Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Técnicas visuais de localização e mapeamento simultâneos sem extração de primitivas geométricas da imagem

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments

Extração e Representação de Conhecimento de Séries Temporais de Demanda de Energia Elétrica Usando TSKR

The opening of the Brazilian market of electricity and competitiveness between companies in the energy sector make the search for useful information and tools that will assist in decision making activities, increase by the concessionaires. An important source of knowledge for these utilities is the time series of energy demand. The identification of behavior patterns and description of events become important for the planning execution, seeking improvements in service quality and financial benefits. This dissertation presents a methodology based on mining and representation tools of time series, in order to extract knowledge that relate series of electricity demand in various substations connected of a electric utility. The method exploits the relationship of duration, coincidence and partial order of events in multi-dimensionals time series. To represent the knowledge is used the language proposed by Mörchen (2005) called Time Series Knowledge Representation (TSKR). We conducted a case study using time series of energy demand of 8 substations interconnected by a ring system, which feeds the metropolitan area of Goiânia-GO, provided by CELG (Companhia Energética de Goiás), responsible for the service of power distribution in the state of Goiás (Brazil). Using the proposed methodology were extracted three levels of knowledge that describe the behavior of the system studied, representing clearly the system dynamics, becoming a tool to assist planning activities

Estudo do potencial de utilização do resíduo da extração de esmeraldas na fabricação de cerâmica de revestimento

Companies involved in emerald mining and treatment represent an important area of industrial development in Brazil, with significative contribution to the worldwide production of such mineral. As a result, large volumes of emerald waste are constantly generated and abandoned in the environment, negatively contributing to its preservation. By the other side the interest of the use of mining waste as additive in ceramic products has been growing from researchers in recent years. The ceramic industry is constantly seeking to the marked amplification for the sector and perfecting the quality of the products and to increase the variety of applications. The technology of obtaining of ceramic tiles that uses mining residues assists market niches little explored. In this scenario, the objective of the present study was to characterize the residue generated from emerald mining as well as to assess its potential use as raw material for the production of ceramic tiles. Ceramic mixtures were prepared from raw materials characterized by X-ray fluorescence, X-ray diffraction, particle size analysis and thermal analysis. Five compositions were prepared using emerald residue contents of 0%, 10%, 20%, 30% and 40%. Samples were uniaxially pressed, fired at 1000, 1100 and 1200ºC and characterized aiming at establishing their mineralogical composition, water absorption, apparent porosity, specific mass, linear retraction and modulus of rupture. The results shows that the emerald residue, basically consisted of 73% of (SiO2 + Al2O3) and 17,77% of (MgO + Na2O+ K2O) (that facilitates sintering), can be added to the ceramic tile materials with no detrimental effect on the properties of the sintered products

Extração e exportação de nutrientes em cultivares de batata: II - micronutrientes

Cultivares de batata mais produtivas possivelmente exigem maior quantidade de micronutrientes, porém no Brasil há carência de informações sobre extração e exportação de micronutrientes pelas principais cultivares de batata utilizadas. O objetivo deste trabalho foi avaliar a produtividade de tubérculos, a extração e a exportação de micronutrientes nas cultivares de batata Ágata, Asterix, Atlantic, Markies e Mondial. O experimento foi conduzido durante a safra de inverno, em um Latossolo Vermelho, no município de Itaí (SP). As parcelas foram constituídas pelas cinco cultivares, e as subparcelas, por épocas de coletas, realizadas no momento do plantio e a cada sete dias após a emergência. As cultivares Mondial e Asterix, mais produtivas, apresentaram maior extração de micronutrientes, com quantidades médias por hectare de 71 g de B, 122 g de Cu, 2.228 g de Fe, 618 g de Mn e 405 g de Zn. As menores quantidades extraídas foram observadas na cultivar Atlantic, com valores de 50, 81, 1.960, 544 e 270 g ha-1 de B, Cu, Fe, Mn e Zn, respectivamente. A fase de maior demanda por B ocorre logo após o início da formação de tubérculos, aos 34 DAP, enquanto a maior demanda por Fe e Mn inicia-se a partir dos 42 DAP e vai até 63 DAP. O Cu e o Zn são absorvidos em maiores proporções a partir dos 64 DAP até o final do ciclo. A quantidade de B, Cu, Mn e Zn exportada foi dependente da cultivar, com valores por hectare variando de 48 a 22 g de B, 79 a 16 g de Cu, 65 a 37 g de Mn e 167 a 83 g de Zn. A quantidade de Fe exportada não variou entre as cultivares, sendo, em média, de 243 g ha-1. A quantidade de micronutrientes extraída e exportada pela batateira variou com as cultivares utilizadas, indicando necessidade de manejo diferencial da adubação.

