubricating oil. In the refrigeration laboratory of Federal University of Rio Grande do Norte were installed, in a drinking fountain, temperature and pressure sensors at strategic points in the refrigeration cycle, connected to an acquisition system of computerized data, to enable the mapping and thermodynamics analysis of the device operating with R-134a or with a mixture of HC's or with R-600a. The refrigerator-test operating with the natural fluids (mixture of HC's or R-600a) had a coefficient of performance (COP) lower than the R-134a

Efeitos de fontes de nitrogênio e de modos de aplicação do adubo fosfatado (32P) sobre a porcentagem de utilização do fósforo do superfosfato simples pelo trigo (Triticum aestivum L.)

No programa de pesquisa a respeito da adubação da cultura de trigo, utilizando isotopos (32P e 15N), o plano do ano 1971/1972 tinha, entre outros objetivos, a finalidade de determinar a porcentagem de aproveitamento do fósforo pelo trigo, em função do modo de aplicação e interação com fontes de nitrogênio. Oexperimento foi instalado em solo pertencente a ordem Ultisol e grande grupo Podzólico Vermelho-Amarelo (Pelotas-RS), contendo 9 ppm de P. Os adubos nitrogenados: sulfato de amônio, uréia e nitrato de amônio, na dose de 120 kg/ha, foram aplicados metade no plantio (ao lado e abaixo das sementes) e metade em cobertura, na fase do perfilhamento. O fósforo radioativo, na forma de superfosfato simples, foi aplicado na dose de 30 kg P2O5/ha de duas maneiras: junto com as sementes ou junto com o adubo nitrogenado aplicado no plantio. Amostras de plantas de trigo foram coletadas entre perfilhamento e espigamento e determinaram-se os pesos de matéria verde e seca, as porcentagens de P total e de P proveniente do fertilizante contidos na matéria seca e a porcentagem de utilização do fósforo aplicado (% UP). Pode-se concluir que a aplicação de nitrogênio é necessário para se obter maio res % UP, mas não há diferenças entre as fontes. Os modos de aplicação do fósforo não diferiram entre si quanto a % UP.

Integração de imagem aérea de alta resolução e dados de varredura a laser na classificação de cenas urbanas para detectar regiões de via

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Morfologia matemática aplicada à detecção de sombras e nuvens em imagens de alta resolução

The spatial resolution improvement of orbital sensors has broadened considerably the applicability of their images in solving urban areas problems. But as the spatial resolution improves, the shadows become even a more serious problem especially when detailed information (under the shadows) is required. Besides those shadows caused by buildings and houses, clouds projected shadows are likely to occur. In this case there is information occlusion by the cloud in association with low illumination and contrast areas caused by the cloud shadow on the ground. Thus, it's important to use efficient methods to detect shadows and clouds areas in digital images taking in count that these areas care for especial processing. This paper proposes the application of Mathematical Morphology (MM) in shadow and clouds detection. Two parts of a panchromatic QuickBird image of Cuiab-MT urban area were used. The proposed method takes advantage of the fact that shadows (low intensity - dark areas) and clouds (high intensity - bright areas) represent the bottom and top, respectively, of the image as it is thought to be a topographic surface. This characteristic allowed MM area opening and closing operations to be applied to reduce or eliminate the bottom and top of the topographic surface.

A Transposição Didádica dos Gêneros do domínio do discursivo publicitários nos livros didáticos

