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

Identificação Visual de Caixas de Medicamentos Usando Features Correspondentes

This work uses computer vision algorithms related to features in the identification of medicine boxes for the visually impaired. The system is for people who have a disease that compromises his vision, hindering the identification of the correct medicine to be ingested. We use the camera, available in several popular devices such as computers, televisions and phones, to identify the box of the correct medicine and audio through the image, showing the poor information about the medication, such: as the dosage, indication and contraindications of the medication. We utilize a model of object detection using algorithms to identify the features in the boxes of drugs and playing the audio at the time of detection of feauteres in those boxes. Experiments carried out with 15 people show that where 93 % think that the system is useful and very helpful in identifying drugs for boxes. So, it is necessary to make use of this technology to help several people with visual impairments to take the right medicine, at the time indicated in advance by the physician

Análise de desempenho experimental de redes IEEE 802.3.

The Ethernet technology dominates the market of computer local networks. However, it was not been established as technology for industrial automation set, where the requirements demand determinism and real-time performance. Many solutions have been proposed to solve the problem of non-determinism, which are based mainly on TDMA (Time Division Multiple Access), Token Passing and Master-Slave. This work of research carries through measured of performance that allows to compare the behavior of the Ethernet nets when submitted with the transmissions of data on protocols UDP and RAW Ethernet, as well as, on three different types of Ethernet technologies. The objective is to identify to the alternative amongst the protocols and analyzed Ethernet technologies that offer to a more satisfactory support the nets of the industrial automation and distributed real-time application

Superando os riscos da segurança baseada em perímetro - Uma abordagem com identificação federada através de certificados digitais A3/ICP-Brasil e SAML

The traditional perimeter-based approach for computer network security (the castle and the moat model) hinders the progress of enterprise systems and promotes, both in administrators and users, the delusion that systems are protected. To deal with the new range of threats, a new data-safety oriented paradigm, called de-perimeterisation , began to be studied in the last decade. One of the requirements for the implementation of the de-perimeterised model of security is the definition of a safe and effective mechanism for federated identity. This work seeks to fill this gap by presenting the specification, modelling and implementation of a mechanism for federated identity, based on the combination of SAML and X.509 digital certificates stored in smart-cards, following the A3 standard of ICP-Brasil (Brazilian official certificate authority and PKI)

Controle por modos deslizantes com compensação difusa aplicado a sistemas com descontinuidade

The development of non-linear controllers gained space in the theoretical ambit and of practical applications on the moment that the arising of digital computers enabled the implementation of these methodologies. In comparison with the linear controllers more utilized, the non -linear controllers present the advantage of not requiring the linearity of the system to determine the parameters of control, which permits a more efficient control especially when the system presents a high level of non-linearity. Another additional advantage is the reduction of costs, since to obtain the efficient control through linear controllers it is necessary the utilization of sensors and more refined actuators than when it is utilized a non-linear controller. Among the non-linear theories of control, the method of control by gliding ways is detached for being a method that presents more robustness, before uncertainties. It is already confirmed that the adoption of compensation on the region of residual error permits to improve better the performance of these controllers. So, in this work it is described the development of a non-linear controller that looks for an association of strategy of control by gliding ways, with the fuzzy compensation technique. Through the implementation of some strategies of fuzzy compensation, it was searched the one which provided the biggest efficiency before a system with high level of nonlinearities and uncertainties. The electrohydraulic actuator was utilized as an example of research, and the results appoint to two configurations of compensation that permit a bigger reduction of the residual error

Práticas de letramento digital de professores em formação: demandas, saberes e impactos

Over the last decades, the digital inclusion public policies have significantly invested in the purchase of hardwares and softwares in order to offer technology to the Brazilian public teaching institutions, specifically computers and broadband Internet. However, the teachers education to handle these artefacts is put away, even though there is some demand from the information society. With that, this dissertation chooses as an object of study the digital literacy practices performed by 38 (thirty-eight) teachers in initial and continuous education by means of the extension course Literacies and technologies: portuguese language teaching and cyberculture demands. In this direction, we aim at investigating the digital literacy practices of developing teachers in three specific moments: before, while and after this extension action with the intent to (i) delineate the digital literacy practices performed by the collaborators before the formative action; (ii) to narrate the literacy events made possible by the extension course; (iii) to investigate the contributions of the education course to the collaborators teaching practice. We sought theoretical contributions in the literacy studies (BAYNHAM, 1995; KLEIMAN, 1995; HAMILTON; BARTON; IVANIC, 2000), specifically when it comes to digital literacy (COPE, KALANTZIS, 2000; BUZATO, 2001, 2007, 2009; SNYDER, 2002, 2008; LANKSHEAR & KNOBEL, 2002, 2008) and teacher education (PERRENOUD, 2000; SILVA, 2001). Methodologically, this virtual ethnography study (KOZINETS, 1997; HINE, 2000) is inserted into the field of Applied Linguistics and adopts a quali-quantitative research approach (NUNAN, 1992; DÖRNYEI, 2006). The data analysis permitted to evidentiate that (i) before the course, the digital literacy practices focused on the personal and academic dimensions of their realities at the expense of the professional dimension; (ii) during the extension action, the teachers collaboratively took part in the hybrid study sessions, which had a pedagogical focus on the use of ICTs, accomplishing the use of digital literacy practices - unknown before that; (iii) after the course, the attitude of the collaborator teachers concerning the use of ICTs on their regular professional basis had changed, once those teachers started to effectively make use of them, promoting social visibility to what was produced in the school. We also observed that teachers in initial education acted as more experienced peers in collaborative learning process, offering support scaffolding (VYGOTSKY, 1978; BRUNER, 1985) to teachers in continuous education. This occurred because of the undergraduates actualize digital literacy practices were more sophisticated, besides the fact being integrate generation Y (PRENSKY, 2001)

