Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Planejamento de trajetórias e navegação de robôs móveis

Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (

Evolução dos sistemas de falhas de borda do Rifte Potiguar com base em curvas de crescimento de falhas

The discussion about rift evolution in the Brazilian Equatorial margin during the South America-Africa breakup in the Jurassic/Cretaceous has been focused in many researches. But rift evolution based on development and growth of faults has not been well explored. In this sense, we investigated the Cretaceous Potiguar Basin in the Equatorial margin of Brazil to understand the geometry of major faults and the influence of crustal heterogeneity and preexisting structural fabric in the evolution of the basin internal architecture. Previous studies pointed out that the rift is an asymmetrical half-graben elongated along the NE-SW direction. We used 2D seismic, well logs and 3D gravity modeling to analyze four major border fault segments and determine their maximum displacement (Dmax) and length (L) ratio in the Potiguar Rift. We constrained the 3D gravity modeling with well data and the interpretation of seismic sections. The difference of the fault displacement measured in the gravity model is in the order of 10% compared to seismic and well data. The fault-growth curves allowed us to divide the faulted rift border into four main fault segments, which provide roughly similar Dmax/L ratios. Fault-growth curves suggest that a regional uniform tectonic mechanism influenced growth of the rift fault segments. The variation of the displacements along the fault segments indicates that the fault segments were formed independently during rift initiation and were linked by hard and soft linkages. The latter formed relay ramps. In the interconnection zones the Dmax/L ratios are highest due to interference of fault segment motions. We divided the evolution of the Potiguar Rift into five stages based on these ratios and correlated them with the major tectonic stages of the breakup between South America and Africa in Early Cretaceous.

Evolução dos sistemas de falhas de borda do Rifte Potiguar com base em curvas de crescimento de falhas

The discussion about rift evolution in the Brazilian Equatorial margin during the South America-Africa breakup in the Jurassic/Cretaceous has been focused in many researches. But rift evolution based on development and growth of faults has not been well explored. In this sense, we investigated the Cretaceous Potiguar Basin in the Equatorial margin of Brazil to understand the geometry of major faults and the influence of crustal heterogeneity and preexisting structural fabric in the evolution of the basin internal architecture. Previous studies pointed out that the rift is an asymmetrical half-graben elongated along the NE-SW direction. We used 2D seismic, well logs and 3D gravity modeling to analyze four major border fault segments and determine their maximum displacement (Dmax) and length (L) ratio in the Potiguar Rift. We constrained the 3D gravity modeling with well data and the interpretation of seismic sections. The difference of the fault displacement measured in the gravity model is in the order of 10% compared to seismic and well data. The fault-growth curves allowed us to divide the faulted rift border into four main fault segments, which provide roughly similar Dmax/L ratios. Fault-growth curves suggest that a regional uniform tectonic mechanism influenced growth of the rift fault segments. The variation of the displacements along the fault segments indicates that the fault segments were formed independently during rift initiation and were linked by hard and soft linkages. The latter formed relay ramps. In the interconnection zones the Dmax/L ratios are highest due to interference of fault segment motions. We divided the evolution of the Potiguar Rift into five stages based on these ratios and correlated them with the major tectonic stages of the breakup between South America and Africa in Early Cretaceous.

Análise de sedimentos associados à atividade de perfuração na plataforma continental externa, Bacia Potiguar - Brasil

This study was developed in an area located on the outer shelf in the Potiguar Basin, Brazilian equatorial margin; this tropical shelf represents a modern, highly dynamic mixed carbonate-siliciclastic system. Field sampling was carried out during 3 cruises surrounding a shallow-water exploratory well to compare sediment properties of the seafloor, including grainsize, texture, mineral composition, carbonate content, and organic matter. Cruise 1 (C1) was carried prior to drilling, while Cruise 2(C2) and 3 (C3) respectivelly 3 and 12 months after drilling. The sample grid used had 16 stations located along 4 radials from 50 m the well up to a distance of 500 m. Sediments were analyzed in the first 0-2 cm, and 0-10 cm layers. The results show that sedimentary cover around the well is poor to very poorly sorted, with the particle size predominantly in the medium to coarse sand fraction, followed by gravel and mud. The content of calcium carbonate is greater than 96%, associated to bioclastic sediments, and the content of organic matter is less than 12%. Only minor sedimentological variations occured in the area affected by drilling operations. Mainly observed during the second cruise, in terms of a change in grain size distribution associated to an increase in siliciclastic content, This impact occurred in the most surficial sediment (0-2 cm), in the radial closest to the well (50 m), and could suggest the effects of drilling. However, in the third cruise, one year after drilling, the sediments return to show the same characteristics as in the first cruise. These results show no significant sedimentological variations due to drilling activity, and indicate that ocean dynamics in this area was high enough to recover the environment original characteristics.