Método rápido de extração de DNA de bactérias

Desenvolveu-se um método rápido para extração de DNA de bactérias, que ao contrário de outros métodos, não requer o uso de enzimas, como lisozima e proteinase K, previamente, utilizado-se o carbonato de silício (carborundum) como agente físico para efetuar a quebrar da parede celular da bactéria. Com este método conseguiu-se extrair DNA bacteriano num menor tempo, além de mais rápido, ele mostrou-se mais simples e econômico, quando comparado aos métodos convencionais. O DNA obtido pode ser utilizado para diversas finalidades relacionadas ao DNA de bactérias, obtendo-se uma quantidade razoável de DNA, que varia de 725 µg/mL a 1170 µg/mL por cada 0,1 g de célula bacteriana, com ótima qualidade.

Extração do óleo e caracterização dos resíduos da borra de petróleo para fins de reuso

The petroleum industry, in consequence of an intense activity of exploration and production, is responsible by great part of the generation of residues, which are considered toxic and pollutants to the environment. Among these, the oil sludge is found produced during the production, transportation and refine phases. This work had the purpose to develop a process to recovery the oil present in oil sludge, in order to use the recovered oil as fuel or return it to the refining plant. From the preliminary tests, were identified the most important independent variables, like: temperature, contact time, solvents and acid volumes. Initially, a series of parameters to characterize the oil sludge was determined to characterize its. A special extractor was projected to work with oily waste. Two experimental designs were applied: fractional factorial and Doehlert. The tests were carried out in batch process to the conditions of the experimental designs applied. The efficiency obtained in the oil extraction process was 70%, in average. Oil sludge is composed of 36,2% of oil, 16,8% of ash, 40% of water and 7% of volatile constituents. However, the statistical analysis showed that the quadratic model was not well fitted to the process with a relative low determination coefficient (60,6%). This occurred due to the complexity of the oil sludge. To obtain a model able to represent the experiments, the mathematical model was used, the so called artificial neural networks (RNA), which was generated, initially, with 2, 4, 5, 6, 7 and 8 neurons in the hidden layer, 64 experimental results and 10000 presentations (interactions). Lesser dispersions were verified between the experimental and calculated values using 4 neurons, regarding the proportion of experimental points and estimated parameters. The analysis of the average deviations of the test divided by the respective training showed up that 2150 presentations resulted in the best value parameters. For the new model, the determination coefficient was 87,5%, which is quite satisfactory for the studied system

Liberação de cálcio e magnésio por cápsulas porosas de porcelana usadas na extração de solução do solo

O uso de cápsulas porosas para extração de solução do solo é interessante por ser um ensaio não-destrutivo. Entretanto, persistem dúvidas sobre a liberação de íons da própria cápsula, que podem contaminar a solução extraída. Foram realizados testes na Faculdade de Ciências Agronômicas/UNESP, Botucatu (SP), com o objetivo de verificar a liberação de Ca e de Mg por cápsulas porosas de porcelana. No primeiro, foram empregados quatro tratamentos: T1 - lavagem das cápsulas com água destilada, forçando sua passagem pelas cápsulas, utilizando uma bomba a vácuo; T2 - lavagem das cápsulas com HCl 0,1 mol L-1, forçando sua passagem pelas cápsulas, utilizando uma bomba a vácuo; T3 - lavagem das cápsulas com água destilada, sem vácuo, e T4 - lavagem das cápsulas com HCl 0,1 mol L-1, sem vácuo, em um tempo de imersão de 24 h (para T3 e T4). No segundo teste, as cápsulas tratadas com HCl 0,1 mol L-1 no primeiro teste foram lavadas com água destilada novamente e deixadas de molho em água destilada e deionizada durante 45 min. Após estes procedimentos, as cápsulas foram imersas em água destilada, tomando-se alícotas desta solução para determinação de pH e dos teores de Ca e Mg após contato com as cápsulas por 0; 0,5; 1,0; 2,0; 4,0 e 24 h. Cada tratamento teve quatro repetições. Não se observou liberação significativa de Ca e Mg das cápsulas porosas para a solução, quando foram preparadas utilizando-se da passagem de HCl 0,1 mol L-1 a vácuo e água destilada, e deixadas, a seguir, em água destilada e deionizada durante 4 h.

