Šio darbo tikslas mobiliųjų aplikacijų saugumo sprendimų analizė populiariausioms mobiliųjų terminalų platformoms ir mobiliųjų aplikacijų saugumo rekomendacijų formulavimas projektuotojams ir vartotojams Pirmojoje darbo dalyje apžvelgiamos ir analizuojamos mobiliųjų aplikacijų saugumo grėsmės įvairiose mobiliųjų prietaisų operacinėse sistemose. Aptariamos ir analizuojamos silpnosios ir lengviausiai pažeidžiamos Android, iOS ir Windows Phone vietos, aptariamas jų pažeidžiamumas lyginant jas tarpusavyje. Atliekama mobiliųjų prietaisų saugumo analizė tinklo, prietaiso ir aplikacijų lygmenyse. Antrojoje darbo dalyje analizuojamos mobiliųjų aplikacijų testavimo galimybės ir būdai, analizuojami ir klasifikuojami įrankiai skirti apsaugoti nuo mobilių aplikacijų saugumo grėsmių. Projektinėje darbo dalyje apibendrintos ir suformuluotos mobiliųjų aplikacijų saugumo rekomendacijos pagal svarbiausias operacines aplinkas tiek vartotojams, tiek mobilių aplikacijų kūrėjams. / The aim of this work is to analyse the decisions of mobile application security and to provide recommendations and methods according to the results of the analysis of adaptation of mobile applications security solutions to operating systems. The paper aims to provide the ways how to improve mobile application security for users and companies. In the first part the threats for mobile application security in various operating systems are reviewed and analysed. The paper discusses and analyses the weak points of Android, iOS, and Windows Phone and compares their weakest points among the three. It also gives the analysis of the testing tools used for mobile means as well as the examination of their safety in the levels of a net, a tool and applications. The second part presents the analysis of possibilities and ways of mobile applications testing, as well as the classified tools created for the protection from mobile applications threats. The project part of the paper summarises and formulates mobile application safety recommendations according to the main operating systems, and gives these recommendations to users and creators of mobile applications.

Šiuo metu viena iš labiausiai bei sparčiausiai besivystančių technologijos krypčių yra mobiliesiems telefonams, planšetiniams kompiuteriams bei multimedijos įrenginiams skirta programinė įranga. Vartotojų susidomėjimas šia sritimi bei mobiliųjų įrenginių techninės įrangos tobulėjimas skatina vis daugiau IT kompanijų plėtoti savo veiklą šioje srityje. Viena iš didžiausių klaidų, kurias yra sunkiausia ištaisyti, yra pirminėje projekto stadijoje neteisingai pasirinktos technologijos. Šiame darbe apžvelgiamos ir palyginamos trijų populiariausių, į mobiliuosius įrenginius diegiamų operacinių sistemų: Android, iOS bei Windows Phone programų kūrimo sąsajos ir nustatomi jų privalumai bei trūkumai. Vertinimai yra atliekami atsižvelgiant į operacinės sistemos architektūrą, programų kūrimo įrankius, suderinamumą su technine įranga, programų derinimo galimybėmis, saugumo užtikrinimu, grafinės vartotojo sąsajos kūrimu, daugiakalbystės palaikymu, animacijos, garsų bei video medžiagos pateikimu, HTML turinio atvaizdavimu, integracija su žemėlapiais, vartotojo buvimo vietos nustatymu, sensorių bei tinklų pasiekiamumu, foninių procesų kūrimu, duomenų išsaugojimo bei apsikeitimo su kitomis programomis galimybėmis. Tyrimo metu nustatyta, kad Android turi geriausias sąsajas kurti foninius procesus bei integruotis su kitomis programomis. iOS turi geriausius įrankius bei grafinės vartotojo sąsajos kūrimo priemones, o Windows Phone turi patogiausia karkasą darbui su multimedija, žemėlapiais bei... [toliau žr. visą tekstą] / At a present time, one of the most developing area of technology is software for mobile phones, tablets and multimedia devices. Growing numbers of users and improved hardware makes more and more companies to expand their activity in this market. One of the biggest mistakes, that is very hard to solve, is badly chosen technologies in a beginning stage of the projects. The main objective of this project is to compare three of the most popular operating systems Android, iOS and Windows Phone software development kits and to determinate their advantages and disadvantages. Analysis is made based on operating system architecture, tools, compatibility with hardware, debugging, security, graphical user interface, multilanguage support, animation, sounds, video, HTML preview, interaction with maps and user location, sensors, networks, background processes, data persistence and integration with another software. In this research was identified that Android has best interfaces to create background processes and share data between programs. iOS has best tools and components for graphical user interface and Windows Phone has best framework to work with multimedia, maps and user location services.

