Superfícies geomórficas e atributos de Latossolos em uma seqüência Arenítico-Basáltica da região de Jaboticabal (SP)

Em um segmento de vertente com substrato de arenito em contato com basalto, regionalmente muito freqüente, pretendeu-se não só relacionar as superfícies geomórficas com os atributos físicos, químicos e mineralógicos dos Latossolos nelas encontrados, mas também testar métodos geoestatísticos para localização de limites dessas superfícies. Usando critérios geomorfológicos, três superfícies foram identificadas e topograficamente caracterizadas. Os solos foram amostrados, a intervalos regulares de 25 m, na profundidade de 0,6 a 0,8 m (topo do horizonte B), em uma transeção de 1.700 m perfazendo 109 pontos. Nas amostras, foram analisados: densidade de partículas, granulometria, CTC do solo, CTC da argila, Fe total da argila (ataque por H2SO4) e óxidos de Fe livres (por dissolução seletiva). A fração argila desferrificada foi analisada por difração de raios X. Com base na estratigrafia e variações do relevo local, foram identificadas e diferenciadas, no campo, três superfícies geomórficas. Analisaram-se também o perfil altimétrico e o modelo de elevação digital do terreno. Observou-se que as três diferentes superfícies estão bem relacionadas com os atributos físicos, químicos e mineralógicos dos seus respectivos solos. Na parte inferior desta vertente, superfície mais recente e sobre basalto, em Latossolo Vermelho eutroférrico típico, foram encontradas as maiores variabilidades da declividade, da argila e de Fe. As variações da inclinação do terreno, quando analisadas sistematicamente pelo split moving windows dissimilarity analysis (análise estatística de dissimilaridade, em segmentos móveis), mostraram que este método estatístico pode ser usado para ajudar a localizar os limites entre superfícies geomórficas. As variações dos solos da transeção, e arredores, mostraram-se relacionadas com idade, inclinação do terreno e litologia. O trabalho geomórfico detalhado forneceu importantes informações para subsidiar os trabalhos de levantamento de solos e de pedogênese.

Degradabilidade ruminal e digestibilidade intestinal da proteína de capim-elefante com três idades de corte

Determinaram-se a degradabilidade potencial (DP) e a digestibilidade intestinal da proteína não degradada no rúmen (DIPNDR) do capim-elefante em diferentes idades de rebrote (30, 45 e 60 dias) e comparou-se a técnica do saco de náilon móvel (in situ) com o método de três estádios (in vitro). Para tanto, utilizaram-se seis novilhos mestiços canulados no rúmen e duodeno alimentados exclusivamente com capim-elefante picado. O ensaio de degradabilidade foi realizado com amostras do capim incubadas no rúmen por 3, 6, 9, 12, 24, 48, 72, 96 e 120h. A digestibilidade intestinal foi determinada utilizando-se os resíduos de incubação por 24 horas. Na técnica in situ os resíduos em sacos de náilon foram colocados no duodeno e recuperados nas fezes. No método in vitro, os resíduos foram submetidos à digestão com HCl-pepsina-pancreatina. em amostras de capim com idades de 30, 45 e 60 dias foram observados valores de DP da proteína de 87,5; 87,8 e 83,8%, respectivamente. A DIPNDR variou com a idade do capim e foi semelhante entre os métodos in situ e in vitro somente para o capim com 60 dias. O método in situ apresentou estimativa de digestibilidade intestinal mais coerente com as mudanças na composição química do capim-elefante decorrentes do envelhecimento.

