Experimental results on the nonlinear H(infinity) control via quasi-LPV representation and game theory for wheeled mobile robots

In this paper, nonlinear dynamic equations of a wheeled mobile robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying, is useful for control designs based on nonlinear H(infinity) approaches. Two nonlinear H(infinity) controllers that guarantee induced L(2)-norm, between input (disturbances) and output signals, bounded by an attenuation level gamma, are used to control a wheeled mobile robot. These controllers are solved via linear matrix inequalities and algebraic Riccati equation. Experimental results are presented, with a comparative study among these robust control strategies and the standard computed torque, plus proportional-derivative, controller.

Analyses of the Headspace Volatile Constituents of Aerial Parts (leaves and stems), Flowers and Fruits of Bidens gardneri Bak. and Bidens sulphurea (Cav.) Sch.Bip. Using Solid-Phase Microextraction

The present study describes the volatile composition of aerial parts (leaves and stems), flowers and fruits from Bidens gardneri and Bidens sulphurea. The first species is widely distributed in Pantanal (Brazil) and is a traditional medicinal plant, while the second species is widely distributed throughout Brazil. In all analyses, observed were constituents like bicycloelemene, alpha-copaene, beta-caryophyllene, germacrene D, bicyclogermacrene and others. However, some compounds were identified only in one part of the plants analyzed. These results indicated sonic differences in the composition of the plants studied and they were in agreement with data of literature.

Evaluation of anti-inflammatory activity of derivatives from aerial parts of Baccharis uncinella

Context: Species of Baccharis exhibit antibiotic, antiseptic, and wound-healing properties, and have been used in the traditional medicine of South America for the treatment of inflammation, headaches, diabetes, and hepatobiliary disorders. Objective: To investigate the anti-inflammatory activity of organic phases from EtOH extract of the aerial parts of Baccharis uncinella DC (Asteraceae). Materials and methods: The crude EtOH extract from the aerial parts of B. uncinella was subjected to partition procedures and the corresponding CH(2)Cl(2) and EtOAc phases were subjected to several chromatographic separation procedures. Thus, these phases and their purified compounds were assayed for evaluation of anti-inflammatory activity. Results: The CH(2)Cl(2) phase from EtOH extract from B. uncinella contained two triterpenoids (oleanolic and ursolic acids) and one flavonoid (pectolinaringenin), whereas the respective EtOAc phase showed to be composed mainly by two phenylpropanoid derivatives (caffeic and ferulic acids). The CH(2)Cl(2) and EtOAc phases as well as their isolated compounds exhibited anti-inflammatory effects against inflammatory reactions induced by phospholipase A2 (from Crotalus durissus terrificus venom) and by carrageenan. Discussion and conclusion: The results suggested that the components obtained from partition phases of EtOH extract of B. uncinella could represent lead molecules for the development of anti-inflammatory agents. Additionally, the results confirmed the use of Baccharis genus in the traditional medicine of South America for the treatment of inflammation and other heath disorders. To date, the present work describes for the first time the anti-inflammatory effects of compounds isolated from B. uncinella.

Anti-leishmanial effects of purified compounds from aerial parts of Baccharis uncinella C. DC. (Asteraceae)

Species of Baccharis exhibit antibiotic, antiseptic, wound-healing, and anti-protozoal properties, and have been used in the traditional medicine of South America for the treatment of several diseases. In the present work, the fractionation of EtOH extract from aerial parts of Baccharis uncinella indicated that the isolated compounds caffeic acid and pectolinaringenin showed inhibitory activity against Leishmania (L.) amazonensis and Leishmania (V.) braziliensis promastigotes, respectively. Moreover, amastigote forms of both species were highly sensible to the fraction composed by oleanolic + ursolic acids and pectolinaringenin. Caffeic acid also inhibited amastigote forms of L. (L.) amazonensis, but this effect was weak in L. (V.) braziliensis amastigotes. The treatment of infected macrophages with these compounds did not alter the levels of nitrates, indicating a direct effect of the compounds on amastigote stages. The results presented herein suggest that the active components from B. uncinella can be important to the design of new drugs against American tegumentar leishmaniases.

A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots

Localization and Mapping are two of the most important capabilities for autonomous mobile robots and have been receiving considerable attention from the scientific computing community over the last 10 years. One of the most efficient methods to address these problems is based on the use of the Extended Kalman Filter (EKF). The EKF simultaneously estimates a model of the environment (map) and the position of the robot based on odometric and exteroceptive sensor information. As this algorithm demands a considerable amount of computation, it is usually executed on high end PCs coupled to the robot. In this work we present an FPGA-based architecture for the EKF algorithm that is capable of processing two-dimensional maps containing up to 1.8 k features at real time (14 Hz), a three-fold improvement over a Pentium M 1.6 GHz, and a 13-fold improvement over an ARM920T 200 MHz. The proposed architecture also consumes only 1.3% of the Pentium and 12.3% of the ARM energy per feature.