Tobulėjant išmaniesiems telefonams ir jų techninėms galimybėms bei didėjant jų pardavimams Lietuvoje ir pasaulyje, kuriamos aplikacijos tampa sudėtingesnės ir funkcionalesnės, tačiau kokybės problema vis dar išlieka skaudžia programinės įrangos kūrimo dalimi. Šiuo metu iš visų parduodamų išmaniųjų telefonų apie 50% parduodami su Android operacine sistema. Matant Android OS programų vis didėjantį poreikį rinkoje ir jų populiarumą bei panagrinėjus esamą rinką ir pamačius, jog testavimo įrankių, skirtų testuoti Android aplikacijas, beveik nėra, buvo nuspręsta, jog reikalingas vienetų testų generavimo sprendimas pritaikytas testuoti Android aplikacijas. Šio darbo pagrindinis tikslas ir yra pateikti vienetų testų generavimo sprendimą skirtą Android OS aplikacijos testuoti, jį realizuoti bei pagrįsti eksperimentiškai. Darbe siūlomas vienetų testų generavimo metodas, kuris remiasi atsitiktiniu generavimu, naudoja OCL apribojimus bei regresinio testavimo principus. Taip pat yra suderinamas su Google kompanijos teikiamu ADT įskiepiu ir Android SDK priemonėmis. Įrankis sukurtas kaip Eclipse programavimo aplinkos įskiepis. Pasiūlyto vienetų testų generavimo sprendimo efektyvumas įrodomas eksperimentiniu tyrimu. Šio eksperimento metu buvo testuojamos 4 aplikacijos. Naudojantis įrankiu vidutiniškai sugautų mutantų skaičius yra 75%. Mažiausia reikšmė yra 69%, o didžiausia – 88%. Vidutiniškai pasiekiamas 85% kodo eilučių padengimas. Mažiausia reikšmė yra 72%, o didžiausia padengimo... [toliau žr. visą tekstą] / With the development of smart phones and their technical capabilities and increase of their sales in Lithuania and the world applications become more complex and have more functionality, but the issue of quality remains a painful part of the development of software. Currently 50% out of all smart phones are sold with Android operating system. Having an increasing demand and popularity of Android OS applications in the market, as well as having researched the current market and seen that there is a lack of testing tools to test Android applications, it has been decided that a solution generating unit tests is needed to test Android applications. The main goal of this work is to provide unit test generation solution for the Android OS application testing, implementation and validate it experimentally. This work proposes a method generating unit tests based on random generation, using OCL constraints and regression testing principles. It is compatible with Google plug-in ADT and Android SDK tools. The tool is designed as a plugin in Eclipse development environment. Efficiency of the proposed decision of generating unit tests is proved by experimental study. During this study four applications were tested. Using the tool the average of catched mutants is 75%. The minimum value is 69%, while the highest - 88%. On average coverage of code lines is achieved by 85%. The minimum value is 72% and the maximum value of coverage - 97%.

