Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação

This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which is a discrete mapping approach, where each cell stores the occupancy probability, the height of the terrain at current place in the environment and the variance of this height. This 2.5-dimensional representation allows that a mobile robot to know whether a place in the environment is occupied by an obstacle and the height of this obstacle, thus, it can decide if is possible to traverse the obstacle. Sensorial informations necessary to construct the map is provided by a stereo vision system, which has been modeled with a robust probabilistic approach, considering the noise present in the stereo processing. The resulting maps favors the execution of tasks like decision making in the autonomous navigation, exploration, localization and path planning. Experiments carried out with a real mobile robots demonstrates that this proposed approach yields useful maps for robot autonomous navigation

Comparison between 2.5-D and 3-D realistic models for wind field adjustment

[EN]In previous works, many authors have widely used mass consistent models for wind field simulation by the finite element method. On one hand, we have developed a 3-D mass consistent model by using tetrahedral meshes which are simultaneously adapted to complex orography and to terrain roughness length. In addition, we have included a local refinement strategy around several measurement or control points, significant contours, as for example shorelines, or numerical solution singularities. On the other hand, we have developed a 2.5-D model for simulating the wind velocity in a 3-D domain in terms of the terrain elevation, the surface temperature and the meteorological wind, which is consider as an averaged wind on vertical boundaries...

Migração (2,5-D) com amplitudes verdadeiras em meios com gradiente constante de velocidade

A migração com amplitudes verdadeiras de dados de reflexão sísmica, em profundidade ou em tempo, possibilita que seja obtida uma medida dos coeficientes de reflexão dos chamados eventos de reflexão primária. Estes eventos são constituídos, por exemplo, pelas reflexões de ondas longitudinais P-P em refletores de curvaturas arbitrárias e suaves. Um dos métodos mais conhecido é o chamado migração de Kirchhoff, através do qual a imagem sísmica é produzida pela integração do campo de ondas sísmicas, utilizando-se superfícies de difrações, denominadas de Superfícies de Huygens. A fim de se obter uma estimativa dos coeficientes de reflexão durante a migração, isto é a correção do efeito do espalhamento geométrico, utiliza-se uma função peso no operador integral de migração. A obtenção desta função peso é feita pela solução assintótica da integral em pontos estacionários. Tanto no cálculo dos tempos de trânsito como na determinação da função peso, necessita-se do traçamento de raios, o que torna a migração em situações de forte heterogeneidade da propriedade física um processo com alto custo computacional. Neste trabalho é apresentado um algoritmo de migração em profundidade com amplitudes verdadeiras, para o caso em que se tem uma fonte sísmica pontual, sendo o modelo de velocidades em subsuperfície representado por uma função que varia em duas dimensões, e constante na terceira dimensão. Esta situação, conhecida como modelo dois-e-meio dimensional (2,5-D), possui características típicas de muitas situações de interesse na exploração do petróleo, como é o caso da aquisição de dados sísmicos 2-D com receptores ao longo de uma linha sísmica e fonte sísmica 3-D. Em particular, é dada ênfase ao caso em que a velocidade de propagação da onda sísmica varia linearmente com a profundidade. Outro tópico de grande importância abordado nesse trabalho diz respeito ao método de inversão sísmica denominado empilhamento duplo de difrações. Através do quociente de dois empilhamentos com pesos apropriados, pode-se determinar propriedades físicas e parâmetros geométricos relacionados com a trajetória do raio refletido, os quais podem ser utilizados a posteriori no processamento dos dados sísmicos, visando por exemplo, a análise de amplitudes.

