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

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Construção e controle inteligente de um manipulador robótico com dois graus de liberdade

The present work shows the development and construction of a robot manipulator with two rotary joints and two degrees of freedom, driven by three-phase induction motors. The positions of the arm and base are made, for comparison, by a fuzzy controller and a PID controller implemented in LabVIEW® programming environment. The robot manipulator moves in an area equivalent to a quarter of a sphere. Experimental results have shown that the fuzzy controller has superior performance to PID controller when tracking single and multiple step trajectories, for the cases of load and no load

Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

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

Comportamento de mergulho do boto-cinza, Sotalia guianensis, na enseada do Curral, Praia de Pipa-RN, Brasil :possíveis adaptações cardíacas ao mergulho

The marine tucuxi, Sotalia guianensis, is one of the smallest known cetaceans, has coastal habits, and occurs from Hondures to Santa Catarina, in southern Brazil. The objective of this dissertation was to describe diving behavior of the marine tucuxi in three age classes and to analyze the cardiac capacity to dive through the examination of hearts of stranded specimens. Observations were made from October 2004 to November 2005 from a vantage point, in Curral Bay at Pipa beach-RN. We used Ad Libitum sampling and All occurrences to record the behaviors. The diving was characterized by the total exposition of the tail fluke for a few seconds, in 90° or 45° angles. Were recorded 131 dives in three behavioral contexts: foraging, traveling and socialization. The difference between juveniles and adults in dive time and fluke out at 45° or 90° to search and/or capture prey is probably influenced by the strategy used and ability to capture the prey. The frequency of fluke out at 90° for foraging in adults may be related to increased physiological efficiency of adults in comparison to juveniles. However, in the context of travel and socialization the dive time and fluke out were independent between the age classes. Dive in calves were frequent during socialization (play behavior) and traveling. This, associated with synchronic calve-adult diving suggests that a relationship of these behaviors and the acquisition of experience and foraging skills. As observed in other cetaceans, the heart (n=12) of the estuarine dolphin is broad and presents long ventricles which form a round apex. The right ventricle is long and narrow. The degree of dilatation of the aortic bulb may support the heart during diastole. The characteristic morphology of the heart and short dive duration < 2 min and depth ranged from 10m in the estuarine dolphin, can be likely at physiological adaptation for diving, typical de dolphins with coastal habits. The limitation of diving time in this specie may be influenced by anatomical and physiological restrictions

Da acusação às professoras pelo aprisionamento do sujeito em um diagnóstico a uma interrogação acerca da posição do analista

This study arises with two questionings: what is the usefulness of a diagnosis in school? And what moves that demand for diagnosis? Such questions were drawn up in answer to a diagnostic demand produced in the context of our internship in Scholar/Educational Psychology. On the perspective of working these issues, we conducted a literature research on diagnosis, with regard to its history, as a review of the psychoanalytic literature about the subject. This venture led us to a new interrogation: what are the elaborations that teachers produce from the child diagnosis, which place her as having special educational needs? The need of deciding the method that would lead us to answer such question, taking as reference the psychoanalytic theory, led us to an incursion to the subject research in psychoanalysis. This tracking points us that, according to Freud, on what comes to psychoanalysis, theory and research go together and that psychoanalysis is not a totalitarian world vision. On Lacan, the research is from the analysand, research that always implies the analyst and its praxis. Such path forced us to position a change to question the positions we occupy, in this experience, guided by an analytical listening. To discuss our position, we started from two cases and submitted them to construction and analysis. As a result, we found out that there is no way to know in advance what will be done from a diagnosis, which will be its uses. Point we used to considerate devastating to a child. So, to us, all children that received a diagnosis would be destined to a tragedy and what the research has shown us is that not always, not all of them. Thus, more than knowing what moves the demand, the important is the subject uses and our position towards it so they can generate a work

Síntese e caracterização de componentes nanoestruturados de células a combustível de óxidos sólidos

