Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Efeitos do herbicida lactofen sobre três cultivares de soja I. Alterações morfológicas externas e internas de folhas

O lactofen, herbicida do grupo dos difenil éteres, é indicado para uso na cultura da soja, em pós-emergência, devido sua eficácia no controle de plantas daninhas latifoliadas. No presente trabalho, conduzido em casa-de-vegetação, foram utilizadas as cultivares de soja Foscarin-31, IAC-8 e IAC-9, tratadas com lactofen nas doses 0,018 e 0,36 kg de lactofen i.a./ha, aplicadas quando as plantas apresentavam a Segunda folha composta totalmente expandida. Aos quatro e doze dias após as aplicações, foram analisadas e descritos os sinais macroscópicos e microscópicos de intoxicação nos folíolos das folhas. Os resultados indicaram que o lactofen ocasionou expressivas alterações morfológicas externas e internas das folhas, nos locais onde foi depositado, e que a dose maior acentua os efeitos do produto sobre as plantas, sendo que as cultivares de soja apresentaram diferentes graus de sensibilidade ao produto.

Análise comparativa dos métodos de fatores ponderados na seleção de áreas para aterros sanitários

This study presents a comparative analysis of methodologies about weighted factors considered in the selection of areas for deployment of Sanitary Landfills, applying the methodologies of classification criteria with scoring bands Gomes, Coelho, Erba & Veronez (2000); Waquil et al, 2000. That means, we have the Scoring System used by Union of Municipalities of Bahia and the Quality Index Landfill Waste (IQR) which are applyed for this study in Massaranduba Sanitary Landfill located in the municipality of Ceará Mirim /RN, northeastern of Brazil. The study was conducted in order to classify the methodologies and to give support for future studies on environmental management segment, with main goal to propose suited methodologies which allow safety and rigor during the selection, deployment and management of sanitary landfill, in the Brazilian municipalities, in order to help them in the process to extinction of their dumps, in according of Brazilian Nacional Plan of Solid Waste. During this investigation we have studied the characteristics of the site as morphological, hydrogeological, environmental and socio-economic to permit the installation. We consider important to mention the need of deployment from Rio Grande do Norte State Secretary of Environment and Water (SEMARH), Institute of Sustainable Development and Environment of RN (IDEMA), as well, from Federal and Municipal Governments a public policies for the integrated management of urban solid waste that address environmental preservation and improvement of health conditions of the population of the Rio Grande do Norte

Metodologia para modelagem, validação e programação de controladores lógicos industriais usando statecharts básicos

Due of industrial informatics several attempts have been done to develop notations and semantics, which are used for classifying and describing different kind of system behavior, particularly in the modeling phase. Such attempts provide the infrastructure to resolve some real problems of engineering and construct practical systems that aim at, mainly, to increase the productivity, quality, and security of the process. Despite the many studies that have attempted to develop friendly methods for industrial controller programming, they are still programmed by conventional trial-and-error methods and, in practice, there is little written documentation on these systems. The ideal solution would be to use a computational environment that allows industrial engineers to implement the system using high-level language and that follows international standards. Accordingly, this work proposes a methodology for plant and control modelling of the discrete event systems that include sequential, parallel and timed operations, using a formalism based on Statecharts, denominated Basic Statechart (BSC). The methodology also permits automatic procedures to validate and implement these systems. To validate our methodology, we presented two case studies with typical examples of the manufacturing sector. The first example shows a sequential control for a tagged machine, which is used to illustrated dependences between the devices of the plant. In the second example, we discuss more than one strategy for controlling a manufacturing cell. The model with no control has 72 states (distinct configurations) and, the model with sequential control generated 20 different states, but they only act in 8 distinct configurations. The model with parallel control generated 210 different states, but these 210 configurations act only in 26 distinct configurations, therefore, one strategy control less restrictive than previous. Lastly, we presented one example for highlight the modular characteristic of our methodology, which it is very important to maintenance of applications. In this example, the sensors for identifying pieces in the plant were removed. So, changes in the control model are needed to transmit the information of the input buffer sensor to the others positions of the cell

Group Sequential Communication (GSC): Especificação e Análise de Desempenho de umMecanismo de Comunicação de Tempo Real Compatível ao Padrão IEEE 802.11/11e Aplicado à Automação Industrial