Do hip hop ao ciberespaço: interações midiáticas em jovens da periferia

En el barrio de Guarapes, al oeste de Natal, RN, un grupo de jóvenes se organizó para buscar de paz en su vecindario. Encontraron en la cultura hip hop una forma de contar sus historias y trabajar en el fortalecimiento de su propio lugar. Formaron la Posse de Hip Hop Lelo Melodia (PH2LM) y hace cerca de dos años, instalaron la "Bodega Digital", una especie de telecentro que ofrecía acceso a computadoras e Internet, donde pudieron producir una gran cantidad de música, además del primer video del grupo musical, que está en el aire a través de la Internet. En un suburbio, los procesos de mediatización de la sociedad pueden adquirir su propia dinámica y seguir movimientos que van más allá de las barreras impuestas por el proceso contradictorio de la globalización. En esta investigación, se buscó establecer relaciones entre la acción político-cultural de los jóvenes de la Posse y su participación en los medios de comunicación, especialmente en la Internet. Al observar al grupo y en entrevistas episódicas con sus miembros, trazamos un mapa e interpretamos los movimientos de los jóvenes hacia el ciberespacio y en sentido inverso, cómo traen a la calle lo que conquistan allí. Hemos encontrado que, a pesar de todos los obstáculos, estos jóvenes encuentran vacíos y los aprovechan para asegurar su acceso a los medios de comunicación y su participación en el ciberespacio.

Infografia interativa na redação: o processo de produção no Diário do Nordeste à luz da teoria do jornalismo

The infographics historically experience the process of evolution of journalism, from the incipient models handmade in the eighteenth century to the inclusion of computers and sophisticated software today. In order to face the advent of TV against of the partiality readers of the printed newspaper, or to represent the Gulf War, where not allowed photography, infographics reaches modern levels of production and publication. The technical devices which enabled the infographics to evolve the environment of the internet, with conditions for the manipulation of the reader, incorporating video, audio and animations, so styling of interactive infographics. These digital models of information visualization recently arrived daily in the northeast and on their respective web sites with features regionalized. This paper therefore proposes to explore and describe the processes of producing the interactive infographics, taking the example of the Diário do Nordeste, Fortaleza, Ceará, whose department was created one year ago. Therefore, based on aspects that guide the theory of journalism, as newsmaking, filters that focus on productive routine (gatekeeping) and the construction stages of the news. This research also draws on the theoretical framework on the subject, in concepts essential characteristics of computer graphics, as well as the methodological procedures and systematic empirical observations in production routines of the newsroom who can testify limitations and / or advances

Java applets para um software educacional distribuído em eletrônica de potência

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Projeto de Sistemas Integrados de Propósito Geral Baseados em Redes em Chip Expandindo as Funcionalidades dos Roteadores para Execução de Operações: A plataforma IPNoSys

It bet on the next generation of computers as architecture with multiple processors and/or multicore processors. In this sense there are challenges related to features interconnection, operating frequency, the area on chip, power dissipation, performance and programmability. The mechanism of interconnection and communication it was considered ideal for this type of architecture are the networks-on-chip, due its scalability, reusability and intrinsic parallelism. The networks-on-chip communication is accomplished by transmitting packets that carry data and instructions that represent requests and responses between the processing elements interconnected by the network. The transmission of packets is accomplished as in a pipeline between the routers in the network, from source to destination of the communication, even allowing simultaneous communications between pairs of different sources and destinations. From this fact, it is proposed to transform the entire infrastructure communication of network-on-chip, using the routing mechanisms, arbitration and storage, in a parallel processing system for high performance. In this proposal, the packages are formed by instructions and data that represent the applications, which are executed on routers as well as they are transmitted, using the pipeline and parallel communication transmissions. In contrast, traditional processors are not used, but only single cores that control the access to memory. An implementation of this idea is called IPNoSys (Integrated Processing NoC System), which has an own programming model and a routing algorithm that guarantees the execution of all instructions in the packets, preventing situations of deadlock, livelock and starvation. This architecture provides mechanisms for input and output, interruption and operating system support. As proof of concept was developed a programming environment and a simulator for this architecture in SystemC, which allows configuration of various parameters and to obtain several results to evaluate it

