Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Teaching robotics systems in a multimedia environment

This paper describes the development of a multimedia educational system to teach and learn robotic systems. Multimedia resources have been used to build a virtual laboratory where users are able to utilize functions of a robotic arm, by moving and clicking the mouse without worrying about the detailed robot internal operation. The multimedia system is integrated with a real robotic arm, which was also developed at the university. Through robotic topic presentations and interactive capabilities provided by this system and its tools, students can devote themselves on the learning process just as they do in the traditional face-to-face classes. and the target public of this system are the engineering students themselves.

Industrial Robotics Applied to Education

This work describes a ludic proposal for programming learning of industrial robots to be developed by groups of engineering students. Two projects are presented: Tic-tac-toe Opponent Robot and Environmentalist Robot. The first project use competitive search techniques of the Artificial Intelligence, computational vision, electronic and pneumatic concepts for ability decision making for a robotic agent on the tic-tae-toe game. The second project consists of a game that contains a questions and answers database about environmental themes. An algorithm selects the group of questions to be answered by the player, analyses the answers and sends the result to a industrial robot through serial port. According with the player performance, the robot makes congratulation movements and giving a gift to the winner player. Otherwise, the robot makes movements, disapproving the player performance.

The bizarre male of Spalangia dozieri (Hymenoptera: Pteromalidae): adaptations for male phoresy or the result of sexual selection?

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

Developmental and behavioral effects of postnatal amitraz exposure in rats

The effects of postnatal amitraz exposure on physical and behavioral parameters were studied in Wistar rats, whose lactating dams received the pesticide (10 mg/Kg) orally on days 1, 4, 7, 10, 13, 16 and 19 of lactation; control dams received distilled water (1 ml/kg) on the same days. A total of 18 different litters (9 of them control and 9 experimental) born after a 21- day gestation were used. The results showed that the median effective time (ET50) for fur development, eye opening, testis descent and onset of the startle response were increased in rats postnatally exposed to amitraz (2.7, 15.1, 21.6 and 15.3 days, respectively) compared to those of the control pups (1.8, 14.0, 19.9 and 12.9 days, respectively). The ages of incisor eruption, total unfolding of the external ears, vaginal and ear opening and the time taken to perform the grasping hindlimb reflex were not affected by amitraz exposure. Pups from dams treated with amitraz during lactation took more time (in seconds) to perform the surface righting reflex on postnatal days (PND) 3 (25.0 ±2.0), 4 (12.3 ± 1.2) and 5 (8.7 ± 0.9) in relation to controls (10.6 ± 1.2; 4.5 ± 0.6 and 3.4 ± 0.4, respectively); the climbing response was not changed by amitraz. Postnatal amitraz exposure increased spontaneous motor activity of male and female pups in the open-field on PND 16 (140± 11)and 17(124± 12), and 16 (104±9), 17 (137 ± 9) and 18 (106 ± 8), respectively. Data on spontaneous motor activity of the control male and female pups were 59 ± 11 and 69 ± 10 for days 16 and 17 and 49 ± 9, 48 ± 7 and 56 ± 7 for days 16, 17 and 18, respectively. Some qualitative differences were also observed in spontaneous motor behavior; thus, raising the head, shoulder and pelvis matured one or two days later in the amitraz- treated offspring. Postnatal amitraz exposure did not change locomotion and rearing frequencies or immobility time in the open-field on PND 30, 60 and 90. The present findings indicate that postnatal exposure to amitraz caused transient developmental and behavioral changes in the exposed offspring and suggest that further investigation of the potential health risk of amitraz exposure to developing human and animal offsprings may be warranted.

