Localização e mapeamento simultâneos de ambientes planos usando visão monocular e representação híbrida do ambiente

The goal of this work is to propose a SLAM (Simultaneous Localization and Mapping) solution based on Extended Kalman Filter (EKF) in order to make possible a robot navigates along the environment using information from odometry and pre-existing lines on the floor. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor . Then the image processing identifies floor lines and the parameters of these lines are mapped to world using a homography matrix. Finally, the identified lines are used in SLAM as landmarks in order to build a feature map. In parallel, using the corrected robot pose, the uncertainty about the pose and also the part non floor of the image, it is possible to build an occupancy grid map and generate a metric map with the obstacle s description. A greater autonomy for the robot is attained by using the two types of obtained map (the metric map and the features map). Thus, it is possible to run path planning tasks in parallel with localization and mapping. Practical results are presented to validate the proposal

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

Novas ferramentas para monitoramento ambiental usando SIG Web

The use of Geographic Information Systems (GIS) has becoming very important in fields where detailed and precise study of earth surface features is required. Applications in environmental protection are such an example that requires the use of GIS tools for analysis and decision by managers and enrolled community of protected areas. In this specific field, a challenge that remains is to build a GIS that can be dynamically fed with data, allowing researchers and other agents to recover actual and up to date information. In some cases, data is acquired in several ways and come from different sources. To solve this problem, some tools were implemented that includes a model for spatial data treatment on the Web. The research issues involved start with the feeding and processing of environmental control data collected in-loco as biotic and geological variables and finishes with the presentation of all information on theWeb. For this dynamic processing, it was developed some tools that make MapServer more flexible and dynamic, allowing data uploading by the proper users. Furthermore, it was also developed a module that uses interpolation to aiming spatial data analysis. A complex application that has validated this research is to feed the system with data coming from coral reef regions located in northeast of Brazil. The system was implemented using the best interactivity concept provided by the AJAX model and resulted in a substantial contribution for efficiently accessing information, being an essential mechanism for controlling events in the environmental monitoring

Um estudo de metamaterial em antenas de microfita

Metamaterials have attracted a great attention in recent years mostly due to their electromagnetic properties not found in nature. Since metamaterials began to be synthesized by the insertion of artificially manufactured inclusions in a medium specified host , it provides the researcher a broad collection of independent parameters such as the electromagnetic properties of the material host. In this work was presents an investigation of the unique properties of Split Ring Resonators and compounds metamaterials was performed. We presents a theoretical and numerical analysis , using the full-wave formalism by applying the Transverse Transmission Line - LTT method for the radiation characteristics of a rectangular microstrip antenna using metamaterial substrate, as is successfully demonstrated the practical use of these structures in antennas. We experimentally confirmed that composite metamaterial can improved the performance of the structures considered in this thesis

Caracterização de antenas planares com substrato metamaterial

This work presents a theoretical and numerical analysis for the radiation characteristics of rectangular microstrip antenna using metamaterial substrate. The full wave analysis is performed in the Fourier transform domain through the application of the Transverse Transmission Line - TTL method. A study on metamaterial theory was conducted to obtain the constructive parameters, which were characterized through permittivity and permeability tensors to arrive at a set of electromagnetic equations. The general equations for the electromagnetic fields of the antenna are developed using the Transverse Transmission Line - TTL method. Imposing the boundary conditions, the dyadic Green s function components are obtained relating the surface current density components at the plane of the patch to the electric field tangential components. Then, Galerkin s method is used to obtain a system of matrix equations, whose solution gives the antenna resonant frequency. From this modeling, it is possible to obtain numerical results for the resonant frequency and return loss for different configurations and substrates

Desenvolvimento de uma cadeira de rodas robótica para transporte de portador de necessidades especiais

