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.

Context-sensitive analysis of obfuscated x86 executables

A method for context-sensitive analysis of binaries that may have obfuscated procedure call and return operations is presented. Such binaries may use operators to directly manipulate stack instead of using native call and ret instructions to achieve equivalent behavior. Since definition of context-sensitivity and algorithms for context-sensitive analysis have thus far been based on the specific semantics associated to procedure call and return operations, classic interprocedural analyses cannot be used reliably for analyzing programs in which these operations cannot be discerned. A new notion of context-sensitivity is introduced that is based on the state of the stack at any instruction. While changes in 'calling'-context are associated with transfer of control, and hence can be reasoned in terms of paths in an interprocedural control flow graph (ICFG), the same is not true of changes in 'stack'-context. An abstract interpretation based framework is developed to reason about stack-contexts and to derive analogues of call-strings based methods for the context-sensitive analysis using stack-context. The method presented is used to create a context-sensitive version of Venable et al.'s algorithm for detecting obfuscated calls. Experimental results show that the context-sensitive version of the algorithm generates more precise results and is also computationally more efficient than its context-insensitive counterpart. Copyright © 2010 ACM.

The overall coefficient of the two-loop superstring amplitude using pure spinors

Using the results recently obtained for computing integrals over (non-minimal) pure spinor superspace, we compute the coefficient of the massless two-loop four-point amplitude from first principles. Contrasting with the mathematical difficulties in the RNS formalism where unknown normalizations of chiral determinant formulæ force the two-loop coefficient to be determined only indirectly through factorization, the computation in the pure spinor formalism can be smoothly carried out. © SISSA 2010.

Probabilistic analysis of the distributed power generation in weakly meshed distribution systems

This paper presents an approach for probabilistic analysis of unbalanced three-phase weakly meshed distribution systems considering uncertainty in load demand. In order to achieve high computational efficiency this approach uses both an efficient method for probabilistic analysis and a radial power flow. The probabilistic approach used is the well-known Two-Point Estimate Method. Meanwhile, the compensation-based radial power flow is used in order to extract benefits from the topological characteristics of the distribution systems. The generation model proposed allows modeling either PQ or PV bus on the connection point between the network and the distributed generator. In addition allows control of the generator operating conditions, such as the field current and the power delivery at terminals. Results on test with IEEE 37 bus system is given to illustrate the operation and effectiveness of the proposed approach. A Monte Carlo Simulations method is used to validate the results. © 2011 IEEE.

Integrated single-stage converters with Tri-state modulation suitable for photovoltaic systems

The aim of this work is to present two topological simplified converters named Tri-state Boost and Tri-state Buck-Boost integrated single-phase inverters. An important operation capability can be achieved for these converters using a Tri-state Modulation control scheme. This is the inductive power decoupling and the independent input output control. These features are directly related with the photovoltaic micro-converter needs, improving efficiency, cost and mainly lifetime. These features for the proposed modulation are confirmed through experimental results. © 2011 IEEE.

Some remarks about Poincaré duality pairs

Bieri-Eckmann [6] introduced the concept of relative cohomology for a group pair (G, S), where G is a group and S is a family of subgroups of G and, by using that theory, they introduced the concept of Poincaré duality pairs (G, S) and provided a topological interpretation for such pairs through Eilenberg-MacLane pairs K(G, S, 1). A Poincaré duality pair is a pair (G, S) that satisfies two isomorphisms, one between absolute cohomology and relative homology and the second between relative cohomology and absolute homology. In this paper, we present a proof that those two isomorphisms are equivalent. We also present some calculations on duality pairs by using the cohomological invariant defined in [1] and studied in [2-4]. © 2012 Pushpa PublishingHouse.

Search for a narrow, spin-2 resonance decaying to a pair of Z bosons in the qq̄ℓ+ℓ- final state

Results are presented from a search for a narrow, spin-2 resonance decaying into a pair of Z bosons, with one Z-boson decaying into leptons (e+e- or μ+μ-) and the other into jets. An example of such a resonance is the Kaluza-Klein graviton, GKK, predicted in Randall-Sundrum models. The analysis is based on a 4.9 fb-1 sample of proton-proton collisions at a center-of-mass energy of 7 TeV, collected with the CMS detector at the LHC. Kinematic and topological properties including decay angular distributions are used to discriminate between signal and background. No evidence for a resonance is observed, and upper limits on the production cross sections times branching fractions are set. In two models that predict Z-boson spin correlations in graviton decays, graviton masses are excluded lower than a value which varies between 610 and 945 GeV, depending on the model and the strength of the graviton couplings. © 2012 CERN.

