Algoritmo neurogenético com vistas para o planejamento de rotas de robôs móveis autônomos

Pós-graduação em Ciência da Computação - IBILCE

Reducing the gap between mobile and intelligent software agents

This paper presents an approach to integrate an artificial intelligence (AI) technique, concretely rule-based processing, into mobile agents. In particular, it focuses on the aspects of designing and implementing an appropriate inference engine of small size to reduce migration costs. The main goal is combine two lines of agent research, First, the engineering oriented approach on mobile agent architectures, and, second, the AI related approach on inference engines driven by rules expressed in a restricted subset of first-order predicate logic (FOPL). In addition to size reduction, the main functions of this type of engine were isolated, generalized and implemented as dynamic components, making possible not only their migration with the agent, but also their dynamic migration and loading on demand. A set of classes for representing and exchanging knowledge between rule-based systems was also proposed.

Environment for teaching and development of mobile robot systems

Using robots for teaching is one approach that has gathered good results on Middle-School, High-School and Universities. Robotics gives chance to experiment concepts of a broad range of disciplines, principally those from Engineering courses and Computer Science. However, there are not many kits that enables the use of robotics in classroom. This article describes the methodologies to implement tools which serves as test beds for the use of robotics to teach Computer Science and Engineering. Therefore, it proposes the development of a flexible, low cost hardware to integrate sensors and control actuators commonly found on mobile robots, the development of a mobile robot device whose sensors and actuators allows the experimentation of different concepts, and an environment for the implementation of control algorithms through a computer network. This paper describes each one of these tools and discusses the implementation issues and future works. © 2010 IEEE.

A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

Self-assembling of phenothiazine compounds investigated by small-angle X-ray scattering and electron paramagnetic resonance spectroscopy

Small-angle X-ray scattering (SAXS) and electron paramagnetic resonance (EPR) have been carried out to investigate the structure of the self-aggregates of two phenothiazine drugs, chlorpromazine (CPZ) and trifluoperazine (TFP), in aqueous solution. In the SAXS studies, drug solutions of 20 and 60 mM, at pH 4.0 and 7.0, were investigated and the best data fittings were achieved assuming several different particle form factors with a homogeneous electron density distribution in respect to the water environment. Because of the limitation of scattering intensity in the q range above 0.15 angstrom(-1), precise determination of the aggregate shape was not possible and all of the tested models for ellipsoids, cylinders, or parallelepipeds fitted the experimental data equally well. The SAXS data allows inferring, however, that CPZ molecules might self-assemble in a basis set of an orthorhombic cell, remaining as nanocrystallites in solution. Such nanocrystals are composed of a small number of unit cells (up to 10, in c-direction), with CPZ aggregation numbers of 60-80. EPR spectra of 5- and 16-doxyl stearic acids bound to the aggregates were analyzed through simulation, and the dynamic and magnetic parameters were obtained. The phenothiazine concentration in EPR experiments was in the range of 5-60 mM. Critical aggregation concentration of TFP is lower than that for CPZ, consistent with a higher hydrophobicity of TFP. At acidic pH 4.0 a significant residual motion of the nitroxide relative to the aggregate is observed, and the EPR spectra and corresponding parameters are similar to those reported for aqueous surfactant micelles. However, at pH 6.5 a significant motional restriction is observed, and the nitroxide rotational correlation times correlate very well with those estimated for the whole aggregated particle from SAXS data. This implies that the aggregate is densely packed at this pH and that the nitroxide is tightly bound to it producing a strongly immobilized EPR spectrum. Besides that, at pH 6.5 the differences in motional restriction observed between 5- and 16-DSA are small, which is different from that observed for aqueous surfactant micelles.

Classification and characterization of places for mapping of environment using hierarchical neural network and omnivision

Mobile robots need autonomy to fulfill their tasks. Such autonomy is related whith their capacity to explorer and to recognize their navigation environments. In this context, the present work considers techniques for the classification and extraction of features from images, using artificial neural networks. This images are used in the mapping and localization system of LACE (Automation and Evolutive Computing Laboratory) mobile robot. In this direction, the robot uses a sensorial system composed by ultrasound sensors and a catadioptric vision system equipped with a camera and a conical mirror. The mapping system is composed of three modules; two of them will be presented in this paper: the classifier and the characterizer modules. Results of these modules simulations are presented in this paper.

Improving a process in a brazilian automotive plant applying process mapping, Design of Experiments and Discrete Events Simulation

The objective of this article is to apply the Design of Experiments technique along with the Discrete Events Simulation technique in an automotive process. The benefits of the design of experiments in simulation include the possibility to improve the performance in the simulation process, avoiding trial and error to seek solutions. The methodology of the conjoint use of Design of Experiments and Computer Simulation is presented to assess the effects of the variables and its interactions involved in the process. In this paper, the efficacy of the use of process mapping and design of experiments on the phases of conception and analysis are confirmed.