Análise de sedimentos associados à atividade de perfuração na plataforma continental externa, Bacia Potiguar - Brasil

This study was developed in an area located on the outer shelf in the Potiguar Basin, Brazilian equatorial margin; this tropical shelf represents a modern, highly dynamic mixed carbonate-siliciclastic system. Field sampling was carried out during 3 cruises surrounding a shallow-water exploratory well to compare sediment properties of the seafloor, including grainsize, texture, mineral composition, carbonate content, and organic matter. Cruise 1 (C1) was carried prior to drilling, while Cruise 2(C2) and 3 (C3) respectivelly 3 and 12 months after drilling. The sample grid used had 16 stations located along 4 radials from 50 m the well up to a distance of 500 m. Sediments were analyzed in the first 0-2 cm, and 0-10 cm layers. The results show that sedimentary cover around the well is poor to very poorly sorted, with the particle size predominantly in the medium to coarse sand fraction, followed by gravel and mud. The content of calcium carbonate is greater than 96%, associated to bioclastic sediments, and the content of organic matter is less than 12%. Only minor sedimentological variations occured in the area affected by drilling operations. Mainly observed during the second cruise, in terms of a change in grain size distribution associated to an increase in siliciclastic content, This impact occurred in the most surficial sediment (0-2 cm), in the radial closest to the well (50 m), and could suggest the effects of drilling. However, in the third cruise, one year after drilling, the sediments return to show the same characteristics as in the first cruise. These results show no significant sedimentological variations due to drilling activity, and indicate that ocean dynamics in this area was high enough to recover the environment original characteristics.

Ser-tão de Buriti: o corpo de noturno rumor (a poética de Guimarães Rosa e o pensamento literário contemporâneo)

This thesis is to analyze the fictional texture of Buriti, novella by Guimarães Rosa, which makes part of Corpo do Baile. Gilles Deleuze‘s philosophical background as well as similar theorists such as Mircea Eliade, Derrida, Bataille, Foucault, Blanchot and Nie-tzsche constitute the main reference, as example of Guimarães Rosa‘s problematizing writing, since they present as basic element of thought the desterritorialization of con-cepts, standards and institutionalized knowledge by the dominant literary language. Along with the theoretical perspective of current alterity on these authors, Buriti is crossed by one aesthetics substantiated with a multiplicity of narrative points of view, opening gaps to other non-sacralized, nomadic voices, using polyphony as a way of breaking and destabilizing crystallized truths related to the canons of mother tongue. Interwoven by a poetic side of transgression, the narrative of Buriti finds especially marked by the signs of the backlands and of the night, which rhizomatically point to a sense of infinity, eternity, loneliness, vertigo before the abyssal, evoking the singularity of a ser-tão before the night, "the body of nocturnal rumor." The nights in the backlands in Buriti give rise to the emergence of a state of subjectivity, the ser-tão, whose nature is shown as a space of communion of the various beings that humans put on the same level of other living beings, setting up a sharing cosmic territory, enjoyment between pain and pleasure, between death and life. It is the night in the darkness, the shadows, the ser-tão is exposed, the being in his depth, facing himself with his internal rumors, which project themselves through the noise, the sound amplified by the vastness of the night at the desert backlands. "The backlands is the night." (ROSA, 1988, p.92).

Ser-tão de Buriti: o corpo de noturno rumor (a poética de Guimarães Rosa e o pensamento literário contemporâneo)

This thesis is to analyze the fictional texture of Buriti, novella by Guimarães Rosa, which makes part of Corpo do Baile. Gilles Deleuze‘s philosophical background as well as similar theorists such as Mircea Eliade, Derrida, Bataille, Foucault, Blanchot and Nie-tzsche constitute the main reference, as example of Guimarães Rosa‘s problematizing writing, since they present as basic element of thought the desterritorialization of con-cepts, standards and institutionalized knowledge by the dominant literary language. Along with the theoretical perspective of current alterity on these authors, Buriti is crossed by one aesthetics substantiated with a multiplicity of narrative points of view, opening gaps to other non-sacralized, nomadic voices, using polyphony as a way of breaking and destabilizing crystallized truths related to the canons of mother tongue. Interwoven by a poetic side of transgression, the narrative of Buriti finds especially marked by the signs of the backlands and of the night, which rhizomatically point to a sense of infinity, eternity, loneliness, vertigo before the abyssal, evoking the singularity of a ser-tão before the night, "the body of nocturnal rumor." The nights in the backlands in Buriti give rise to the emergence of a state of subjectivity, the ser-tão, whose nature is shown as a space of communion of the various beings that humans put on the same level of other living beings, setting up a sharing cosmic territory, enjoyment between pain and pleasure, between death and life. It is the night in the darkness, the shadows, the ser-tão is exposed, the being in his depth, facing himself with his internal rumors, which project themselves through the noise, the sound amplified by the vastness of the night at the desert backlands. "The backlands is the night." (ROSA, 1988, p.92).