Inserção do Design em Micro e Pequenas Empresas: o caso de duas indústrias moveleiras no Estado do Rio Grande do Norte /

This work aims to promote design aspects into furniture Small and Medium Enterprises (SME s) at Rio Grande do Norte State. The final outcome will be an increasing on their competitiveness as well as consider design as key strategic aspect for their business. As a consequence, the results are based on two SME companies from the furniture sector located at Natal/RN. The study is based on a literature research followed by a management diagnosis for each company. The diagnosis was base don interviews with the entrepreneurs and their employees as well as meetings, participant observations and document analysis. Based on this analysis, specific aspects were implement in order to boost the production line as well as the product development process (PDP) and the development of a prototype. The results have indicated some limitation of these companies regarding their low technological on their production line, poor management and work skills as well as low perception of design as a competitive tool. Regardless these results, it was observed that design has brought an important contribution for cultural changes within companies as well as for the development of better quality and competitive products

EIT: Escalonador Inteligente de Transações

In order to guarantee database consistency, a database system should synchronize operations of concurrent transactions. The database component responsible for such synchronization is the scheduler. A scheduler synchronizes operations belonging to different transactions by means of concurrency control protocols. Concurrency control protocols may present different behaviors: in general, a scheduler behavior can be classified as aggressive or conservative. This paper presents the Intelligent Transaction Scheduler (ITS), which has the ability to synchronize the execution of concurrent transactions in an adaptive manner. This scheduler adapts its behavior (aggressive or conservative), according to the characteristics of the computing environment in which it is inserted, using an expert system based on fuzzy logic. The ITS can implement different correctness criteria, such as conventional (syntactic) serializability and semantic serializability. In order to evaluate the performance of the ITS in relation to others schedulers with exclusively aggressive or conservative behavior, it was applied in a dynamic environment, such as a Mobile Database Community (MDBC). An MDBC simulator was developed and many sets of tests were run. The experimentation results, presented herein, prove the efficiency of the ITS in synchronizing transactions in a dynamic environment

GATE - Uma abordagem baseada em middleware para aplicações interperceptivas envolvendo múltiplos dispositivos

In this work, we present the GATE, an approach based on middleware for interperceptive applications. Through the services offered by the GATE, we extension we extend the concept of Interperception for integration with several devices, including set-top box, mobile devices (cell phones), among others. Through this extension ensures the implementation of virtual environments in these devices. Thus, users who access the version of the computer environment may interact with those who access the same environment by other devices. This extension is just a part of the services provided by the GATE, that remerges as a new proposal for multi-user virtual environments creation.

Controle adaptativo robusto para um modelo desacoplado de um robô móvel

This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text

Um sistema de visão para navegação robusta de uma plataforma robótica semi-autônoma

Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case)

Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação

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

Desenvolvimento de um ressoador retangular de fenda com múltiplas camadas de substrato e com utilização de material PBG para sistema de comunicação sem fio

In the globalized world modern telecommunications have assumed key role within the company, causing a large increase in demand for the wireless technology of communication, which has been happening in recent years have greatly increased the number of applications using this technology. Due to this demand, new materials are developed to enable new control mechanisms and propagation of electromagnetic waves. The research to develop new technologies for wireless communication presents a multidisciplinary study that covers from the new geometries for passive antennas, active up to the development of materials for devices that improve the performance at the frequency range of operation. Recently, planar antennas have attracted interest due to their characteristics and advantages when compared with other types of antennas. In the area of mobile communications the need for antennas of this type has become increasingly used, due to intensive development, which needs to operate in multifrequency antennas and broadband. The microstrip antennas have narrow bandwidth due to the dielectric losses generated by irradiation. Another limitation is the degradation of the radiation pattern due to the generation of surface waves in the substrate. Some techniques have been developed to minimize this limitation of bandwidth, such as the study of type materials PBG - Photonic Band Gap, to form the dielectric material. This work has as main objective the development project of a slot resonator with multiple layers and use the type PBG substrate, which carried out the optimization from the numerical analysis and then designed the device initially proposed for the band electromagnetic spectrum between 3-9 GHz, which basically includes the band S to X. Was used as the dielectric material RT/Duroid 5870 and RT/Duroid 6010.LM where both are laminated ceramic-filled PTFE dielectric constants 2.33 and 10.2, respectively. Through an experimental investigation was conducted an analysis of the simulated versus measured by observing the behavior of the radiation characteristics from the height variation of the dielectric multilayer substrates. We also used the LTT method resonators structures rectangular slot with multiple layers of material photonic PBG in order to obtain the resonance frequency and the entire theory involving the electromagnetic parameters of the structure under consideration. xviii The analysis developed in this work was performed using the method LTT - Transverse Transmission Line, in the field of Fourier transform that uses a component propagating in the y direction (transverse to the real direction of propagation z), thus treating the general equations of the fields electric and magnetic and function. The PBG theory is applied to obtain the relative permittivity of the polarizations for the sep photonic composite substrates material. The results are obtained with the commercial software Ansoft HFSS, used for accurate analysis of the electromagnetic behavior of the planar device under study through the Finite Element Method (FEM). Numerical computational results are presented in graphical form in two and three dimensions, playing in the parameters of return loss, frequency of radiation and radiation diagram, radiation efficiency and surface current for the device under study, and have as substrates, photonic materials and had been simulated in an appropriate computational tool. With respect to the planar device design study are presented in the simulated and measured results that show good agreement with measurements made. These results are mainly in the identification of resonance modes and determining the characteristics of the designed device, such as resonant frequency, return loss and radiation pattern