Interactive DC-DC converters tools for instant design and education

This paper deals with the usage of interactive simulations tools to serve as an oriented design tool for the lectures and laboratory experiments in the power electronics courses. A dynamic and interactive visualization of simulations for idealized converters in steady state are provided by the proposed educational tools, allowing students to acquire qualification in non-isolated DC-DC converters, without previous circuitry knowledge, either without the usage of sophisticated simulation packages. The interaction with proposed simulation tools can be accomplished by student using direct or graphic mode. In direct mode the parameters related with the design of converter can be inserted simply editing default values presented in textboxes, while in the graphic mode students interact indirectly with design information by manipulating visual widgets. In order to corroborate the proposed interactive simulation tools, comparisons of results from buck-boost and boost converters on proposed tools and a well-known simulator package with those on experimental evaluation from laboratory classes were presented. © 2009 IEEE.

Dynamic exercise versus tag game warm up: The acute effect on agility and vertical jump in children

Although dynamic and stretching exercises have been widely investigated, there is little information about warm up performed by tag games. Thus, the purpose of the present study was to verify the acute effect of dynamic exercises compared to a tag game warm up on agility and vertical jump in children. 25 boys and 24 girls participated in this study and performed the agility and vertical jump tests after warm up based on dynamic exercises or as a tag game lasting 10 min each in two different days randomly. Dynamic exercises warm up consisted in a run lasting 2.5 min followed by 2 series of 8 dynamic exercises lasting 10 seconds each interspersed with 20s of light run to recovery. Tag game warm up was performed by a tag game with two variations lasting 5 min each. The first variation there was a single cather, which aimed to get the other participants by touching hands. In the second part of the game, the rules were the same except that the participant that was caught had to help the catcher forming a team of catchers. Warm up intensity was monitored by OMNI perceived exertion scale. ANOVA 2x2 for repeated measures (Warm up x Sex) demonstrated no significant differences between dynamic exercises and tag game for agility and vertical jump (P>0.05) for boys and girls. Perceived exertion was significantly higher in tag game compared to dynamic exercises on girls (P<0.05). Both warm up models showed similar acute effects on agility and vertical jump in children. © Faculty of Education. University of Alicante.

Modelagem e simulação das juntas de um manipulador robótico cilíndrico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Development of practical HPLC methods for the separation and determination of eggplant steroidal glycoalkaloids and their aglycones

A practical set of HPLC methods was developed for the separation and determination of the eggplant steroidal glycoalkaloids, solanine, chaconine, solasonine, solamargine, and their aglycones, solasodine and solanidine. A gradient method was initially developed, but proved to be neither robust nor practical. Three separate isocratic methods using acetonitrile and ammonium dihydrogen phosphate were developed and shown to be more repeatable, less subject to fluctuations in mobile phase composition, and less time consuming. The effect of adjusting buffer pH, column temperature, and buffer type (triethylammonium phosphate vs. ammonium dihydrogen phosphate) were evaluated. It was also discovered that, by addition of 10% methanol to the acetonitrile portion of the mobile phase, more control over the separations was possible. The use of methanol as a mobile phase entrainer greatly improved separations in some cases and its effectiveness was also dependent upon column temperature. Assessments of the method recovery, limit of detection, and limit of quantitation were made using extracts from S. melongena and S. linnaeanum.

On developing efficient applications using conservative distributed simulation paradigm

This paper aims to present, using a set of guidelines, how to apply the conservative distributed simulation paradigm (CMB protocol) to develop efficient applications. Using these guidelines, even a user with little experience on distributed simulation and computer architecture can have good performance on distributed simulations using conservative synchronization protocols for parallel processes.The set of guidelines is focus on a specific application domain, the performance evaluation of computer systems, considering models with coarse granularity and few logical processes and running over two platforms: parallel (high performance communication environment) and distributed (low performance communication environment).

Simulation Tools of DC-DC Converters for Power Electronics Education

This paper presents interactive simulation tools to support the enhancement of power electronics education considering DC to DC converters. These interactive tools make use of the benefits of Java language to provide a dynamic and interactive visualization of simulations in steady-state for idealized non-isolated DC to DC converters. Additionally, this paper discusses the features and the usage of the interactive educational tools to serve as a first design tool for the laboratory experiments in the power electronics courses. In this way, some results were confronted with a well-known simulator package and with experimental results in order to validate the developed interactive simulation tools.