Semantic mapping using mobile robots

Robotic mapping is the process of automatically constructing an environment representation using mobile robots. We address the problem of semantic mapping, which consists of using mobile robots to create maps that represent not only metric occupancy but also other properties of the environment. Specifically, we develop techniques to build maps that represent activity and navigability of the environment. Our approach to semantic mapping is to combine machine learning techniques with standard mapping algorithms. Supervised learning methods are used to automatically associate properties of space to the desired classification patterns. We present two methods, the first based on hidden Markov models and the second on support vector machines. Both approaches have been tested and experimentally validated in two problem domains: terrain mapping and activity-based mapping.

Headland-bay beach planform stability of Santa Catarina State and of the Northern Coast of São Paulo State

This paper presents the results of the planform stability classification for the headland-bay beaches of the State of Santa Catarina and of the Northern Coast of São Paulo, based on the application of the Parabolic Bay-Shape Equation (PBSE) to aerial images of the beaches, using the software MEPBAY®. For this purpose, georeferenced mosaics of the QuickBird2® satellite imagery (for the State of Santa Catarina) and vertical aerial photographs (for the northern coast of São Paulo State) were used. Headland-bay beach planform stability can be classified as: (1) in static equilibrium, (2) in dynamic equilibrium, (3) unstable or (4) in a state of natural beach reshaping. Static equilibrium beaches are the most frequent along the coast of the State of Santa Catarina and the Northern Shore of São Paulo, notably along the most rugged sectors of the coast and those with experiencing lower fluvial discharge. By comparison, dynamic equilibrium beaches occur primarily on the less rugged sectors of the coast and along regions with higher fluvial discharge. Beaches in a state of natural beach reshaping have only been found in SC, associated with stabilized estuarine inlets or port breakwaters. However, it is not possible to classify any of these beaches as unstable because only one set of images was used. No clear relation was observed between a beach's planform stability and other classification factors, such as morphodynamics or orientation.

Effect of cold fronts on the benthic macrofauna of exposed sandy beaches with contrasting morphodynamics

The aim of this study was to determine the short-term environmental changes caused by the simultaneous passage of a high energy event on two sandy beaches with different morphodynamic states and their influence on the richness, abundance and distribution of the benthic macrofauna. Two microtidal exposed sandy beaches with contrasting morphodynamics were simultaneously sampled before, during and after the passage of two cold fronts in Santa Catarina. The reflective beach showed a higher susceptibility to the increase in wave energy produced by the passage of cold fronts and was characterized by rapid and intense erosive processes in addition to a capacity for rapid restoration of the beach profile. As regards the dissipative beach, erosive processes operated more slowly and progressively, and it was characterized further by a reduced capacity for the recovery of its sub-aerial profile. Although the intensity of the environmental changes was distinct as between the morphodynamic extremes, changes in the composition, richness and abundance of macrobenthos induced by cold fronts were not evident for either of the beaches studied. On the other hand, alterations in the distribution pattern of the macrofauna were observed on the two beaches and were related to variations in sea level, position of the swash zone and moisture gradient, suggesting that short-term accommodations in the spatial structure of the macrobenthos occur in response to changes in environmental conditions in accordance with the temporal dynamics characteristic of each morphodynamic state.

Effect of morphodynamics on annual average zonation pattern of benthic macrofauna of exposed sandy beaches in Santa Catarina, Brazil

This study investigated the effect of environmental factors on the annual average zonation pattern of benthic macrofauna of sub-aerial profile of three exposed sandy beaches of Santa Catarina with different morphodynamic characteristics. Sampling was carried out between March 2000 and March 2001, with monthly frequency on reflective and dissipative morphodynamic extremes and bimonthly frequency on the intermediate state. Results showed that macrobenthic zonation presented marked differences across the morphodynamic spectrum. The main differences observed from reflective to dissipative conditions were: a) increase in the number of species in lower zones of the beach; b) expansion of zones characterized by high water content of sediment and c) increase in the overlapping of zones, mainly on lower levels of the beach. Canonical Correspondence Analysis related these differences to distinctive cross-shore gradients in sediment moisture levels, sediment reworking and mean grain size that exist across the morphodynamic spectrum, showing that it is important to analyze these environmental factors in studies conducted to investigate zonation on microtidal exposed sandy beaches.