Migração com amplitude verdadeira em meios bidimensionais (2-D) e introdução ao caso 2,5-D

Nos últimos anos tem-se verificado através de várias publicações um interesse crescente em métodos de migração com amplitude verdadeira, com o objetivo de obter mais informações sobre as propriedades de refletividade da subsuperfície da terra. A maior parte desses trabalhos tem tratado deste tema baseando-se na aproximação de Born, como em Bleistein (1987) e Bleistein et al. (1987), ou na aproximação do campo de ondas pela teoria do raio como Hubral et al. (1991), Schleicher et al. (1993) e Martins et al. (1997). Considerando configurações arbitrárias de fontes e receptores, as reflexões primárias compressionais podem ser imageadas em reflexões migradas no domínio do tempo ou profundidade de tal modo que as amplitudes do campo de ondas migrado são uma medida do coeficiente de reflexão dependente do ângulo de incidência. Para realizar esta tarefa, vários algoritmos têm sido propostos nos últimos anos baseados nas aproximações de Kirchhoff e Born. Essas duas abordagens utilizam um operador integral de empilhamento de difrações ponderado que é aplicado aos dados da seção sísmica de entrada. Como resultado obtém-se uma seção migrada onde, em cada ponto refletor, tem-se o pulso da fonte com amplitude proporcional ao coeficiente de reflexão naquele ponto. Baseando-se na aproximação de Kirchhoff e na aproximação da teoria do raio do campo de ondas, neste trabalho é obtida a função peso para modelos bidimensionais (2-D) e dois e meio dimensionais (2,5-D) que é aplicada a dados sintéticos com e sem ruído. O resultado mostra a precisão e estabilidade do método de migração em 2-D e 2,5-D como uma ferramenta para a obtenção de informações importantes da subsuperfície da terra, que é de grande interesse para a análise da variação da amplitude com o afastamento (ângulo). Em suma, este trabalho apresenta expressões para as funções peso 2-D e 2,5-D em função de parâmetros ao longo de cada ramo do raio. São mostrados exemplos da aplicação do algoritmo de migração em profundidade a dados sintéticos 2-D e 2,5-D obtidos por modelamento sísmico através da teoria do raio usando o pacote Seis88 (Cervený e Psencík, 1988) e os resultados confirmaram a remoção do espalhamento geométrico dos dados migrados mesmo na presença de ruído. Testes adicionais foram realizados para a análise do efeito de alongamento do pulso na migração em profundidade (Tygel et al., 1994) e a aplicação do empilhamento múltiplo (Tygel et al., 1993) para a estimativa de atributos dos pontos de reflexão - no caso o ângulo de reflexão e a posição do receptor.

Modelagem acústica por diferenças finitas e elementos finitos em 2-D e 2,5-D

A modelagem acústica fornece dados úteis para avaliação de metodologias de processamento e imageamento sísmico, em modelos com estrutura geológica complexa. Esquemas de diferenças finitas (DF) e elementos finitos (EF) foram implementados e avaliados em modelos homogêneos e heterogêneos. O algoritmo de diferenças finitas foi estendido para o caso 2,5-D em modelos com densidade variável. Foi apresentada a modelagem de alvos geológicos de interesse exploratório existentes na Bacia Paleozóica do Solimões na Amazônia. Reflexões múltiplas de longo período produzidas entre a superfície livre e a discordância Cretáceo-Paleozóica, a baixa resolução da onda sísmica nas proximidades do reservatório e as fracas reflexões na interface entre as rochas reservatório e as rochas selantes são as principais características dos dados sintéticos obtidos, os quais representam um grande desafio ao imageamento sísmico.

Purification of 3,5-Dichlorocatechol 1,2-Dioxygenase, a Nonheme Iron Dioxygenase and a Key Enzyme in the Biodegradation of a Herbicide, 2,4-Dichlorophenoxyacetic acid (2,4-D), from Pseudomonas cepacia CSV90

An enzyme which cleaves the benzene ring of 3,5-dichiorocatechol has been purified to homogeneity from Pseudomonas cepacia CSV90, grown with 2,4-dichlorophenoxyacetic acid (2,4-D) as the sole carbon source. The enzyme was a nonheme ferric dioxygenase and catalyzed the intradiol cleavage of all the examined catechol derivatives, 3,5-dichlorocatechol having the highest specificity constant of 7.3 μM−1 s−1 in an air-saturated buffer. No extradiol-cleaving activity was observed. Thus, the enzyme was designated as 3,5-dichlorocatechol 1,2-dioxygenase. The molecular weight of the native enzyme was ascertained to be 56,000 by light scattering method, while the Mr value of the enzyme denatured with 6 M guanidine-HCl or sodium dodecyl sulfate was 29,000 or 31,600, respectively, suggesting that the enzyme was a homodimer. The iron content was estimated to be 0.89 mol per mole of enzyme. The enzyme was deep red and exhibited a broad absorption spectrum with a maximum at around 425 nm, which was bleached by sodium dithionite, and shifted to 515 nm upon anaerobic 3,5-dichlorocatechol binding. The catalytic constant and the Km values for 3,5-dichlorocatechol and oxygen were 34.7 s−1 and 4.4 and 652 μM, respectively, at pH 8 and 25°C. Some heavy metal ions, chelating agents and sulfhydryl reagents inhibited the activity. The NH2-terminal sequence was determined up to 44 amino acid residues and compared with those of the other catechol dioxygenases previously reported.