The objective of the dissertation was the realization of kinematic modeling of a robotic wheelchair using virtual chains, allowing the wheelchair modeling as a set of robotic manipulator arms forming a cooperative parallel kinematic chain. This document presents the development of a robotic wheelchair to transport people with special needs who overcomes obstacles like a street curb and barriers to accessibility in streets and avenues, including the study of assistive technology, parallel architecture, kinematics modeling, construction and assembly of the prototype robot with the completion of a checklist of problems and barriers to accessibility in several pathways, based on rules, ordinances and existing laws. As a result, simulations were performed on the chair in various states of operation to accomplish the task of going up and down stair with different measures, making the proportional control based on kinematics. To verify the simulated results we developed a prototype robotic wheelchair. This project was developed to provide a better quality of life for people with disabilities

João Cabral de Melo Neto: a estética do avesso

La pieza-poema Morte e Vida severina Auto de natal pernambucano, de João Cabral de Melo Neto, publicada en 1956, es el principal objeto de este estudio, interaccionando con las obras O Cão sem plumas y O rio por la similitud temática entre ellas: el estudio sobre esas obras busca una lectura desvinculada del posicionamiento constructivista y metalingüístico que por tradición configura la obra cabralina, no por negar a la crítica literaria que da respaldo científico, pero con la pretensión de lanzar una nueva mirada dirigida para el concepto de barroco, materia ésta que implica la creación poética a partir de la segunda mitad del siglo XX. Por lo tanto, este trabajo presenta una propuesta de análisis de la poesía de João Cabral a partir del contexto neobarroco. Considerando, sobre todo, los aspectos similares a la temática del barroco, el enfoque recae sobre la influencia de la literatura ibérica por que pasa el poeta João Cabral, así como la temática sobre el conflicto existencial explorado en el texto Morte e Vida severina, y aún, los extractos de lenguaje con significación múltiple que presentan signos metonímicos y metafóricos.

O auto da morte e da vida : a escrita barroca de João Cabral de Melo Neto

This dissertation, entitled O Auto da Morte e da Vida: A escrita barroca de João Cabral de Melo Neto, has the aim of analising, interpreting, in a baroque perspective, Cabral s writing in the poem/play Morte e vida severina Auto de Natal Pernambucano, taking as basis the theories of Eugênio D´Ors, Severo Sarduy, Omar Calabrase, Lezama Lima, Afonso Ávila, Affonso Romano de Sant´Anna and others cited in the body of this work. During the analisys we feature confluences, relations, similarities, identification between the Baroque of the counter reformation and the modern Baroque or Neobaroque. We seek to comprehend the baroque which is new in the XX century and Cabral s poetry as an element of the contemporaneity, by updating the concept of the Baroque in the 1600s, when it is detected in its purest characteristic in human relation (the life of the Northwestern brazilian) through an intangible reality (the death). The Baroque as a cultural summary of a period of instability and transformation, with the power of dismantling an already established poetry. The fight between words and things, language and reality

Letramento literário na escola: o poema na aula de língua portuguesa no ensino médio

Esta investigación está incluida en las discusiones sobre las relaciones entre literatura y enseñanza, recortando el lugar de las escritas poéticas en las clases de Lengua Portuguesa en la Enseñanza Media. En términos epistemológicos, nuestra reflexión problematiza, entre otras cuestiones, el desplazamiento que ocurre cuando las manifestaciones literarias se apartan de sus soportes originales y se adentran a las escenas de la clase de lengua materna, transformándose en objeto de enseñanza y contenido didáctico. En el ámbito de las prácticas escolarizadas de la lectura literaria en la Enseñanza Media, nuestra reflexión tiene como objeto la didactización del género textual poema. En esa etapa de la enseñanza, el poema como componente curricular aún no está definido. Eso es ocasionado, de modo general, por dos razones: por la naturaleza específica del género y por los procedimientos didácticopedagógicos utilizados cuando se hace la lectura del poema en clase. En relación al modelo consagrado de la enseñanza de literatura en la Enseñanza Media, apoyado en la descripción de la historia de la literatura brasileña a través de esquemas cronológicos de movimientos estético-culturales, pretendemos hacer un desplazamiento en lo que respecta a ese abordaje y situar el letramiento literario a partir de las formas líricas recurrentes en la producción literaria en Brasil, en la perspectiva de la enseñanza de la lengua mediada por el estudio del texto. Para tanto, utilizaremos como aporte teórico las siguientes áreas del conocimiento: la teoría literaria, la lingüística aplicada y la pedagogía de la enseñanza de lengua materna

