Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Arquitetura de Software para Barcos Robóticos

We propose in this work a software architecture for robotic boats intended to act in diverse aquatic environments, fully autonomously, performing telemetry to a base station and getting this mission to be accomplished. This proposal aims to apply within the project N-Boat Lab NatalNet DCA, which aims to empower a sailboat navigating autonomously. The constituent components of this architecture are the memory modules, strategy, communication, sensing, actuation, energy, security and surveillance, making these systems the boat and base station. To validate the simulator was developed in C language and implemented using the graphics API OpenGL resources, whose main results were obtained in the implementation of memory, performance and strategy modules, more specifically data sharing, control of sails and rudder and planning short routes based on an algorithm for navigation, respectively. The experimental results, shown in this study indicate the feasibility of the actual use of the software architecture developed and their application in the area of autonomous mobile robotics

Projeto, construção e análise de desempenho de um forno solar alternativo tipo caixa a baixo custo

An alternative box-type solar oven constructed from the scrap iron of a gas conventional cook is presented, which functions principles are the effect greenhouse and the concentration. The oven of the conventional cook is the baking enclosure where the absorber (pot) of the solar oven is located, being re-covered for a glass blade for the generation of the greenhouse effect isolated lateral and having deep its and for a composite the plaster base and EPS. Segments of plain mirrors had been placed in the laterals of the oven for the concentration of the radiation and a reflecting parabola was introduced in the baking enclosure for the exploitation of the incident reflected radiation in the interior of the oven. The oven is mobile to allow one better aiming of exactly in relation to the apparent movement of the sun. The thermal economic and of materials viabilities of the stove in study will be demonstrate The average internal temperature of the absorber was around 150°C and the internal temperature around 120°C. Will demonstrate that its low cost and good thermal performance represents basic characteristics for the viability of large use of such archetype, mainly for cooking the decreases and averages temperatures. One will reveal that the archetype in study is competitive with the box-type solar cooker conceived in the whole world

Análise preditiva a partir da caracterização das emissões gasosas e do óleo lubrificante em frotas com motorização a diesel

This work was motivated by the importance of conducting a study of vehicle emissions in captive fleets with diesel engine, coupled with the predictive maintenance plan. This type of maintenance includes techniques designed to meet the growing market demand to reduce maintenance costs by increasing the reliability of diagnoses, which has increased interest in automated predictive maintenance on diesel engines, preventing problems that might evolve into routine turn into serious situations, solved only with complex and costly repairs, the Reliability Centered Maintenance, will be the methodology that will make our goal is reached, beyond maintaining the vehicles regulated as fuel consumption and emissions. To Therefore, technical improvements were estimated capable of penetrating the automotive market and give the inshore fleet emission rates of opacity of the vehicles, being directly related to the conditions of the lubricating oil thus contributing to reducing maintenance costs by contributing significantly to emissions of pollutants and an improvement in the air in large cities. This criterion was adopted and implemented, em 241 buses and produced a diagnosis of possible failures by the correlation between the characterization of used lubricating oils and the analysis of opacity, with the objective of the aid the detection and solution of failures for the maintenance of sub-systems according to design criteria, and for this to be a deductive methodology to determine potential causes of failures, has been automated to implement a predictive maintenance system for this purpose was used in our study a mobile unit equipped with a opacimeter and a kit for collection and analysis of lubricating oil and the construction of the network diagnostics, we used a computer program in Microsoft Office Access 2007 platform tool is indispensable for creating a database data, this method is being used and successfully implemented in seven (7) bus companies from the city of Natal (RN) Brazil

Influência dos modelos digitais de terreno na modelagem de circulação hidrodinâmica 2DH: um estudo de caso