2-D and 3-D processing and interpretation of multi-fold ground penetrating radar data:a case history from an archaeological site

A 2.5-D and 3-D multi-fold GPR survey was carried out in the Archaeological Park of Aquileia (northern Italy). The primary objective of the study was the identification of targets of potential archaeological interest in an area designated by local archaeological authorities. The second geophysical objective was to test 2-D and 3-D multi-fold methods and to study localised targets of unknown shape and dimensions in hostile soil conditions. Several portions of the acquisition grid were processed in common offset (CO), common shot (CSG) and common mid point (CMP) geometry. An 8×8 m area was studied with orthogonal CMPs thus achieving a 3-D subsurface coverage with azimuthal range limited to two normal components. Coherent noise components were identified in the pre-stack domain and removed by means of FK filtering of CMP records. Stack velocities were obtained from conventional velocity analysis and azimuthal velocity analysis of 3-D pre-stack gathers. Two major discontinuities were identified in the area of study. The deeper one most probably coincides with the paleosol at the base of the layer associated with activities of man in the area in the last 2500 years. This interpretation is in agreement with the results obtained from nearby cores and excavations. The shallow discontinuity is observed in a part of the investigated area and it shows local interruptions with a linear distribution on the grid. Such interruptions may correspond to buried targets of archaeological interest. The prominent enhancement of the subsurface images obtained by means of multi-fold techniques, compared with the relatively poor quality of the conventional single-fold georadar sections, indicates that multi-fold methods are well suited for the application to high resolution studies in archaeology.

Selective induction of apoptosis by the pyrrolo-1,5-benzoxazepine 7-[[dimethylcarbamoyl]oxy]-6-(2-naphthyl)pyrrolo-[2,1-d] (1,5)-benzoxazepine (PBOX-6) in Leukemia cells occurs via the c-Jun NH2-terminal kinase-dependent phosphorylation and inactivation of Bcl-2 and Bcl-XL

Overexpression of the Bcl-2 proto-oncogene in tumor cells confers resistance against chemotherapeutic drugs. In this study, we describe how the novel pyrrolo-1,5-benzoxazepine compound 7-[[dimethylcarbamoyl]oxy]-6-(2-naphthyl)pyrrolo-[2,1-d] (1,5)-benzoxazepine (PBOX-6) selectively induces apoptosis in Bcl-2-overexpressing cancer cells, whereas it shows no cytotoxic effect on normal peripheral blood mononuclear cells. PBOX-6 overcomes Bcl-2-mediated resistance to apoptosis in chronic myelogenous leukemia (CML) K562 cells by the time- and dose-dependent phosphorylation and inactivation of antiapoptotic Bcl-2 family members Bcl-2 and Bcl-XL. PBOX-6 also induces Bcl-2 phosphorylation and apoptosis in wild-type T leukemia CEM cells and cells overexpressing Bcl-2. This is in contrast to chemotherapeutic agents such as etoposide, actinomycin D, and ultraviolet irradiation, whereby overexpression of Bcl-2 confers resistance against apoptosis. In addition, PBOX-6 induces Bcl-2 phosphorylation and apoptosis in wild-type Jurkat acute lymphoblastic leukemia cells and cells overexpressing Bcl-2. However, Jurkat cells containing a Bcl-2 triple mutant, whereby the principal Bcl-2 phosphorylation sites are mutated to alanine, demonstrate resistance against Bcl-2 phosphorylation and apoptosis. PBOX-6 also induces the early and transient activation of c-Jun NH2-terminal kinase (JNK) in CEM cells. Inhibition of JNK activity prevents Bcl-2 phosphorylation and apoptosis, implicating JNK in the upstream signaling pathway leading to Bcl-2 phosphorylation. Collectively, these findings identify Bcl-2 phosphorylation and inactivation as a critical step in the apoptotic pathway induced by PBOX-6 and highlight its potential as an effective antileukemic agent.