Όσο οι δυνατότητες των φορητών συσκευών, όπως κινητά τηλέφωνα, PDA’s, laptops και smartphones γίνονται ολοένα μεγαλύτερες, η αποθήκευση κοινωνικών δεδομένων σε αυτές έχει γίνει πλέον ανάγκη και τα κοινωνικά δίκτυα που αναπτύσσονται μέσω του internet έχουν κατακλίσει τον παγκόσμιο ιστό, τόσο μεγαλύτερη πρέπει να είναι και η ευκολία του χρήστη να χρησιμοποιήσει και να συγχρονίσει όλες αυτές τις πληροφορίες, σε όλες τις συσκευές που έχει στην κατοχή του χωρίς ιδιαίτερο κόπο. Στην συγκεκριμένη διπλωματική παρουσιάζουμε ένα συνδυασμό android application και server services, που δίνει την δυνατότητα στον εκάστοτε χρήστη, που έχει στην κατοχή του λογαριασμό στο facebook και συσκευή με λειτουργικό σύστημα Android 1.6 (υπάρχει συμβατότητα μέχρι και το Android 2.3), να συγχρονίσει τις επαφές του κινητού τηλεφώνου του με αυτές από το facebook, εισάγοντας κοινωνικά δεδομένα, όπως ημερομηνία γέννησης, τελευταία ανανέωση του status και username, από την βάση δεδομένων του facebook σε κάθε αντίστοιχη επαφή που υπάρχει στο κινητό τηλέφωνο. Βασικός μας σκοπός ήταν η απλότητα στην χρήση της εφαρμογής και η ασφάλεια στην διακίνηση και αποθήκευση των κοινωνικών δεδομένων αφού πρόκειται για προσωπικές πληροφορίες του κάθε χρήστη. Στην συνέχεια παρουσιάζουμε τις τεχνικές λεπτομέρειες και τέλος, τους μελλοντικούς μας στόχους και προτείνουμε προοπτικές για μελλοντική εργασία στο συγκεκριμένο θέμα. Στο παράρτημα παρατίθεται αναλυτικά όλος ο κώδικας που χρησιμοποιήθηκε για την ανάπτυξη αυτής της διπλωματικής εργασίας. / --

Αντικείμενο της παρούσας διπλωματικής εργασίας είναι η ανάπτυξη εφαρμογής για λειτουργικό σύστημα Android, για την ανίχνευση της υπνικής άπνοιας. Αρχικά μελετάται η υπνική άπνοια σαν υπνική διαταραχή, οι διάφορες κατηγορίες της, συμπτώματά της και οι τρόποι θεραπείας της. Στη συνέχεια γίνεται αναφορά στις φορητές ηλεκτρονικές συσκευές για τη διάγνωση αυτής της ασθένειας καθώς και τα βασικά κριτήρια που πρέπει να πληρούν οι συσκευές αυτές, όπως αυτά διαμορφώθηκαν από διεθνείς οργανισμούς που ασχολούνται με την μελέτη των ασθενειών του ύπνου. Έπειτα παρουσιάζεται το λειτουργικό σύστημα Android, αναλύεται η αρχιτεκτονική του καθώς και η αρχιτεκτονική των εφαρμογών που Η υπνική άπνοιααναπτύσσονται για αυτό το λογισμικό. Παρουσιάζεται η πλατφόρμα ανάπτυξης Eclipse καθώς και οι επιπρόσθετες δυνατότητες που αποκτά με την προσθήκη του πακέτου Android SDK. Τέλος παρουσιάζονται βασικά παραδείγματα εφαρμογών ώστε να μπορεί ο αναγνώστης να εξοικειωθεί με βασικές δομές που χρησιμοποιήθηκαν για την ανάπτυξη της παρούσας εφαρμογής. Παρουσιάζεται επίσης η λογική της εφαρμογής που αναπτύχθηκε. Βασικές αρχές για την ψηφιακή επεξεργασία σήματος όπως αυτές χρησιμοποιήθηκαν για την επεξεργασία του σήματος της αναπνοής που αναλύεται αυτόματα από την εφαρμογή και τέλος ο μηχανισμός εξαγωγής του τελικού συμπεράσματος, δηλαδή ο τρόπος με τον οποίο η εφαρμογή πραγματοποιεί την τελική της διάγνωση. / The subject of this diploma thesis is the development of an Android application, which is capable to diagnose sleeping apnea. Firstly, there is an extended presentation of sleeping apnea as a sleep disorder. The categories in which sleeping apnea can be divided. Its symptoms and the ways of healing this disorder. Moreover, portable devices for the diagnosis of this disorder are been represented and referred the goals that these devices have to achieve, as they formed by international organizations, which are occupied with the analysis of sleeping disorders. Then the operating system Android is been analyzed, in the domain of its architecture and the structure of an Android application. Furthermore, eclipse IDE is been represented and the further capabilities that it is gain with the installation of the Android SDK. In the last section of this diploma thesis there are some basic example application, which help the primer to acquaint with the structure that are used in the main program of developed application.

