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.

Morfologia e distribuição sedimentar em um sistema estuarino tropical : Baía de Vitória, ES

A Baía de Vitória é um sistema estuarino da costa leste do Brasil que apresenta grande importância econômica e características ímpares, já que se desenvolveu entre três unidades geomorfológicas distintas. Apesar disto, este ambiente apresenta poucos estudos relacionados às suas características geológicas e oceanográficas. O presente trabalho se focou no preenchimento desta lacuna através da descrição da morfologia, da distribuição sedimentar e dos padrões sonográficos da Baía de Vitória, buscando relações entre os mesmos e inferindo os processos sedimentares dominantes em cada trecho do estuário. A análise integrada mostrou boa correlação entre os métodos e revelou a grande complexidade deste sistema estuarino. Três diferentes regiões foram identificadas mostrando processos distintos: o estuário superior apresentou input sedimentar fluvial e processos estuarinos; um largo trecho da região central do sistema apresentou características erosivas, relacionadas a adaptações morfológicas e ao aumento das correntes provocadas pelos estreitamentos artificiais da baía, propiciando a formação de formas de fundo; e a boca do estuário se apresentou dominada por processos marinhos. Parte da região central do estuário mostrou características mascaradas pela atividade antrópica através da instalação de pontes, aterros e dragagens.

A low concentration of ouabain (0.18 µg/kg) enhances hypertension in spontaneously hypertensive rats by inhibiting the Na+ pump and activating the renin-angiotensin system

We investigated the effects of low ouabain concentrations on systolic (SAP) and diastolic (DAP) arterial pressures and on pressor reactivity in 3-month-old male spontaneously hypertensive rats (SHR). Arterial blood pressure (BP) and pressor reactivity to phenylephrine (PHE) were investigated before and after 0.18 μg/kg ouabain administration (N = 6). The influence of hexamethonium (N = 6), canrenone (N = 6), enalapril (N = 6), and losartan (N = 6) on ouabain actions was evaluated. Ouabain increased BP (SAP: 137 ± 5.1 to 150 ± 4.7; DAP: 93.7 ± 7.7 to 116 ± 3.5 mmHg; P < 0.05) but did not change PHE pressor reactivity. Hexamethonium reduced basal BP in control but not in ouabain-treated rats. However, hexamethonium + ouabain increased DAP sensitivity to PHE. Canrenone did not affect basal BP but blocked ouabain effects on SAP. However, after canrenone + ouabain administration, DAP pressor reactivity to PHE still increased. Enalapril and losartan reduced BP and abolished SAP and DAP responses to ouabain. Enalapril + ouabain reduced DAP reactivity to PHE, while losartan + ouabain reduced SAP and DAP reactivity to PHE. In conclusion, a small dose of ouabain administered to SHR increased BP without altering PHE pressor reactivity. Although the renin-angiotensin system (RAS), Na+ pump and autonomic reflexes are involved in the effects of ouabain on PHE reactivity, central mechanisms might blunt the actions of ouabain on PHE pressor reactivity. The effect of ouabain on SAP seems to depend on the inhibition of both Na+ pump and RAS, whereas the effect on DAP seems to depend only on RAS.