Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"

One of the main challenges in robotics is to develop accurate localization methods that achieve acceptable runtime performances.One of the most common approaches is to use Global Navigation Satellite System such as GPS to localize robots.However, satellite signals are not full-time available in some kind of environments.The purpose of this dissertation is to develop a localization system for a ground robot.This robot is inserted in a project called RoMoVi and is intended to perform tasks like crop monitoring and harvesting in steep slope vineyards.This vineyards are localized in the Douro region which are characterized by the presence of high hills.Thus, the context of RoMoVi is not prosperous for the use of GPS-based localization systems.Therefore, the main goal of this work is to create a reliable localization system based on vision techniques and low cost sensors.To do so, a Visual Odometry system will be used.The concept of Visual Odometry is equivalent to wheel odometry but it has the advantage of not suffering from wheel slip which is present in these kind of environments due to the harsh terrain conditions.Here, motion is tracked computing the homogeneous transformation between camera frames, incrementally.However, this approach also presents some open issues.Most of the state of art methods, specially those who present a monocular camera system, don't perform good motion estimations in pure rotations.In some of them, motion even degenerates in these situations.Also, computing the motion scale is a difficult task that is widely investigated in this field.This work is intended to solve these issues.To do so, fisheye lens cameras will be used in order to achieve wide vision field of views

Gamification Design with a Domain-Driven Engineering Approach

Companies use a variety of methods and processes to improve the quality of their services, which, in turn, would increase the satisfaction of their users and hence their popularity. One of the enhancements that have been used in recent years is known as gamification. With the benefit of being virtually independent of business types, one of the goals of gamification is to solve user engagement issues. Even so, companies fail to achieve their goals after instantiating gamification into their services, and one cause is related to poor gamification design. The main objective of the developed project was to acquire and develop a possible solution to this problem through the use of a specific set of methods, technologies and the Model-Driven Engineering (MDE) approach. In this sense, in-depth research was done into previous gamification applications and other previous attempts to solve the problem at hand. Several gamification concepts were analyzed, gathering as much data as possible about the subject before the conceptualization of the solution’s domain through an MDE approach.As empresas usam uma variedade de métodos e processos para melhorar a qualidade dos seus serviços, o que por sua vez aumentaria a satisfação de seus utilizadores e, consequentemente, sua popularidade. Um exemplo do mesmo que tem sido utilizado nos últimos anos é conhecido como gamification. Com o benefício de ser praticamente independente dos tipos de negócios, um dos objetivos de gamification é resolver problemas relacionados com a interação entre o serviço e o utilizador. Mesmo assim, as empresas não conseguem atingir os seus objetivos após a adição de gamification nos seus serviços, e uma das causas está relacionada a mau design de gamification. O principal objetivo do projeto é desenvolver uma possível solução para o problema através do uso de um conjunto específico de métodos, tecnologias e da abordagem Model-Driven Engineering (MDE). Nesse sentido, uma pesquisa rigorosa foi realizada sobre aplicações existentes de gamification, como também sobre outras tentativas de resolver o problema em questão. Vários conceitos de gamification foram analisados, de forma a reunir o máximo de informação possível sobre o assunto antes da conceituação do domínio para a solução através da abordagem MDE

Assessing the role of macro- and microclimate on Holm oak performance in Mediterranean drylands

Mestrado em Biologia dos Recursos Vegetais / Instituto Superior de Agronomia / Faculdade de Ciências. Universidade de LisboaMediterranean drylands are expected to become drier due to climate change. This may aggravate desertification by increasing dryland susceptibility to land degradation, leading to the loss of biodiversity and ability to provide ecosystem services. In Mediterranean Basin drylands, a large area is occupied by oak woodlands, a semi-natural agro-silvopastoral system called Montado in Portugal. In the drier areas, where Montado seems to act as a buffer against desertification, the dominant tree species is Holm oak (Quercus ilex subsp. rotundifolia), However, in the last decades, a declining trend has been reported for Holm oak woodlands, mostly attributed to unsustainable land management, biotic factors and to an increase in aridity at a regional scale. Also, at a local scale, it has been shown that microclimate conditions driven by topography have a major influence on this species natural regeneration rates. Over the last decades, many (re)afforestation with Holm oak have been implemented to revert Montado’s decline and combat desertification, although not always successful. The aim of this work was to study the effect of macro- and microclimate on Holm oak performance, specifically on acorn germination and first summer seedling survival. Holm oak acorns were collected along a climatic gradient based on long-term precipitation (30 yrs.), resulting in 6 macroclimate provenances. In 2 sites, the driest and the wettest sites of the gradient, areas with contrasting microclimates were selected using Potential Solar Radiation (PSR) as a proxy of microclimate conditions. Holm oak performance was, thus, studied along a macroclimate gradient and in microclimate contrasting conditions. Holm oak acorns from each provenance where characterized biometrically and acorn production evaluated. Germination of acorns and seedling survival were evaluated under greenhouse similar conditions and in the field under contrasting macro- and microclimate conditions. We found that macro- and microclimatic provenance influences acorn size and germination. Drier sites and more exposed areas (higher PSR) had bigger acorns with higher germination. Field conditions did not seem to affect germination but rather the first summer seedling survival. The survival of Holm oak seedlings to the first summer was significantly higher in the wetter site and in less exposed areas than in the drier site and in more exposed areas. This work provides guidelines to increase Holm oak seedling quantity and quality in nurseries to be used in (re)afforestation plans and to improve Holm oak young seedling survival, either by focusing (re)afforestation in microclimatic favorable areas (using remote sensing derived information like PSR), or by providing additional assistance to seedlings growing in drier and/or more exposed areas. In addition, it may also help to better understand Holm oak seedling mortality and/or natural regeneration patterns. Hence, these findings may contribute to improve the success of Holm oak (re)afforestation as a critical restoration tool to combat desertification in Portuguese drylands, and revert Holm oak Montado’s decline, particularly under a climate change scenarioN/