Il n'est pas surprenant , compte tenu de smartphones commodité et l'utilité, pour voir leur adoption à grande échelle dans le monde entier . Les smartphones sont naturellement rassemblent un grand nombre de renseignements personnels que l'utilisateur communique , navigue sur le Web et fonctionne diverses applications . Ils sont équipés de GPS , NFC et les installations d'appareils photo numériques et les smartphones génèrent donc de nouvelles informations personnelles telles qu'elles sont utilisées . Comme ils sont presque toujours connectés à Internet , et sont à peine éteints, ils peuvent potentiellement révéler beaucoup d'informations sur les activités de leurs propriétaires. L'arrivée à proximité de la puce - montres et intelligents - lunettes va juste augmenter la quantité de renseignements personnels disponibles et les risques de fuite de confidentialité . Ce sujet est étroitement lié au projet Mobilitics qui est actuellement menée par l'Inria / Privatics et CNIL , l'autorité française de protection des données [ 1] [2 ] [3] . Par conséquent , le candidat bénéficiera des enquêtes qui sont en cours dans ce contexte, afin de comprendre la situation et les tendances. Le candidat devra également bénéficier de tous les outils de diagraphie et l'analyse que nous avons développées pour l'iOS et Android OS mobiles , ainsi que l' expérience acquise sur le sujet. Une autre question est l'arrivée de HTML5 base de systèmes d'exploitation mobiles , comme Firefox OS: il ouvre clairement de nouvelles directives qu'elle " utilise des normes ouvertes complètement et il n'y a pas de logiciel propriétaire ou technologie impliquée " ( Andreas Gal, Mozilla) . Mais quelles sont les implications d'un point de vie privée OS mobile de vue? C'est un sujet important à analyser. Au-delà de la compréhension de la situation , le candidat devra aussi explorer plusieurs directions afin d' améliorer le contrôle des appareils mobiles de la vie privée . Tout d'abord, une vie privée - par - approche de conception , lorsque cela est possible , est une excellente façon d'aborder le problème . Par exemple, la tendance actuelle est de plus en plus compter sur un nuage - Services basés , soit directement (par exemple , via Dropbox, Instagram , les réseaux sociaux ou services similaires ) , ou indirectement (par exemple , lorsqu'une sauvegarde du contact , calendrier, bases de données des comptes sont nécessaires ) . Mais en poussant des données sur les nuages ​​- systèmes basés , quelque part sur Internet , est en totale contradiction avec nos considérations de confidentialité. Par conséquent, l'idée est d'analyser et d'expérimenter avec les services de cloud personnel (par exemple , owncloud , diaspora ) qui sont entièrement gérés par l'utilisateur. Ici, le but est de comprendre les possibilités, les opportunités et la facilité d'utilisation de ces systèmes , que ce soit en remplacement ou en association avec les services de cloud commerciales. Une autre direction est d' effectuer des analyses comportementales . En effet, afin de contrôler précisément les aspects de la vie privée , à un extrême , l'utilisateur peut avoir à interagir fortement avec l'appareil (par exemple , par le biais des pop-ups chaque fois une fuite potentielle de la vie privée est identifié ) , qui a un impact négatif sur la facilité d'utilisation de l'appareil . À l'autre extrême , le contrôle de la vie privée peut être simplifiée à l'extrême , dans l'espoir de ne pas trop interférer avec l'utilisateur, comme c'est le cas avec les autorisations statiques Android ou celui - Temps pop - up de iOS6 . Ce n'est pas non plus approprié , puisque l'utilisation de renseignements personnels une fois n'est pas comparable à l'utiliser chaque minute. / It is no surprise, given smartphones convenience and utility, to see their wide adoption worldwide. Smartphones are naturally gathering a lot of personal information as the user communicates, browses the web and runs various Apps. They are equipped with GPS, NFC and digital camera facilities and therefore smartphones generate new personal information as they are used. Since they are almost always connected to the Internet, and are barely turned off, they can potentially reveal a lot of information about the activities of their owners. The close arrival of smart-­‐watches and smart-­‐glasses will just increase the amount of personal information available and the privacy leakage risks. This subject is closely related to the Mobilitics project that is currently conducted by Inria/Privatics and CNIL, the French data protection authority [1][2][3]. Therefore, the candidate will benefit from the investigations that are on progress in this context, in order to understand the situation and the trends. The candidate will also benefit from all the logging and analysis tools we developed for the iOS and Android Mobile OSes, as well as the experienced gained on the subject. Another question is the arrival of HTML5 