Uma arquitetura de referência para o desenvolvimento de sistemas interativos multiplataformas

It is increasingly common use of a single computer system using different devices - personal computers, telephones cellular and others - and software platforms - systems graphical user interfaces, Web and other systems. Depending on the technologies involved, different software architectures may be employed. For example, in Web systems, it utilizes architecture client-server - usually extended in three layers. In systems with graphical interfaces, it is common architecture with the style MVC. The use of architectures with different styles hinders the interoperability of systems with multiple platforms. Another aggravating is that often the user interface in each of the devices have structure, appearance and behaviour different on each device, which leads to a low usability. Finally, the user interfaces specific to each of the devices involved, with distinct features and technologies is a job that needs to be done individually and not allow scalability. This study sought to address some of these problems by presenting a reference architecture platform-independent and that allows the user interface can be built from an abstract specification described in the language in the specification of the user interface, the MML. This solution is designed to offer greater interoperability between different platforms, greater consistency between the user interfaces and greater flexibility and scalability for the incorporation of new devices

Arquitetura com elevada taxa de processamento e reduzida largura de banda de memória para a estimação de movimento em vídeos digitais

Nowadays several electronics devices support digital videos. Some examples of these devices are cellphones, digital cameras, video cameras and digital televisions. However, raw videos present a huge amount of data, millions of bits, for their representation as the way they were captured. To store them in its primary form it would be necessary a huge amount of disk space and a huge bandwidth to allow the transmission of these data. The video compression becomes essential to make possible information storage and transmission. Motion Estimation is a technique used in the video coder that explores the temporal redundancy present in video sequences to reduce the amount of data necessary to represent the information. This work presents a hardware architecture of a motion estimation module for high resolution videos according to H.264/AVC standard. The H.264/AVC is the most advanced video coder standard, with several new features which allow it to achieve high compression rates. The architecture presented in this work was developed to provide a high data reuse. The data reuse schema adopted reduces the bandwidth required to execute motion estimation. The motion estimation is the task responsible for the largest share of the gains obtained with the H.264/AVC standard so this module is essential for final video coder performance. This work is included in Rede H.264 project which aims to develop Brazilian technology for Brazilian System of Digital Television

Uma ontologia para a descrição da semântica da IMML

This work presents an ontology to describe the semantics of IMML (Interactive Message Modeling Language) an XML-based User Interface Description Language. The ontology presents the description of all IMML elements including a natural language description and semantic rules and relationships. The ontology is implemented in OWL-DL, a standard language to ontology description that is recommended by W3C. Our main goal is to describe the semantic using languages and tools that can be processed by computers. As a consequence, we develop tools to the validation of a user interface specification and also to present the semantic description in different views

Recurso de interface captcha: segurança e usabilidade na distinção entre humano e máquina

Com o intuito de impedir que computadores enviem mensagens automáticas se passando por usuários reais, desenvolvedores tem utilizado o recurso de interface CAPTCHA para distinguir o preenchimento de dados e submissões realizadas por humanos e por máquinas. Este trabalho apresenta as principais modalidades de CAPTCHAs e discute as implicações na usabilidade. Para tanto, foram aplicados questionários e realizados testes de usabilidade em três modalidades de CAPTCHA. Verificou-se que, embora os usuários tenham consciência da importância do uso do CAPTCHA como ferramenta de segurança, percebeu-se que tal recurso compromete a usabilidade, gerando insatisfação e em alguns casos, a desistência da realização da tarefa

Efeito do campo elétrico em nanocones formados por aln e BN: um estudo por primeiros princípios

The development of computers and algorithms capable of making increasingly accurate and rapid calculations as well as the theoretic foundation provided by quantum mechanics has turned computer simulation into a valuable research tool. The importance of such a tool is due to its success in describing the physical and chemical properties of materials. One way of modifying the electronic properties of a given material is by applying an electric field. These effects are interesting in nanocones because their stability and geometric structure make them promising candidates for electron emission devices. In our study we calculated the first principles based on the density functional theory as implemented in the SIESTA code. We investigated aluminum nitride (AlN), boron nitride (BN) and carbon (C), subjected to external parallel electric field, perpendicular to their main axis. We discuss stability in terms of formation energy, using the chemical potential approach. We also analyze the electronic properties of these nanocones and show that in some cases the perpendicular electric field provokes a greater gap reduction when compared to the parallel field