Cognitive robotics: a new approach to simultaneous localisation and mapping

Most simultaneous localisation and mapping (SLAM) solutions were developed for navigation of non-cognitive robots. By using a variety of sensors, the distances to walls and other objects are determined, which are then used to generate a map of the environment and to update the robot’s position. When developing a cognitive robot, such a solution is not appropriate since it requires accurate sensors and precise odometry, also lacking fundamental features of cognition such as time and memory. In this paper we present a SLAM solution in which such features are taken into account and integrated. Moreover, this method does not require precise odometry nor accurate ranging sensors.

Diversidade de macrofungos em sobreiral serrano do sul de Portugal: sua relação com a gestão florestal

Dissertação de mest., Gestão e Conservação da Natureza, Faculdade de Ciências do Mar e do Ambiente, Univ. do Algarve, 2007

Multi-scale cortical keypoints for realtime hand tracking and gesture recognition

Human-robot interaction is an interdisciplinary research area which aims at integrating human factors, cognitive psychology and robot technology. The ultimate goal is the development of social robots. These robots are expected to work in human environments, and to understand behavior of persons through gestures and body movements. In this paper we present a biological and realtime framework for detecting and tracking hands. This framework is based on keypoints extracted from cortical V1 end-stopped cells. Detected keypoints and the cells’ responses are used to classify the junction type. By combining annotated keypoints in a hierarchical, multi-scale tree structure, moving and deformable hands can be segregated, their movements can be obtained, and they can be tracked over time. By using hand templates with keypoints at only two scales, a hand’s gestures can be recognized.

Application of permeation liquid membrane and scanned stripping chronopotentiometry to metal speciation analysis of colloidal complexes

The potential of permeation liquid membrane (PLM) to obtain dynamic metal speciation information for colloidal complexes is evaluated by measurements of lead(II) and copper(II) complexation by carboxyl modified latex nanospheres of different radii (15, 35, 40 and 65 nm). The results are compared with those obtained by a well characterized technique: stripping chronopotentiometry at scanned deposition potential (SSCP). Under the PLM conditions employed, and for large particles or macromolecular ligands, membrane diffusion is the rate-limiting step. That is, the flux is proportional to the free metal ion concentration with only a small contribution from labile complexes. In the absence of ligand aggregation in the PLM channels, good agreement was obtained between the stability constants determined by PLM and SSCP for both metals.

Electrochemical methodology to study labile trace metal/natural organic matter complexation at low concentration levels in natural waters

A new electrochemical methodology to study labile trace metal/natural organic matter complexation at low concentration levels in natural waters is presented. This methodology consists of three steps: (i) an estimation of the complex diffusion coefficient (DML), (ii) determination at low pH of the total metal concentration initially present in the sample, (iii) a metal titration at the desired pH. The free and bound metal concentrations are determined for each point of the titration and modeled with the non-ideal competitive adsorption (NICA-Donnan) model in order to obtain the binding parameters. In this methodology, it is recommended to determine the hydrodynamic transport parameter, α, for each set of hydrodynamic conditions used in the voltammetric measurements. The methodology was tested using two fractions of natural organic matter (NOM) isolated from the Loire river, namely the hydrophobic organic matter (HPO) and the transphilic organic matter (TPI), and a well characterized fulvic acid (Laurentian fulvic acid, LFA). The complex diffusion coefficients obtained at pH 5 were 0.4 ± 0.2 for Pb and Cu/HPO, 1.8 ± 0.2 for Pb/TPI and (0.612 ± 0.009) × 10−10 m2 s−1 for Pb/LFA. NICA-Donnan parameters for lead binding were obtained for the HPO and TPI fractions. The new lead/LFA results were successfully predicted using parameters derived in our previous work.