based Mobile OSes, like Firefox OS: it clearly opens new directions as it "uses completely open standards and there’s no proprietary software or technology involved" (Andreas Gal, Mozilla). But what are the implications from a Mobile OS privacy point of view? That's an important topic to analyze. Beyond understanding the situation, the candidate will also explore several directions in order to improve the privacy control of mobile devices. First of all, a privacy-­‐by-­‐design approach, when feasible, is an excellent way to tackle the problem. For instance the current trend is to rely more and more on cloud-­‐based services, either directly (e.g., via Dropbox, Instagram, Social Networks, or similar services), or indirectly (e.g., when a backup of the contact, calendar, accounts databases is needed). But pushing data on cloud-­‐based systems, somewhere on the Internet, is in total contradiction with our privacy considerations. Therefore, an idea is to analyze and experiment with personal cloud services (e.g., ownCLoud, diaspora) that are fully managed by the user. Here the goal is to understand the possibilities, the opportunities, and the usability of such systems, either as a replacement or in association with commercial cloud services. Another direction is to carry out behavioral analyses. Indeed, in order to precisely control the privacy aspects, at one extreme, the user may have to deeply interact with the device (e.g., through pop-ups each time a potential privacy leak is identified), which negatively impacts the usability of the device. At the other extreme, the privacy control may be oversimplified, in the hope not to interfere too much with the user, as is the case with the Android static authorizations or the one-­‐time pop-­‐ups of iOS6. This is not appropriate either, since using private information once is not comparable to using it every minute. A better approach could be to perform, with the help of a machine learning system for instance, a dynamic analysis of the Mobile OS or App behavior from a privacy perspective and to interfere with the user only when it is deemed appropriate. This could enable a good tradeoff between privacy control and usability, with user actions only when meaningful. How far such a behavioral analysis can go and what are the limitations of the approach (e.g., either from a CPU/battery drain perspective, or in front of programming tricks to escape the analysis) are open questions. Tainting techniques applied to Mobile OSes (e.g., Taint-­Droid) can be used as a basic bloc to build a behavioral analysis tool, but they have limited accuracy are unable to analyze native code and have poor performances.

[pt] Cada vez mais os aparelhos móveis estão se aperfeiçoando, com aumentos em suas capacidades de processamento e memória. Essa tendência acaba tornando o processamento móvel uma alternativa interessante. Este trabalho visa explorar esse mundo mobile e o seu potencial através do paralelismo, tanto localmente, na forma de exploração multicore, quanto distribuida, na forma de exploração multidispositivo. Exploramos isto através de uma biblioteca de paralelismo da linguagem de programação Lua, chamada Luaproc. Propomos um novo modelo de comunicação para esta biblioteca, para incluir esse cenário multidispositivo e combinar as facilidades de um serviço de enfileiramento de mensagens com o suporte para paralelismo já existente. Apresentamos algumas aplicações da biblioteca desenvolvida, avaliando sua utilização e desempenho em diferentes cenários. / [en] Mobile devices are undergoing constant increases in their processing and memory capabilities. This tendency is making mobile processing an interesting alternative. This work aims to support the programmer in exploring this potential by using parallelism, both local, in the form of multicore exploitation, as well as distributed, in the form of multidevice exploration. We explored this through a parallel library for the Lua programming language, called Luaproc. We propose an extension to this library and its communication model, to include this multidevice scenario and combine the facilities of a message queuing service with the existing facilities for multicore programming. We then present some applications to show different use cases with distribution and their performance.