Características agronômicas do Panicum maximum cv. "Mombaça" submetido a níveis crescentes de fósforo

O objetivo deste experimento foi avaliar o efeito da adição de doses crescentes de P2O5 sobre a altura do dossel, o número de perfilhos e a produção de matéria seca de folhas e de colmos do capim-Mombaça, em diferentes idades. Foi conduzido um experimento implantado em um Nitossolo Vermelho Eutrófico. O delineamento experimental usado foi o de blocos completos casualizados, com quatro repetições, cinco doses de P2O5 (30, 60, 90, 120 e 150kg ha-1) e uma testemunha. Para a primeira e segunda coletas, observou-se o efeito linear do fósforo sobre o perfilhamento. Para a terceira e quarta coletas, os dados ajustaram-se ao modelo quadrático. A participação das lâminas foliares na matéria seca da parte aérea diminuiu com as doses de P2O5. Por outro lado, a participação de colmos aumentou com as doses de P2O5. A produção de matéria seca (MS) da parte aérea para primeira, segunda e terceira coletas respondeu de forma linear à aplicação de P2O5 observando-se um aumento estimado de 7, 15 e 19kg ha-1 de MS por kg ha-1 de P2O5, respectivamente. Para a quarta coleta, os dados ajustaram-se ao modelo quadrático de regressão, sendo a máxima produção, 8,3Mg ha-1 de MS, obtida com a aplicação de 103kg ha-1 de P2O5.

Antileishmanial Activity of the Hydroalcoholic Extract of Miconia langsdorffii, Isolated Compounds, and Semi-Synthetic Derivatives

The in vitro activity of the crude hydroalcoholic extract of the aerial parts of Miconia langsdorffii Cogn. was evaluated against the promastigote forms of L. amazonensis, the causative agent of cutaneous leishmaniasis in humans. The bioassay-guided fractionation of this extract led to identification of the triterpenes ursolic acid and oleanolic acid as the major compounds in the fraction that displayed the highest activity. Several ursolic acid semi-synthetic derivatives were prepared, to find out whether more active compounds could be obtained. Among these ursolic acid-derived substances, the C-28 methyl ester derivative exhibited the best antileishmanial activity.

DISTRIBUTION OF CAPYBARAS IN AN AGROECOSYSTEM, SOUTHEASTERN BRAZIL, BASED ON ECOLOGICAL NICHE MODELING

Southeastern Brazil has seen dramatic landscape modifications in recent decades, due to expansion of agriculture and urban areas; these changes have influenced the distribution and abundance of vertebrates. We developed predictive models of ecological and spatial distributions of capybaras (Hydrochoerus hydrochaeris) using ecological niche modeling. Most Occurrences of capybaras were in flat areas with water bodies Surrounded by sugarcane and pasture. More than 75% of the Piracicaba River basin was estimated as potentially habitable by capybara. The models had low omission error (2.3-3.4%), but higher commission error (91.0-98.5%); these ""model failures"" seem to be more related to local habitat characteristics than to spatial ones. The potential distribution of capybaras in the basin is associated with anthropogenic habitats, particularly with intensive land use for agriculture.

A Fault-Tolerant Manipulator Robot Based on H(2), H(infinity), and Mixed H(2)/H(infinity) Markovian Controls

This paper develops a Markovian jump model to describe the fault occurrence in a manipulator robot of three joints. This model includes the changes of operation points and the probability that a fault occurs in an actuator. After a fault, the robot works as a manipulator with free joints. Based on the developed model, a comparative study among three Markovian controllers, H(2), H(infinity), and mixed H(2)/H(infinity) is presented, applied in an actual manipulator robot subject to one and two consecutive faults.

Coloured Petri nets and graphical simulation for the validation of a robotic cell in aircraft industry

This paper proposes a mixed validation approach based on coloured Petri nets and 3D graphic simulation for the design of supervisory systems in manufacturing cells with multiple robots. The coloured Petri net is used to model the cell behaviour at a high level of abstraction. It models the activities of each cell component and its coordination by a supervisory system. The graphical simulation is used to analyse and validate the cell behaviour in a 3D environment, allowing the detection of collisions and the calculation of process times. The motivation for this work comes from the aeronautic industry. The automation of a fuselage assembly process requires the integration of robots with other cell components such as metrological or vision systems. In this cell, the robot trajectories are defined by the supervisory system and results from the coordination of the cell components. The paper presents the application of the approach for an aircraft assembly cell under integration in Brazil. This case study shows the feasibility of the approach and supports the discussion of its main advantages and limits. (C) 2011 Elsevier Ltd. All rights reserved.

Accelerating autonomous learning by using heuristic selection of actions

This paper investigates how to make improved action selection for online policy learning in robotic scenarios using reinforcement learning (RL) algorithms. Since finding control policies using any RL algorithm can be very time consuming, we propose to combine RL algorithms with heuristic functions for selecting promising actions during the learning process. With this aim, we investigate the use of heuristics for increasing the rate of convergence of RL algorithms and contribute with a new learning algorithm, Heuristically Accelerated Q-learning (HAQL), which incorporates heuristics for action selection to the Q-Learning algorithm. Experimental results on robot navigation show that the use of even very simple heuristic functions results in significant performance enhancement of the learning rate.