Pour les véhicules intelligents, un système de perception est un élément clé pour caractériser en temps réel un modèle de l’environnement de conduite autour du véhicule. Lors de la modélisation de l’environnement, les informations relatives aux obstacles doivent être gérées prioritairement car les collisions peuvent être mortelles pour les autres usagers de la route ou pour les passagers à bord du véhicule considéré. La caractérisation de l’espace occupé est donc cruciale mais pas suffisante pour les véhicules autonomes puisque le système de contrôle a besoin de trouver l’espace navigable pour assurer une planification sure de trajectoire. En effet, afin de naviguer sur les routes publiques avec d’autres utilisateurs, le véhicule doit aussi suivre les règles de circulation qui sont décrites, par exemple, par des marquages au sol peints sur la chaussée. Dans ce travail, nous nous concentrons sur une approche fondée sur des grilles égocentrées pour modéliser l’environnement. L’objectif est d’obtenir un modèle unifié contenant les informations d’obstacle avec des règles sémantiques de la route. Pour modéliser les informations d’obstacle, l’occupation est assurée par l’interprétation des informations des différents capteurs comme les valeurs des cellules. Pour modéliser la sémantique de l’espace navigable, nous proposons d’introduire la notion de grille de voies qui consiste à intégrer l’information sémantique de voie dans les cellules de la grille. La combinaison de ces deux niveaux d’information donne ainsi un modèle d’environnement plus raffiné. Lors de l’interprétation des données des capteurs en information d’obstacle, il faut manipuler des incertitudes dues à de l’ignorance ou des erreurs. L’ignorance est liée à la perception des nouveaux espaces dans la zone de perception et les erreurs proviennent de mesures bruitées et d’estimations imprécises de la pose. Dans cette recherche, la théorie de la fonction de croyance est adoptée pour faire face aux incertitudes et nous proposons des modèles évidentiels pour différents types de capteurs comme des lidars et des caméras. Les grilles de voie contiennent des informations sémantiques sur les voies provenant des marquages au sol, par exemple. À cette fin, nous proposons d’utiliser une carte a priori qui contient des informations détaillées sur la route comme l’orientation de la route et les marquages des voies. Ces informations sont extraites de la carte en utilisant une estimation de pose fournie par un système de localisation. Dans le modèle proposé, nous intégrons dans les grilles les informations de voie en tenant compte de l’incertitude de la pose estimée. Les algorithmes proposés ont été implémentés et testés sur des données réelles obtenues sur des routes publiques. Nous avons développé des algorithmes Matlab et C ++ avec le logiciel PACPUS développé au laboratoire. / For intelligent vehicle applications, a perception system is a key component to characterize in real-time a model of the driving environment at the surrounding of the vehicle. When modeling the environment, obstacle information is the first feature that has to be managed since collisions can be fatal for the other road users or for the passengers on-board the considered vehicle. Characterization of occupation space is therefore crucial but not sufficient for autonomous vehicles since the control system needs to find the navigable space for safe trajectory planning. Indeed, in order to run on public roads with other users, the vehicle needs to follow the traffic rules which are, for instance, described by markings painted on the carriageway. In this work, we focus on an ego-centered grid-based approach to model the environment. The objective is to include in a unified world model obstacle information with semantic road rules. To model obstacle information, occupancy is handled by interpreting the information of different sensors into the values of the cells. To model the semantic of the navigable space, we propose to introduce the notion of lane grids which consist in integrating semantic lane information into the cells of the grid. The combination of these two levels of information gives a refined environment model. When interpreting sensor data into obstacle information, uncertainty inevitably arises from ignorance and errors. Ignorance is due to the perception of new areas and errors come from noisy measurements and imprecise pose estimation. In this research, the belief function theory is adopted to deal with uncertainties and we propose evidential models for different kind of sensors like lidars and cameras. Lane grids contain semantic lane information coming from lane marking information for instance. To this end, we propose to use a prior map which contains detailed road information including road orientation and lane markings. This information is extracted from the map by using a pose estimate provided by a localization system. In the proposed model, we integrate lane information into the grids by taking into account the uncertainty of the estimated pose. The proposed algorithms have been implemented and tested on real data acquired on public roads. We have developed algorithms in Matlab and C++ using the PACPUS software framework developed at the laboratory.

