The discrete Fourier transform in Cartesian coordinates has proved to be invaluable in many disciplines. However, less theory has been developed for functions that are best described in polar coordinates. In this thesis, a new discrete 2D-Fourier transform in polar coordinates is proposed and tested by numerical simulations. Guidelines for choosing sample size are developed. Furthermore, to be as useful as its Cartesian counterpart, improvements are made to reduce the computing time.

The Fourier transform is one of the most useful tools in science and engineering and can be expanded to multi-dimensions and curvilinear coordinates. Multidimensional Fourier transforms are widely used in image processing, tomographic reconstructions and in fact any application that requires a multidimensional convolution. By examining a function in the frequency domain, additional information and insights may be obtained. In this thesis, the development of a symbolic computer algebra toolbox to compute two dimensional Fourier transforms in polar coordinates is discussed. Among the many operations implemented in this toolbox are different types of convolutions and procedures that allow for managing the toolbox effectively. The implementation of the two dimensional Fourier transform in polar coordinates within the toolbox is shown to be a combination of two significantly simpler transforms. The toolbox is also tested throughout the thesis to verify its capabilities.

The Fourier transform is one of the most useful tools in science and engineering and can be expanded to multi-dimensions and curvilinear coordinates. Multidimensional Fourier transforms are widely used in image processing, tomographic reconstructions and in fact any application that requires a multidimensional convolution. By examining a function in the frequency domain, additional information and insights may be obtained. In this thesis, the development of a symbolic computer algebra toolbox to compute two dimensional Fourier transforms in polar coordinates is discussed. Among the many operations implemented in this toolbox are different types of convolutions and procedures that allow for managing the toolbox effectively. The implementation of the two dimensional Fourier transform in polar coordinates within the toolbox is shown to be a combination of two significantly simpler transforms. The toolbox is also tested throughout the thesis to verify its capabilities.

The Fourier transform is one of the most useful tools in science and engineering and can be expanded to multi-dimensions and curvilinear coordinates. Multidimensional Fourier transforms are widely used in image processing, tomographic reconstructions and in fact any application that requires a multidimensional convolution. By examining a function in the frequency domain, additional information and insights may be obtained. In this thesis, the development of a symbolic computer algebra toolbox to compute two dimensional Fourier transforms in polar coordinates is discussed. Among the many operations implemented in this toolbox are different types of convolutions and procedures that allow for managing the toolbox effectively. The implementation of the two dimensional Fourier transform in polar coordinates within the toolbox is shown to be a combination of two significantly simpler transforms. The toolbox is also tested throughout the thesis to verify its capabilities.

[pt] Esta pesquisa visa ao desenvolvimento de um protótipo de traçadora gráfica, para desenhar sobre uma superfície rígida na posição vertical. A principal aplicação desta traçadora é no segmento de comunicação visual para anúncios em grandes superfícies. Com a intenção de atingir alto grau de flexibilidade nesta utilização, a traçadora é concebida para trabalhar em coordenadas polares, dispensando um quadro fixo composto de várias guias lineares como seria o caso de uma traçadora x, y. Numa primeira parte, apresenta-se o layout básico, a construção do protótipo e as equações cinemáticas que governam o movimento. Em seguida, é feita uma análise estática da traçadora e do momento máximo requerido para movimentar o braço, visando à correta especificação dos atuadores. Com base nas equações geométricas utilizadas, foi elaborado um algoritmo de traçado que contempla as não linearidades inerentes ao problema.Vários testes com figuras geométricas foram realizados, para a avaliação do protótipo. / [en] The present research aims the development of an experimental prototype of a plotterdesigned to work on a vertical plane. In order to achieve maximum flexibility to work on site, the plotter was conceived to operate in polar coordinates with a single fixed point.This concept simplifies transportation and assemblage of the plotter at the working location. The work discusses the kinematical equations for pen displacent, static and dynamic equation for torque evaluation as well as some design challenges which had to be overcome in order to make the plotter operational and reliable. Experimental results concerning precision and drafting velocity are presented in the work and final comments on further design improvements of the plotter are discussed in the last part.

