CoordenaÃÃo de AperfeÃoamento de Pessoal de NÃvel Superior / A geraÃÃo de resÃduos sÃlidos faz parte do contexto social em que vivemos, entretanto, a cultura da reciclagem ainda à pouco valorizada no Brasil. A PolÃtica Nacional de ResÃduos SÃlidos, de 2010, estimula a valorizaÃÃo do processo de reciclagem, da organizaÃÃo e do fim da informalidade dos catadores, alÃm de incentivar o aproveitamento energÃtico do biogÃs gerado em aterros sanitÃrios. Fundamentado nesses trÃs pontos, o presente trabalho elaborou um plano de negÃcios para a implantaÃÃo de uma usina de reciclagem de plÃstico Polietileno de Alta Densidadeâ PEAD, utilizando, para tanto, a energia produzida pelo biogÃs no Aterro SanitÃrio Metropolitano Sul em MaracanaÃ, CearÃ. Foram desenvolvidos projetos de coleta e aproveitamento do biogÃs e de uma usina de processamento de PEAD, alÃm de levantamento de custos de todo o material necessÃrio para a implantaÃÃo e operaÃÃo da planta. Analisou-se a viabilidade econÃmica de dois ambientes distintos, pela Cooperativa de catadores e pela Empresa de reciclagem. Para cada ambiente, foram desenvolvidos trÃs cenÃrios de aquisiÃÃo do material plÃstico (100% comprado, 50% comprado e 50% doado, 100% doado). Foi possÃvel constatar que apenas o ambiente Cooperativa e o terceiro cenÃrio mostraram-se sustentÃveis para a implantaÃÃo de um sistema deste porte. / A geraÃÃo de resÃduos sÃlidos faz parte do contexto social em que vivemos, entretanto, a cultura da reciclagem ainda à pouco valorizada no Brasil. A PolÃtica Nacional de ResÃduos SÃlidos, de 2010, estimula a valorizaÃÃo do processo de reciclagem, da organizaÃÃo e do fim da informalidade dos catadores, alÃm de incentivar o aproveitamento energÃtico do biogÃs gerado em aterros sanitÃrios. Fundamentado nesses trÃs pontos, o presente trabalho elaborou um plano de negÃcios para a implantaÃÃo de uma usina de reciclagem de plÃstico Polietileno de Alta Densidadeâ PEAD, utilizando, para tanto, a energia produzida pelo biogÃs no Aterro SanitÃrio Metropolitano Sul em MaracanaÃ, CearÃ. Foram desenvolvidos projetos de coleta e aproveitamento do biogÃs e de uma usina de processamento de PEAD, alÃm de levantamento de custos de todo o material necessÃrio para a implantaÃÃo e operaÃÃo da planta. Analisou-se a viabilidade econÃmica de dois ambientes distintos, pela Cooperativa de catadores e pela Empresa de reciclagem. Para cada ambiente, foram desenvolvidos trÃs cenÃrios de aquisiÃÃo do material plÃstico (100% comprado, 50% comprado e 50% doado, 100% doado). Foi possÃvel constatar que apenas o ambiente Cooperativa e o terceiro cenÃrio mostraram-se sustentÃveis para a implantaÃÃo de um sistema deste porte. / The generation of solid waste is part of the social context in which we live , however, the culture of recycling is still undervalued in Brazil . The 2010 National Solid Waste Policy encourages the improvement of recycling process, the organization of waste pickers to end informal activities, and encourages the use of biogas generated in landfills. Based on these three topics, this paper drew up a business plan for a recycling plant for HDPE using the biogas energy produced in the South Metropolitan Landfill in Maracanau, CearÃ. For this, a biogas collection system and a plant for HDPE processing were developed in addition costs estimates of all the material needed for their implementation and operation. It was analyzed the economic feasibility for two distinct environments, using the waste pickers Cooperative and through a regular recycling company. For each environment, three raw material acquisition scenarios were developed (100% purchased, 50 % purchased and 50% donated, and 100 % donated ). It was found that only with the cooperative environment and in the third scenario the business proved to be economically feasible. / The generation of solid waste is part of the social context in which we live, however, the culture of recycling is still undervalued in Brazil. The National Solid Waste Policy, 2010, encourages the enhancement of the recycling process, the organization and the end of the informal waste pickers, and encourage the energy use of biogas generated in landfills. Based on these three points, this study developed a business plan for the deployment of a plastic recycling plant in High Density Polyethylene HDPE, using for this purpose, the energy produced by biogas in South Metropolitan Landfill in Marazion, CearÃ. Were developed collection of projects and use of biogas and a HDPE processing plant, as well as raising costs of all the material necessary for the implementation and operation of the plant. We analyzed the economic feasibility of two different environments, by the Cooperative pickers and recycling by the Company. For each environment, were developed three scenarios for the acquisition of the plastic material (100% purchased, 50% purchased and donated 50%, 100% donated). It was found that only the cooperative environment and the third scenario proven to be sustainable for the implementation of a system of this size.