abstract: Managed Lanes (MLs) have been increasingly advocated as a way to reduce congestion. This study provides an innovative new tolling strategy for MLs called the travel time refund (TTR). The TTR is an “insurance” that ensures the ML user will arrive to their destination within a specified travel time savings, at an additional fee to the toll. If the user fails to arrive to their destination, the user is refunded the toll amount. To gauge interest in the TTR, a stated preference survey was developed and distributed throughout the Phoenix-metropolitan area. Over 2,200 responses were gathered with about 805 being completed. Exploratory data analysis of the data included a descriptive analysis regarding individual and household demographic variables, HOV usage and satisfaction levels, HOT usage and interests, and TTR interests. Cross-tabulation analysis is further conducted to examine trends and correlations between variables, if any. Because most survey takers were in Arizona, the majority (53%) of respondents were unfamiliar with HOT lanes and their practices. This may have had an impact on the interest in the TTR, although it was not apparent when looking at the cross-tabulation between HOT knowledge and TTR interest. The concept of the HOT lane and “paying to travel” itself may have turned people away from the TTR option. Therefore, similar surveys implementing new HOT pricing strategies should be deployed where current HOT practices are already in existence. Moreover, introducing the TTR concept to current HOT users may also receive valuable feedback in its future deployment. Further analysis will include the weighting of data to account for sample bias, an exploration of the stated preference scenarios to determine what factors were significant in peoples’ choices, and a predictive model of those choices based on demographic information. / Dissertation/Thesis / Masters Thesis Civil and Environmental Engineering 2015

abstract: A post occupancy evaluation (POE) was conducted at the Ngeruka Health Center (NHC) in the Bugesera District of Rwanda. The POE was limited to the education spaces within the health center, its participants, and staff. A POE is a combination of methods both quantitative and qualitative to determine user satisfaction and whether the design intent of the built environment was met. In rural Rwanda where healthcare facilities are scarce and people become seriously ill from preventable diseases, help is needed. The smallest injuries become life threatening. Healthcare facilities and providers must develop approaches that stop these minor illnesses and diseases from costing further problems. The healthcare facility is a healing environment. Healing environments nurture health and provide a sense of safety and security. The Ngeruka facility has incorporated education spaces within their facility to teach the community ways to prevent minor health problems from becoming major ones. The research that was conducted at this healthcare facility sought to answer the main questions: Does the built environment of the NHC contribute to healing by engaging education program attendees to learn about preventing illness and disease and other health promotion strategies? In addition, can you measure healing effects of the built environment? The research took measurements of the built environment and combined them with user satisfaction questionnaires. Site observations and a participant engagement questionnaire were used to determine the amount of engagement the participants put forth into the education programs within the designated design space. Measuring engagement is a tool schools use to find out if their facilities are producing their intended results. This same thought process was incorporated into this research. The participants did prove to be engaged, but it is not definitive that the built environment was responsible. It was a combination of many factors. / Dissertation/Thesis / Masters Thesis Design 2015

Made available in DSpace on 2015-05-14T12:09:24Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 3825029 bytes, checksum: a2215a7a4b8e11ccffe082d9e4276889 (MD5) Previous issue date: 2012-09-27 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / The right to housing is not restricted to possession of a dwelling unit, it includes the right to quality of life through access to leisure and culture, urban infrastructure, goods and services, security, health, education and work. In this context, the neighborhood Gervasio Mayan, located in the southwest of the city of Joao Pessoa in Paraiba, was chosen as an object of study by entering into the government program to eradicate the country's housing deficit. The set houses low-income families enrolled in the program of assistance to housing the City of João Pessoa. The work consists in evaluating