An optical flow-based sensing system for reactive mobile robot navigation

This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.

Parâmetros bioquímicos foliares das espécies Licania tomentosa (Benth.) e Bauhinia forficata (Link.) para avaliação da qualidade do ar

Foliar analysis of biochemical parameters were carried out in order to investigate the influence of air pollutants on two tropical tree species (Licania tomentosa (Benth.) and Bauhinia forfícata (Link.)). Special attention was given to tropospheric ozone due to the fact that concentration levels in the region were found to be up to 140 µg m-3 for a 4 h average time, which is well above the value that can cause injuries to orchides and tobacco (59 µg m-3). Other pollutants such as nitrogen and sulphur oxides were measured and their ambient concentrations were also associated to biochemical alterations in the investigated species.