Perovskite-like ceramic materials present the general formula ABO3, where A is a rare earth element or an alkaline metal element, and B is a transition metal. These materials are strong candidates to assume the position of cathode in Solid Oxide Fuel Cells (SOFC), because they present thermal stability at elevated temperatures and interesting chemical and physical properties, such as superconductivity, dieletricity, magnetic resistivity, piezoelectricity, catalytic activity and electrocatalytic and optical properties. In this work the cathodes of Solid Oxide Fuel Cells with the perovskite structure of La1-xSrxMnO3 (x = 0.15, 0.22, 0.30) and the electrolyte composed of zirconia-stabilized-yttria were synthesized by the Pechini method. The obtained resins were thermal treatment at 300 ºC for 2h and the obtained precursors were characterized by thermal analysis by DTA and TG / DTG. The powder precursors were calcined at temperatures from 450 to 1350ºC and were analyzed using XRD, FTIR, laser granulometry, XRF, surface area measurement by BET and SEM methods. The pellets were sintered from the powder to the study of bulk density and thermal expansion

Influence of S(+)-ketamine analgesia in renal intraoperative ischemia: histological study in rats

OBJETIVO: Investigar, em ratos, o efeito da S(+)cetamina na histologia renal após hemorragia intra-operatória. MÉTODOS: Vinte ratos Wistar machos, anestesiados com pentobarbital sódico, foram divididos, aleatoriamente, em 2 grupos: G1 - controle (n=10) e G2 - S(+)cetamina (n=10), submetidos a hemorragia de 30% da volemia em 3 momentos (10% a cada 10 min) 60 min após anestesia. G2 recebeu S(+)cetamina, 15 mg. kg-1, i.m., 5 min após anestesia e 55 min antes do 1.º momento de hemorragia (M1). Foram monitorizadas a pressão arterial média (PAM), temperatura retal (T) e freqüência cardíaca. Os animais foram sacrificados (M4) 30 min após o 3.º momento de hemorragia (M3). Os rins e o sangue das hemorragias foram utilizados para estudo histológico e do hematócrito (Ht). RESULTADOS: Houve redução significativa da PAM, T e Ht. Na histologia, G1=G2 na dilatação tubular, congestão e necrose. A soma total dos escores foi significativamente diferente e G2>G1. CONCLUSÃO: Hemorragia e hipotensão determinaram alterações na histologia renal. O aumento da concentração sangüínea de catecolaminas provavelmente determinou escores mais altos de alterações histológicas com o uso de S(+)cetamina.

Fatores envolvidos na migração das endopróteses em pacientes submetidos ao tratamento endovascular do aneurisma da aorta abdominal

A migração da endoprótese é complicação do tratamento endovascular definida como deslocamento da ancoragem inicial. Para avaliação da migração, verifica-se a posição da endoprótese em relação a determinada região anatômica. Considerando o aneurisma da aorta abdominal infrarrenal, a área proximal de referência consiste na origem da artéria renal mais baixa e, na região distal, situa-se nas artérias ilíacas internas. Os pacientes deverão ser monitorizados por longos períodos, a fim de serem identificadas migrações, visto que estas ocorrem normalmente após 2 anos de implante. Para evitar migrações, forças mecânicas que propiciam fixação, determinadas por características dos dispositivos e incorporação da endoprótese, devem predominar sobre forças gravitacionais e hemodinâmicas que tendem a arrastar a prótese no sentido caudal. Angulação, extensão e diâmetro do colo, além da medida transversa do saco aneurismático, são importantes aspectos morfológicos do aneurisma relacionados à migração. Com relação à técnica, não se recomenda implante de endopróteses com sobredimensionamento excessivo (> 30%), por provocar dilatação do colo do aneurisma, além de dobras e vazamentos proximais que também contribuem para a migração. Por outro lado, endopróteses com mecanismos adicionais de fixação (ganchos, farpas e fixação suprarrenal) parecem apresentar menos migrações. O processo de incorporação das endopróteses ocorre parcialmente e parece não ser suficiente para impedir migrações tardias. Nesse sentido, estudos experimentais com endopróteses de maior porosidade e uso de substâncias que permitam maior fibroplasia e aderência da prótese à artéria vêm sendo realizados e parecem ser promissores. Esses aspectos serão discutidos nesta revisão.