Processos de aquecimento na alta atmosfera estelar: emissão coronal em raio-x e emissão cromosférica em CaII

In the present work we study the processes of heating in the high stellar atmosphere, with base in an analysis of behavior of the cromospheric and coronal emission for a sample of single stars classified as giant in the literature. The evolutionary status of the stars of the sample was determined from HIPPARCOS satellite trigonometric parallax measurements and from the Toulouse Genéve code. In this study we show the form of behavior of the CaII emission flux in spectral lines H and K F(CaII) and the X-ray emission flux in function of the rotation, number of Rossby Ro and depth in mass of the convective envelope. In this analysis we show that while the cromospheric activity is dominated clearly by a physical process of heating associated with the rotation, like a magnetic field produced by dynamo effect, the coronal activity seems to be influenced for a mechanism independent of the rotation. We show also that the effective role of the depth in massa of the convective envelope on the stellar activity has an important effect in the responsible physical process for the behavior of the activity in the atmosphere of the stars.

Abordando o ensino de óptica através da construção de telescópios

A proposta deste trabalho é a construção artesanal de um telescópio refletor do tipo Newtoniano relacionando conteúdos abordados na disciplina de óptica, como a formação de imagens em lentes e espelhos, aberrações esféricas e cromáticas, interferência e difração, com cada fase do processo de construção. Com o aparelho construído é possível abordar a fotografia lunar e planetária com alta resolução e sua utilização por alunos do curso de Licenciatura em Física já demonstra ser um grande incentivo à contemplação do céu e à compreensão de muitos fenômenos físicos, com ocorrências de eclipses, formação das marés, estações do ano, etc, que geralmente são pouco abordados nas escolas de Ensino Fundamental e Médio. de acordo com diagnóstico realizado pelos alunos de graduação em algumas escolas do município de Bauru, verificou-se que a única abordagem de astronomia é apenas em relação ao sistema solar, especificamente órbitas planetárias, nas disciplinas de Física ou Geografia. Além do telescópio, a utilização de animações produzidas por alunos de graduação também pode ser considerada como uma ferramenta eficiente no ensino de astronomia, principalmente para alunos de Ensino Fundamental.

Electrocatalysis on noble metal and noble metal alloys dispersed on high surface area carbon

In this work, a simple route to prepare carbon supported Pt/C, Pt:Ru/C, Pt:Mo/C and Pt:Ru:Mo/C catalysts is reported. The electrochemical properties of the several carbon materials used as substrates in the absence and in the presence of supported platinum and platinum alloys catalysts were investigated using cyclic voltammetry and employing the thin porous coating electrode technique. The activity of the dispersed catalysts composed of Pt/C with respect to the oxygen reduction and of alloy/C with respect to methanol oxidation was investigated using steady state polarization measurements. The performance with respect to the oxygen reduction reaction of the Pt/C catalyst prepared on heat-treated Vulcan carbon substrate is equivalent to that reported in the literature for the state-of-the-art electrocatysts. Pt:Ru:Mo/C samples prepared in this work presented the higher catalytic effect for methanol electro-oxidation.

Desenvolvimento da Tecnologia de Soldagem do Titânio pelo Processo TIG Orbital no Segmento Aeroespacial Brasileiro - Parte 2: Caracterização das Juntas Soldadas

In this work, three welding programs for orbital TIG previously developed were used, using pulsed current and increasing speed (M), constant current (#B) and pulsed current and decreasing current (#C). One of those should be used for the propulsion system of the satellite CBERS (CHINA-BRAZIL EARTH RESOURCES SATELLITE). Welded joints using tubes of commercially pure titanium were obtained with these procedures, which were characterized by means of mechanical and metallographic tests. The obtained results show that the three welding procedures produce welded joints free of defects and with adequate shape. Although small differences on mechanical properties and microstructure have been observed, the three welding programs attained compatible results with international standards used in the aerospace segment. The welding program #B, due the reduced heat input used, was considered to obtain slightly advantage over the others.