O presente trabalho investigou concepções de respeito de professores dos anos iniciais do Ensino Fundamental e suas relações com a construção de relações de respeito mútuo na sala de aula e com o desenvolvimento da autonomia moral infantil. O principal referencial teórico foi a Epistemologia Genética, especialmente o Desenvolvimento Moral na obra de Jean Piaget. A coleta de dados foi realizada com treze professores de diferentes instituições escolares e foi organizada em duas etapas, sendo a primeira o registro escrito a respeito de uma situação narrada em terceira pessoa, que serviu de base para a realização de uma entrevista semiestruturada, orientada pelo método clínico piagetiano. Os dados coletados permitiram a análise a partir de duas categorias principais: a relação entre o professor e o aluno e a construção de um ambiente sociomoral. Em cada uma destas instâncias foram verificadas concepções de respeito relacionadas às dimensões do respeito unilateral e do respeito mútuo e refletiu-se sobre suas interferências para o cotidiano escolar. / This thesis has investigated primary teachers' respect conceptions and how these concepts relate to building relations of mutual respect in the classroom and the development of child moral autonomy. Genetic Epistemology is the theoretical basis of this research, particularly Moral Development in the work of Jean Piaget. Data collection was conducted with thirteen teachers from diverse educational institutions and organized in two steps: first, written records about a situation narrated in the third person were made; second, a semi-structured interview, based on previously collected data and guided by Piagetian clinical method, was conducted. This collected data allowed the analysis from two main categories: the relations among teachers and students and the construction of a cooperative environment. In each of these categories, conceptions of respect related to the dimensions of unilateral and mutual respect were noted as well as their interference on the school routine was observed.

O presente trabalho investigou concepções de respeito de professores dos anos iniciais do Ensino Fundamental e suas relações com a construção de relações de respeito mútuo na sala de aula e com o desenvolvimento da autonomia moral infantil. O principal referencial teórico foi a Epistemologia Genética, especialmente o Desenvolvimento Moral na obra de Jean Piaget. A coleta de dados foi realizada com treze professores de diferentes instituições escolares e foi organizada em duas etapas, sendo a primeira o registro escrito a respeito de uma situação narrada em terceira pessoa, que serviu de base para a realização de uma entrevista semiestruturada, orientada pelo método clínico piagetiano. Os dados coletados permitiram a análise a partir de duas categorias principais: a relação entre o professor e o aluno e a construção de um ambiente sociomoral. Em cada uma destas instâncias foram verificadas concepções de respeito relacionadas às dimensões do respeito unilateral e do respeito mútuo e refletiu-se sobre suas interferências para o cotidiano escolar. / This thesis has investigated primary teachers' respect conceptions and how these concepts relate to building relations of mutual respect in the classroom and the development of child moral autonomy. Genetic Epistemology is the theoretical basis of this research, particularly Moral Development in the work of Jean Piaget. Data collection was conducted with thirteen teachers from diverse educational institutions and organized in two steps: first, written records about a situation narrated in the third person were made; second, a semi-structured interview, based on previously collected data and guided by Piagetian clinical method, was conducted. This collected data allowed the analysis from two main categories: the relations among teachers and students and the construction of a cooperative environment. In each of these categories, conceptions of respect related to the dimensions of unilateral and mutual respect were noted as well as their interference on the school routine was observed.