post-occupancy (APO Avaliação Pós-Ocupação) of that set, aiming to characterize this population access to leisure and culture, urban infrastructure, goods and services, security, health, education and work, through desk research, site visits and questionnaires. The questionnaires were administered on site, with users of 100 housing units, randomly distributed throughout the neighborhood. The main results are: a) high pass on the benefit to others homes, b) low security - perceived by the predominance of high walls and installation of guardrails d) reduced mobility due to low supply of public transport and the cost of tickets, variable that affects access to leisure and culture (nonexistent on site), as well as labor, goods and services, e) poor lighting and lack of mail service. / O direito à moradia não se restringe apenas à posse de uma unidade habitacional, compreende também o direito à qualidade de vida, traduzida no acesso ao lazer e à cultura, à infraestrutura urbana, aos bens e serviços, à segurança, à saúde, à educação e ao trabalho. Nesse contexto, o Conjunto Gervásio Maia, localizado na região sudoeste do município de João Pessoa na Paraíba, foi escolhido como objeto de estudo por inserir-se no programa governamental de erradicação do déficit habitacional do país. O conjunto abriga famílias de baixa renda cadastradas no programa de auxilio à moradia da Prefeitura Municipal de João Pessoa. O trabalho consiste na avaliação pós-ocupação (APO) do referido conjunto, tendo como objetivo caracterizar o acesso dessa população ao lazer e à cultura, à infraestrutura urbana, aos bens e serviços, à segurança, à saúde, à educação e ao trabalho, através de pesquisa documental, visitas in loco e aplicação de questionários. Os questionários foram aplicados no local, com usuários de 100 unidades habitacionais, distribuídas aleatoriamente em todo o conjunto. A pesquisa documental e as visitas in loco foram aplicadas a todo o conjunto. Como principais resultados destacam-se: a) elevado repasse de casas dos beneficiados a terceiros; b) baixa segurança - percebida através da predominância de muros altos e colocação de grades de proteção; d) mobilidade reduzida devida à baixa oferta de transporte público e ao custo das passagens, variável que afeta o acesso ao lazer e à cultura (inexistente no local), bem como ao trabalho, bens e serviços; e) iluminação pública precária e inexistência do serviço de correio.

Submitted by BRUNA LOPES PINTO null (brunalopes111@gmail.com) on 2017-08-02T13:08:31Z No. of bitstreams: 1 Bruna_Lopes Pinto_defesa de mestrado.pdf: 1828198 bytes, checksum: f87153ba517dc4a0051e0058362a5ed3 (MD5) / Rejected by Luiz Galeffi (luizgaleffi@gmail.com), reason: Solicitamos que realize uma nova submissão seguindo a orientação abaixo: O arquivo submetido está sem a ficha catalográfica e sem o certificado de aprovação. O número do processo FAPESP deve constar nos agradecimentos da dissertação/tese. A versão submetida por você é considerada a versão final da dissertação/tese, portanto não poderá ocorrer qualquer alteração em seu conteúdo após a aprovação. Corrija esta informação e realize uma nova submissão contendo o arquivo correto. Agradecemos a compreensão. on 2017-08-03T17:34:36Z (GMT) / Submitted by BRUNA LOPES PINTO null (brunalopes111@gmail.com) on 2017-08-12T19:37:28Z No. of bitstreams: 1 Bruna_Lopes Pinto_defesa_mestrado.pdf: 2556419 bytes, checksum: a7f4d02a3a6803b418af5a8a09394fc8 (MD5) / Approved for entry into archive by LUIZA DE MENEZES ROMANETTO (luizamenezes@reitoria.unesp.br) on 2017-08-18T18:55:19Z (GMT) No. of bitstreams: 1 pinto_bl_me_rcla.pdf: 2556419 bytes, checksum: a7f4d02a3a6803b418af5a8a09394fc8 (MD5) / Made available in DSpace on 2017-08-18T18:55:19Z (GMT). No. of bitstreams: 1 pinto_bl_me_rcla.pdf: 2556419 bytes, checksum: a7f4d02a3a6803b418af5a8a09394fc8 (MD5) Previous issue date: 2017-06-02 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / O bioma Mata Atlântica possui alta diversidade de primatas e com alto grau de endemismo, porém grande parte desses primatas estão ameaçados devido à grande modificação da paisagem. O mico-leão-preto (Callitrichidae, Leontopithecus chrysopygus) é uma espécie endêmica do Estado de São de Paulo, ameaçada de extinção, que ocorre na Mata Atlântica e cuja detecção é difícil por ser de pequeno porte, críptico e ocorrer em baixa densidade. Para poder implementar programas de conservação eficazes, é necessário o conhecimento das áreas de ocorrência da espécie assim como das características ambientais que favorecem sua ocupação. Este trabalho tem como objetivo determinar as características da paisagem e locais que influenciam a ocupação e detecção do mico-leão preto. Através do playback, foi realizado o levantamento dos micos-leões-pretos em 16 sítios amostrais, com 3 pontos em cada um e 3 repetições (uma