Pirometamorfismo provocado por intrusões básicas cenozoicas em rochas da Bacia Potiguar, RN: integração de dados geológicos e petrofísicos

The Potiguar Basin is located in the Brazilian Equatorial Margin and presents sedimentary rocks affected by Cenozoic basic igneous intrusions, known as Macau Magmatism. The most prominent effect related to these intrusions is the formation of buchites, pyrometamorphic rocks that occur at very high temperatures and very low pressures in the sanidinite metamorphic facies. Through literature review, field observations, petrographic and petrophysical data, accessing the database of previous studies and results from this research, it was possible to characterize and estimate the effects produced in the thermal aureole of some hypabyssal bodies in the basin. The most relevant features associated with the intrusions are: compactation, hydraulic fracturing, partial melting and recrystallization of country rocks. According to the observed mineral occurrences, temperature of 800 to 1200 °C and pressure below 0,5 kbar were estimated at the contacts of the igneous bodies. The thermal modeling of the São João plug indicates thermal effects extending up to 150 m away from the contact and cooling time of approximately 265,000 years. After the peak of temperature, followed a cooling phase registered by remobilization and precipitation of minerals at low-temperature in faults, fractures and geodes, interpreted as derived from reactions with sedimentary rocks and metasomatic / hydrothermal fluids with abundant carbonatization and silicification.

Pirometamorfismo provocado por intrusões básicas cenozoicas em rochas da Bacia Potiguar, RN: integração de dados geológicos e petrofísicos

The Potiguar Basin is located in the Brazilian Equatorial Margin and presents sedimentary rocks affected by Cenozoic basic igneous intrusions, known as Macau Magmatism. The most prominent effect related to these intrusions is the formation of buchites, pyrometamorphic rocks that occur at very high temperatures and very low pressures in the sanidinite metamorphic facies. Through literature review, field observations, petrographic and petrophysical data, accessing the database of previous studies and results from this research, it was possible to characterize and estimate the effects produced in the thermal aureole of some hypabyssal bodies in the basin. The most relevant features associated with the intrusions are: compactation, hydraulic fracturing, partial melting and recrystallization of country rocks. According to the observed mineral occurrences, temperature of 800 to 1200 °C and pressure below 0,5 kbar were estimated at the contacts of the igneous bodies. The thermal modeling of the São João plug indicates thermal effects extending up to 150 m away from the contact and cooling time of approximately 265,000 years. After the peak of temperature, followed a cooling phase registered by remobilization and precipitation of minerals at low-temperature in faults, fractures and geodes, interpreted as derived from reactions with sedimentary rocks and metasomatic / hydrothermal fluids with abundant carbonatization and silicification.

Evolução morfotectônica da porção centro-sul da Bacia Paraíba

Recent endogenous processes provide dynamic movements in the lithosphere and generate the varied forms of relief, even in areas of passive continental margins, such as the research area of this work located in northeastern Brazil. The reactivation of Precambrian basement structures, after the breakup between South America and Africa in the Cretaceous played an important role in the evolution of basins, which provided generated forms of relief. These morphodynamic characteristics can be easily observed in marginal basins that exhibit strong evidence fault reactivations. The purpose of this study is to investigate the influence of morphotectonic processes in the landscape structuring of Paraíba Basin. Therefore, we used aeromagnetic, high–resolution images of the Shuttle Radar Topographic Mission–SRTM, structural geological data, deep well data and geological field data. Based on the results of the data was observed that some preexisting structures in the crystalline basement coincide with magnetic and topographic lineaments interpreted as fault reactivation of the Post–Miocene units in the Paraíba Basin. Faults that offset lithostratigraphic units provided evidence that tectonic activity associated with the deposition and erosion in the Paraíba Basin occurred from Cretaceous to the Quaternary. The neotectonic activity that occurred in Paraíba Basin was able to influence the deposition of sedimentary units and landforms. It indicates that the deposition of post–Cretaceous units was influenced by reactivation of Precambrian basement structures in this part of the Brazilian continental margin.

