Abstract
The main task while developing a mobile robot is to achieve accurate and robust navigation in a given environment. To achieve such a goal, the ability of the robot to localize itself is crucial. In outdoor, namely agricultural environments, this task becomes a real challenge because odometry is not always usable and global navigation satellite systems (GNSS) signals are blocked or significantly degraded. To answer this challenge, this work presents a solution for outdoor localization based on an omnidirectional visual odometry technique fused with a gyroscope and a low cost planar light detection and ranging (LIDAR), that is optimized to run in a low cost graphical processing unit (GPU). This solution, named FAST-FUSION, proposes to the scientific community three core contributions. The first contribution is an extension to the state-of-the-art monocular visual odometry (Libviso2) to work with omnidirectional cameras and single axis gyro to increase the system accuracy. The second contribution, it is an algorithm that considers low cost LIDAR data to estimate the motion scale and solve the limitations of monocular visual odometer systems. Finally, we propose an heterogeneous computing optimization that considers a Raspberry Pi GPU to improve the visual odometry runtime performance in low cost platforms. To test and evaluate FAST-FUSION, we created three open-source datasets in an outdoor environment. Results shows that FAST-FUSION is acceptable to run in real-time in low cost hardware and that outperforms the original Libviso2 approach in terms of time performance and motion estimation accuracy.

Abstract

Abstract
Os artigos incluídos neste livro, após processo de revisão por pares, são desenvolvimentos de trabalhos apresentados nas JOCLAD 2014-17 e mostram, mais uma vez, a interdisciplinariedade e a diversidade das áreas que integram esta Jornadas.

Abstract
Information and Communication Technologies (ICT) emerge as a strategic tool, indispensable for the survival of any organization. However, excessive use of ICT can lead to drawbacks such as equipment dependency, rapid obsolescence, and rising maintenance costs. Inefficient use of ICT can result in higher costs for organizations, which may cause them to lose important competitive advantages. In this context, outsourcing printing may be an alternative for institutions to reduce their costs and become more competitive. The aim of this paper is to evaluate scenarios about the financial viability of printing outsourcing in a Federal Higher Education Institution (Instituicoo Federal de Ensino Superior - IFES). To this end, an exploratory research was conducted, with a quantitative approach, using computational modeling, and using the System Dynamics methodology, with simulation and evaluation of three different scenarios: current scenario, likely scenario, unlikely scenario. The results obtained indicate that the unlikely scenario (100% of leased printers) resulted in lower printing costs over the period of the experiment, totaling R$ 637,828.00; the probable scenario (50% of leased printers) totaled R$ 1,000,480.00; while the current scenario (20% of leased printers) resulted in costs of R$ 1,603,060. With the simulations, it was found that printer leasing (outsourcing printing) is the best financial alternative for IFES, which served as a reference for the study, resulting in lower printing costs compared to printer acquisition. The use of systems modeling to evaluate scenarios has been used to support managers in the decision making involving ICT; however, there were no studies in the literature focused on the financial viability simulation of printer outsourcing. Thus, this work sought to bridge this gap by developing and validating a simulation model that can be applied in different scenarios and types of organizations, and work as a reference for future studies.

Abstract
This work consists in assessing a real islanded power system from a dynamic security point of view, to support the planned installation, in the near future, of a hydro power plant with pumped storage, aiming to increase the integration of renewable energy. The analysed hydro power plant will include a Pelton turbine as it is a high-head hydro facility. Due to economic reasons, the adopted water pumping technology consists in fixed speed pumps coupled to induction motors with direct grid connection. It was possible to verify through detailed simulations of this power system's time domain behaviour that, even though the expected installation of this new power plant will bring additional frequency stability constraints, a robust technical solution may be found dealing with the new constraints without increasing the complexity of operation in this islanded power system. The conclusions obtained from this specific case are also valid for similar isolated power systems, namely when hydro pumping stations are being considered to increase time-variable renewable generation penetration.

Abstract
To ensure interoperability and the correct end-to-end behavior of heterogenous distributed systems, it is important to conduct integration tests that verify the interactions with the environment and between the system components in key scenarios. The automation of such integration tests requires that test components are also distributed, with local testers deployed close to the system components, coordinated by a central tester. In such a test architecture, it is important to maximize the autonomy of the local testers to minimize the communication overhead and maximize the fault detection capability. A test scenario is called locally observable and locally controllable, if conformance errors can be detected locally and test inputs can be decided locally, respectively, by the local testers, without the need for exchanging coordination messages between the test components during test execution (i.e., without any communication overhead). For test scenarios specified by means of UML sequence diagrams that don’t exhibit those properties, we present in this paper an approach with tool support to automatically find coordination messages that, added to the given scenario, make it locally controllable and locally observable.