por mês, Maio-Julho de 2016). Coletamos dados sobre as características locais (largura dos pontos amostrais, diâmetro à altura do peito das árvores, estratificação e presença de gado) e da paisagem (conectividade funcional, quantidade de densidade de borda, cobertura vegetal, tipo de matriz e distância à Estação Ecológica de Angatuba) em cada ponto amostral. As características foram obtidas através dos programas ArcGis, Grass e Google Earth Pro, além da ajuda de um botânico para algumas características locais. O modelo de ocupação (verossimilhança), através da análise de padrão-de única estação (standard-singleseason) pelo programa PRESENCE ® versão 11.8, foi utilizado para encontrar as características que melhor explicam a ocupação e detecção do mico-leão-preto. A ocupação foi de 26% e a detecção de 75%. As características da paisagem foram as que influenciaram tanto na ocupação quanto na detecção. A ocupação dos micos-leões-pretos foi associada à quantidade de áreas florestais, que obteve uma relação positiva, a mesma também encontrada para a detectabilidade. Todavia, a detecção apresentou outra característica (quantidade de densidade de borda), que em lugares mais alterados (com efeito de borda) podem apresentar uma vantagem em relação à locais mais conservados (mais fechados), auxiliando na propagação do som e facilitando a procura do mico no campo. Assim, ao identificar as principais características que influenciam a ocupação dos micos-leões-pretos, outros locais podem ser estimados e as áreas florestais priorizadas e com as medidas mitigadoras mais direcionadas para a preservação e conservação da espécie juntamente com seus hábitats. / The Atlantic Forest biome presents high primate diversity and high degree of endemism, but most of these primates are threatened habitat fragmentation. The black lion tamarin (Callitrichidae, Leontopithecus chrysopygus) is an endemic species of the State of São Paulo, threatened with extinction, occurring in the Atlantic Forest and whose detection is difficult because it is small, cryptic and occurs in low density. In order to implement effective conservation programs, it is necessary to know the areas of occurrence of the species as well as the environmental characteristics that favor their presence. This work aims to determine local and landscape characteristics that influence the occupancy and detection of the black lion tamarin. We used the playback methodology to find the primates in 16 sites samples with 3 points in each and 3 replicates (one per month, May-July 2016). It was collect data from local (width of sampling points, diameter at breast height, stratification and presence of cattle) and landscape characteristics (functional connectivity, amount of border density, vegetation cover, type of matrix and distance to the Ecological Station of Angatuba) at each sampling point. The characteristics were from ArcGis, Grass and Google Earth Pro software, and also from a botanist. The occupation model (likelihood), through standard-single-season (standardsingle-season) using the PRESENCE ® version 11.8 software, helped to find which characteristics best explain the occupation and detection of the black lion tamarin. The occupation was 26% and the detection was 75%. The characteristics of the landscape were those that influenced both (occupation and detection). The occupation of the black lion tamarins was associated to the number of forest areas, which obtained a positive relation, the same also it was find for detectability. However, the detection presented another characteristic (amount of edge density), which shows that in more altered sites (with border effect) can present an advantage over the more conserved (more closed) sites, helping the propagation of the sound and facilitating the search of the black lion tamarin in the field. Thus, identifying the main characteristics that influence the occupation of black lion tamarins, other sites can be estimate, forest areas can be prioritized and mitigating measures for the preservation and conservation of the species along with their habitats. / FAPESP: 2014/14739-0