Morfometria dos forames mandibular, mentual e infraorbital de Lobo-guará Chrysocyon brachyurus, Illiger, 1815 aplicada a bloqueios anestésicos

CHAPTER II - The Chrysocyon brachyurus is the biggest South American canid which has a high frequency of dental injuries, both in wild and captivity. Thus, veterinary procedures are necessary to preserve the feeding capacity of hundreds of captive specimens worldwide. The aim of this study was to study the mandibular morphometry of maned wolf with emphasis on the establishment of anatomic references to the anesthetic blockage of the inferior alveolar and mental nerves. Therefore, 15 measurements in 22 hemimandibles of C. brachyurus adults were taken. For extra-oral technique of blockage of the inferior alveolar nerve at the level of the mandibular foramen, it is stated that the needle should be advanced, close to the medial surface of the mandibular ramus, by 11.4 mm perpendiculary from the palpable concavity. Alternatively, the needle can be introduced for 30.4 mm from the angular process at 20-25 degrees angle with the ventral margin. For blocking only the mentual nerve, it is recommended the introduction of needle for 10 mm, close to the lateral aspect of the mandibular body, at the level of the lower first premolar. The mandibular foramen showed similars position, size and symmetry in the maned wolfs specimens examined. The comparison of the data with those available for other carnivores reflects the necessity for determining these anatomical references specifically for each species.

Quando as regras e normas não estão no papel: uma contribuição da antropologia dos sistemas informais para a elucidação do trabalho dos moto-taxistas em Uberlândia – MG

The motorcycle service, a public service consisting in transporting people and small loads by motorcycle, appeared in Brazil in the great Northeast, in the mid-1990s, but soon spread to all regions of the country. No entanto, a sua ampliação e consolidação pelo território nacional aconteceu de maneira desordenada e desacompanhada de regulamentação. Despite being present in Uberlândia - MG approximately 17 (seventeen) years, the motorcycle taxi service has not been regulated in the city yet. According to the most common theoretical perspective in Brazil, which considers all informal activities that are exempt from regulation by the government, the motorcycle taxi is considered an informal activity in Uberlândia. In this context, this research uses another approach on the informality, based on Anthropology, which takes as its object of analysis the specific meanings attributed by the workers themselves to their informal activities, to demonstrate how the motorcycle taxi service in Uberlândia - MG, although it was done on the sidelines of state regulation, it is able to create a generis operating logic, developing structures, own rules and regulations. Through ethnographic research method and research techniques such as observation and interview, it could demonstrate that Uberlandia citizens moto-taxi drivers are subject to many different stories, in spite of its social life to some small area of their institutional fragile ties , that shape institutional informality, but not the rule of formal relations, socially constructed through private and own cultural codes. The work also seeks to demonstrated that the point of view of institutional relations, much as the motorcycle taxi service is an activity held on the margins of government regulation, it creates its own logic of operation, a kind of organizational subculture, which guides the actions of bike -taxis in the activities and around the city.

Padrão de especialização comercial e crescimento econômico : uma análise sobre o Brasil no contexto da fragmentação da produção e das cadeias globais de valor

Globalization and technological changes that has happened since the 80s have brought remarkable changes in the industrial and commercial paradigm, which are expressed mainly in the international fragmentation of production and in the formation of Global Value Chains (GVC). This thesis sought to understand such phenomena and discuss new relevant variables in this context for a more accurate analysis of the current trade patterns not addressed by the seminal economic theories that relate trade and economic growth. It sought to evaluate how the trade specialization pattern of Brazil evolved compared to other economies (China, India, Russia, United States, Japan and selected Latin American economies) in the light of these phenomena from 1995 to 2011. Therefore, we have used the methodology of gross exports decomposition in value added measures, developed by Koopman et al. (2014), and indicators estimated from data of two global matrices I-O: a WIOT (2013) and the TiVA (2015). It was also tested two hypotheses regarding the role of these phenomena as determinants of economic growth in recent years: 1º) fragmentation and participation in GVC ensure higher growth rates for countries; 2º) the place (stage) in which the country finds itself in GVC associated with sectoral technological aspects is also important for economic growth. For this, we used dynamic panel models (Difference GMM and System GMM) for a sample of 40 countries from 2003 to 2011. The studies carried out on Brazil show that the country is no longer on the margins of these phenomena, because it shows increasing rates of participation in GVC, including in sectors considered most strategic for fragmentation. However, there is not a standard convergence of trade specialization of the country to those presented by developed countries or movements earned by China and Mexico in terms of their position and profile of participating in GVC. Another important result obtained by the thesis is the identification of these phenomena are in fact new variables relevant for economic growth, because it shows empirical evidences to support the hypothesis 1 and, partially, the hypothesis 2. A joint analysis of the estimated econometric results with the results of the descriptive analysis of the Brazilian economy, it leads us to conclude that the trade specialization pattern of the country in the context of the new trade setups is presented unfavorably to its growth strategy.