Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Utilização de métodos combinados de avaliação imobiliária para a elaboração da planta de valores genéricos

The Plant of Generic Values (PVG) is part of the cadastral system of a city hall and is about an important document or support for the urban planning. For its conception some stages are necessary, amongst which the most remarkable: the collection of information and the proper evaluation. A norm number 14653-2 of the ABNT recommends the application of the comparative method of data of market for the evaluation of lands values, but not always this procedure is possible due to absence of significant samples, as in urban areas densely constructed the real estate transactions is restricted, practically, to remarkable are the constructed ones. Thus, this work aims at showing which one, the sources of these data and the problematic found to get them. Moreover, a method is presented, that is an alternative to get the values of lands in the regions where yhere is scarcity of these data, so as to make the results beter. This method deals with the junction of other methods of evaluation to the comparative method of market data. The use of the methodology provided better performance in the procedures, having as a consequence bigger uniformity between the data, that is, the value of evaluation and the value of market equalize. Besides, the separation of the area of work in zones of homogeneous data made possible to generate more models, making use of fewes variables, due to the similarity among the data.

O auto da morte e da vida : a escrita barroca de João Cabral de Melo Neto

This dissertation, entitled O Auto da Morte e da Vida: A escrita barroca de João Cabral de Melo Neto, has the aim of analising, interpreting, in a baroque perspective, Cabral s writing in the poem/play Morte e vida severina Auto de Natal Pernambucano, taking as basis the theories of Eugênio D´Ors, Severo Sarduy, Omar Calabrase, Lezama Lima, Afonso Ávila, Affonso Romano de Sant´Anna and others cited in the body of this work. During the analisys we feature confluences, relations, similarities, identification between the Baroque of the counter reformation and the modern Baroque or Neobaroque. We seek to comprehend the baroque which is new in the XX century and Cabral s poetry as an element of the contemporaneity, by updating the concept of the Baroque in the 1600s, when it is detected in its purest characteristic in human relation (the life of the Northwestern brazilian) through an intangible reality (the death). The Baroque as a cultural summary of a period of instability and transformation, with the power of dismantling an already established poetry. The fight between words and things, language and reality

Estudo das propriedades críticas do processo de contato por par para diferentes atualizações

We study the critical behavior of the one-dimensional pair contact process (PCP), using the Monte Carlo method for several lattice sizes and three different updating: random, sequential and parallel. We also added a small modification to the model, called Monte Carlo com Ressucitamento" (MCR), which consists of resuscitating one particle when the order parameter goes to zero. This was done because it is difficult to accurately determine the critical point of the model, since the order parameter(particle pair density) rapidly goes to zero using the traditional approach. With the MCR, the order parameter becomes null in a softer way, allowing us to use finite-size scaling to determine the critical point and the critical exponents β, ν and z. Our results are consistent with the ones already found in literature for this model, showing that not only the process of resuscitating one particle does not change the critical behavior of the system, it also makes it easier to determine the critical point and critical exponents of the model. This extension to the Monte Carlo method has already been used in other contact process models, leading us to believe its usefulness to study several others non-equilibrium models

A Parameterization Technique for the Continuation Power Flow Developed from the Analysis of Power Flow Curves

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Analysis of the effects of damping in the models validation

The search for better performance in the structural systems has been taken to more refined models, involving the analysis of a growing number of details, which should be correctly formulated aiming at defining a representative model of the real system. Representative models demand a great detailing of the project and search for new techniques of evaluation and analysis. Model updating is one of this technologies, it can be used to improve the predictive capabilities of computer-based models. This paper presents a FRF-based finite element model updating procedure whose the updating variables are physical parameters of the model. It includes the damping effects in the updating procedure assuming proportional and non proportional damping mechanism. The updating parameters are defined at an element level or macro regions of the model. So, the parameters are adjusted locally, facilitating the physical interpretation of the adjusting of the model. Different tests for simulated and experimental data are discussed aiming at evaluating the characteristics and potentialities of the methodology.

O uso de linguagem documentária em catálogos coletivos de bibliotecas universitárias: um estudo de avaliação sociocognitiva com protocolo verbal

Avaliou-se o uso de linguagem documentária alfabética de catálogos coletivos, na perspectiva das bibliotecas universitárias e no contexto sociocognitivo dos indexadores e dos usuários. Concluiu-se que o uso adequado de linguagens documentárias de áreas científicas especializadas faz-se por meio da avaliação quanto à atualização, especificidade e compatibilidade para atender às necessidades de indexação e recuperação da informação.