A exposição crônica à fumaça do cigarro resulta em remodelação cardíaca e prejuízo da função ventricular em ratos

OBJETIVO: Determinar as alterações cardíacas estruturais e funcionais causadas pela exposição à fumaça do cigarro em ratos. MÉTODOS: Os animais foram aleatoriamente distribuídos em dois grupos: fumante (F), composto por 10 animais, expostos à fumaça do cigarro, na taxa de 40 cigarros/dia e controle (C), constituído por 10 animais não submetidos à exposição. Após 4 meses, os animais foram submetidos a estudo morfológico e funcional por meio do ecocardiograma. As variáveis estudadas foram analisadas pelo teste t ou pelo teste de Mann-Whitney. RESULTADOS: Os ratos fumantes apresentaram maior átrio esquerdo (F=4,2± 0,7mm; C=3,5±0,6mm; p<0,05), maiores diâmetros diastólicos (F=7,9±0,7mm; C=7,2±0,5mm; p<0,05) e sistólicos (F=4,1 ±0,5; C=3,4±0,5; p<0,05) do ventrículo esquerdo (VE). O índice de massa do VE foi maior nos animais fumantes (F=1,5 mg/kg± 0,2; C=1,3 mg/kg±0,2; p<0,05), e a fração de ejeção (F=0,85±0,03; C=0,89±0,03; p<0,05) e a fração de encurtamento (F=47,8 %±3,7; C=52,7%±4,6; p<0,05) maiores no grupo controle. Não foram identificadas diferenças nas variáveis de fluxo diastólico (onda E, na onda A e na relação E/A) transmitral. CONCLUSÃO: A exposição crônica à fumaça do cigarro resulta em remodelação cardíaca, com diminuição da capacidade funcional ventricular.

A exposição à fumaça de cigarro intensifica a remodelação ventricular após o infarto agudo do miocárdio

OBJETIVO: Analisar os efeitos da exposição à fumaça de cigarro (EFC) na remodelação ventricular após o infarto agudo do miocárdio (IAM). MÉTODOS: Ratos foram infartados e distribuídos em dois grupos: C (controle, n = 31) e F (EFC: 40 cigarros/dia, n = 22). Após seis meses, foi realizado ecocardiograma, estudo funcional com coração isolado e morfometria. Para comparação, foi utilizado o teste t (com média ± desvio padrão) ou teste de Mann-Whitney (com mediana e percentis 25 e 75). RESULTADOS: Os animais EFC apresentaram tendência a maiores áreas ventriculares diastólicas (C = 1,5 ± 0,4 mm², F = 1,9 ± 0,4 mm²; p = 0,08) e sistólicas (C = 1,05 ± 0,3 mm², F = 1,32 ± 0,4 mm²; p = 0,08) do VE. A função sistólica do VE, avaliada pela fração de variação de área, tendeu a ser menor nos animais EFC (C = 31,9 ± 9,3 %, F = 25,5 ± 7,6 %; p = 0,08). Os valores da - dp/dt dos animais EFC foram estatisticamente inferiores (C = 1474 ± 397 mmHg, F = 916 ± 261 mmHg; p = 0,02) aos animais-controle. Os animais EFC apresentaram maior peso do VD, ajustado ao peso corporal (C = 0,8 ± 0,3 mg/g, F = 1,3 ± 0,4 mg/g; p = 0,01), maior teor de água nos pulmões (C = 4,8 (4,3-4,8)%, F = 5,4 (5,1-5,5); p = 0,03) e maior área seccional do miócito do VE (C = 239,8 ± 5,8 µm², F = 253,9 ± 7,9 µm²; p = 0,01). CONCLUSÃO: A exposição à fumaça de cigarro intensifica a remodelação ventricular após IAM.

Reavaliação de critérios estruturais na hidrogeologia de terrenos cristalinos, com ênfase na neotectônica e sensoriamento remoto

