Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2016-06-23T20:02:06Z No. of bitstreams: 1 RafaellaCristianneAlvesDoNascimento_DISSERT.pdf: 1896894 bytes, checksum: 7c8df9fd5eb6694e9ab97eb6419d27ec (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2016-06-27T19:57:21Z (GMT) No. of bitstreams: 1 RafaellaCristianneAlvesDoNascimento_DISSERT.pdf: 1896894 bytes, checksum: 7c8df9fd5eb6694e9ab97eb6419d27ec (MD5) / Made available in DSpace on 2016-06-27T19:57:21Z (GMT). No. of bitstreams: 1 RafaellaCristianneAlvesDoNascimento_DISSERT.pdf: 1896894 bytes, checksum: 7c8df9fd5eb6694e9ab97eb6419d27ec (MD5) Previous issue date: 2014-01-23 / Propomos um sistema de localiza??o de rob?s m?veis em ambientes fechados utilizando a t?cnica de vis?o global. Uma aplica??o pode ser em museus virtuais, que podem ser acessados por usu?rios do mundo inteiro, usando um avatar rob?tico, possibilitando ainda a esses mesmos usu?rios a oportunidade de estabelecer uma presen?a virtual dentro do museu real, a atrav?s de uma plataforma rob?tica m?vel colocada dentro do espa?o f?sico real, permitindo a esse usu?rio locomover-se virtualmente dentro do museu real. O sistema aqui proposto visa melhorar o processo de localiza??o desse guia rob?tico dentro do ambiente interno, j? que os sensores instalados no mesmo acumulam erros, sem contar o fato de que as constantes mudan?as ocorridas nesse tipo de ambiente acaba muitas vezes por introduzir ainda mais erros, ou mesmo at? invalidar os dados obtidos devido a um total bloqueio de um determinado sensor. Por ser um m?todo de localiza??o que s? leva em considera??es informa??es do momento atual, a localiza??o de rob?s atrav?s de imagens adequa-se bem a esse tipo de ambiente. Al?m disso ela proporciona tamb?m resultados mais acurados em tempo real. / The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. Algorithms applied to the images search for the mark on top of the robot and by finding the mark they are able to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of the last years changed that situation and enabling the development and execution of such algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire the images, all in real time, intending to improve the robot localization process inside the environment. Being a localization method that takes just actual information in its calculations, the robot localization using images fit into the needs of this kind of place. Besides, it enables more accurate results and in real time, what is exactly the museum application needs.

Bakalauro baigiamąjį darbą sudaro teorinė (iš dviejų skyrių) ir praktinė dalys. Teorinėje darbo dalyje aptariama vietos savivaldos ir savivaldybės sampratos, atskleidžiant kaip jos kito įvairiais laikotarpiais. Pateikta vietos savivaldos principų analizė, siekiant atskleisti kaip yra įgyvendinama savivalda tiek nacionaliniu, tiek tarptautiniu lygmeniu. Analizuojant vietos savivaldos modelių tipologiją, buvo aptarti klasikinių bei konkrečiai Lietuvoje taikomų savivaldos modelių ypatumai, akcentuojant mero vaidmenį savivaldos sistemoje. Taip pat aptartos galimybės dėl tiesioginių mero rinkimų formos įgyvendinimo Lietuvoje.Empirinėje darbo dalyje atlikta dokumentų turinio analizė, siekiant atskleisti kaip kito mero kompetencijos kintant įstatyminei bazei. Analizė atskleidė, kad nors kompetencijų kiekis sulig kiekviena įstatymo redakcija ir didėjo, tačiau įgaliojimų atžvilgiu mero veikla buvo suvaržyta, tapo labiau atstovaujamojo pobūdžio dėl nuo 2003 metų pasikeitusio vietos savivaldos modelio. Ekspertų interviu metu buvo apklausti buvę ir esami Šiaulių miesto merai, kurie pateikė nuomonę analizuojamais klausimais iš savo ilgametės patirties. / Bachelor's thesis consists of theoretical (two sections) and of practical parts. The theoretical part of the paper discusses the local self-government and municipal concepts, revealing the way they changed over time. There are supplied the principles of local self-analysis in order to reveal how the implementation of self-government at both the national and international level is being realized. The analysis of the typology of local self-government models were discussed about the classical and Lithuanian cases, emphasis on the role of the mayor's municipal system. Also discussed the possibility of direct mayor elections in Lithuania.The empirical part of the work there is conducted content analysis of documents, in order to reveal how the mayor legislation changed while changing the legislation. The analysis revealed even though the amount of legal competency increased, but the powers in respect of the mayor's activities were restricted, become more representative because of the changed local self-government model in 2003. During experts interview there were interviewed present and former mayors of the city of Šauliai, who provided opinions on the issues of their long experience.