Uma abordagem comportamental para inserção de robôs em ambientes culturais

In this work, we propose methodologies and computer tools to insert robots in cultural environments. The basic idea is to have a robot in a real context (a cultural space) that can represent an user connected to the system through Internet (visitor avatar in the real space) and that the robot also have its representation in a Mixed Reality space (robot avatar in the virtual space). In this way, robot and avatar are not simply real and virtual objects. They play a more important role in the scenery, interfering in the process and taking decisions. In order to have this service running, we developed a module composed by a robot, communication tools and ways to provide integration of these with the virtual environment. As welI we implemented a set of behaviors with the purpose of controlling the robot in the real space. We studied available software and hardware tools for the robotics platform used in the experiments, as welI we developed test routines to determine their potentialities. Finally, we studied the behavior-based control model, we planned and implemented alI the necessary behaviors for the robot integration to the real and virtual cultural spaces. Several experiments were conducted, in order to validate the developed methodologies and tools

Análise teórica e experimental de superfícies seletivas de freqüência e suas aplicações em antenas planares

This work presents a theoretical and numerical analysis of structures using frequency selective surfaces applied on patch antennas. The FDTD method is used to determine the time domain reflected fields. Applications of frequency selective surfaces and patch antennas cover a wide area of telecommunications, especially mobile communications, filters and WB antennas. scattering parameters are obteained from Fourier Transformer of transmited and reflected fields in time domain. The PML are used as absorbing boundary condition, allowing the determination of the fields with a small interference of reflections from discretized limit space. Rectangular patches are considered on dielectric layer and fed by microstrip line. Frequency selective surfaces with periodic and quasi-periodic structures are analyzed on both sides of antenna. A literature review of the use of frequency selective surfaces in patch antennas are also performed. Numerical results are also compared with measured results for return loss of analyzed structures. It is also presented suggestions of continuity to this work

Ressoador retangular defenda com quatro camadas fotônicas

Recently, planar antennas have attracted interest due to its characteristics as well as the advantages they offer compared to other types of antennas. In the area of mobile communications the need for such antennas has become increasingly intense due to development, which requires antennas that operate in multifrequency and broadband. The microstrip antennas have narrow bandwidth due to losses in the dielectric caused by irradiation. Another limitation is the radiation pattern degradation due to generation of surface waves in the substrate. Some techniques are being developed to minimize this bandwidth limitation, as is the case in the study of type materials PBG - Photonic Band Gap, to compose the dielectric material. The analysis developed in this work were performed with use of the method LTT - Transverse Transmission Line, in the field of Fourier transform that uses a component propagating in the y direction (transerve real direction of propagation z), thus treating the general equations of the fields electric and magnetic fields as a functions of y E and Hy . This work has as main objective the method LTT structures resonator line slot with four layers of material photonic PBG, for obtaining the complex resonant frequency and efficiency of this structure. PBG theory is applied to obtain the relative permittivity for the substrate biases sep compounds photonic material. Numerical-computational results in graph form in two dimensions for all the analysis are presented for the proposed structures that have photonic materials, as substrates