Digital Elevation Models (DEM) are numerical representations of a portion of the earth surface. Among several factors which affect the quality of a DEM, it should be emphasized the attention on the input data and the choice of the interpolating algorithm. On the other hand, several numerical models are used nowadays to characterize nearshore hydrodynamics and morphological changes in coastal areas, whose validation is based on field data collection. Independent on the complexity of the physical processes which are modeled, little attention has been given to the intrinsic bathymetric interpolation built within the numerical models of the specific application. Therefore, this study aims to investigate and to quantify the influence of the bathymetry, as obtained by a DEM, on the hydrodynamic circulation model at a coastal stretch, off the coast of the State of Rio Grande do Norte, Northeast Brazil. This coastal region is characterized by strong hydrodynamic and littoral processes, resulting in a very dynamic morphology with shallow coastal bathymetry. Important economic activities, such as oil exploitation and production, fisheries, salt ponds, shrimp farms and tourism, also bring impacts upon the local ecosystems and influence themselves the local hydrodynamics. This fact makes the region one of the most important for the development of the State, but also enhances the possibility of serious environmental accidents. As a hydrodynamic model, SisBaHiA® - Environmental Hydrodynamics System ( Sistema Básico de Hidrodinâmica Ambiental ) was chosen, for it has been successfully employed at several locations along the Brazilian coast. This model was developed at the Coastal and Oceanographical Engineering Group of the Ocean Engineering Program at the Federal University of Rio de Janeiro. Several interpolating methods were tested for the construction of the DEM, namely Natural Neighbor, Kriging, Triangulation with Linear Interpolation, Inverse Distance to a Power, Nearest Neighbor, and Minimum Curvature, all implemented within the software Surfer®. The bathymetry which was used as reference for the DEM was obtained from nautical charts provided by the Brazilian Hydrographic Service of the Brazilian Navy and from a field survey conducted in 2005. Changes in flow velocity and free surface elevation were evaluated under three aspects: a spatial vision along three profiles perpendicular to the coast and one profile longitudinal to the coast as shown; a temporal vision from three central nodes of the grid during 30 days; a hodograph analysis of components of speed in U and V, by different tidal cycles. Small, but negligible, variations in sea surface elevation were identified. However, the differences in flow and direction of velocities were significant, depending on the DEM

Development and validation of HPLC method for analysis of dexamethasone acetate in microemulsions

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Desenvolvimento de um sistema a jato de plasma obtido em cátodo oco para deposição de filmes finos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Validação de metodologia para análise de aminas bioativas em camarão utilizando cromatografia de íons

In this study, we worked with the validation of a methodology for analysis of bioactive amines in shrimp, considering it to be one of the main products of the northriograndense trade balance, maintaining the state of Rio Grande do Norte topped the list of Brazilian exports of this product the last decade. The sector of the Brazilian shrimp works exclusively with gray shrimp Litopenaeus Vannamei since the late 1990s. This study used liquid chromatography with conductimetric detector, using as the mobile phase methylsulfonic 3 mM acid (MSA) with gradient and phase C18 column with reverse the development of methodology for the analysis of bioactive amines in shrimp. In the sample preparation was used as 5% trichloroacetic acid (TCA) extraction solution. Validation analysis of biotativas amines (putrescine - PUT, histamine - HIST, agmatine - AGM, spermidine - EPD and spermine - EPN) in shrimp, the linear working range was 0.1 to 2.0 mg L-1 to was sensitive, homoscedastic, in effect, selective, accurate and precise array. Thus, considered feasible for these determinations bioactive amines in this array. Determined the concentration of these amines in fresh shrimps (AGM = 0.61 ± 0.05 mg kg- 1 EPD = 2.57 ± 0.14 mg kg-1 and EPN = 1.79 ± 0.11 mg kg-1), and freezing weather predetermined in cooked shrimp (AGM = 6.28 ± 0.18 mg kg-1, EPD = 12.72 ± 0.02 mg kg- 1 and EPN = 22.30 ± 0.60 mg kg-1), the shrimp with twenty-four hour stay at room temperature (PUT = 879.52 ± 28.12 mg kg-1, AGM = 848.13 ± 19.40 mg kg-1, ESPD = 13.59 ± 0.97 mg kg-1 and ESPN = 18.47 + 1.57 mg kg-1). In shrimp subjected to freezing for a week, two weeks, three weeks and four weeks, the results showed that there is an increase in the content of agmatine (7.31 ± 0.21 mg kg-1) while in spermine ( 1.22 ± 0.14 mg kg-1) and spermidine (below limit of quantification) there was a decrease in the freeze time, while there is a decrease in the level of spermidine not reaching detectad. The putrescine was only found in shrimp that remained for 24 hours at room temperature and histamine was not found in any of the samples