Extração e exportação de nutrientes em cultivares de batata: I - macronutrientes

A determinação das quantidades de nutrientes absorvidas durante o ciclo de desenvolvimento é de suma importância para estabelecer as épocas em que esses elementos são mais exigidos e as quantidades corretas que devem ser disponibilizadas à cultura da batata. No entanto, quase não existem essas informações para as principais cultivares utilizadas no Brasil. O objetivo deste trabalho foi avaliar a extração e a exportação de macronutrientes pelas cultivares de batata Ágata, Asterix, Atlantic, Markies e Mondial. O experimento foi conduzido durante a safra de inverno, em um Latossolo Vermelho, no município de Itaí (SP). As parcelas foram constituídas pelas cinco cultivares, e as subparcelas, por épocas de coletas, realizadas no momento do plantio e a cada sete dias após a emergência. As cultivares Mondial e Asterix, mais produtivas, apresentaram maior extração de macronutrientes, com quantidades médias por hectare de 116 kg de N, 18 kg de P, 243 kg de K, 50 kg de Ca e 13 kg de Mg, enquanto as cultivares Ágata, Atlantic e Markies extraíram menor quantidade, com valores médios de 92, 14, 178, 35 e 9 kg ha-1, respectivamente. A maior demanda por macronutrientes pelas cultivares estudadas ocorreu na fase inicial de enchimento dos tubérculos (42 a 70 DAP). A exportação de macronutrientes não esteve diretamente relacionada com a produtividade de tubérculos, já que a cultivar mais produtiva (Mondial) não foi a que exportou a maior quantidade de macronutrientes. A cultivar Asterix exportou maior quantidade de N, P, K e Mg, com valores de 88, 15, 220 e 8 kg ha-1, respectivamente, enquanto a menor exportação foi observada na cultivar Atlantic, com 48 kg ha-1 de N, 10 kg ha-1 de P, 143 kg ha-1 de K e 5 kg ha-1 de Mg. A variação entre as cultivares na extração, especialmente de K e N, indica necessidade de manejo diferencial da adubação.

Extração do óleo essencial de Cymbopogom winterianus J. com CO2 pressurizado

The extraction with pressurized fluids has become an attractive process for the extraction of essential oils, mainly due the specific characteristics of the fluids near the critical region. This work presents results of the extraction process of the essential oil of Cymbopogon winterianus J. with CO2 under high pressures. The effect of the following variables was evaluated: solvent flow rate (from 0.37 to 1.5 g CO2/min), pressure (66.7 and 75 bar) and temperature (8, 10, 15, 20 and 25 ºC) on the extraction kinetics and the total yield of the process, as well as in the solubility and composition of the C. winterianus essential oil. The experimental apparatus consisted of an extractor of fixed bed and the dynamic method was adopted for the calculation of the oil solubility. Extractions were also accomplished by conventional techniques (steam and organic solvent extraction). The determination and identification of extract composition were done by gas chromatography coupled with a mass spectrometer (GC-MS). The extract composition varied in function of the studied operational conditions and also related to the used extraction method. The main components obtained in the CO2 extraction were elemol, geraniol, citronellol and citronellal. For the steam extraction were the citronellal, citronellol and geraniol and for the organic solvent extraction were the azulene and the hexadecane. The most yield values (2.76%) and oil solubility (2.49x10-2 g oil/ g CO2) were obtained through the CO2 extraction in the operational conditions of T = 10°C, P = 66.7 bar and solvent flow rate 0.85 g CO2/min

Tratamento de materiais contaminados com bifenilas policloradas (PCBS) via extração convencional e fluído supercrítico