This thesis proposes the specification and performance analysis of a real-time communication mechanism for IEEE 802.11/11e standard. This approach is called Group Sequential Communication (GSC). The GSC has a better performance for dealing with small data packets when compared to the HCCA mechanism by adopting a decentralized medium access control using a publish/subscribe communication scheme. The main objective of the thesis is the HCCA overhead reduction of the Polling, ACK and QoS Null frames exchanged between the Hybrid Coordinator and the polled stations. The GSC eliminates the polling scheme used by HCCA scheduling algorithm by using a Virtual Token Passing procedure among members of the real-time group to whom a high-priority and sequential access to communication medium is granted. In order to improve the reliability of the mechanism proposed into a noisy channel, it is presented an error recovery scheme called second chance algorithm. This scheme is based on block acknowledgment strategy where there is a possibility of retransmitting when missing real-time messages. Thus, the GSC mechanism maintains the real-time traffic across many IEEE 802.11/11e devices, optimized bandwidth usage and minimal delay variation for data packets in the wireless network. For validation purpose of the communication scheme, the GSC and HCCA mechanisms have been implemented in network simulation software developed in C/C++ and their performance results were compared. The experiments show the efficiency of the GSC mechanism, especially in industrial communication scenarios.

RoboEduc: especificação de um software educacional para ensino da robótica às crianças como uma ferramenta de inclusão digital

Because of social exclusion in Brazil and having as focus the digital inclusion, was started in Federal University of Rio Grande do Norte a project that could talk, at the same time, about concepts of collaborative learning and educational robotics , focused on children digitally excluded. In this context was created a methodology that approaches many subjects as technological elements (e. g. informatics and robotics) and school subjects (e. g. Portuguese, Mathematics, Geography, History), contextualized in everyday situations. We observed educational concepts of collaborative learning and the development of capacities from those students, as group work, logical knowledge and learning ability. This paper proposes an educational software for robotics teaching called RoboEduc, created to be used by children digitally excluded from primary school. Its introduction prioritizes a friendly interface, that makes the concepts of robotics and programming easy and fun to be taught. With this new tool, users without informatics or robotics previous knowledge are able to control a robot, previously set with Lego kits, or even program it to carry some activities out. This paper provides the implementation of the second version of the software. This version presents the control of the robot already used. After were implemented the different levels of programming linked to the many learning levels of the users and their different interfaces and functions. Nowadays, has been implemented the third version, with the improvement of each one of the mentioned stages. In order to validate, prove and test the efficience of the developed methodology to the RoboEduc, were made experiments, through practice of robotics, with children for fourth and fifth grades of primary school at the City School Professor Ascendino de Almeida, in the suburb of Natal (west zone), Rio Grande do Norte. As a preliminary result of the current technology, we verified that the use of robots associated with a well elaborated software can be spread to users that know very little about the subject, without the necessity of previous advanced technology knowledges. Therefore, they showed to be accessible and efficient tools in the process of digital inclusion

Efeito de herbicidas sobre plantas de Brachiaria plantaginea submetidas a estresse hídrico

Este trabalho objetivou avaliar a eficiência de controle de herbicidas inibidores da ACCase aplicados em pós-emergência em plantas de Brachiaria plantaginea submetidas a diferentes teores de água no solo. O estudo foi conduzido em casa de vegetação. O delineamento experimental foi o inteiramente casualizado, com quatro repetições, utilizando-se o esquema fatorial 9 x 4, sendo a combinação de três manejos hídricos (-0,03, -0,07 e -1,5 MPa) com três herbicidas (fluazifop-p-butil, haloxyfop-methyl e sethoxydim + óleo mineral Assist) e quatro doses destes (100, 50, 25 e 0% da dose recomendada). A aplicação dos herbicidas foi realizada em dois estádios vegetativos das plantas: 4-6 folhas e 2-3 perfilhos. As avaliações visuais de fitointoxicação das plantas de B. plantaginea foram realizadas aos 3, 7 e 14 dias após a aplicação, sendo determinada a massa seca das plantas no final do experimento. A eficiência de controle foi menor em plantas mantidas em potencial de água no solo de -1,5 MPa (manejo hídrico de 8%), independentemente do herbicida utilizado, nos dois estádios de aplicação, com exceção do herbicida haloxyfop-methyl aplicado no estádio de 2-3 perfilhos. Não houve diferenças de controle entre as aplicações com 100 e 50% da dose recomendada dos herbicidas nas plantas no estádio de 4-6 folhas, independentemente do manejo hídrico.