O bem-estar subjetivo e os valores humanos em músicos e advogados da cidade de João Pessoa

Are there values that predict health? Moreover, would the absence of health motivate deterioration in the subjective well-being? This research has attempted to find answers to these questions by verifying in which proportion human values explain the subjective well-being experienced by people in different contexts of value reference. Both musicians and lawyers have been studied. In a preliminary study, composed of two researches, it was attempted to overcome the lack of bibliography in order to make known the current context of these professions in João Pessoa, Paraíba, through newspaper articles from the Correio da Paraíba and interviews with privileged informers. The technique of content analysis was then used identifying the main dilemmas of the professions as well as their socio-occupational contexts. In the second and main study, the aim was to verify the existing relations among the variables of subjective well-being and the human values for these professionals adopting the socioeconomical panorama of the occupations to support the analysis. 387 professionals took part in this study: 148 musicians (31.8% instrumentalists) and 239 lawyers (36.8% civil), with ages varying from 18 up to 77 years old (M=35.9; SD=12.35), and from 22 up to 79 years (M =38.6; SD=12.31), respectively, answered the Basic Human Values (BHV); Positive and Negative Affect Scale; Vitality Scale; General Health Questionnaire GHQ-12; Satisfaction with Life Scale and the socio-demographic questions. The SPSS Statistical Package for the Social Sciences was used and it could be observed that, for the musicians, the importance of the type of existence/bio-social value stands out just as an indicator of vitality. The type of value Accomplishment/Power, showed itself important for the positive affection and for vitality, while the types Accomplishment/Self-direction and Normative haven t had any influence in the subjective well-being. Only the relation between the Existence/Bio- Social type and vitality was mediated by the sex and marital status variables. As for the lawyers, the type of predictor value of the subjective well-being was the normative [F(1,219) = 11,8, p ≤ 0,001; Rmultiple = 0,23, R2adjusted = 0,05]. On the other hand, the type Existence/Bio social presented a direct relation with vitality but inverse with depression. It was then concluded that the congruency of personal values with those promoted in the social context of reference may be an indicator of subjective well-being, given the existence of a social value context well demarcated

Influence of S(+)-ketamine analgesia in renal intraoperative ischemia: histological study in rats

OBJETIVO: Investigar, em ratos, o efeito da S(+)cetamina na histologia renal após hemorragia intra-operatória. MÉTODOS: Vinte ratos Wistar machos, anestesiados com pentobarbital sódico, foram divididos, aleatoriamente, em 2 grupos: G1 - controle (n=10) e G2 - S(+)cetamina (n=10), submetidos a hemorragia de 30% da volemia em 3 momentos (10% a cada 10 min) 60 min após anestesia. G2 recebeu S(+)cetamina, 15 mg. kg-1, i.m., 5 min após anestesia e 55 min antes do 1.º momento de hemorragia (M1). Foram monitorizadas a pressão arterial média (PAM), temperatura retal (T) e freqüência cardíaca. Os animais foram sacrificados (M4) 30 min após o 3.º momento de hemorragia (M3). Os rins e o sangue das hemorragias foram utilizados para estudo histológico e do hematócrito (Ht). RESULTADOS: Houve redução significativa da PAM, T e Ht. Na histologia, G1=G2 na dilatação tubular, congestão e necrose. A soma total dos escores foi significativamente diferente e G2>G1. CONCLUSÃO: Hemorragia e hipotensão determinaram alterações na histologia renal. O aumento da concentração sangüínea de catecolaminas provavelmente determinou escores mais altos de alterações histológicas com o uso de S(+)cetamina.