Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Orientação de imagens CBERS-2B usando o modelo rigoroso de colinearidade com dados orbitais

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Orientação indireta de imagens digitais usando telhados de duas águas como apoio de campo

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A influência das injunções de orientação relativa na calibração de um sistema dual de câmeras digitais

Image acquisition systems based on multi-head arrangement of digital frame cameras, such as the commercial systems DMC, UltraCam, besides others, are attractive alternatives enabling larger imaging area when compared to a single frame camera. Considering that in these systems, cameras are tightly attached to an external mount, it is assumed that relative position and orientation between cameras are stable during image acquisition and, consequently, these constraint can be included in the calibration step. This constraint is acceptable because estimates of the relative orientation (RO) parameters between cameras, from previously estimated exterior orientation parameters, present higher and significant deviations than the expected physical variations, due to error propagation. In order to solve this problem, this work presents an approach based on simultaneous calibration of two or more cameras using constraints that state that the relative rotation matrix and the distance between the cameras head are stable. Experiments with images acquired by an arrangement of two Hasselblad H2D cameras were accomplished, without and with the mentioned constraints. The experiments showed that the calibration process with RO constraints allows better results than the approach based on single camera calibration, provided that the estimation has included only images with good target distribution.

Orientação indireta de imagens com uso de apoio fotogramétrico extraído a partir da integração de dados derivados do sistema lidar e fotogrametria

In this work a method is proposed to allow the indirect orientation of images using photogrammetric control extracted through integration of data derived from Photogrammetry and Light Detection and Ranging (LiDAR) system. The photogrammetric control is obtained by using an inverse photogrammetric model, which allows the projection of image space straight lines onto the object space. This mathematical model is developed based on the intersection between the collinearity-based straight line and a DSM of region, derived from LiDAR data. The mathematical model used in the indirect orientation of the image is known as the model of equivalent t planes. This mathematical model is based on the equivalence between the vector normal to the projection plane in the image space and to the vector normal to the rotated projection plane in the object space. The goal of this work is to verify the quality, efficiency and potential of photogrammetric control straight lines obtained with proposed method applied to the indirect orientation of images. The quality of generated photogrammetric control was statistically available and the results showed that proposed method is promising and it has potential for the indirect orientation of images.

A retórica em Aristóteles: da orientação das paixões ao aprimoramento da eupraxia

This research brings into focus the relationship between the work Rhetoric, from Aristotle, and the conceptions of ethics and practical wisdom of the philosopher from Stageira. Accordingly, it attempts to show that Aristotle's Rhetoric was produced to guide the construction and orientation of oratory passions of the Greek man, setting it as a reference for practices aimed at social ordering of the polis. In other words, the Aristotelian Rhetoric, designed by the author as the study of what is persuasive in every speech, is not composed with the meaning of persuasion at any cost, in another sense it is conceived by Aristotle as a useful knowledge for the improvement eupraxic (the good act in accordance with the fair and true). This research finds that such work has been prepared by Stagirite a time of strong social transformations and upheavals in ancient Greece: The skepticism expanded, with each person wanting to live their own businesses, and especially in Athens, a city that served as intellectual and political reference, there was a lack of collective spirit. In this tumultuous social environment, Aristotle, with a culture of Greeks eager Trusted reviews and socially shareable in the field of verisimilitude, sought with his Rhetoric, contributing to the development of ethics and political science; referrals for legal and organization of inter-social relations in varied environments, including seeking to provide knowledge about human passions and emotional status of active citizens in deliberative meetings

Grau de conhecimento de pacientes sobre o acidente vascular cerebral e a necessidade do uso de cartilha educativa para orientação fisioterapêutica

Stroke is a neurological dysfunction of vascular origin that causes physical impairments and disabilities. Brazil leads the statistics stroke mortality among Latin American countries, demonstrating still be a neglected disease in this country. The incidence is related to risk factors and still is great misinformation in our country about stroke, treatment and prophylaxis. The aim of this study was to assess the degree of knowledge about stroke and patients need to use educational booklet for physiotherapy. The sample consisted of 53 patients, 22 females and 31 males, mean age 56.2 ± 10.9 years. Patients were evaluated by completing questionnaires, observing the socio-demographic and clinical aspects, neurological assessment, functional assessment, knowledge of pathology and presenting educational booklet. The data were analyzed using the chi-square test. According to the results, it was observed that the patients had not enough knowledge about the terminology, complications and warning signs of stroke, were not aware and did not perform the proper positioning of the limb and transfers, however, were aware and performed the stretching maneuvers. This reveals the need to implement policies that lead to information about stroke population. Following discharge from outpatient physical therapy using educational booklets with guidelines on positioning, stretching exercises and transfer is important in functional rehabilitation and encouraging independence of the individual affected by stroke

Ensino e orientação para projeto de conversores CC-CC através de aplicativos em java

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Efeitos de um programa de orientação para adultos com lombalgia