The Fourier transform is one of the most useful tools in science and engineering and can be expanded to multi-dimensions and curvilinear coordinates. Multidimensional Fourier transforms are widely used in image processing, tomographic reconstructions and in fact any application that requires a multidimensional convolution. By examining a function in the frequency domain, additional information and insights may be obtained. In this thesis, the development of a symbolic computer algebra toolbox to compute two dimensional Fourier transforms in polar coordinates is discussed. Among the many operations implemented in this toolbox are different types of convolutions and procedures that allow for managing the toolbox effectively. The implementation of the two dimensional Fourier transform in polar coordinates within the toolbox is shown to be a combination of two significantly simpler transforms. The toolbox is also tested throughout the thesis to verify its capabilities.

CoordenaÃÃo de AperfeiÃoamento de Pessoal de NÃvel Superior / Neste trabalho, estudam-se de maneira sucinta as caracterÃsticas e os principais elementos algÃbricos e geomÃtricos das secÃÃes cÃnicas. Inicialmente, foram abordados os trÃs tipos gerais das secÃÃes cÃnicas, enfocando em princÃpio suas formas regulares para, em dado momento, tambÃm se discutir suas formas degeneradas. Verificou-se que, segundo um sistema cartesiano fixado, à possÃvel estabelecer uma representaÃÃo global das cÃnicas por meio de uma equaÃÃo algÃbrica do segundo grau em duas variÃveis, sendo que qualquer equaÃÃo desta forma,reciprocamente, pode ser identificada, por meio de rotaÃÃo ou translaÃÃo, com a equaÃÃo reduzida de algum tipo particular de cÃnica. Encerrando-se este trabalho, foi proposta uma abordagem inovadora para a lida no ensino mÃdio desse tÃpico de ensino-aprendizagem riquÃssimo em conceitos bÃsicos de Ãlgebra e geometria elementares, tÃo necessÃrios para uma boa formaÃÃo matemÃtica. Foi proposto que no estudo das cÃnicas se use de forma complementar a maneira alternativa de defini-las a partir de sua excentricidade, convergindo para a equaÃÃo geral unificada das cÃnicas em coordenadas polares. Essa forma generalizada e absolutamente simples de se representar as cÃnicas à tida como facilmente manipulÃvel e reflete em si mesma uma beleza singular da MatemÃtica, a Rainha das CiÃncias. Vale ressaltar que todo o enfoque dos conteÃdos aqui discutidos foi apresentado numa linguagem bastante simples e de fÃcil compreensÃo, uma vez que este trabalho se destina preferencialmente a alunos e professores da educaÃÃo bÃsica. / In this work, the features and the main algebraic and geometric elements of conic sections were succinctly studied. lnitially, the three general types of the conic sections were discussed, focusing at first on their regular forms and then, in certain moment, discussing about their degenerate forms. It was found that, according to a fixed Cartesian system, it is possible to establish a global representation of the conics through a two-variable algebraic quadratic equation, in a way that, in any equation of this form, reciprocally, can be identified by means of rotation or translation, with the reduced equation of any particular type of conic. At the end of this work, it was proposed an innovative approach of this rich teaching-leaming topic in basic concepts of elementary algebra and geometry to be applied in high school, as required for good mathematical training. lt was proposed that the study of conic would be used complementing the alternativa way to define them from their eccentricity, converging to a unified general equation of the conics in polar coordinates. This generalized way and absolutely simple to represent the conical is seen as easily manipulated and reflects on itself a singular beauty of mathematics, The Queen of Sciences. lt is worth to emphasize that the focus of the content discussed was presented in a very simple, easy to understand language, once this work is preferably intended for students and teachers of basic education.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2014-10-23T12:13:58Z No. of bitstreams: 2 Dissertação - Diego Maradona Félix da Silva - 2013.pdf: 10239500 bytes, checksum: 681c4dea258fdbd3bf04715b9c50c6c0 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2014-10-23T12:38:00Z (GMT) No. of bitstreams: 2 Dissertação - Diego Maradona Félix da Silva - 2013.pdf: 10239500 bytes, checksum: 681c4dea258fdbd3bf04715b9c50c6c0 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Made available in DSpace on 2014-10-23T12:38:00Z (GMT). No. of bitstreams: 2 Dissertação - Diego Maradona Félix da Silva - 2013.pdf: 10239500 bytes, checksum: 681c4dea258fdbd3bf04715b9c50c6c0 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2013-03-15 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / The Hyperbole and its Applications begins with a brief historical background on the origins of the conic sections analysis, followed by a proposition of a new approach to the conic sections studies in High School, due to the large amount of important applications these studies have in everyday life. The rst chapter of the research presents the primary concepts necessary to a good hyperbole study understanding. After presenting this concepts the research focuses in the evidence of the hyperbole concept, its most important elements, the rotary axis and the hyperbole properties. Among these properties, the main object of this study is the re ective hyperbole property, since it can be applied to many elds of study such as Astronomy, in the Telescopes and even Navigations. Some other properties are brie y mentioned during this work and others have a more detailed approach. Finally, a largely used new coordinates system is presented - the Polar Coordinate System. The research purpose is to infer, by the use of this new system, the equations of the ellipse, parable and hyperbole. / A Hipérbole e suas Aplicações inicia-se com um breve contexto histórico sobre o qual se originou o estudo das cônicas e propõe uma abordagem diferenciada para o estudo de cônicas no Ensino Médio devido a grande quantidade de aplicações importantes das propriedades das cônicas no cotidiano. O primeiro capítulo do trabalho trata-se dos conceitos preliminares para um bom estudo da hipérbole. Logo em seguida apresentamos o conceito de hipérbole, seus principais elementos, rotação de eixos e propriedades da hipérbole. Dentre essas propriedades, o principal objeto de estudo será a propriedade re etora da hipérbole, pois é esta que tem aplicações nos mais variados ramos da ciência tal como Astronomia, nos telescópios e na navegação. Algumas aplicações serão citadas brevemente e outras abordadas com mais detalhes. Finalizando, apresentaremos um novo sistema de coordenadas também muito utilizado: o sistema de Coordenadas Polares e adotando esse novo sistema, deduzir as equações da elipse, parábola e hipérbole.