Metabolic responses to glucoprivation induced by 2-deoxy-D-glucose in Brycon cephalus (Teleostei, Characidae)

The effects of functional cytoglucopenia provoked by 2-deoxy-D-glucose (2-DG) were studied in adult Brycon cephalus, an omnivorous fish from the Amazon Basin in Brazil. Glycogen content in liver and muscle as well as plasmatic glucose, free fatty acids (FFA), insulin, and glucagon were measured. After 48 h fasting, an intraperitoneal saline injection (NaCl 0.6 g/100 ml) was administered to control fish, whereas the experimental group received 2-DG, dissolved in saline, in the dosage of 80 mg/kg (0.487 mmol/kg) or 150 mg/kg (0.914 mmol/kg) body weight; injection volume was 5 ml in all treatments. Blood and tissue samples were taken immediately before, and 2, 8, 10, and 24 h after administration of the drug or saline. Fish injected with both doses of 2-DG showed a marked increase in glycemia levels. Liver and muscle glycogen decreased after 2-DG administration and reached their lowest values 10-24 h after injection, while in control animals no significant changes were observed. Elevation in plasma glucagon was observed only in response to the maximum dosage of 2-DG administered, especially 10 h and 24 h post-injection. Plasma insulin levels were lower in animals treated with the glucose analogue but only statistically significant 24 h after drug administration. In conclusion, the administration of the non-metabolizable glucose analogue 2-DG in B. cephalus is a stimulus to generate responses towards an increase in the glucose available to tissues, which is a characteristic of a fasting situation. All the above data support the interest of 2-DG administration as a model to study carbohydrate metabolism adjustment mechanisms in fish.

Biomimetic sensor based on 5,10,15,20-tetrakis(pentafluorophenyl)-21H,23H- porphyrin iron (III) chloride and MWCNT for selective detection of 2,4-D

Exploitation of the electronic properties of carbon nanotubes for the development of voltammetric and amperometric sensors to monitor analytes of environmental relevance has increased in recent years. This work reports the development of a biomimetic sensor based on a carbon paste modified with 5,10,15,20-tetrakis(pentafluorophenyl)-21H,23H-porphyrin iron (III) chloride (a biomimetic catalyst of the P450 enzyme) and multi-wall carbon nanotubes (MWCNT), for the sensitive and selective detection of the herbicide 2,4- dichlorophenoxyacetic acid (2,4-D). The sensor was evaluated using cyclic voltammetry and amperometry, for electrochemical characterization and quantification purposes, respectively. Amperometric analyses were carried out at -100 mV vs. Ag/AgCl(KClsat), using a 0.1 mol L-1 phosphate buffer solution at pH 6.0 as the support electrolyte. Under these optimized analytical conditions, the sensor showed a linear response between 9.9 × 10-6 and 1.4 × 10-4 mol L-1, a sensitivity of 1.8 × 104 (±429) μA L mol -1, and limits of detection and quantification of 2.1 × 10 -6 and 6.8 × 10-6 mol L-1, respectively. The incorporation of functionalized MWCNT in the carbon paste resulted in a 10-fold increase in the response, compared to that of the biomimetic sensor without MWCNT. In addition, the low applied potential (-100 mV) used to obtain high sensitivity also contributed to the excellent selectivity of the proposed sensor. The viability of the application of this sensor for analysis of soil samples was confirmed by satisfactory recovery values, with a mean of 96% and RSD of 2.1% (n = 3). © 2013 Elsevier B.V.

Die Mischna, Joma (Der Versöhnungstag) : [Seder 2, Moe͏̈d., Traktat 5]

Text, Übers. u. Erklärung nebst e. textkrit. Anhang von Johannes Meinhold