The decontamination of the materials has been subject of some studies. One of the factors that it increases the pollution is the lack of responsibility in the discarding of toxic trash, as for example the presence of PCB (Polychlorinated Biphenyls) in the environment. In the Brazilian regulations, the material contaminated with PCB in concentrations higher than 50 ppm must be stored in special places or destroyed, usually by incineration in plasma furnace with dual steps. Due to high cost of the procedure, new methodologies of PCBs removal has been studied. The objective of this study was to develop an experimental methodology and analytical methodology for quantification of removal of PCBs through out the processes of extractions using supercritical fluid and Soxhlet method, also technical efficiency of the two processes of extraction, in the treatment of contaminated materials with PCBs. The materials studied were soils and wood, both were simulated contamination with concentration of 6.000, 33.000 and 60.000 mg of PCB/ kg of materials. Soxhlet extractions were performed using 100 ml of hexane, and temperature of 180 ºC. Extractions by fluid supercritical were performed at conditions of 200 bar, 70°C, and supercritical CO2 flow-rate of 3 g/min for 1-3 hours. The extracts obtained were quantified using Gas chromatography-mass spectrometry (GC/MS). The conventional extractions were made according to factorial experimental planning technique 22, with aim of study the influence of two variables of process extraction for the Soxhlet method: contaminant concentration and extraction time for obtain a maximum removal of PCB in the materials. The extractions for Soxhlet method were efficient for extraction of PCBs in soil and wood in both solvent studied (hexane and ethanol). In the experimental extraction in soils, the better efficient of removal of PCBs using ethanol as solvent was 81.3% than 95% for the extraction using hexane as solvent, for equal time of extraction. The results of the extraction with wood showed statistically it that there is not difference between the extractions in both solvent studied. The supercritical fluid extraction in the conditions studied showed better efficiency in the extraction of PCBs in the wood matrix than in soil, for two hours extractions the obtain percentual of 43.9 ± 0.5 % for the total of PCBs extracted in the soils against 95.1 ± 0,5% for the total of PCBs extracted in the wood. The results demonstrated that the extractions were satisfactory for both technical studied

Extração e exportação de nutrientes pelo híbrido de mamona Savana: I – macronutrientes

Low height castor bean hybrids and highly productive possibly need larger quantity of macronutients during its development cycle. However, in Brazil there is little information on extraction and exportation of macronutrients by low height castor bean hybrids, as on season as out-of-season growing. This study aimed to evaluate the nutrients extraction and exportation by Savana hybrid castor bean on season and out-of-season growing. The experiments were conducted during the season of 2005/2006 and out-of-season of 2006 in an Oxisol. The experimental design was a randomized block with four replications. The plots were consisted by harvest times of plants, which were composed by six plant rows to 5 m, spaced 0.45 m between rows. Samples were collected at 17, 31, 45, 59, 73, 97 and 120 days after emergence (DAE) during the season and at 17, 31, 45, 59, 80; 100 and 120 DAE in the out-of-season. The nutrients accumulation by Savana hybrid was small until the flowering (30 DAE), but intensified after this period. The period of greatest nutrient absorption occurred at 65 and 90 DAE for N, 70 and 80 DAE for P, 60 DAE for K and Mg, 55 and 60 DAE for Ca and S. The amounts absorbed per hectare by hybrid Savana ranged 155 to 31 kg of N, 17 to 3 kg of P, 71 to 13 kg of K, 56 to 12 kg of Ca, 28 to 4 kg of Mg and 29,5 to 7 kg of S in season and out-of-season, respectively. The yield was higher in growing season, but the nutrients extraction and exportation per ton of grain were similar among the seasons. Among 40% and 50% of N and S and most part of Mg, K and Ca accumulated in the plants returned to soil with crop residues, but less than 35% of P remained in the residues.

