917 resultados para Multirotore, quadrirotore, quadrotor, droni, controllo automatico, stima di assetto, stima di posizione, filtro complementare, filtro di Kalman


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As negociações entre Portugal e Holanda a respeito da devolução dos territórios portugueses ocupados se desenvolveram ao longo de um decênio. As propostas iniciais de Portugal referiam-se aos territórios ocupados pelos holandeses na África e no Maranhão. Estão no raríssimo folheto.

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Essa é a segunda edição de uma obra clássica sobre a restauração da monarquia portuguesa, com referências sobre o Brasil e adesão a D.João IV. O Séc. XVII foi, para Portugal, um tempo de lutas, tanto na Europa como no Brasil e na África. Foi, ainda, um período de reorganização jurídica e econômica da sociedade.

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The synthesis and direct observation of 1,1-di-tert-butyldiazene (16) at -127°C is described. The absorption spectrum of a red solution of 1,1-diazene 16 reveals a structured absorption band with λ max at 506 run (Me_2O, -125°C). The vibrational spacing in S_1 is about 1200 cm^(-1). The excited state of 16 emits weakly with a single maximum at 715 run observed in the fluorescence spectrum (Me_2O:CD_2Cl_2, -196°C). The proton NMR spectrum of 16 occurs as a singlet at 1.41 ppm. Monitoring this NMR absorption at -94^0 ± 2°C shows that 1,1-diazene 16 decomposes with a first-order rate of 1.8 x 10^(-3) sec(-1) to form isobutane, isobutylene and hexarnethylethane. This rate is 10^8 and 10^(34) times faster than the thermal decomposition of the corresponding cis and trans 1,2-di-tert-butyldiazene isomers. The free energy of activation for decomposition of 1,1-diazene 16 is found to be 12.5 ± 0.2 kcal/mol at -94°C which is much lower than the values of 19.1 and 19.4 kcal/lmole calculated at -94°C for N-(2,2,6,6- tetramethylpiperidyl)nitrene (3) and N-(2,2,5,5- tetrarnethylpyrrolidyl)nitrene (4), respectively. This difference between 16 and the cyclic-1,1-diazenes 3 and 4 can be attributed to a large steric interaction between the tert-butyl groups in 1,1-diazene 16.

In order to investigate the nature of the singlet-triplet gap in 1,1-diazenes, 2,5-di-tert-butyl-N-pyrrolynitrene (22) was generated but was found to be too reactive towards dimerization to be persistent. In the presence of dimethylsulfoxide, however, N-pyrrolynitrene (22) can be trapped as N-(2,5-di-tert-butyl- N'-pyrrolyl)dimethylsulfoxirnine (38). N-(2,5-di-tert-butyl-N'-pyrrolyl)dimethylsulfoximine (38-d^6) exchanges with free dimethylsulfoxide at 50°C in solution, presumably by generation and retrapping of pyrrolynitrene 22.

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A presente tese tem por objetivo revisitar os instrumentos de autotutela e repensar os seus pressupostos de admissibilidade, limites e mecanismos de controle no ordenamento brasileiro, em particular nas situações de inadimplemento contratual. A necessidade de tal abordagem advém essencialmente de duas demandas aparentemente inconciliáveis da pós-modernidade: reforçar a autonomia privada, reduzindo a ingerência estatal, e, ao mesmo tempo, controlá-la, coibindo abusos. Para tanto, busca-se desatrelar a autotutela da noção primitiva de vingança privada, concebendo-se uma renovada perspectiva, constitucionalizada e controlada, inconfundível com a conduta criminalmente tipificada do exercício arbitrário das próprias razões. O reconhecimento de um fundamento constitucional para a autonomia negocial é determinante para conferir legitimidade também constitucional - à autotutela contratual, que é expressão daquela autonomia. Por conseguinte, rompe-se com o dogma da excepcionalidade dos instrumentos de autotutela, que passa a ser entendida como um poder merecedor de respaldo pelo ordenamento. A solução proposta preconiza a abertura aos contratantes de mais espaço para reger e defender os seus próprios interesses independentemente da chancela estatal, mas sem prejuízo de um posterior controle judicial para corrigir eventuais inadequações de conduta (na hipótese de contrariedade à boa-fé) ou abusos (no caso de desvio da função do remédio adotado). Uma vez assentadas tais premissas, empreende-se a análise da estrutura e função, bem como, e sobretudo, das potencialidades expansivas dos principais remédios de autotutela pelo inadimplemento, classificados segundo um critério funcional, a saber: (i) remédios com função conservativo-cautelar, que abrangem as exceções de contrato não cumprido e a retenção preventiva; (ii) remédios com função resolutiva, abrangendo a cláusula resolutiva expressa e outros possíveis instrumentos de resolução extrajudicial; e (iii) remédios com função satisfativa, compreendendo a retenção definitiva, o pacto marciano e algumas medidas de mitigação de perdas e danos pelo próprio credor, a exemplo das contratações substitutivas. O resultado alcançado demonstra a relevância da metodologia civil-constitucional tanto para justificar restrições à autonomia privada quanto, e em igual medida, para reforçá-la.