This thesis contains solutions to chosen problems of applied mathematics. It comprises examples related to geometrical applications of the double and triple integrals´ theory, ie calculation methods of areas, volumes, mass and coordinates of gravity centres. Each problem´s solution is described in detail and supplemented with a picture. The problems are arranged according to complexity.

Made available in DSpace on 2014-12-17T14:55:09Z (GMT). No. of bitstreams: 1 JoseSASS.pdf: 1375081 bytes, checksum: 1561bdbc1ba8feb7671abf9ebca84641 (MD5) Previous issue date: 2007-04-30 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment / Este trabalho prop?e um m?todo para determinar a profundidade de objetos em cena utilizando uma combina??o das t?cnicas de vis?o est?reo e autocalibra??o. Determinando a dist?ncia relativa entre objetos visualizados e um rob? m?vel, dotado de uma cabe?a est?reo, ? poss?vel efetuar sua navega??o em ambientes desconhecidos. As t?cnicas de vis?o est?reo fornecem uma medida de profundidade a partir da combina??o de duas ou mais imagens de uma mesma cena. Para a obten??o de estimativas da profundidade dos objetos presentes nesta cena ? necess?rio uma reconstru??o da geometria da mesma. Para tal reconstru??o ? necess?rio o relacionamento das coordenadas tridimensionais do mundo com as coordenadas bidimensionais das imagens. Atrav?s da obten??o dos par?metros intr?nsecos das c?meras ? poss?vel fazer o relacionamento entre os sistemas de coordenadas. Estes par?metros podem ser obtidos atrav?s da calibra??o geom?trica das c?meras, a qual ? geralmente feita atrav?s da visualiza??o de um objeto padr?o de calibra??o com dimens?es conhecidas. A autocalibra??o das c?meras permite a obten??o dos par?metros intr?nsecos das mesmas sem a utiliza??o de um padr?o conhecido de calibra??o, sendo poss?vel a obten??o e a altera??o destes durante o deslocamento do rob? m?vel em um ambiente desconhecido. ? apresentado neste trabalho um m?todo de autocalibra??o baseado na representa??o de caracter?sticas da imagem por coordenadas polares tridimensionais. Estas s?o determinadas relacionando-se caracter?sticas das imagens com os ?ngulos de abertura horizontal e vertical das c?meras. Utilizando-se estas coordenadas polares ? poss?vel efetuar uma reconstru??o geom?trica da cena de forma precisa. Atrav?s desta combina??o das t?cnicas proposta ? poss?vel obter-se uma estimativa da profundidade de objetos cena, permitindo a navega??o de um rob? m?vel aut?nomo em um ambiente desconhecido