Otimização de modelos de predição da perda de propagação aplicáveis em 3,5GHZ utilizando algoritmos genéticos

The telecommunications industry has experienced recent changes, due to increasing quest for access to digital services for data, video and multimedia, especially using the mobile phone networks. Recently in Brazil, mobile operators are upgrading their networks to third generations systems (3G) providing to users broadband services such as video conferencing, Internet, digital TV and more. These new networks that provides mobility and high data rates has allowed the development of new market concepts. Currently the market is focused on the expansion of WiMAX technology, which is gaining increasingly the market for mobile voice and data. In Brazil, the commercial interest for this technology appears to the first award of licenses in the 3.5 GHz band. In February 2003 ANATEL held the 003/2002/SPV-ANATEL bidding, where it offered blocks of frequencies in the range of 3.5 GHz. The enterprises who purchased blocks of frequency were: Embratel, Brazil Telecom (Vant), Grupo Sinos, Neovia and WKVE, each one with operations spread in some regions of Brazil. For this and other wireless communications systems are implemented effectively, many efforts have been invested in attempts to developing simulation methods for coverage prediction that is close to reality as much as possible so that they may become believers and indispensable tools to design wireless communications systems. In this work wasm developed a genetic algorithm (GA's) that is able to optimize the models for predicting propagation loss at applicable frequency range of 3.5 GHz, thus enabling an estimate of the signal closer to reality to avoid significant errors in planning and implementation a system of wireless communication

Avaliação dos modelos de predição de propagação para telefonia móvel celular na cidade do Natal

The development of wireless telecommunication in the last years has been great. It has been taking academics to conceive new ideas and techniques. Their aims are to increase the capacity and the quality of the system s services. Cells that are smaller every time, frequencies that are every time higher and environments that get more and more complex, all those facts deserve more accurate models the propagation prediction techniques are inserted in this context and results with a merger of error that is compatible with the next generations of communication systems. The objective of this Work is to present results of a propagation measurement campaign, aiming at pointing the characteristics of the mobile systems covering in the city of Natal (state of Rio Grande do Norte, Brazil). A mobile laboratory was set up, using the infra-structure available and frequently used by ANATEL. The measures were taken in three different areas: one characterized by high buildings, high relief, presence of trees and towers of different highs. These areas covered the city s central zone, a suburban / rural zone and a section of coast surrounded by sand dunes. It is important to highlight that the analysis was made taking into consideration the actual reality of cellular systems with covering ranges by reduced cells, with the intent of causing greater re-use of frequencies and greater capacity of telephone traffic. The predominance of telephone traffic by cell in the city of Natal occurs within a range inferior to 3 (three) km from the Radio-Base Station. The frequency band used was 800 MHz, corresponding to the control channels of the respective sites, which adopt the FSK modulation technique. This Dissertation starts by presenting a general vision of the models used for predicting propagation. Then, there is a description of the methodology used in the measuring, which were done using the same channels of control of the cellular system. The results obtained were compared with many existing prediction models, and some adaptations were developed by using regression techniques trying to obtain the most optimized solutions. Furthermore, according to regulations from the old Brazilian Holding Telebrás, a minimum covering of 90% of a determined previously area, in 90% of the time, must be obeyed when implanting cellular systems. For such value to be reached, considerations and studies involving the specific environment that is being covered are important. The objective of this work is contribute to this aspect

Identificação em tempo real de modelo dinâmico de robô móvel com acionamento diferencial e zona morta

Several mobile robots show non-linear behavior, mainly due friction phenomena between the mechanical parts of the robot or between the robot and the ground. Linear models are efficient in some cases, but it is necessary take the robot non-linearity in consideration when precise displacement and positioning are desired. In this work a parametric model identification procedure for a mobile robot with differential drive that considers the dead-zone in the robot actuators is proposed. The method consists in dividing the system into Hammerstein systems and then uses the key-term separation principle to present the input-output relations which shows the parameters from both linear and non-linear blocks. The parameters are then simultaneously estimated through a recursive least squares algorithm. The results shows that is possible to identify the dead-zone thresholds together with the linear parameters