Advertising text has been a subject of many investigations, because of its multimodal universe. Embodied by a linguistic and discursive materiality laying on scene persuasion, argumentation and power imagery of multissemiotics elements, the advertising text acts as an instrument of power, creating and destroying, promising and denying (CARVALHO, 2007). Advertising not only invites us to act for it, but directs us to look at it. It was under this moving look - of charm and interrogations - that discussions raised in this research were born. Investigations are directed to the school environment, in special, for the discursive advertising domain in Portuguese Language Textbook. It is from this environment that was born our research whose main objective is to analyze how does the didactic transposition of textual genres, described by Marcuschi (2008) as belonging to the "advertising" discourse domain (focusing on advertising genre) in didactic books teaching Portuguese Language before and after the advent of the PCN. Textbooks taken as reference for the study are historically situated in the 90s of the twentieth century and 10 century. Such books refer to elected 7th and 8th grades, currently corresponding to the 8th and 9th grades of elementary school. The choice is justified by the fact that in these Textbook teaching series the presence of advertising domain is recurrent and "didactized". In addition, we are also concerned in analyzing books that circulated around us and our regional reality. Hence, we elected books that were used by two public high schools: Municipal School Clementina Ana da Conceição in Jaçanã city in the Rio Grande do Norte state, State School for Elementary and High school Carlota Barreira in Areia city, Paraíba state. In our research the following categories of analysis were highlighted: (1) presence of advertising in DB, (2) fluctuation terminology: concepts and classifications; (3) The complexity of concepts facilitation, (4) what they propagate, and from which nature are the explored advertisements. From our analysis, we observe how the treatment of textual "advertising" genres have been inserted into Textbooks, and how occurs, in general, their didactic transposition. Focusing on the issue of fluctuating terminology, we noted the difficulty in drawing boundaries between the genres of advertising domain in the Textbooks. However, this also would result in the complexity - in the field of scientific knowledge - of delimiting genres of the same domain. To accomplish our studies, it was required a thorough and systematic dialogue with theories regarding the concept of "Didactic Transposition", due to the theoretical Chevallard Yves (1991), research on the textual genres - Bezerra (2005), Marcuschi (2008), Bazerman (2005), Swales (2004), among others - and studies involving the field of "Advertising" - Sandmann (2002), Carvalho (2007) and others

A constituição de identidades de mulheres : práticas discursivas e relações de poder

This research investigates the discursive constitution of identities; in spe-cial, it aim to problematize women identities constitution, pointing discursive prac-tices and power relations which involve them. The interviewed subjects had been adult women who had resumed their school trajectory, after certain period without frequenting educational establishments. Aware of that those identities can be per-ceived through the observations of the discursive practices, we question: which discursive practices and power relations involve and constitute those women? Which identity positionings they take through the discursive practices and power relations that include them and that are identified in their stories? Which linguistic marks characterize, in the speech of those women, forms of resistance in the con-stitution of identities? We intend to investigate the constitution of woman identities in the contemporanity; pointing discursive practices and power relations which in-volve women that converge to their identity constitution; exploring in the linguistic materiality effects of senses that emanate of the discursive practices and power relations which involve the collaborators in the identity constitution in private and public spaces. Research corpus is composed by stories of life granted by three women, collected through semidirected interview between 2004 and 2005. To ana-lyze the data, we base in authors as Pêcheux (1993; 2002), Foucault (1979; 1988; etc.), Butler (2003), Scott (1992; 1995), Hall (2000; 2004; 2005), Bauman (1999; 2005), among others that problematize questions as discourse, identity, social gender, power and its interfaces. The life stories had allowed to analyze: the gen-der identity constitution from discursive practices and relations of forces lived in the familiar scenery; assumed identity positionings from discursive practices in globalized urban contexts; power positions in the domestic and extradomestic sphere and new identity positionings

A heterogeneidade discursiva em revistas de divulgação científica

This research aiming at show an interpretative description about the form and function of Scientific Publication (SP) discursive genre, in two magazines of national circulation. We analyzed subjects published from 2004 to 2006, in the magazines Revista do Professor and Revista Nova Escola. We see at SP subjects reported discourses, into its two main presentation forms of other voices: direct discourse and indirect discourse. We have established some aims, first, we analyzing different forms to mark the discursive heterogeneity, by the reason the writer conceptualize an image of his/her interlocutor. The second one, we intend to look at the differences between marked heterogeneity according to the writer production, journalists and researchers, and finally, we investigate more or less occurrence of cited discourse, in what is concerned with different perspectives at communities that produce this kind of text. As theoretical background to our discussions we followed socio-historical perspective, its language and subject discourse conceptualizations. We did it mainly based on Bakhtin s works (1929; 1995; 2003). We were also based on theoretical discussions about discursive heterogeneity by Authier-Revuz (1990; 1998; 2004) and Maingueneau (1993; 2001). At analyzing the social dimensions of our data, we identified as relevant elements in the construction of the subjects (stories) the image that the writer (reporter) did/construct about his/her interlocutor as well as the use of different strategies, for example: the text produced by the journalists frequently use of direct discourse forms, while texts produced by researchers are almost fulfilled by indirect discourse. Beside this, texts are different in their social voices that are in their discourse. In the case of text produced by journalist are predominant the discursive scene of the school agents: teachers, students, parents, among others. Otherwise, in the texts produced by researchers already-said utterances, that in their majority of times, come from scientific discourse

Cartografias do desejo em asfalto selvagem - engraçadinha, seus amores e seus pecados: humor, erotismo e o pornógrafo no romance rodrigueano