Uma abordagem baseada em aspectos e composição dinâmica para a construção de aplicações adaptativas cientes ao contexto

Ubiquitous computing systems operate in environments where the available resources significantly change during the system operation, thus requiring adaptive and context aware mechanisms to sense changes in the environment and adapt to new execution contexts. Motivated by this requirement, a framework for developing and executing adaptive context aware applications is proposed. The PACCA framework employs aspect-oriented techniques to modularize the adaptive behavior and to keep apart the application logic from this behavior. PACCA uses abstract aspect concept to provide flexibility by addition of new adaptive concerns that extend the abstract aspect. Furthermore, PACCA has a default aspect model that considers habitual adaptive concerns in ubiquitous applications. It exploits the synergy between aspect-orientation and dynamic composition to achieve context-aware adaptation, guided by predefined policies and aim to allow software modules on demand load making possible better use of mobile devices and yours limited resources. A Development Process for the ubiquitous applications conception is also proposed and presents a set of activities that guide adaptive context-aware developer. Finally, a quantitative study evaluates the approach based on aspects and dynamic composition for the construction of ubiquitous applications based in metrics

Um estudo algorítmico de problemas logísticos na indústria de petróleo e gás natural

This work consists on the study of two important problems arising from the operations of petroleum and natural gas industries. The first problem the pipe dimensioning problem on constrained gas distribution networks consists in finding the least cost combination of diameters from a discrete set of commercially available ones for the pipes of a given gas network, such that it respects minimum pressure requirements at each demand node and upstream pipe conditions. On its turn, the second problem the piston pump unit routing problem comes from the need of defining the piston pump unit routes for visiting a number of non-emergent wells in on-shore fields, i.e., wells which don t have enough pressure to make the oil emerge to surface. The periodic version of this problem takes into account the wells re-filling equation to provide a more accurate planning in the long term. Besides the mathematical formulation of both problems, an exact algorithm and a taboo search were developed for the solution of the first problem and a theoretical limit and a ProtoGene transgenetic algorithm were developed for the solution of the second problem. The main concepts of the metaheuristics are presented along with the details of their application to the cited problems. The obtained results for both applications are promising when compared to theoretical limits and alternate solutions, either relative to the quality of the solutions or to associated running time

Ambientes residenciais controlados por dispositivos móveis: estudo, concepção e desenvolvimento de um aplicativo considerando a diversidade

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Esporte como experiência estética e educativa: uma abordagem fenomenológica

O presente texto constitui-se de um recorte de uma pesquisa de doutorado realizada no programa de pós-graduação em educação da UFRN. Tem como objetivo discutir o esporte a partir da dimensão do vivido, buscando compreender os significados conferidos à prática esportiva e à experiência estética do atleta como educação. Parte de uma abordagem metodológica centrada na fenomenologia como campo de reflexão e interpretação da experiência vivida. Esse entendimento aponta caminhos para uma reflexão sobre o esporte centrada no corpo do atleta, cujos debates teóricos e as intervenções na Educação Física podem transpor qualquer concepção determinista, por uma educação móvel, sensível e inscrita no corpo em movimento

Algoritmos e Arquiteturas VLSI para Detectores MIMO com Decisão Suave

The use of Multiple Input Multiple Output (MIMO) systems has permitted the recent evolution of wireless communication standards. The Spatial Multiplexing MIMO technique, in particular, provides a linear gain at the transmission capacity with the minimum between the numbers of transmit and receive antennas. To obtain a near capacity performance in SM-MIMO systems a soft decision Maximum A Posteriori Probability MIMO detector is necessary. However, such detector is too complex for practical solutions. Hence, the goal of a MIMO detector algorithm aimed for implementation is to get a good approximation of the ideal detector while keeping an acceptable complexity. Moreover, the algorithm needs to be mapped to a VLSI architecture with small area and high data rate. Since Spatial Multiplexing is a recent technique, it is argued that there is still much room for development of related algorithms and architectures. Therefore, this thesis focused on the study of sub optimum algorithms and VLSI architectures for broadband MIMO detector with soft decision. As a result, novel algorithms have been developed starting from proposals of optimizations for already established algorithms. Based on these results, new MIMO detector architectures with configurable modulation and competitive area, performance and data rate parameters are here proposed. The developed algorithms have been extensively simulated and the architectures were synthesized so that the results can serve as a reference for other works in the area

