Classificação numérica e modelo digital de elevação na caracterização espacial de atributos dos solos

One of needs of modern agriculture is the prediction of spatial variability of soil properties at more detailed scales for sustainable management and optimization of management practices. The mathematical model associated with knowledge of variability of soil attributes and mapping of relief forms has helped in agricultural planning. In this regard the aim of this study was to characterize the spatial variability of physical and chemical properties of Oxisols and Ultisols using numerical classification and the digital elevation model. Two distinct landforms: convex for the Oxisol (158 ha) and linear for the Ultisol (172 ha). 53 samples from the Oxisol and 57 samples from the Ultisol were taken. Multivariate analysis of clusters of attributes studied from their euclidean distances was performed. This analysis by dendograms along with digital elevation models for different soils characterized was more homogeneous in Ultisol groups, and less homogeneous for the Oxisol in convex landform. These quantitative methods showed that the landforms conditioned the spatial pattern of soil attributes.

Localização e planejamento de caminhos para um robô humanóide e um robô escravo com rodas

This work presents the localization and path planning systems for two robots: a non-instrumented humanoid and a slave wheeled robot. The localization of wheeled robot is made using odometry information and landmark detection. These informations are fused using a Extended Kalman Filter. The relative position of humanoid is acquired fusing (using another Kalman Filter) the wheeled robot pose with the characteristics of the landmark on the back of humanoid. Knowing the wheeled robot position and the humanoid relative position in relation to it, we acquired the absolute position of humanoid. The path planning system was developed to provide the cooperative movement of the two robots,incorporating the visibility restrictions of the robotic system

Multi-resolução com fóvea móvel para redução e abstração de dados em tempo real

We propose a new approach to reduction and abstraction of visual information for robotics vision applications. Basically, we propose to use a multi-resolution representation in combination with a moving fovea for reducing the amount of information from an image. We introduce the mathematical formalization of the moving fovea approach and mapping functions that help to use this model. Two indexes (resolution and cost) are proposed that can be useful to choose the proposed model variables. With this new theoretical approach, it is possible to apply several filters, to calculate disparity and to obtain motion analysis in real time (less than 33ms to process an image pair at a notebook AMD Turion Dual Core 2GHz). As the main result, most of time, the moving fovea allows the robot not to perform physical motion of its robotics devices to keep a possible region of interest visible in both images. We validate the proposed model with experimental results

Evolução do uso da terra entre 1996 e 1999 no município de Botucatu-SP

Este trabalho teve o objetivo de avaliar a evolução do uso da terra no município de Botucatu - SP, no período de três anos, considerando-se seis tipos de cobertura vegetal (cana-de-açúcar, reflorestamento, floresta nativa, pastagem, cítrus e outros), tendo como base as imagens de satélite Landsat 5, bandas 3; 4 e 5, órbita 220, ponto 76, quadrante A, passagem de 8 de junho de 1999. O Sistema de Informações Geográficas - IDRISI for Windows 3.2, foi utilizado para as análises. Os resultados mostraram que esse programa foi eficiente para auxiliar na identificação e mapeamento das áreas com uso da terra, facilitando o processamento dos dados. As imagens de satélite TM/LANDSAT 5 forneceram um excelente banco de dados para a classificação supervisionada. O município não vem sendo preservado ambientalmente, pois apresenta-se coberto com menos de 20% de florestas nativas, mínimo exigido por lei. As áreas de pastagem, principal componente da paisagem do município, confirmam a vocação da região para a pecuária.

Implementação de processador banda base ofdma para downlink lte em fpga

This work treats of an implementation OFDMA baseband processor in hardware for LTE Downlink. The LTE or Long Term Evolution consist the last stage of development of the technology called 3G (Mobile System Third Generation) which offers an increasing in data rate and more efficiency and flexibility in transmission with application of advanced antennas and multiple carriers techniques. This technology applies in your physical layer the OFDMA technical (Orthogonal Frequency Division Multiple Access) for generation of signals and mapping of physical resources in downlink and has as base theoretical to OFDM multiple carriers technique (Orthogonal Frequency Division Multiplexing). With recent completion of LTE specifications, different hardware solutions have been developed, mainly, to the level symbol processing where the implementation of OFDMA processor in base band is commonly considered, because it is also considered a basic architecture of others important applications. For implementation of processor, the reconfigurable hardware offered by devices as FPGA are considered which shares not only to meet the high requirements of flexibility and adaptability of LTE as well as offers possibility of an implementation quick and efficient. The implementation of processor in reconfigurable hardware meets the specifications of LTE physical layer as well as have the flexibility necessary for to meet others standards and application which use OFDMA processor as basic architecture for your systems. The results obtained through of simulation and verification functional system approval the functionality and flexibility of processor implemented

Análise topológica experimental por perfilometria cíclica indutiva de superficies de paredes estruturais

To enhance the maintenance practices, Oil and Gas Pipelines are inspected from the inside by automated systems called PIG (Pipeline Inspection Gauge). The inspection and mapping of defects, as dents and holes, in the internal wall of these pipelines are increasingly put into service toward an overall Structural Integrity Policy. The residual life of these structures must be determined such that minimize its probability of failure. For this reason, the investigation on the detection limits of some basic topological features constituted by peaks or valleys disposed along a smooth surface is of great value for determining the sensitivity of the measurements of defects from some combinations of circumferential, axial and radial extent. In this investigation, it was analyzed an inductive profilometric sensor to scan three races, radius r1, r2, r3, in a circular surface of low carbon steel, equipped with eight consecutive defects simulated by bulges and holes by orbit, equally spaced at p/4 rad. A test rig and a methodology for testing in laboratory were developed to evaluate the sensor response and identify their dead zones and jumps due to fluctuations as a function of topological features and scanning velocity, four speeds different. The results are presented, analyzed and suggestions are made toward a new conception of sensor topologies, more sensible to detect these type of damage morphologies

RAPD analysis of genetic variability in a multiprovenance base population of Eucalyptus grandis hill ex maiden

Este estudo visou avaliar a variabilidade e distância genética dentro de uma população-base de melhoramento genético de Eucalyptus grandis. A avaliação da variabilidade genética tem como objetivos principais analisar a base genética da população-base e montar um banco de dados marcadores moleculares da população em análise. Essa população é formada por 327 indivíduos, principalmente das procedências de Coff's Harbour, Atherton e Rio Claro. Devido à heterozigosidade natural dessa população, ela pode ser dividida em diversas subpopulações, de acordo com a latitude e longitude de origem; e dentro de subpopulações, em função do grau de melhoramento genético já realizado do material analisado no Brasil. Isso permitiu avaliar quanto da variabilidade detectada dentro da população-base foi devido a esses fatores: procedência e grau de melhoramento. A aplicação da técnica RAPD permitiu avaliar 70 locos polimórficos, que foram analisados utilizando-se o coeficiente de Jaccard, o que resultou em matrizes de similaridade genética entre os indivíduos. Os dados de similaridade genética posteriormente foram submetidos à análise estatística. Osdados indicaram que a população-base apresenta ampla base genética, com média de similaridade genética de 0,328. O subgrupo denominado Região 3, composto por material selvagem da macrorregião de Atherton, juntamente com material de APS da macrorregião de Coff's Harbour, foi um dos que mais contribuíram para a ampla base genética da população-base. Foi possível detectar diferença estatística entre as populações selvagens das procedências de Atherton e Coff's Harbour, assim como entre essas procedências e a de Rio Claro.