História do Banco da Bahia

A instalação do Banco da Bahia S.A ., em 18 de julho de 1858, como um dos seis bancos aos quais, no espaço de pouco mais de sete meses, de 31 de agôsto de 1857 a 3 de abril de 1858, seria concedido o poder de emitir papel-moeda, insere-se na solução global que se procurava dar à problemática da economia brasileira contemporânea, como uma resposta adeqüada às mutações verificadas na natureza das atividades econômicas e na utilização dos fatôres de produção.

O movimento da independência na Bahia (aspectos sócio-econômicos)

(1º parágrafo do artigo) A leitura da documentação de carater económico-financeiro, ainda pouco conhecida, relativa à luta pela emancipacáo nacional, travada e sustentada na Bahia, durante todo um ano, de 25 de junho de 1822 a 2 de julho de 1823, e na qual chegamos a por em armas cerca de 15.000 homens, indica que constituiu-se ela, na realidade, em um movimento de entusiástica e geral mobilização dos habitantes da Província, desde os evadidos da capital até os chegados das vilas sertanejas, mas sobretudo do Recóncavo, dando cada um, em prol da vitória, aquilo que podia, mesmo ofertas comovedoramente humildes e espontáneas, de géneros e mercadorias, evidenciando que a campanha foi eminentemente popular

Comment on the Adiabatic Condition

The experimental observation of effects due to Berry's phase in quantum systems is certainly one of the most impressive demonstrations of the correctness of the superposition principle in quantum mechanics. Since Berry's original paper in 1984, the spin 1/2 coupled with rotating external magnetic field has been one of the most studied models where those phases appear. We also consider a special case of this soluble model. A detailed analysis of the coupled differential equations and comparison with exact results teach us why the usual procedure (of neglecting nondiagonal terms) is mathematically sound.Comment: 9 page

Relatório de Estágio

O documento vigente espelha o percurso formativo desenvolvido, onde se realçam as aprendizagens efetuadas no decorrer da Prática Educativa Supervisionada, nos contextos de Educação Pré-Escolar e de 1.º Ciclo do Ensino Básico, concorrendo para a construção de uma identidade profissional indagadora sobre a realidade educativa. Assim, neste trabalho apresenta-se como foi construído este perfil por via de uma aproximação da metodologia Investigação-Ação que, pela mobilização de saberes científicos, pedagógicos, didáticos, culturais e investigativos, facilitou tomadas de decisões no que respeita à complexidade e às particularidades inerentes à prática profissional. Neste seguimento, procurou-se evidenciar as exigências de observação, planificação, ação e reflexão, o que possibilitou o desenvolvimento de propostas contextualizadas, diversificadas e adequadas aos interesses, dificuldades e necessidades das crianças. No presente relatório evidenciam-se as experiências educativas desenvolvidas nas duas valências que, atendendo ao paradigma socioconstrutivista, se inscreveram nas pedagogias participativas, nas quais se destaca a Metodologia de Trabalho por Projeto, onde a criança assumiu um papel ativo na sua própria aprendizagem. Por via do exposto, este documento integra as transformações vivenciadas na ação pedagógica através da adoção de uma postura observadora, inovadora e reflexiva, cujo principal foco era promover a melhor resposta educativa a todas as crianças. A visão exposta no relatório ilustra a problematização das exigências subjacentes ao perfil duplo de docência, no que concerne à reformulação do saber pensar e agir no contexto educativo e ao conhecimento aprofundado sobre os dois níveis, consolidando competências pessoais e socioprofissionais, perpetuadas pelo princípio da aprendizagem ao longo da vida.The current document reflects the developed training path, which highlights the learning carried out during the Supervised Educational Practice, in the contexts of Pre-School Education and 1st Cycle of Basic Education, and its contribution to the construction of a reflective professional identity about the educational reality. Therefore, this work presents how the profile was constructed, throug a Research- Action approach that, by the mobilisation of scientific, pedagogical, didactic, cultural and investigative knowledge, facilitated decision-making regarding the complexity and particularities inherent to professional practice. In this follow-up, we sought to highlight the requirements for observation, planning, action and reflection, which enabled the development of contextualised, diversified and adequate proposals to the children's interests, difficulties and needs. This report highlights the educational experiences developed in the two valences which, given the socio-constructivist paradigm, enrolled in participatory pedagogies, in which the Project Work Methodology stands out, where the children took an active role in their own learning. Therefore, this document integrates the transformations experienced in the pedagogical action through an observative, innovative and reflective posture, whose main focus was to promote the best educational response to all children. The exposed view in this report illustrates the problematisation of the underlying requirements of the double profile of teaching, with regard to the reformulation of knowing how to think and act in the educational context and in-depth knowledge on both levels, consolidating personal and socio-professional skills, perpetuated by the principle of learning throughout life