Generating string solutions in BTZ

Integrability of classical strings in the BTZ black hole enables the construction and study of classical string propagation in this background. We first apply the dressing method to obtain classical string solutions in the BTZ black hole. We dress time like geodesics in the BTZ black hole and obtain open string solutions which are pinned on the boundary at a single point and whose end points move on time like geodesics. These strings upon regularising their charge and spins have a dispersion relation similar to that of giant magnons. We then dress space like geodesics which start and end on the boundary of the BTZ black hole and obtain minimal surfaces which can penetrate the horizon of the black hole while being pinned at the boundary. Finally we embed the giant gluon solutions in the BTZ background in two different ways. They can be embedded as a spiral which contracts and expands touching the horizon or a spike which originates from the boundary and touches the horizon. © 2013 SISSA, Trieste, Italy.

Tilings induced by a class of cubic Rauzy fractals

We study aperiodic and periodic tilings induced by the Rauzy fractal and its subtiles associated with beta-substitutions related to the polynomial x3-ax2-bx-1 for a≥b≥1. In particular, we compute the corresponding boundary graphs, describing the adjacencies in the tilings. These graphs are a valuable tool for more advanced studies of the topological properties of the Rauzy fractals. As an example, we show that the Rauzy fractals are not homeomorphic to a closed disc as soon as a≤2b-4. The methods presented in this paper may be used to obtain similar results for other classes of substitutions.© 2012 Elsevier B.V. All rights reserved.

Black holes in realistic branes: Black string-like objects?

A realistic model describing a black string-like object in an expanding Universe is analyzed in the context of the McVittie's solution of the Einstein field equations. The bulk metric near the brane is provided analogously to previous solutions for black strings. In particular, we show that at least when the Hubble parameter on the brane is positive, a black string-like object seems to play a fundamental role in the braneworld scenario, generalizing the standard black strings in the context of a dynamical brane. © 2013 Elsevier B.V.

Weak local Nash equilibrium

In this paper, we consider a concept of local Nash equilibrium for non-cooperative games - the so-called weak local Nash equilibrium. We prove its existence for a significantly more general class of sets of strategies than compact convex sets. The theorems on existence of the weak local equilibrium presented here are applications of Brouwer and Lefschetz fixed point theorems. © 2013 Juliusz Schauder Centre for Nonlinear Studies Nicolaus Copernicus University.

Analyzing the effect of homogeneous frustration in protein folding

The energy landscape theory has been an invaluable theoretical framework in the understanding of biological processes such as protein folding, oligomerization, and functional transitions. According to the theory, the energy landscape of protein folding is funneled toward the native state, a conformational state that is consistent with the principle of minimal frustration. It has been accepted that real proteins are selected through natural evolution, satisfying the minimum frustration criterion. However, there is evidence that a low degree of frustration accelerates folding. We examined the interplay between topological and energetic protein frustration. We employed a Cα structure-based model for simulations with a controlled nonspecific energetic frustration added to the potential energy function. Thermodynamics and kinetics of a group of 19 proteins are completely characterized as a function of increasing level of energetic frustration. We observed two well-separated groups of proteins: one group where a little frustration enhances folding rates to an optimal value and another where any energetic frustration slows down folding. Protein energetic frustration regimes and their mechanisms are explained by the role of non-native contact interactions in different folding scenarios. These findings strongly correlate with the protein free-energy folding barrier and the absolute contact order parameters. These computational results are corroborated by principal component analysis and partial least square techniques. One simple theoretical model is proposed as a useful tool for experimentalists to predict the limits of improvements in real proteins. © 2013 Wiley Periodicals, Inc.

The functional biogeography of species: Biogeographical species roles of birds in Wallacea and the West Indies

Biogeographical systems can be analyzed as networks of species and geographical units. Within such a biogeographical network, individual species may differ fundamentally in their linkage pattern, and therefore hold different topological roles. To advance our understanding of the relationship between species traits and large-scale species distribution patterns in archipelagos, we use a network approach to classify birds as one of four biogeographical species roles: peripherals, connectors, module hubs, and network hubs. These roles are based upon the position of species within the modular network of islands and species in Wallacea and the West Indies. We test whether species traits - including habitat requirements, altitudinal range-span, feeding guild, trophic level, and body length - correlate with species roles. In both archipelagos, habitat requirements, altitudinal range-span and body length show strong relations to species roles. In particular, species that occupy coastal- and open habitats, as well as habitat generalists, show higher proportions of connectors and network hubs and thus tend to span several biogeographical modules (i.e. subregions). Likewise, large body size and a wide altitudinal range-span are related to a wide distribution on many islands and across several biogeographical modules. On the other hand, species restricted to interior forest are mainly characterized as peripherals and, thus, have narrow and localized distributions within biogeographical modules rather than across the archipelago-wide network. These results suggest that the ecological amplitude of a species is highly related to its geographical distribution within and across bio geographical subregions and furthermore supports the idea that large-scale species distributions relate to distributions at the local community level. We finally discuss how our biogeographical species roles may correspond to the stages of the taxon cycle and other prominent theories of species assembly. © 2013 The Authors.

Teorema de Riemann-Roch e aplicações

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

Alocação otimizada de bancos de capacitores em sistemas de distribuição de energia elétrica através de metaheurísticas multiobjetivo

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