Trata-se nesta dissertação de estabelecer, partindo do pensamento contemporâneo francês da linha deleuziana e guattariana, sobretudo, uma analítica do desejo capaz de reconfigurar o romance de Nelson Rodrigues, Asfalto selvagem: Engraçadinha, seus amores e seus pecados, desterritorializá-lo em relação à tradição crítica e estética, fundada no paradigma realista-naturalista enraizado no pensamento literário brasileiro, especificamente no século XX. Movemo-nos por discussões sobre o autor e sobre o romance, empreendidas por Rolnik, interlocutora de Guattari, o qual está ligado aos novos paradigmas estéticos, à questão da produção de subjetividades, à micropolítica, às multiplicidades e às minorias. Buscamos contribuir para esse redimensionamento, colocando-nos na perspectiva cartográfica e rizomática para surpreender, em Asfalto, seus processos de subjetivação, incidindo sobre as singularidades selvagens, considerando os conceitos de Foucault, aplicados à construção literária enquanto espaço heterotópico, configurando a experiência do fora, como princípios estéticos. Veremos que as personagens, com foco em Engraçadinha, funcionam, como pequenas máquinas desejantes, Corpos sem Órgãos, moléculas desestabilizando as formações molares. Destarte, Nelson Rodrigues, na perspectiva da produção autoral, torna-se o pornógrafo, o literato iterador, como agenciador de uma palavra perversa, para além dos dogmas, da cena romantizada, originando, em sua poética, a revelação da obs-cena, a obscenidade, como crítica às instituições falidas. Trazemos, nesse sentido, referências de Bataille, quanto ao que na atividade estética se relaciona com o excedente da visão, relacionados ao espaço tático-ótico, concepção deleuziana referentes ao corpo-linguagem, pornografia, pornógrafo, narrativas abomináveis. Acompanhamo-nos, pois, dos conceitos da problemática da diferença e da alteridade, repercutindo na larvaridade, nas afecções, que abrem vias comunicantes com fenômenos extremos, atuantes em torno do mesmo e do outro, trazendo a rizomaticidade do mal e da monstruosidade para a construção estética de Asfalto selvagem, vistos sob a ótica de Bataille, Deleuze, Baudrillard, em ensaios que rompem o olhar estrutural em torno da obra e oferecem subsídios para a construção de uma cartografia outra, o território do ficcional, habitado por um povo por vir, na perspectiva tratada por Deleuze e por Blanchot

Gregório de Matos: do barroco à antropofagia

The exponential figure of Gregório de Matos e Guerra has been subject of many theoretical discussions through the years, since his apparition in a public place, in the 19th century, and even more, during the 20th century, when he was salvaged by the modernist vanguard. As a result, there are yet two antagonist points of view linked to Gregório de Matos, on one side, there some researchers who defend him, on the other, some of them attack him. The first ones say this poet from Bahia was the first literary voice in Brazil, from the Baroque basis, while the last ones say he is a merely plagiarist of the Spanish poets from the 17th century, without a real contribution to the development of Brazilian Literature. With this in mind, this thesis follows the perspective this poet is an anthropophagus-baroque, devouring cultures, with an active participation in the process of our cultural and literary identity. For that reason, it was made a literature review about the biography of this poet trying to break romantic descriptions, emphasizing some scientific facts that can contribute to present the baroque profile of this poet. In this sense, it was discussed the History of Literature focused on this creole poet, mainly based on the historians point of view about the Gregorian poetry in the formation of Brazilian Literature scenery. In the defense of the hypothesis that Gregório de Matos was our first anthropophagus, this work aims to analyze how his poetry reveals the intrinsic characteristics of Baroque and Anthropophagy, focusing its carnivalesque aspect, showing to the world, with a satiric tone, the idiosyncrasies of human life. In this way, analyzing this corpus in Spanish is the strength of this thesis because, besides it is previously unpublished, it contributes to the comprehension of the anthropophagy as a theoretical mechanism that explains the process of formation of our cultural literary identity. Then, we have Augusto de Campos (1968; 1978; 1984; 1986; 1988), Haroldo de Campos (1976; 2010a; 2010b; 2011), Severo Sarduy ([1988?]), Oswald de Andrade (1945; 1978; 2006), Mikhail Bakhtin (2010), Octavio Paz (1979), Segismundo Spina (1980; 1995; 2008), Afrânio Coutinho (1986a; 1986b; 1994), Affonso Ávila (1994; 1997; 2004; 2008), among others, to constitute this theoretical scenery. The Gregorian poetry, in this way, have contributed to the formation of baroque-anthropophagic scenery in Brazilian boundaries, with a special attention to the transition of time, because he is not only from the 17th century, established by the historiography, but his work is present nowadays due to the contemporaneously of his themes, centered to the eternal doubts of baroque man