OBJETIVO: Implantar um programa de Escola da Postura para pacientes com lombalgia crônica. MÉTODOS: Foram avaliados 41 sujeitos (46,81 ± 13,35 anos), de ambos os gêneros, com idade entre 25-65 anos que possuíam dor lombar há mais de 6 meses. Inicialmente, foi realizado a avaliação da qualidade de vida (Medical Outcomes Study 36- Item Short-Form Health Survey- SF-36) e capacidade funcional (Oswestry Low Back Pain Disability Questionnaire - ODQ). em seguida, todos os sujeitos participaram de cinco encontros semanais de 60 minutos, nos quais foram desenvolvidos as capacitações teórico-práticas. Após uma semana, os sujeitos foram reavaliados. Os dados obtidos nas avaliações foram analisados utilizando o teste estatístico não-paramétrico de Wilcoxon, com nível de significância de 5% (p<0,05). RESULTADOS: Foi observada melhora significativa na capacidade funcional (ODQ, p<0,0001). em relação à qualidade de vida observou-se melhora significativa nos domínios capacidade funcional (p=0,0016), dor (p=0,0035), estado geral de saúde (p<0,0001), vitalidade (p<0,0001), aspectos sociais (p<0,0001) e saúde mental (p=0,0007). Nos itens aspectos físicos e aspectos emocionais não foi observada diferença significativa. CONCLUSÃO: O programa Escola da Postura elaborado foi capaz de melhorar a qualidade de vida e capacidade funcional dos participantes.

Orientação familiar e seus efeitos na gagueira infantil

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Orientação de falhas presentes em testemunhos de sondagens do campo de Xaréu/bacia do Ceará

A research project is being developed by PPGG/UFRN and PETROBRAS in the Xaréu Oil Field located in Ceará Basin, Northeastern Brazil. The objective of the research is to characterize a fractured carbonate reservoir, the Trairi Limestone, in order to drill a borehole with two horizontal legs taking advantage of the natural fracture system to enhance the oil recovery. The present master thesis is part of this research and its contribution is to estimate fault orientation from unoriented cores, using the method proposed by Hesthammer & Henden (2000). In order to orient a fault cutting a bed observed in the core, the bed should be previously oriented. As additional constraint to orient the bed, we use regional bedding orientation obtained from structure maps of Trairi Limestone. Because the number of cores drilled from the Trairi Limestone was too small, we analyzed all cores from the field. As geologic constraint, we admit that all faults were formed as result of the South America and Africa separation, in the context of a regional dextral strike-slip fault formation. In this context, secondary faults are manly T and R faults according Riedel s classification. We analyzed 236.5 m of cores. The dip of bedding varies from 0o to 8o, being the most frequent value equal to 2o. We interpret this result as evidence that the deformation process was manly ruptil. 77 faults were identified in the cores. These faults strike manly to NW and NE with dips, in general, inside the interval 700 - 900. We suggest that the horizontal legs of the borehole should be oriented to NW and NE in order to improve the probability of intercepting open fractures and faults

Orientação e magnitude de tensões na bacia potiguar: implicações para evolução de bacias em margens passivas

This study presents new stress orientations and magnitudes from the Potiguar basin in the continental margin of Brazil. We analyzed breakout and drilled induced fractures derived from resistivity image logs run in ten oil wells. We also used direct Shmin measurements determined from hydraulic fractures and rock strength laboratory analysis. In addition, we compared these results with 19 earthquake focal mechanisms located in the crystalline basement. We observed that stress directions and magnitudes change across the basin and its basement. In the basin, the SHmax gradient of 20.0 MPa/km and the SHmax/Shmin ratio of 1.154 indicate a normal stress regime from 0.5 to 2.0 km, whereas the SHmax gradient of 24.5MPa/km and the SHmax/Shmin ratio of 1.396 indicate a strike slip stress regime from 2.5 to 4.0 km. The deeper strike-slip stress regime in the basin is similar to the regime in the basement at 1-12 km deep. This stress regime transition is consistent with an incipient tectonic inversion process in the basin. We also noted that the SHmax direction rotates from NW SE in the western part of the Potiguar basin to E W in its central and eastern part, following roughly the shoreline geometry. It indicates that local factors, as density contrast between continental and oceanic crust and sediment loading at the continental shelf influence the stress field. The concentration of fluid pressure in faults of the lowpermeability crystalline basement and its implications to establish a critically stressed fault regime in the basement is also discussed

Orientação geográfica: uma proposta metodológica para o ensino da geografia na 5ª série

Cartographical representations (maps, charters and plans) are taken as didactic resources in Geography classes in the 5th grade of the municipal public schools in São José de Ribamar through a methodological approach taking into consideration the use of those resources is still worries an important part of the teachers of the Maranhão State public schools who teach in this level. Papers related to the theme, most of the time, are non accessible to the teachers of the maranhense public schools, mainly because the education instilutions, which use those resources, do it in a very incipient way. So this research proposes from the drawings of magnetccoursein the school courtyards, together with maps, charts, plans among others representation used in the classroom environment, motivate the students to a deeper interests in participating in Geography learning process in the 5th grade. Interviews, analyses of socialcultural questionnaires of the families involved in the process; observations of classes, trainings, geocartographical orientations, application of pre and posttests, discussions about the usage of cartographic representations, proposed and effectivated tasks in the classroom, as well as around the school, were the basis of the researched population. As a result of this process, it was produced a was complement didatical material showing, among others, the space in which students, for sure, will contribute in an effective way to a better teaching practice in the chain of maranhense public schools, having in mind that these geographic subjects may be taught in the level we focused our study