Hydrogeological prospecting in Northeast Brazil and in other crystalline terrains has been developed on the basis of structural and regional geology concepts that date back to the 50-60 decades and, as such, demand a natural re-evaluation and update. In this kind of terrain, the percolation and accumulation of ground water are controlled by fractures and other types of discontinuities, such as foliations and geological contacts that, through weathering, impart porosity and permeability to the rocks, allowing water flow and storage. Several factors should be considered in the process of locating water wells, as discussed in the literature. Among these, the kind of structures, fracture geometry (including aperture and connectivity) and their geological and chronological context. It is important to correlate fracture systems with the regional neotectonic framework. Fractures at low angle (sub parallel) with the principal stress axis (s1) are those which tend to open (actually they work as tension joints) and, in principle, would present major hydric potential; in the opposite side, fractures at high angle to s1 would behave as closed by a compressional component. Fractures diagonal to the compression and tension axes correspond to shear fractures and, due to their connectivity with second fractures, are also important in terms of hydric potential. Uplift followed by terrain denudation leads to decompression and a general tendency to open (aided by weathering processes) fractures and other rock discontinuities, at different orientations. Low angle fractures, formed in this context, are equally important to increase connectivity, collection of water and recharge of the aquifer systems. In a general way, an opening component (neotectonic or by terrain decompression) and several models to increase fracture connectivity correlate with a greater hydric potential of these structures. Together with parallel research, this thesis addresses models of ground water occurrence in crystalline terrains, either improving well established concepts like the (Riacho-Fenda model), but also stressing other possibilities, like the role of alluvium and paleo-regoliths (the Calha Elúvio-Aluvionar model) and of strongly altered, permo-porous zones placed at variable depths below the present surface, flanking several types of discontinuities, especially interconnected fracture arrays (the Bolsões de Intemperismo model). Different methodological approaches are also discussed in order to improve success rates in the location of water wells in crystalline terrains. In this methodological review, a number of case studies were selected in the eastern domain of the State of Rio Grande do Norte, involving the localities of Santa Cruz, Santo Antônio, Serrinha, Nova Cruz, Montanhas, Lagoa de Pedras and Lagoa Salgada. Besides the neotectonic analysis of brittle structures, this Thesis addresses the validation of remote sensing as a tool for ground water prospecting. Several techniques were tested in order to detect and select areas with higher potential for ground water accumulation, using Landsat 5-TM and RADARSAT images, besides conventional aerial photos. A number of filters were tested to emphasize lineaments in the images, improving their discrimination, to identify areas with higher overburden humidity, which could reflect subsurface water accumulation, as well as alluvium and other sedimentary covers that might act as recharge zones. The work started with a regional analysis with the orbital images, followed by analysis of aerial photos, up to a detailed structural study of rock exposures in the terrain. This last step involved the analysis of outcrops surrounding wells (in a ray of approximately 10 to 100 m) with distinct productivities, including dry examples. At the level required for detail, it was not possible to accomplish a statistical approach using the available well data catalogs, which lack the desired specific information. The methodology worked out in this Thesis must undergo a testing phase through location of new water wells. An increase in the success rates as desired will led to a further consolidation step with wider divulgation of the methodology to private companies and governmental agencies involved in ground water prospecting in crystalline terrains

Tecttôniica póss--riifftte na Baciia Pottiiguar

The study of Brazilian sedimentary basins concentrates on their rift phase, whereas the Post-rift phase has been considered a tectonic quiescent period. The post-rift sequence of the Potiguar Basin, in the far northeastern Brazil, was once considered little deformed, however several studies have shown how that it was affected by major fault systems. The purpose of this thesis is to characterize the post-rift tectonic. The specific objectives are: to characterize the Neogene and Quaternary sedimentary units that outcrop of the Potiguar Basin; to show how the NW-SEtrending Afonso Bezerra Faults System deformed outcrop rocks in the Basin; to describe soft-sediment deformation in gravels of the Quaternary Alluvial Deposits from Açu River. Facies analyses, grain-size studies, luminescence dating, remote sensing, structural mapping, shallow geophysics (georadar), paleostress and petrography were carried out. The structural mapping and the georadar sections indicated that the Carnaubais and Afonso Bezerra fault systems formed fractures, silicified and non-silicified faults or deformation bands, affecting mainly the Açu, Jandaíra and Barreiras formations. The petrographic data indicate that the strong silicification resulted in a sealant character of the faults. Paleostress analysis indicates that two stress fields affected the Basin: the first presented N-S-trending compression, occurred from the Neocretaceous to the Miocene; the second stress field presents E-W-trending compression, acts from the Miocene to the present. It was verified once the Afonso Bezerra System Faults was reactivated in periods post-Campanian and affects all post-rift lithostratigraphic units of Potiguar Basin, including Quaternary sedimentary covers. The study about soft-sediment deformation structures indicates that they are similar in morphology and size to modern examples of seismically-induced deformation strutures in coarse sediments. TL and OSL ages indicate that sediment deposition and associated soft-sediment deformation occurred at least six times from ~352 Ka to ~9 Ka. Finally these studies demonstrate how recent is tectonics in the Basin Potiguar

Incubabilidade e Qualidade de Pintos de Ovos Matrizes de Frangos de Corte Submetidos a Estresse de Temperatura

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)