Neonatal rat exposure to pyrethroid and organophosphate insecticides: A physiological and biochemical trial of progeny

A manufactured product (Ectoplus®) composed by a cypermethrin (44.7%) and dichlorvos (4.2%) mixture was administered (10mg/kg/day, orally, by gavage) to pregnant rats, during the periods of gestation+lactation, gestation, and lactation. Control mothers received vehicle aqueous solution during the gestation+lactation period. With the progeny, in the 1-15 post-natal days (PNDI-15) there were observed alterations in the periods of occurrence of teeth, hair, unfolding of ears, and in the developmental period for following reflexes: postural, palmar grasp, negative geotaxis, and acoustic startle reflex. After weaning (PND21), there were observed the presence of cypermethrin and dichlorvos in the blood brain and liver; decrease in weight of liver, of cholinesterase activity in the plasma, liver, and brain, and hepatic metabolizing activity of drugs; alterations of levels of gamma glutamyl transferase enzymes, of creatinine, and of potassium in the serum of the animals. In conclusion, neonatal exposure to a formulated mixture of cypermethrin and dichlorvos is inductive to alterations in characteristics that indicate somatic and neuromuscular development of the progeny, and in certain biochemical parameters. The results suggest that enzymatic assessment associated with somatic and neuromotor assessment can be important markers of developmental characteristics in neonatal toxicity by pesticide formulations based on mixtures of insecticides.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

An efficient methodological approach in the didatic of automation applied to integrated manufacturing

This work presents challenges and solutions for the teaching and learning of automation applied to integrated manufacturing by means of a methodological approach based on techniques, tools and industrial equipment directly applicable in the industry. The approach was implemented in a control and automation engineering course divided into expositive and laboratory classes. Since the success of the approach is mainly from the practical activities, the article focus more on activities developed in laboratory than theorical classes. Copyright © 2007 IFAC.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

A sound education: Becoming aware of the sound around us

In this article it is intended to discuss the issue of noise pollution from an unusual point of view: noise pollution is not only the result of sound increase worldwide, but, particularly, the poor quality of our listening habits in modern life as well. In contemporary society we are subject to a considerable amount of stimulus to all our senses: vision, scent, taste and hearing which are becoming more and more insensible due to over exposure in our environment. These increased stimuli make us look for alternatives to reduce our ability to perceive them and be protected from injuries. However, our sensitivity will also decrease. In the specific case of environment noise, over exposure has made us forget the enchantment of certain sounds that used to give us pleasure or evoke good feelings by many ways, making us recall certain good things, bringing particular moments of our lives to our memory or even filling us with strong emotion. The Canadian composer and music educator, R. Murray Schafer, believes that noise pollution is the result of a society who became deaf. Closing our ears to noise protect us from noise pollution but also prevent us from grasping subtleties of listening. Contemporary world does not help us to be aware of sound in the space around us; acquiring this hearing ability is a matter of focus, interest and practice. Sound education exercises are aimed at children, teenagers and adults who want to improve their listening ability to environmental sounds, perceive its proprieties and learn how sound affects us and touches our feelings. The results are easy to accomplish and contribute to our awareness of the sound environment around us and to the conception of the environmental sound as a composition made by everybody and everything through positive actions, strong will and high sensitivity. Copyright © (2011) by the International Institute of Acoustics & Vibration.

Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Desempenho motor de aluno com paralisia cerebral discinética frente à adaptação das propriedades físicas de recurso pedagógico

The main purpose of this study was to analyze the modified physical properties of an educational resource for facilitating the handling of a child with dyskinetic cerebral palsy. The participant of the study was a six year old child with dyskinetic cerebral palsy enrolled in a regular early childhood education classroom. The educational resource that was selected was a brick game, in which the physical properties of weight, size and texture had been modified. The analysis was made regarding the quality of upper limb movement to the variables: righting index, scalar displacement (s), average speed (As) and time (t). The results showed that combined large size and heavy weight did not have a satisfactory outcome, affecting both grasping the educational resource and fitting. There was also inconsistency in children with cerebral palsy's responses. There is variation in the results, though a standard cannot be established. Thus, this study contributed to understanding the motor responses of a child with dyskinetic cerebral palsy when participating in a fitting activity with educational resources in which the physical properties had been modified.

Avaliação das propriedades mecânicas e da microestrutura de aços dissimilares ABNT 8620 e ABNT 6655 LN 28 soldados com arco pulsado com diferentes temperaturas de pré-aquecimento e tipos de tecimento

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Ciência cognitiva, sistêmica e filosofia Bergsoniana: uma reflexão acerca da vida em sua capacidade organizativa

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Soldagem GMAW-P robotizada de alumínio: influência do tipo de chanfro, tecimento e sentido de laminação na distorção

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)