Localização de um robô móvel usando odometria e marcos naturais

Several methods of mobile robot navigation request the mensuration of robot position and orientation in its workspace. In the wheeled mobile robot case, techniques based on odometry allow to determine the robot localization by the integration of incremental displacements of its wheels. However, this technique is subject to errors that accumulate with the distance traveled by the robot, making unfeasible its exclusive use. Other methods are based on the detection of natural or artificial landmarks present in the environment and whose location is known. This technique doesnt generate cumulative errors, but it can request a larger processing time than the methods based on odometry. Thus, many methods make use of both techniques, in such a way that the odometry errors are periodically corrected through mensurations obtained from landmarks. Accordding to this approach, this work proposes a hybrid localization system for wheeled mobile robots in indoor environments based on odometry and natural landmarks. The landmarks are straight lines de.ned by the junctions in environments floor, forming a bi-dimensional grid. The landmark detection from digital images is perfomed through the Hough transform. Heuristics are associated with that transform to allow its application in real time. To reduce the search time of landmarks, we propose to map odometry errors in an area of the captured image that possesses high probability of containing the sought mark

Adaptação de um sistema automatizado para medição de microdureza

The hardness test is thoroughly used in research and evaluation of materials for quality control. However, this test results are subject to uncertainties caused by the process operator in the moment of the mensuration impression diagonals make by the indenter in the sample. With this mind, an automated equipment of hardness mensuration was developed. The hardness value was obtained starting from the mensuration of plastic deformation suffered by the material to a well-known load. The material deformation was calculated through the mensuration of the difference between the progress and retreat of a diamond indenter on the used sample. It was not necessary, therefore, the manual mensuration of the diagonals, decreasing the mistake source caused by the operator. Tension graphs of versus deformation could be analyzed from data obtained by the accomplished analysis, as well as you became possible a complete observation of the whole process. Following, the hardness results calculated by the experimental apparatus were compared with the results calculated by a commercial microhardness machine with the intention of testing its efficiency. All things considered, it became possible the materials hardness mensuration through an automated method, which minimized the mistakes caused by the operator and increased the analysis reliability

Análise cefalométrica: ortodontistas x radiologistas

Cephalometric analysis is the mensuration of linear and angular measures through demarcation points as distances and lines on teleradiography, and is considered of fundamental importance for diagnosis and orthodontic planning. In this manner, the objective of this research was to compare cephalometric measurements obtained by dentists and radiologists from the analysis of the same radiograph, in a computerized cephalometric analysis program. All research participants marked 18 cephalometric points on a 14-inch notebook computer, as directed by the program itself (Radiocef 2®). From there, they generated 14 cephalometric parameters including skeletal, dental-skeletal, dental and soft tissue. In order to verify the intra-examiner agreement, 10 professionals from each group repeated the marking of the points with a minimum interval of eight days between the two markings. The intra-group variability was calculated based on the coefficients of variation (CV). The comparison between groups was performed using the Student t-test for normally distributed variables, and using the Mann-Whitney test for those with non-normal distribution. In the group of orthodontists, the measurements of Pog and 1-NB, SL, S-Ls Line, S-Li Line and 1.NB showed high internal variability. In the group of radiologists, the same occurred with the values of Pog and 1-NB, S-Ls Line, S-Li Line and 1.NA. In the comparison between groups, all the analyzed linear values and two angular values showed statistically significant differences between radiologists and dentists (p <0.05). According to the results, the interexaminer error in cephalometric analysis requires more attention, but does not come from a specific class of specialists, being either dentists or radiologists.