ISE-SPL: Uma abordagem baseada em linha de produtos de software aplicada à geração automática de sistemas para educação médica na plataforma E-learning

E-learning, which refers to the use of Internet-related technologies to improve knowledge and learning, has emerged as a complementary form of education, bringing advantages such as increased accessibility to information, personalized learning, democratization of education and ease of update, distribution and standardization of the content. In this sense, this paper aims to develop a tool, named ISE-SPL, whose purpose is the automatic generation of E-learning systems for medical education, making use of concepts of Software Product Lines. It consists of an innovative methodology for medical education that aims to assist professors of healthcare in their teaching through the use of educational technologies, all based on computing applied to healthcare (Informatics in Health). The tests performed to validate the ISE-SPL were divided into two stages: the first was made by using a software analysis tool similar to ISE-SPL, called SPLOT and the second was performed through usability questionnaires to healthcare professors who used ISESPL. Both tests showed positive results, proving it to be an efficient tool for generation of E-learning software and useful for professors in healthcare

Controle químico de plantas daninhas aquáticas em condições controladas - caixa d'água

Durante o ano de 1998 foram conduzidos quatro experimentos em Botucatu, Estado de São Paulo, Brasil, em condições de caixas d'água, com o objetivo de estudar o efeito de alguns herbicidas sobre Eicchornia crassipes, Pistia stratiotes, Thypha subulata e Salvinia molesta. Os herbicidas e doses utilizadas foram: imazapyr a 125, 250, 500, 1.000, 1.500 e 2.000 g e.a./ha; 2,4 D a 1.200 g e.a./ha; glyphosate a 3.360 g e.a./ha. Houve, ainda, uma testemunha sem aplicação de herbicidas. Os experimentos foram instalados no delineamento experimental em blocos ao acaso, com quatro repetições. As parcelas experimentais foram constituídas pelas caixas d'água com dimensões de 60x60x60 cm e colocadas a pleno sol no campo. Utilizou-se 3, 12, 25 e 60 plantas/caixa de T. subulata, P. stratiotes, E. crassipes e S. molesta, respectivamente. Os herbicidas foram aplicados com pulverizador costal a pressão constante de CO2 de 1,75 Bar, munido de barra com bicos Teejet 110.02 VS e com um consumo de calda de 200 l/ha. Foram efetuadas avaliações visuais de controle de sete em sete dias por 35 a 49 dias, dependendo da espécie. Todos os herbicidas testados foram eficientes no controle de E. crassipes e o imazapyr foi o único herbicida a promover morte total das plantas, independente da dose utilizada. Os herbicidas 2,4 D e glyphosate não foram eficientes no controle de P. stratiotes. O herbicida imazapyr foi eficiente no controle de P. stratiotes, exceto na dose de 125 g e.a./ha. Todos os herbicidas foram eficientes no controle de T. subulata, exceção ao imazapyr na dose de125 g e.a./ha. Houve rebrota de T. subulata nas parcelas aplicadas com 2,4 D. Nenhum tratamento químico foi eficiente no controle de S. molesta.

Efeitos de surfatantes sobre a tensão superficial e a área de molhamento de soluções de glyphosate sobre folhas de tiririca

Com o objetivo de avaliar a eficiência da agregação de surfatantes ao herbicida glyphosate analisou-se a tensão superficial de diferentes soluções de pulverização contendo o hebicida e o surfatante, e a área de molhamento destas soluções nas folhas de Cyperus rotundus L.. Foram desenvolvidos métodos para avaliação da tensão superficial e da área de molhamento. Para analisar a tensão fez-se pesagens das gotas formadas na extremidade de uma bureta, com os seguintes tratamentos combinados de forma fatorial (3 x 5 x 11): 3 surfatantes (Extravon, Aterbane e Silwet L-77), 5 concentrações do herbicida, produto comercial Roundup (0; 1; 2; 3,5 e 5 %) e 11 concentrações de cada surfatantes (0; 0,005; 0,01; 0,02; 0,05; 0,1; 0,2; 0,5; 1; 2 e 3,5 %), num total de 165 tratamentos. Para avaliar a área de molhamento nas folhas de tiririca aplicou-se gotas de 0,48 .l. Os dados foram ajustados pelo modelo de Mitscherlich e, observou-se que para o surfatante Extravon que a eficiência decrescia gradativamente a medida em que aumentava a concentração do herbicida; para o Aterbane a eficiência foi reduzida apenas em baixas concentrações; já o surfatante Silwet L-77 apresentou eficiência bem superior aos demais e sua eficiência foi pouco alterada com a adição herbicida. Houve uma correlação positiva entre área de molhamento e tensão superficial. Concluiu-se, ainda, que não basta um surfatante reduzir a tensão superficial da água destilada, para que possa ser recomendado seu uso agrícola, assim, o surfatante deve ser submetido a testes preliminares com os defensivos em que serão conjugados para posterior recomendação.