Organização temática da doutrina jurídica: elementos metodológicos para uma proposta de extensão da classificação decimal de direito

Specificity and updating of the bibliographic classification systems can be considered a determinant factor to the quality of organization and representation of the legal documentation. In the specific case of Brazil, the Brazilian Law Decimal Classification, does not foresee specific subdivisions for Labor Law procedures. In this sense, it carries out a terminological work based on table of contents of doctrinal Labor Law books of the mentioned area, which are compared to the conceptual structure of the Brazilian Law Decimal Classification. As a result, it presents an extension proposal for Labor Procedures as well as a methodological background for further extensions and updates.

Consistência na indexação em bibliotecas universitárias brasileiras

The aim of this paper is to evaluate the consistency indexes among 30 Brazilian university libraries from the south and south-east regions through a specific mathematical formula. It was selected a sample of 30 university libraries that, according to the information in their official sites, have a collection consisted of more than 100.000 copies and allow the search into the on-line catalog. Searches were carried out in every university by means of their sites, requesting books that contained a certain word in its title and were printed in a certain year. The response was a list of available titles in the library, from which we chose at random a title and asked to visualize the complete record to verify the existence of a given subject. This procedure was repeated until we found the same title in five libraries with the chosen subjects. The result is 10 trials, each one consisting of one figure and one table showing the selected libraries, the subjects, the documentary languages ( tools) and the consistency indexes relaxed and rigid. These trials show great discrepancy between the values of consistency indexes with intervals between 73,3% to 34,4% in the relaxed index, and between 60% and 9,6% in the rigid one. It was revealed that the coincidence in determining the subjects is not too high remaining below 39%. It is concluded that the difference between the consistency indexes may be due to factors as: incompatibility among documentary languages; lack of updating of these languages so as to follow the knowledge evolution; absence of a well-defined indexing policy with guidelines clearly established. Procedures of indexing followed by indexers could contribute to the consistency index to be bigger in percentage, since there would be parameters for the indexing process.

Uma abordagem dirigida por modelos para desenvolvimento de middlewares auto-adaptativos para transmissão de fluxo de dados baseado em restrições de QoS

The use of middleware technology in various types of systems, in order to abstract low-level details related to the distribution of application logic, is increasingly common. Among several systems that can be benefited from using these components, we highlight the distributed systems, where it is necessary to allow communications between software components located on different physical machines. An important issue related to the communication between distributed components is the provision of mechanisms for managing the quality of service. This work presents a metamodel for modeling middlewares based on components in order to provide to an application the abstraction of a communication between components involved in a data stream, regardless their location. Another feature of the metamodel is the possibility of self-adaptation related to the communication mechanism, either by updating the values of its configuration parameters, or by its replacement by another mechanism, in case of the restrictions of quality of service specified are not being guaranteed. In this respect, it is planned the monitoring of the communication state (application of techniques like feedback control loop), analyzing performance metrics related. The paradigm of Model Driven Development was used to generate the implementation of a middleware that will serve as proof of concept of the metamodel, and the configuration and reconfiguration policies related to the dynamic adaptation processes. In this sense was defined the metamodel associated to the process of a communication configuration. The MDD application also corresponds to the definition of the following transformations: the architectural model of the middleware in Java code, and the configuration model to XML

The cross-entropy method and its application to minimize the ripple of magnetic levitation forces of a maglev system

This paper explores firstly the potential of a new evolutionary method - the Cross-Entropy (CE) method in solving continuous inverse electromagnetic problems. For this purpose, an adaptive updating formula for the smoothing parameter, some mutation operation, and a new termination criterion are proposed. The proposed CE based metaheuristics is applied to reduce the ripple of the magnetic levitation forces of a prototype Maglev system. The numerical results have shown that the ripple of the magnetic levitation forces of the prototype system is reduced significantly after the design optimization using the proposed algorithm.

Guia de endereços eletrônicos para o estudo de cardiologia

OBJETIVO: Ampliar os recursos didáticos para estudantes de medicina, médicos e profissionais da área da saúde, estimulando o uso da Internet para fins acadêmicos ou de reciclagem em cardiologia. MÉTODO: Pesquisados e selecionados endereços eletrônicos com conteúdo acadêmico nas áreas da anatomia, biofísica, fisiologia, semiologia, eletrocardiografia e diagnóstico por imagem, com critérios de seleção, incluíndo relevância do conteúdo, clareza na apresentação e riqueza em recursos de animação e, os sites obtidos, classificados quanto ao conteúdo e nível acadêmico. RESULTADOS: Obtidos 5 sites de anatomia e anatomia patológica, 1 de biofísica, 3 de fisiologia, 8 de semiologia, 7 de diagnóstico por imagem e 2 de eletrocardiografia. Como alternativa de acesso, os sites também foram organizados de acordo com o nível acadêmico. O conjunto de endereços resultou em um guia simplificado e hierarquizado de conteúdos para o estudo da morfologia cardíaca e do diagnóstico por imagem em cardiologia. CONCLUSÃO: O roteiro obtido é um exemplo do potencial da Internet como instrumento de aprendizagem, a ser utilizado em associação com outros métodos pedagógicos convencionais.