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Megacyclops viridis Jurine, noticed in Lago Maggiore in 1912 by De Marchi from the littoral vegetation of Pallanza, is a normal member of the littoral plankton of the lake. The subgenus Megacyclops, created by Kiefer in his revision of the viridis-vernalis group, contains european and american species some of which are today considered as varieties of the species viridis. This paper examines morphology and of the distribution of the Italian viridis in Lake Maggiore.

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Eudiaptomus vulgaris Schmeil is the most abundant copepod in Lake Maggiore and forms also, in respect to other entomostraca, the most important element, through its average biomass and because it is fairly numerous throughout the year. Plankton samples collected in a systematic and quantitative way, gave the opportunity to study some aspects of the dynamics of the population of this copepod, in safety in view of the uncertainty which in this kind of study can ensue when samples are taken only at a single station - in consequence of the changes in size of population between different water masses. The results of the biometrical observations are of the population of Eudiaptomus vulgaris is presented.

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This brief paper describes the significance of seasonal variation in clutch-size of the copepod Arctodiaptomus bacillifer in alpine lakes of high altitudes (Val Bognanco). Seasonal dynamics of the zooplankton of these lakes was studied during summer and autumn of 1968 and 1969and results are summarised.

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Zooplankton was studied in four alpine lakes in Switzerland, France and Italy. The presence the presence of the invertebrate predator Heterocope in three lakes was stated. It is then discussed why in three of these four lakes, the copepod Arctodiaptomus denticornis is present in the absence of Arctodiaptomus bacillifer, and vice versa respectively in the second and first parts of the lacustrine summer.

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In recent times, some specialists have begun to study the subject of food selection of fish in an organized way, thus highlighting its importance. In the present work, the author intends to evaluate the impact of predation on the eupelagic zooplanktonic biocenosis of Lake Maggiore, producing, in this way, as far as possible, a basis for a better understanding of the population dynamics of the species of zooplankton directly involved. Another aspect which has been studied is that related to the mechanism of selective capture set in action by the predator. To this end the study tries to bear in mind that the subject should be interpreted as a function of numerous factors acting contemporaneously, that is as the interaction of characters peculiar to the predator and to the prey. The species studied, locally called ”bondella”, belongs to the family Salmonidae, subfamily Coregoninae and was introduced into Lake Maggiore in 1950.

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In freshwater environments of modest size and without notable ecological structure, there is usually present only one diaptomid species. When two or more diaptomid species are present in the same habitat, generally their body dimensions are distinctly different. There are only four examples of co-existence of Arctodiaptomus bacillifer (Koelb.) and Acanthodiaptomus denticornis (Wierz.) situated at higher altitudes alpine lakes. The article discusses the results of sampling in the summer of 1953 and the problem of the co-existence of Arctodiaptomus bacillifer, Acanthodiaptomus denticornis and Heterocope saliens.

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Dormancy has been observed in several species of Cyclops. Animals in dormancy are characterised by almost complete inactivity of the main appendages and sluggish intestinal peristalsis. In Cyclops vicinus dormancy can take place in copepod stages III (19%), IV (78%) and V (3%) but one and the same animal only in one developmental stage. The author gives his own results between frequency of dormancy and photoperiod (20 C, 1000 lux). He concludes that dormancy in C. vicinus can be influenced by day length and can be ended prematurely by short day length.

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In the skin of Salmo irideus the production of mucus is due to one type of cell specialized as a mucus cell. The histochemical research presented in this paper describes the mucous cells of Salmo irideus and demonstrates observable variation in such cells during the fish's development.

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The problem of the peculiar reproductive biology of the cladoceran Daphnia middendorffiana is investigated from a cytological viewpoint, and by direct observation the meiotic phenomena of the eggs both subitaneous and resting is studied. and during maturation, the true mechanism of the succession of reproductive phases of different ecological significance. Samples were collected in the Italian Alpine Lake of Campo 4°.