O presente trabalho investigou concepções de respeito de professores dos anos iniciais do Ensino Fundamental e suas relações com a construção de relações de respeito mútuo na sala de aula e com o desenvolvimento da autonomia moral infantil. O principal referencial teórico foi a Epistemologia Genética, especialmente o Desenvolvimento Moral na obra de Jean Piaget. A coleta de dados foi realizada com treze professores de diferentes instituições escolares e foi organizada em duas etapas, sendo a primeira o registro escrito a respeito de uma situação narrada em terceira pessoa, que serviu de base para a realização de uma entrevista semiestruturada, orientada pelo método clínico piagetiano. Os dados coletados permitiram a análise a partir de duas categorias principais: a relação entre o professor e o aluno e a construção de um ambiente sociomoral. Em cada uma destas instâncias foram verificadas concepções de respeito relacionadas às dimensões do respeito unilateral e do respeito mútuo e refletiu-se sobre suas interferências para o cotidiano escolar. / This thesis has investigated primary teachers' respect conceptions and how these concepts relate to building relations of mutual respect in the classroom and the development of child moral autonomy. Genetic Epistemology is the theoretical basis of this research, particularly Moral Development in the work of Jean Piaget. Data collection was conducted with thirteen teachers from diverse educational institutions and organized in two steps: first, written records about a situation narrated in the third person were made; second, a semi-structured interview, based on previously collected data and guided by Piagetian clinical method, was conducted. This collected data allowed the analysis from two main categories: the relations among teachers and students and the construction of a cooperative environment. In each of these categories, conceptions of respect related to the dimensions of unilateral and mutual respect were noted as well as their interference on the school routine was observed.

A key component for automated driving is 360◦ environment detection. The recognition capabilities of mod- ern sensors are always limited to their direct field of view. In urban areas a lot of objects occlude important areas of in- terest. The information captured by another sensor from an- other perspective could solve such occluded situations. Fur- thermore, the capabilities to detect and classify various ob- jects in the surrounding can be improved by taking multiple views into account. In order to combine the data of two sensors into one co- ordinate system, a rigid transformation matrix has to be de- rived. The accuracy of modern e.g. satellite based relative pose estimation systems is not sufficient to guarantee a suit- able alignment. Therefore, a registration based approach is used in this work which aligns the captured environment data of two sensors from different positions. Thus their relative pose estimation obtained by traditional methods is improved and the data can be fused. To support this we present an approach which utilizes the uncertainty information of modern tracking systems to de- termine the possible field of view of the other sensor. Fur- thermore, it is estimated which parts of the captured data is directly visible to both, taking occlusion and shadowing ef- fects into account. Afterwards a registration method, based on the iterative closest point (ICP) algorithm, is applied to that data in order to get an accurate alignment. The contribution of the presented approch to the achiev- able accuracy is shown with the help of ground truth data from a LiDAR simulation within a 3-D crossroad model. Re- sults show that a two dimensional position and heading esti- mation is sufficient to initialize a successful 3-D registration process. Furthermore it is shown which initial spatial align- ment is necessary to obtain suitable registration results.

A key component for automated driving is 360◦ environment detection. The recognition capabilities of mod- ern sensors are always limited to their direct field of view. In urban areas a lot of objects occlude important areas of in- terest. The information captured by another sensor from an- other perspective could solve such occluded situations. Fur- thermore, the capabilities to detect and classify various ob- jects in the surrounding can be improved by taking multiple views into account. In order to combine the data of two sensors into one co- ordinate system, a rigid transformation matrix has to be de- rived. The accuracy of modern e.g. satellite based relative pose estimation systems is not sufficient to guarantee a suit- able alignment. Therefore, a registration based approach is used in this work which aligns the captured environment data of two sensors from different positions. Thus their relative pose estimation obtained by traditional methods is improved and the data can be fused. To support this we present an approach which utilizes the uncertainty information of modern tracking systems to de- termine the possible field of view of the other sensor. Fur- thermore, it is estimated which parts of the captured data is directly visible to both, taking occlusion and shadowing ef- fects into account. Afterwards a registration method, based on the iterative closest point (ICP) algorithm, is applied to that data in order to get an accurate alignment. The contribution of the presented approch to the achiev- able accuracy is shown with the help of ground truth data from a LiDAR simulation within a 3-D crossroad model. Re- sults show that a two dimensional position and heading esti- mation is sufficient to initialize a successful 3-D registration process. Furthermore it is shown which initial spatial align- ment is necessary to obtain suitable registration results.