Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.

LMI-based digital redesign of linear time-invariant systems with state-derivative feedback

A simple method for designing a digital state-derivative feedback gain and a feedforward gain such that the control law is equivalent to a known and adequate state feedback and feedforward control law of a digital redesigned system is presented. It is assumed that the plant is a linear controllable, time-invariant, Single-Input (SI) or Multiple-Input (MI) system. This procedure allows the use of well-known continuous-time state feedback design methods to directly design discrete-time state-derivative feedback control systems. The state-derivative feedback can be useful, for instance, in the vibration control of mechanical systems, where the main sensors are accelerometers. One example considering the digital redesign with state-derivative feedback of a helicopter illustrates the proposed method. © 2009 IEEE.

Geometrical wave equation and the cauchy-like theorem for octonions

Riemann surfaces, cohomology and homology groups, Cartan's spinors and triality, octonionic projective geometry, are all well supported by Complex Structures [1], [2], [3], [4]. Furthermore, in Theoretical Physics, mainly in General Relativity, Supersymmetry and Particle Physics, Complex Theory Plays a Key Role [5], [6], [7], [8]. In this context it is expected that generalizations of concepts and main results from the Classical Complex Theory, like conformal and quasiconformal mappings [9], [10] in both quaternionic and octonionic algebra, may be useful for other fields of research, as for graphical computing enviromment [11]. In this Note, following recent works by the autors [12], [13], the Cauchy Theorem will be extended for Octonions in an analogous way that it has recentely been made for quaternions [14]. Finally, will be given an octonionic treatment of the wave equation, which means a wave produced by a hyper-string with initial conditions similar to the one-dimensional case.

Scales, Universality and Finite-Range Correction in Three-body Systems

The scale invariance manifested by the weakly-bound Efimov states implies that all the Efimov spectrum can be merged in a single scaling function. By considering this scaling function, the ratio between two consecutive energy levels, E3 (N+1) and E3 (N), can be obtained from a two-body low-energy observable (usually the scattering length a), given in units of the three-body energy level N. The zero-ranged scaling function is improved by incorporating finite range corrections in first order of r0/a (r0 is the potential effective range). The critical condition for three-identical bosons in s-wave, when the excited E3 (N+1) state disappears in the 2 + 1 threshold, is given by √E2/E3 (N) ≈ 0.38+0.12(r0/a). © 2012 Springer-Verlag.

Perturbations on the antidiagonals of Hankel matrices

Given a strongly regular Hankel matrix, and its associated sequence of moments which defines a quasi-definite moment linear functional, we study the perturbation of a fixed moment, i.e., a perturbation of one antidiagonal of the Hankel matrix. We define a linear functional whose action results in such a perturbation and establish necessary and sufficient conditions in order to preserve the quasi-definite character. A relation between the corresponding sequences of orthogonal polynomials is obtained, as well as the asymptotic behavior of their zeros. We also study the invariance of the Laguerre-Hahn class of linear functionals under such perturbation, and determine its relation with the so-called canonical linear spectral transformations. © 2013 Elsevier Ltd. All rights reserved.

Aplicação da transformada integral e da transformação conforme na solução de uma classe de problemas difusivo-convectivos em domínios de geometrias não-convencionais

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Aceleração de Fermi em bilhares com fronteiras dependentes do tempo descritas por osciladores não lineares: caso conservativo e dissipativo

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

O bilhar stadium dependente do tempo: aceleração de Fermi e o fenômeno de retardo de velocidade

Pós-graduação em Física - IGCE

Padrão de consumo de álcool: estudo epidemiológico no município de Passos (MG)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Disfunções temporomandibulares: estudo epidemiológico no município de Araraquara (SP)

Pós-graduação em Alimentos e Nutrição - FCFAR

Teoria de campo da supercorda aberta

Pós-graduação em Física - IFT

De sitter relativity: foundationss and some physical implications

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Processos enunciativos e gramática operatória: o espaço semântico-enunciativo dos marcadores er e estar

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Para uma gramática da produção: análise da marca mesmo sob o enfoque da teoria das operações predicativas e enunciativas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Validação das escalas de preocupação com o peso corporal e de estresse percebido

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)