Razão: origem, crise e respostas contemporâneas

The philosophical discussion has been present throughout the whole history of reason, for philosophy and reason have been always closely linked. In the following work, Reason, origin, crises and contemporary answers I go into the history of the rational and demonstrative thought, focusing on how rationality can be thought about in contemporary philosophy. To answer this question I discuss the principle of philosophy, the mythical period and the thoughts of Heraclito , Parmenides , Plato and Aristotle in relation to reason and rationality. Also discussed is the medieval period and the philosophical use of logic and the criticism of Aristotle s thoughts, especially focusing on the criticism of Hegel and Luckasiewicz of the non contradiction principle. Lastly I discuss the development of reason in present day philosophy, mainly how modern logics could be putting at stake Aristotle s model of reason

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.

Ciência e racionalidade em Thomas Kuhn

The work aims to explore the impact that Thomas Kuhn‟s philosophical work had on the philosophy of science, especially on the common idea of scientific rationality. Besides this, it aims to make clear the position of the author about his understanding of what is to be rational in science. In order to achieve this goal we start giving a panoramic view of the philosophical scientific scene of the first half os the twentieth century, to evince the main character of the concept of rationality more accepted at Kuhn‟s time. In a second moment we show how the ideas of this author contrast with that concept, which gives rise to a series of criticisms of irrationalism. Lastly, we show how Kuhn circumvents these accusations by pointing to a new rationality concept, through which we can conciliate his philosophy with a description of the rational development of science

O reino encantado do sertão: uma crítica da produção e do fechamento da representação do sertão no romance de Ariano Suassuna

Based on the relation history, literature and space, this work examines the production and the closing of the representation of the hinterland in the Romance d A Pedra do Reino of the paraiban writer Ariano Suassuna. Inspired by method proposed by deconstructionist by Jacques Derrida, our reflection decomposes the writing scene of Suassuna by means of it s tracks to interpret the operation of the representation of the space-hinterland for the speech of the writer. Being thus, we present the elements chosen for Suassuna to weave an identification it s with this space-hinterland, taking a priori as a sentimental place and of familiar origin . The construction of this relation of belonging in great is measured grounded for a familiar memory entangled in the context politician who culminated in the Revolution of 1930 and that he resulted for the writer in the death of father. Suassuna launches a look on the identity and the Brazilian culture that guided in the tradition concept it searchs to deny the gift grounding its speech in the return to the past, a past order . Specifically in it s romance we notice to exist the fusing of these tracks in the production of a representation of the hinterland that it intends to close a concept of this space and its culture. Soon, the idea of kingdom sends to the space of the enchantments manufactured in infancy and retaken by the intellectual radical who in the anxiety of honor the father figure, does not save efforts in constructing a space representation that, over all, either faithful the representation that it searchs to trace of proper itself. Under one it marks of universality , the hinterland-kingdom of Suassuna if discloses eurocentric in the measure where it perpetuates discurse the filiation of the European cultural traditions.

(Con)vivendo em fortalezas: o outro lado do morar bem

The intensification of the fear in the city and in the spaces controlled by this feeling has contributed to a growing socio-spatial inequality, and the rapid growth of market protection. The residential condos emerge as a possible solution to the problem. This is a housing typology expanding worldwide which is seen, especially by the urban middle class, as enablers of quality of life and safety. In Brazil, especially in large cities, the quest for quality of life is directly connected with the desire for security translated through space control (use of high walls, gates, entrance hall, security cameras) and people who use it. This thesis aims at investigating how the different categories of inhabitants of an area predominantly occupied by vertical residential condos realize the socio-spatial dimension and the socio-urban space determined by this type of development. It especially takes into consideration the issue of urban insecurity, based on the assumption that, although published and sold by marketing as safe places , synonym of welfare and supporters of community life , the living in these condos, may even inhibits, social relationships, contributing to socio-spatial isolation and consequent social weakness. This is a survey that seeks to meet the assumptions of Environmental Psychology towards the comprehension of person-environment studies, emphasizing the use of different methods (desk research, observations of and group interviews, focus group technique using photographic resources), as well as the focus on current problems of the urban scene and the knowledge gained in Social Psychology