Acompanha a obra 1 CD-ROM / Orientador: Margarete Cristiane de Costa Trindade Amorim / Banca: Encarnita Salas Martin. / Banca: João Osvaldo Rodrigues Nunes / Banca: Hélio Silveira / Banca: Yuri Tavares Rocha / Resumo: A manutenção das áreas verdes urbanas sempre foi justificada pelo seu potencial em proporcionar qualidade ambiental à população. Essas áreas interferem diretamente na qualidade de vida por meio das funções ecológico-ambiental, estética, paisagística, climática, psicológica e também recreativa que elas exercem para amenização das consequências negativas da urbanização. Neste sentido, a presente pesquisa tem por objetivo caracterizar e analisar as áreas verdes urbanas de Maringá/PR, destacando seus aspectos paisagísticos e sua infraestrutura a fim de compreender a qualidade ambiental desses espaços públicos e propor medidas que auxiliem no seu planejamento e gerenciamento. Para tanto, foram realizadas análises investigativas das 104 praças existentes em Maringá, de 09 parques urbanos e de 01 cemitério parque. Para a análise realizou-se trabalho de campo com base em dois formulários. O primeiro deles visava à avaliação qualitativa e quantitativa da vegetação e se constituiu dos seguintes itens: nome da área verde, sua localização, sua altitude, a vegetação nela existente, o porte e a densidade da vegetação, a cobertura do solo, as condições de relevo, aspectos físicos e sanitários da vegetação, tipo de ocupação das proximidades e qualidade paisagísticas das praças, dos parques e do cemitério parque. O segundo formulário teve como objetivo fazer o levantamento dos aspectos quantitativos e qualitativos dos equipamentos e estruturas existentes em cada logradouro... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The maintenance of urban green areas has always been justified by its potential to provide quality environment for people. These areas directly affect the quality of life through ecological functions, environmental, aesthetic, landscape, climate, psychological and recreational they have for alleviating the negative consequences of urbanization. Accordingly, this research aims to characterize and analyze the areas of urban green Maringá / PR, highlighting the landscape aspects and its infrastructure in order to understand the quality of the environmental public spaces and propose measures to assist in their planning and management. This way, it was investigated for analysis of existing in Maringá, 104 squares,09 parks and 01 cemetery. For the analysis it was carried out the fieldwork in two forms. The first one aimed at qualitative and quantitative assessment of vegetation and consisted of the following: name of the green area, its location, its altitude, the vegetation in that area, the size and density of vegetation, soil cover, the conditions for relief , physical and health of vegetation, type of occupation of the nearby landscape and quality of parks, the parks and the cemetery park. The second form aimed to make the lifting of quantitative and qualitative aspects of equipment and structures in each street addresses. Accordding to the results found the lack of infrastructure and lack of criteria adopted in the spatial distribution of the squares, and the neglect of the public, about the replacement of equipment and facilities to be located in squares, whichever the greater investment in the central part and in the absence periphery. As the squares of the predominant vegetation and tree trick in 49.03%, then, the squares formed by the vegetation... (Complete abstract click electronic access below) / Doutor

Orientador: Encarnita Salas Martin / Banca: Margarete Cristiane de Costa Trindade Amorim / Banca: Yuri Tavares Rocha / Resumo: A presente pesquisa teve como objetivo a construção do conceito de áreas verdes públicas que servisse de subsídio à análise geográfica do espaço urbano, considerando os tipos de uso e ocupação do solo, índice áreas verdes públicas (IAVP) e a qualidade destes espaços. A pesquisa foi realizada a partir das seguintes etapas: discussão teórica sobre o conceito, características e importância das áreas verdes; construção de um conceito de áreas verdes públicas; na análise da evolução urbana da cidade de Tupã, considerando os loteamentos aprovados e implantados entre o período de 1929 a 2007; na identificação, quantificação e qualificação das áreas verdes públicas; na análise comparativa do índice de áreas verdes públicas (IAVP); no desenvolvimento metodológico para quantificar e avaliar as áreas verdes públicas da cidade de Tupã. Para o desenvolvimento desta pesquisa qualitativa, foram adotados procedimentos metodológicos que tiveram como base lógica de investigação dividida em três fases: aberta ou exploratória, coleta de dados e análise e interpretação sistemática dos dados. A pesquisa teve os seguintes resultados: a cidade de Tupã deveria apresentar um IAVP dos loteamentos aprovado de 28,00 m²/h, entretanto, durante o processo de urbanização houve uma perda real de 16,02 m²/h desses espaços por conjunturas políticas da administração municipal; o IAVP atual da cidade é de 11,98 m²/h, todavia deste valor somente 1,75 m²/h foram urbanizados e compõem o patrimônio paisagístico da cidade com 34 jardins públicos distribuídos em 20 loteamentos; a avaliação qualitativa destas 34 áreas verdes públicas demonstrou que 60% destes espaços tiveram resultados positivos, contra 25% que foram classificados como ruins; e, no tocante ao conforto ambiental... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The objective of the present research has been the concept formation of the public green areas which can be used to analyze the urban space geographically, considering the kinds of usage and occupancy of the land, public green areas rate (IAVP - Índice de Areas Verdes Publicas) as well as their quality. The research was done following these steps: a theoretical discussion about the concept; the features and the importance of the green areas; the formation of a concept of the public green areas; the analyzes of the urban development in the city of Tupã, considering the approved and implemented lots between 1929 and 2007; the identification, quantification and qualification of the public green areas; the comparative analyzes of the public green areas rate; the methodological method to quantify and to evaluate the public green areas in the city of Tupã. In order to have this qualitative research done, methodological procedures were adopted which were based in a logic investigation divided in three phases: the open or exploratory, the data collection and their systematic interpretation. The final results of this research were: the city of Tupã should present a public green area rate of the approved lot of 28,00 m²/h; however, there was a real loss of 16,02 m²/h within these areas during the urbanization process, due to the political concurrence of city management; the actual public green area rate is 11,98 m²/h, although only 1,75 m²/h of this total were urbanized and are part of the city landscape heritage, which has 34 public parks distributed among 20 lots; the qualitative evaluation of these 34 public green areas has shown that 60% of this space had a positive result, on the other hand, 25% were classified as bad ones; and, it was verified that, related to... (Complete abstract click electronic access below) / Mestre

Self-determination theory states that people need autonomy, competence, and relatedness in an area to facilitate intrinsic motivation and growth. Parents play a major role in the development of these three psychological needs. The current study examines whether there is a relationship between parental behavior and whether this relationship is mediated by autonomy, competence and relatedness in their sport. Undergraduate participants (n=189) were recruited from varsity athletic teams and asked to complete surveys about perceived parental control and the three psychological needs. Results showed the parental behavior can predict satisfaction of psychological needs, but only one partial mediation was found, between perceived parental autonomy support and leadership role occupancy through competence. A subset (n=8) participated in semi-structured interviews delved deeper into parental influence. Common responses showed that athletes felt that they benefitted from autonomy support, were hurt by psychological control, and that satisfaction of the needs of relatedness and competence contributed to deciding to play and keep playing their sport in college. The results provide examples of positive parental behaviors, and show that these behaviors can predict the satisfaction of the basic psychological needs needed for intrinsic motivation.

Made available in DSpace on 2014-12-17T14:55:08Z (GMT). No. of bitstreams: 1 AndersonASS.pdf: 906367 bytes, checksum: 22fe3d988905f9e44afd63465e16e0df (MD5) Previous issue date: 2008-02-15 / In this work, we propose a probabilistic mapping method with the mapped environment represented through a modified occupancy grid. The main idea of the proposed method is to allow a mobile robot to construct in a systematic and incremental way the geometry of the underlying space, obtaining at the end a complete environment map. As a consequence, the robot can move in the environment in a safe way, based on a confidence value of data obtained from its perceptive system. The map is represented in a coherent way, according to its sensory data, being these noisy or not, that comes from exterior and proprioceptive sensors of the robot. Characteristic noise incorporated in the data from these sensors are treated by probabilistic modeling in such a way that their effects can be visible in the final result of the mapping process. The results of performed experiments indicate the viability of the methodology and its applicability in the area of autonomous mobile robotics, thus being an contribution to the field / Neste trabalho, propomos um m?todo de mapeamento probabil?stico com a representa??o do ambiente mapeado em uma grade de ocupa??o modificada. A id?ia principal do m?todo proposto ? deixar que um rob? m?vel construa de forma sistem?tica e incremental a geometria do seu entorno, obtendo ao final um mapa completo do ambiente. Como conseq??ncia, o rob? poder? locomover-se no seu ambiente de modo seguro, baseando-se em um ?ndice de confiabilidade dos dados colhidos do seu sistema perceptivo. O mapa ? representado de forma coerente com os dados sensoriais, sejam esses ruidosos ou n?o, oriundos dos sensores externoceptivos e proprioceptivos do rob?. Os ru?dos caracter?sticos incorporados nos dados de tais sensores s?o tratados por modelagem probabil?stica, de modo que seus efeitos possam ser vis?veis no resultado final do processo de mapeamento. Os resultados dos experimentos realizados, mostrados no presente trabalho, indicam a viabilidade desta metodologia e sua aplicabilidade na ?rea da rob?tica m?vel aut?noma, sendo assim uma contribui??o para a ?rea