Tabagismo associado a outros fatores comportamentais de risco de doenças e agravos crônicos não transmissíveis

Foram entrevistados via ligação telefônica 1.410 indivíduos, amostra aleatória e representativa da população acima de 18 anos residente em domicílios conectados à rede de telefonia fixa. A prevalência de tabagismo foi de 21,8%, maior em homens (25%) e em indivíduos na faixa entre 18 e 29 anos. Tabagismo e sedentarismo juntos ocorrem em 13,9% dos homens e 14,2% das mulheres; tabagismo e baixo consumo de frutas em 12,9% dos homens e 12,3% das mulheres; e tabagismo e baixo consumo de legumes em 5,8% dos homens e 5,1% das mulheres. A associação de tabagismo e consumo excessivo de álcool foi observada apenas nos homens (em 3,5% deles) e, da mesma forma que verificada para tabagismo isoladamente, sua ocorrência concomitante a outros fatores comportamentais de risco de doenças e agravos crônicos não transmissíveis (DANT) associou-se inversamente à escolaridade. Os dados apontam indícios de efeito de aglomeração entre tabagismo e sedentarismo, tabagismo e álcool em excesso, tabagismo e dieta inadequada, justificando intervenções focadas na prevenção e redução concomitante dos principais fatores comportamentais de risco de DANT.

Prevalência de fatores de risco para doenças crônicas: inquérito populacional mediante entrevistas telefônicas em Botucatu, São Paulo, 2004

OBJETIVO: Descrever resultados da aplicação de um sistema de monitoramento de fatores de risco para doenças crônicas não transmissíveis (DCNT) por meio de entrevistas telefônicas (SIMTEL) no município de Botucatu/SP. MÉTODOS: Entrevistou-se amostra probabilística (n = 1.410) da população de indivíduos com 18 ou mais anos de idade residente em domicílios do município de Botucatu/SP, conectados à rede de telefonia fixa. A amostragem foi realizada em três etapas: sorteio de linhas do cadastro da companhia telefônica; seleção de linhas residenciais ativas; sorteio para entrevista de um morador com 18 ou mais anos de idade por linha elegível. A taxa de sucesso (entrevistas realizadas: linhas elegíveis sorteadas) foi de 86,9%, sendo de 5,8% a proporção de recusas. Foi aplicado um questionário com 74 questões sobre consumo alimentar, atividade física, tabagismo, consumo de bebidas alcoólicas, peso e estatura recordados e auto-referência a diagnósticos médicos de hipertensão arterial e diabetes. Apresentam-se estimativas brutas da prevalência de fatores de risco/proteção para DCNT e estimativas ajustadas que levam em conta a distribuição segundo idade, sexo e escolaridade da população adulta total do município no Censo Demográfico de 2000. RESULTADOS: Foram observadas altas prevalências de excesso de peso (46.7%) e sedentarismo (57.9%). Houve desvantagem para os homens quanto ao consumo excessivo de bebidas alcoólicas e vantagem no que se refere à prática de atividade física em 1 ou mais dias da semana. Nas mulheres, observou-se associação inversa entre escolaridade e os seguintes fatores de risco: obesidade, excesso de peso, sedentarismo, consumo de carnes com gordura e hábito de fumar. Resultado semelhante foi observado para homens, exceto com relação a obesidade e excesso de peso. CONCLUSÕES: A segunda experiência de aplicação do SIMTEL confirmou o desempenho satisfatório e a utilidade do sistema em nosso meio.