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / The reference evapotranspiration (ETo) is a component of great importance in several areas, as well as studies in agricultural and water resources management. Several methods of determination are studied, the Penman-Monteith widely used as standard. The main disadvantage of this method is the fact that the meteorological data required are usually not easily available, or have a high cost for determination. The insertion of artificial neural networks (ANN) in these studies provides satisfactory results with fewer input variables. This paper's main objective is to develop a web and mobile tool for determining ETo models using artificial neural networks for the State of Rio Grande do Sul The data used for modeling were collected from the stations of the National Meteorological Institute between 2008 and 2012. It was adopted as the standard ETo values estimated by the Penman-Mointeith and then compared with those obtained with the RNA's. The scheduling algorithm was defined as the best neural network architecture, considering the indide performance and error evaluation. Both applications were developed under Linux with free tools and SQLite database. It can be seen that the estimates made with the RNA's have better performance when compared with the known empirical methods, varying its index of determination (R²) between 0,856 and 1,0. Obtained outperform models with daily solar radiation as input. Two model was chosen to implement the system architecture, the first solar radiation with insertion of the second liquid architecture makes use of extraterrestrial radiation. This definition was chosen because of the lack or high cost for obtaining solar radiation data net. It was concluded that artificial neural networks are able to predict the quality of reference evapotranspiration for the State of Rio Grande do Sul enabling applications on web and mobile. / A evapotranspiração de referência (ETo) é um componente de grande importância em diversas áreas, assim como nos estudos agrícolas e na gestão dos recursos hídricos. Vários métodos de determinação são estudados, sendo o modelo de Penman-Monteith utilizado amplamente como padrão. A principal desvantagem deste método é o fato de que os dados meteorológicos necessários normalmente não estão facilmente disponibilizados, ou possuem um custo elevado para determinação. A inserção das redes neurais artificiais (RNA) nestes estudos possibilita obter resultados satisfatórios com número menor de variáveis de entradas. O presente trabalho tem por objetivo principal, desenvolver uma ferramenta web e mobile para a determinação da ETo utilizando modelos de redes neurais artificiais para o Estado do Rio Grande do Sul. Os dados utilizados para modelagem foram coletados junto as estações do Instituto Nacional de Meteorologia entre 2008 e 2012. Adotou-se como padrão os valores de ETo estimados pelo método de Penman-Mointeith e posteriormente comparado com os obtidos com as RNA s. O algoritmo de programação foi definido a partir da melhor arquitetura de rede neural, considerando o índide de desempenho e avaliação do erro. Ambas as aplicações foram desenvolvidas em ambiente Linux, com ferramentas livres e banco de dados SQLite. Pode-se perceber que as estimativas realizadas com as RNA's apresentam melhor desempenho quando comparado com os métodos empíricos conhecidos, variando seu índice de determinação (R²) entre 0,856 e 1,0. Obteve-se desempenho superior nos modelos com radiação solar diária como variável de entrada. Foi escolhido dois modelos de arquitetura para implementar no sistema, sendo o primeiro com inserção de radiação solar líquida e a segunda arquitetura utiliza-se de radiação solar extraterreste. Essa definição foi escolhida devido a carência ou custo alto para obtenção dos dados de radiação solar líquida. Concluiu-se que as redes neurais artificias são capazes de predizer com qualidade os valores de evapotranspiração de referencia para o Estado do Rio Grande do Sul possibilitando aplicações em sistemas web e mobile.

One of the problems in robotics is called Simultaneous Location and Mapping (SLAM), and lies in the necessity of a robot to localize itself on the environment while simultaneously mapping it. The use of stereoscopic systems is one approach to solve this problem. Theses systems are composed by high cost cameras synchronized via hardware, while low cost cameras are more restrict to applications with low or no movement. This research proposes a low cost system by using stereoscopy with a low baseline and low horizontal field of view cameras, synchronizing them via software, along with a filter based on the density of the disparity map of the captured images, with the intent to discard badly rectified frames, which implies desynchronization. Additionally, an Android app capable of obtaining and transmitting sensory data from a smartphone, like GPS and orientation, was developed, reducing the cost and increasing the system’s accessibility. From these data, calibration and processing datasets were generated, so they could be analyzed afterward. The combination of visual odometry and the smartphone’s sensory data contained in the datasets resulted in a system capable of obtaining its localization without previous knowledge of the environment with a similar error to the ones obtained by well established high cost techniques. However, the GPS data was imprecise in low speed scenarios, while the high electromagnetic interference and the low amount of lateral points of reference harmed the device’s