As orquídeas terrestres estão distribuídas amplamente em ambientes tropicais e temperados do mundo. O habitat terrestre, para orquídeas, engloba distintas formações vegetais, como florestas, savanas, campos e banhados. Neste estudo consideramos, para a estimativa da amplitude e da ocorrência destas plantas, nove tipos de florestas no estado do Rio Grande do Sul no sul do Brasil, localizadas totalmente em latitudes subtropicais. Revisamos amostras de espécimes depositadas em sete herbários regionais e atualizamos a identificação das espécies para as circunscrições genéricas atuais. Com base nas localizações das amostras estimamos dois parâmetros de amplitude, nomeados extensão de ocorrência e área de ocupação, objetivando determinar o estado de conservação das espécies de acordo com as categorias da IUCN. Como resultado, encontramos 22 gêneros e 50 espécies, a maioria dos gêneros (15) possui apenas uma espécie no estado. Os gêneros mais diversificados foram Cyclopogon, Aspidogyne e Malaxis, com 14, oito e quatro espécies, respectivamente. Outros quatro gêneros apresentaram três (Pelexia) ou duas (Habenaria, Prescottia, e Sarcoglottis) espécies nos ambientes florestais. As estimativas de amplitude, especialmente a área de ocupação, resultaram em um elevado número de espécies ameaçadas. Espécies criticamente ameaçadas, considerando a extensão de ocorrência, estão distribuídas em sete gêneros e 18 espécies. O tipo de floresta mais diversificado foi a floresta estacional da Serra Geral, seguido pela floresta Atlântica e pela floresta estacional do Escudo Cristalino. Um total de 19 espécies ocorreu somente em uma formação e apenas quatro espécies ocorreram em seis ou sete tipos de florestas. O número de registros neste estudo mostrou que as orquídeas terrestres em ambientes florestais são um grupo subamostrado, que possuem poucas coletas e são pouco avaliadas em estudos ecológicos com populações e comunidades de sub-bosque. Mais estudos são necessários para determinar com maior precisão a extensão de ocorrência, o tamanho das populações, e o estado real de conservação das espécies nativas. / Terrestrial orchids occur widespread in tropical and temperate environments around the world. The terrestrial habitat for orchid species comprises several distinct plant formations, like forests, woodlands, grasslands and wetlands. In this study we focused the estimation of range sizes and the occurrence of these plants in nine forest types in the South Brazilian state of Rio Grande do Sul, located entirely in subtropical latitudes. We revised sampled specimens deposited in seven regional herbaria and updated species identifications to current generic circumscriptions. Based on sampling locations we estimated two range size parameters, namely extent of occurrence and area of occupancy, aiming to determine the conservation status according to IUCN categories. As a result we found 22 genera and 50 species, most genera (15) having of them a single species in the state. The most diversified genera were Cyclopogon, Aspidogyne and Malaxis, with 14, eight and four species, respectively. Four additional genera presented three (Pelexia) or two (Habenaria, Prescottia, and Sarcoglottis) species in forest environments. Range size estimations, especially through area of occupancy, resulted in an outstanding number of threatened species. Critically endangered species according to extent of occurrence were distributed in seven genera and 18 species. The most diversified forest types were the central Serra Geral seasonal forests, followed by the Atlantic rainforest and the southeast Crystalline Shield seasonal forests. A total of 19 species occurred in a single forest formation and only four species occurred widespread in six or seven forest types. The number of recordings in this study showed to be exponentially related to species range according to forest types. Our study showed that terrestrial orchids in forest environments are an overlooked plant group, which has been poorly sampled and poorly evaluated in ecological studies concerning understory populations and communities. Further studies are necessary to determine more precisely the extent of occurrence, the size of populations, and the real conservation status of native species.