Passagem transplacentária e efeitos embriofetais de drogas usadas em anestesia

JUSTIFICATIVA E OBJETIVOS: A anestesia da paciente grávida engloba situações diversas e que devem ser analisadas com muita propriedade. Além da exposição do feto e de uma possível ação tóxica dos agentes a serem utilizados na anestesia, devem ser considerados o período gestacional, as características de cada droga e as doses a serem utilizadas. A falta de informações adequadas sobre o risco do uso de drogas na gestação torna difícil ao anestesiologista uma opção segura quando se vê diante da necessidade de anestesiar uma paciente grávida, tanto para cirurgia não obstétrica, como em cirurgia obstétrica. No primeiro caso, é importante evitar o parto prematuro (ou o aborto) e o aparecimento de alterações permanentes no feto. No segundo caso, não deve haver interferência na contratilidade uterina nem depressão significativa no feto. A finalidade desta revisão é atualizar os conhecimentos sobre a passagem transplacentária e os efeitos maternofetais das drogas usadas em anestesia. CONTEÚDO: São revisados os mecanismos de passagem transplacentária de drogas, os princípios fundamentais de embriofetotoxicidade e analisados alguns aspectos importantes sobre efeitos embriofetais das drogas utilizadas na anestesia. Também é apresentada a classificação de risco teratogênico, de acordo com o FDA, das drogas que o anestesiologista mais utiliza durante o ato anestésico. CONCLUSÕES: Embora ainda persistam muitas dúvidas em relação à escolha de drogas para a anestesia de pacientes grávidas, o anestesiologista dispõe hoje de novas drogas e de informações que lhe permitem oferecer maior segurança para o binômio mãe-feto.

Síndrome dolorosa complexa regional: epidemiologia, fisiopatologia, manifestações clínicas, testes diagnósticos e propostas terapêuticas

JUSTIFICATIVA E OBJETIVOS: A Síndrome Dolorosa Complexa Regional (SDCR), assim denominada a partir de 1994 pelo Consenso da Associação Internacional para o Estudo da Dor (AIED) e anteriormente denominada de várias formas, tais como Distrofia Simpático Reflexa, Causalgia, Algodistrofia ou Atrofia de Sudeck, é uma doença cuja compreensão dos limites clínicos, fisiopatologia e implicações de patogenia ainda é pobre. Disto resulta a enorme insatisfação não só para os pacientes como para os profissionais da saúde quanto aos métodos terapêuticos atualmente disponíveis. O objetivo deste trabalho é rever a literatura e atualizar um conjunto de informações com o intuito da melhor compreensão desta importante síndrome dolorosa. CONTEÚDO: Este é um trabalho de revisão da literatura nos diversos aspectos da SDCR, com ênfase em suas causas, definição e taxonomia, fisiopatologia, características clínicas, testes diagnósticos e propostas de tratamentos mais recentes. CONCLUSÕES: Poucos são os estudos controlados adequadamente, encobertos e aleatórios, publicados com grandes amostras, havendo muitas dúvidas sobre esta doença. Desta forma, ainda há enorme empirismo na sua terapêutica, e os resultados obtidos são insatisfatórios.

Some particularities of dam rehabilitation projects

The number of dams, which need rehabilitation, is growing, not only in countries that have a long tradition in dam building and operation but,also in those regions where the infrastructure is still in full development. Though rehabilitation projects generally deal with problems that are common in dam engineering practice there are some peculiarities which are a characteristic of such projects and which must be duly taken into account to avoid unsuccess and/or unnecessary costs. Regular safety inspection is essential to forestall the development of structural, hydrological and operational unsafety. if need of major repair or overall rehabilitation of a dam becomes apparent design oft he rehabilitation project must be preceded by a comprehensive checkup of the structure and appurtenant works, as well as by an evaluation of its hydrological safety inclusive of all relevant environmental aspects. The availability of complete records on the clam's structural behaviour and on meteorological and hydrological data, as well as the knowledge of the materials properties of the existing structure are important for the successful design of a rehabilitation project. To this end the installation of monitoring devices in the existing structure may be necessary to generate representative data. While the criteria to be used in structural design should correspond to current standards, the definition of hydrological design criteria depends on considerations that vary widely from region to region or even from one country to another. Some basic hydrological safety requirements, however, are recommended for general acceptance. Dam rehabilitation projects demand very careful and detailed construction planning because of their dependence on river flow conditions, operational restrictions and, often, on procedures or limitations imposed to avoid harm to the environment. of utmost importance is the timely availability of the financial funds required to complete the project, in order to avoid delays which could result in structural or operational unsafety. Since every dam sooner or later will have to undergo major repair or updating of safety, rehabilitation may evolve to a speciality of dam engineering.