orientation data and the visual odometry calculation in the high speed scenario. The system isn’t capable of real time processing, given the need to analyze every frame so they can be filtered, discarding about 60% of them. It was demonstrated that the proposed low cost system was capable of keeping a low error in return of a high processing time, potentially reducing the cost and increasing the accessibility of VSLAM applications. Due to the system’s modularity, it’s possible to replace its components without many implementation changes, allowing the use of better precision devices in future work. / Um dos problemas na área da robótica é chamado de Simultaneous Location and Mapping (SLAM), e consiste da necessidade de um robô localizar-se no ambiente e mapeá-lo. O uso de sistemas estereoscópicos é uma abordagem utilizada para a resolução deste problema. Estes sistemas são compostos de câmeras sincronizadas via hardware de alto custo, enquanto câmeras de baixo custo tem seu uso mais restrito para aplicações onde há pouca movimentação. Desta maneira, este trabalho visa propor sistema de baixo custo ao utilizar estereoscopia com baixa baseline e câmeras com baixo ângulo de visão horizontal, e sua sincronização realizada via software, em conjunto com um filtro baseado na densidade do mapa de disparidades das imagens capturadas, que tem por objetivo descartar frames não retificados corretamente, o que implica a sua dessincronização. Adicionalmente, foi desenvolvido um aplicativo Android capaz de obter e transmitir dados sensoriais de um smartphone, como GPS e orientação, reduzindo o custo e aumentando a acessibilidade do sistema. A partir destes dados foi possível gerar datasets de calibração e processamento para que pudessem ser analisados posteriormente. Ao combinar a odometria visual com os dados de sensores do smartphone contidos nos datasets, obteve-se um sistema capaz de obter sua localização sem conhecimento prévio do ambiente com um erro similar aos obtidos por técnicas já consolidadas de alto custo. Contudo, os dados de GPS mostraramse imprecisos em cenários de baixa velocidade, enquanto a interferência eletromagnética e a baixa quantidade de pontos de referência laterais prejudicaram a leitura da orientação do dispositivo e o cálculo da odometria visual no cenário de alta velocidade. Constata-se que o sistema não é capaz de realizar processamento em tempo real, dada a necessidade de avaliação todos os frames para que sejam filtrados, descartando-se em torno de 60% dos mesmos. Desta maneira, foi demonstrado que o sistema proposto de baixo custo foi capaz de manter um erro baixo em troca de um alto tempo de processamento, potencialmente reduzindo o custo e aumentando a acessibilidade de aplicações VSLAM. Devido à modularidade do sistema, é possível substituir seus componentes sem grandes alterações em sua implementação, viabilizando o uso de dispositivos com maior precisão em trabalhos futuros.

The increasing development of the urban areas in the country turns the search for environmental and esthetic improvements to the cities the major key in the urban forestation planning. The precision forestry emerges as an urban afforestation and urban centers plan ally, offering control and scheduling activities such as the implantation and management of the vegetation in public routes, gardens and parks. Aiming to assist the urban forestation planning, the C7 Lignum Urben application was developed, which is a mobile tool linked to smartphones and tablets Android System that plans the urban forestation by the registration and evaluation of copies, the implantation and management of the vegetation in public areas and the emission of reports that allows group decisions. The C7 Lignum Urben provides more agility in the processes of data retrieval and dissemination due to the ability to specialize data and send reports in .CSV and .PDF formats that can be edited and take up less space. / O crescente desenvolvimento das áreas urbanas no país torna a busca por melhorias ambientais e estéticas às cidades, chave decisiva no planejamento da arborização urbana. A silvicultura de precisão surge como aliada da arborização urbana e do planejamento dos centros urbanos, oferecendo controle e programação de atividades como implantação e manejo da vegetação de vias públicas, jardins e praças. Objetivando auxiliar o planejamento da arborização urbana, foi desenvolvido o aplicativo C7 Lignum Urben que é uma ferramenta móvel, vinculada ao Sistema Android de smarthphones e tablets, de planejamento da arborização urbana através do cadastramento e avaliação de exemplares, da implantação e manejo da vegetação de áreas públicas e emissão de relatórios, que permitem a tomada de decisões em grupos. O C7 Lignum Urben permite maior agilidade nos processos de obtenção e difusão de dados devido a capacidade de espacializar dados e enviar relatórios em formato. CSV e PDF, que podem ser editados e ocupam menor espaço.