Aplicação da água residuária das salinas no tratamento de efluente têxtil

The treatment of colored and alkaline effluent has been a challenge to the textile industry. An alternative to remove the colors of those effluents is applying magnesium chloride as a coagulant agent. The magnesium ion, in high pH, hydrolyzes itself, forming the magnesium hydroxide which has a large adsorptive area and positive electrostatic charges able to act as an efficient coagulant. The bittern wastewater from the salt industries has been studied as a potential font of this magnesium ion. Nowadays, this bittern wastewater is evicted into the sea, without any treatment or other use. This thesis has evaluated the potential of applying the wastewater from the salt industries in the treatment of dyeing effluent containing indigo dye and alkaline pH. All the experiments were made in jar tests simulating the chemical coagulation, flocculation and decantation steps ranging the pH and the concentration of magnesium ion. Were obtained removals between 96% and 76% for turbidity, apparent color, and true color, respectively, using 200mg/L Mg2+. The reduction of costs with acid, when were used the salt industries wastewater, comparing with Al2(SO4)3, was 62%. For the degradation of organic matter remaining in the clarified, around 900 mg/L, was applyed the advanced process of oxidation: photo-Fenton. The preliminary results showed 57% reduction in DOC. According to the results obtained, the salt industries wastewater can be applied, as coagulant, in the physical-chemical treatment of the denim dyeing wastewater, so it is not necessary a previous adjust of pH, efficiently and economically

Estudo histórico e pedagógico sobre ternos pitagóricos à luz de eugène bahier

At the present investigation had the purpose to achieve a descritive analysis pedagogy in the work of Recherche méthodique et propriétés des triangles rectangles en nombres entiers. According to the analysis achieved, we made and applyed the teaching module called Pitagories: one of tools to comprehension Pitagory Theorema, there were studying by public students in mathematic course in the UFRN , the new mathematic teachers in future. The analysis the was made with writen test the was showed that all students got the view comprehension in the teaching approach module, to apointed the difference in the learning qualytative with other reseach that was made with quastionaire and enterview. With this module that was made with the new future teacheres there was more attention the better comprehension with the Pitagory Theorema, that was good focus in the pitagory about the potential historical pedagogyc in the work studied.

O gênero blog: ação social e multimodalidade.

Studies about discursive genres peak at a necessity to understand how these genres work in a society that is more and more submissive to the technology of informatics such as ours. In acknowledging that the virtual context of the Internet provides the manifestation and development of new genres of the discourse, we perceived that the online journal, or blog, as commonly known, is responsible for a variety of linguistic phenomena that would normally take severaI years to consolidate. Since its appearance in 1997 blogs rush as a virtual version of the personal diary and in a short time due to communicative demands suffers several changes, making new categories of blog genres emerge. Facing such phenomena, this work intends at first to characterize blogs as a genre that exercises a social action, evidencing its formal, structural and pragmatic characteristics from the notion of recurrence and rhetoric in a discursive-semiotic perspective. The methodological postulates adopted by this research are considered of qualitative basis in the sense that they are not restricted to looking at the discursive events as a product, but mainly they take into consideration a group of situational, cultural and ideologic factors that are present in the constitution of genre.

Assessment of informatization for the dispensing of medications at a university hospital

INTRODUCTION: Informatics and automation are important tools for the reduction of work, errors and costs in a hospital pharmacy. OBJECTIVES: To describe the structuring and function of an informatized system for the dispensing of medications and to assess its effect on nursing and pharmacy services during the period from 1997 to 2003. MATERIALS and METHODS: In this descriptive and retrospective study, we performed an analysis of documents addressing the structuring and implementation of the informatized medication dispensing system. In addition, we analyzed the perceptions of nurses, pharmacists and pharmacy assistants who participated in the structuring phase of the system when interviewed about the effect of informatization on administrative aspects (e.g., requisition of medications, presentation of the dispensed medication and system operationalization). RESULTS: The major advantages provided by the new system were 1) the elimination of manual transcripts for prescribed medications, 2) increased speed, 3) better identification of the doses prescribed by physicians, 4) medication labels containing all necessary identification and 5) practicality and safety of optical bar code-based verification of the requested and dispensed medications. CONCLUSIONS: The great majority of the interviewees considered the informatized medication supply system to be of good quality. Analysis of the data provided information that could contribute to the expansion and refinement of the system, provide support for studies regarding the utilization of medications and offer new perspectives for work and productivity.

Human face verification based on multidimensional Polynomial Powers of Sigmoid (PPS)

In this paper, we described how a multidimensional wavelet neural networks based on Polynomial Powers of Sigmoid (PPS) can be constructed, trained and applied in image processing tasks. In this sense, a novel and uniform framework for face verification is presented. The framework is based on a family of PPS wavelets,generated from linear combination of the sigmoid functions, and can be considered appearance based in that features are extracted from the face image. The feature vectors are then subjected to subspace projection of PPS-wavelet. The design of PPS-wavelet neural networks is also discussed, which is seldom reported in the literature. The Stirling Universitys face database were used to generate the results. Our method has achieved 92 % of correct detection and 5 % of false detection rate on the database.