Extração e exportação de nutrientes pelo híbrido de mamona Savana: II – micronutrientes

Information about micronutrients extraction and exportation by castor bean hybrids of short stature, and the periods of highest demand for each micronutrient, are most importance for correct management to fertilization. This study aimed to evaluate the micronutrients extraction and exportation by Savana hybrid castor bean, on season and out-of-season growing. The experiments were conducted during season of 2005/2006 and out-of-season of 2006 in an Oxisol. The experimental design was a randomized block with four replications. The plots were consisted by harvest times of plants, which were carried out at 17, 31, 45, 59, 73, 97 and 120 days after emergence (DAE) during the season and at 17, 31, 45, 59, 80; 100 and 120 DAE in the out-of-season. In both seasons the order of micronutrients extraction by hybrid Savanna is: Fe> Mn> Zn> B> Cu> Mo, but with larger amounts of season cultivation. The time of greatest Zn and Mo absorption during the season and the Fe in out-of-season occurs at 80 DAE, although the other micronutrients are absorbed at higher rates between 50 and 65 DAE. In season the yield, nutrients extraction and exportation from soil are higher than out-of-season, but the nutrients extraction and exportation per ton show less variation between growing seasons. Fifty percent of zinc and 60% of Cu uptaken, on average, in out-of-season is exported with grains, but for the other micronutrients the proportion exported with grains is less than 40%.

Extração e pirólise do óleo de girassol (Helianthus annus l.) visando a produção de biocombustíveis

Nowadays, the growing environmental worry leads research the focus the application of alternative materials from renewable resources on the industrial process. The most common vegetable oil extractant using around the world is the hexane, a petroleum derived, toxic and flammable. Based on this fact, the goal of this work was to test vegetable oil extractions from sunflower seeds cultivated on the Rio Grande do Norte State using two extraction process, the mechanical expelling and solvent extraction, this one using hexane and ethanol as a alternative solvent. The solvent extractions were carried out in the Soxhlet extractor in three different extraction times (4, 6, and 8 hours). The effect of solvent and extraction time was evaluated. The mechanical extraction was carried out in a expeller and the sunflower oil obtained was characterized by its physical-chemical properties and compared with sunflower refinery oil. Furthermore this work also explored the pyrolysis reaction carried out by thermogravimetry measurement as alternative route to obtain biofuel. For this purpose the oil samples were heated to ambient temperature until 900°C in heating rate of 5, 10, 20ºC min-1 with the objective evaluated the kinetics parameters such activation energy and isoconversion. The TG/DTG curves show the thermal profile decomposition of triglycerides. The curves also showed that antioxidant presents on the refinery oil not influence on the thermal stability of sunflower oil. The total yield of the extraction s process with hexane and ethanol solvent were compared, and the results indicated that the extraction with ethanol were more efficient. The pyrolysis reaction results indicated that the use of unpurified oil required less energy to obtain the bio-oil

Extração de ferro da cera de carnaúba utilizando sistemas microemulsionados

The constant search for biodegradable materials for applications in several fields shows that carnauba wax can be a viable alternative in the manufacturing of biolubricants. Carnauba wax is the unique among the natural waxes to have a combination of properties of great importance. In previous studies it was verified the presence of metals in wax composition that can harm the oxidative stability of lubricants. Considering these factors, it was decided to develop a research to evaluate iron removal from carnauba wax, using microemulsion systems (Me) and perform the optimization of parameters, such as: extraction pH, temperature, extraction time, among others. Iron concentration was determined by atomic absorption and, to perform this analysis, sample digestion in microwave oven was used, showing that this process was very efficient. It was performed some analysis in order to characterize the wax sample, such as: attenuated total reflectance infrared spectroscopy (ATR-IR), thermogravimetry (TG), differential scanning calorimetry (DSC), energy dispersive X-ray fluorescence (EDXRF), scanning electron microscopy (SEM) and melting point (FP). The microemulsion systems were composed by: coconut oil as surfactant, n-butanol as cosurfactant, kerosene and/or heptanes as oil phase, distilled water as water phase. The pH chosen for this study was 4.5 and the metal extraction was performed in finite experiments. To evaluate Me extraction it was performed a factorial design for systems with heptane and kerosene as oil phase, also investigating the influence of temperature time and wax/Me ratio, that showed an statistically significant answer for iron extraction at 95% confidence level. The best result was obtained at 60°C, 10 hours contact time and 1: 10 wax/Me ratio, in both systems with kerosene and heptanes as oil phase. The best extraction occurred with kerosene as oil phase, with 54% iron removal