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.

New Insight into the Mechanism of Action of Wasp Mastoparan Peptides: Lytic Activity and Clustering Observed with Giant Vesicles

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Relationship between global structural parameters and Enzyme Commission hierarchy: Implications for function prediction

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

Quark clustering and chiral symmetry breaking in nuclear matter

Chiral symmetry breaking at finite baryon density is usually discussed in the context of quark matter, i.e. a system of deconfined quarks. Many systems like stable nuclei and neutron stars however have quarks confined within nucleons. In this paper we construct a Fermi sea of three-quark nucleon clusters and investigate the change of the quark condensate as a function of baryon density. We study the effect of quark clustering on the in-medium quark condensate and compare results with the traditional approach of modeling hadronic matter in terms of a Fermi sea of deconfined quarks.

Design of hierarchical porous aluminas by using one-pot synthesis and different calcination temperatures

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação da diversidade genética entre acessos de mamoneira (Ricinus communis L.) por meio de caracteres morfoagronômicos

A divergência genética é um dos mais importantes parâmetros avaliados por melhoristas de plantas na fase inicial de um programa de melhoramento genético. O objetivo deste trabalho foi caracterizar 15 acessos de mamoneira por meio de caracteres morfoagronômicos. O experimento foi conduzido em Lavras, MG, no período de fevereiro a agosto de 2008. O delineamento experimental foi o de blocos ao acaso, com três repetições, e 25 plantas por parcela. Os caracteres avaliados foram: altura da planta, altura do caule, número de internódios, diâmetro do caule e número de racemos. Verificou-se a ocorrência de diferenças significativas pelo teste de F (P < 0,01), para o efeito de acessos para todas as variáveis estudadas. Foram estimadas as distâncias genéticas entre os acessos pelo método euclidiano. de acordo com o agrupamento, utilizando o método de Tocher e o método Hierárquico do Vizinho Mais Próximo, baseado na distância euclidiana houve a formação de quatro grupos distintos. Com base nos resultados obtidos neste trabalho, recomendam-se os cruzamentos entre acessos dos grupos I e IV, II e IV, e III e IV.

EVOLUTION OF ADENINE CLUSTERING IN 5S RIBOSOMAL-RNA

The frequency of adenine mononucleotides (A), dinucleotides (AA) and clusters, and the positions of clusters, were studied in 502 molecules of the 5S rRNA.All frequencies were reduced in the evolutive lines of vertebrates, plants and fungi, in parallel with increasing organismic complexity. No change was observed in invertebrates. All frequencies were increased in mitochondria, plastids and mycoplasmas. The presumed relatives to the ancestors of the organelles, Rhodobacteria alfa and Cyanobacteria, showed intermediate values, relative to the eubacterial averages. Firmibacterid showed very high number of cluster sites.Clusters were more frequent in single-stranded regions in all organisms. The routes of organelles and mycoplasmas accummulated clusters at faster rates in double-stranded regions. Rates of change were higher for AA and clusters than for A in plants, vertebrates and organeltes, higher for cluster sites and A in mycoplasmas, and higher for AA and A in fungi. These data indicated that selection pressures acted more strongly on adenine clustering than on adenine frequency.It is proposed that AA and clusters, as sites of lower informational content. have the property of tolerating positional variation in the sites of other molecules (or other regions of the same molecule) that interact with the adenines. This reasoning was consistent with the degrees of genic polymorphism. low in plants and vertebrates and high in invertebrates. In the eubacteria endosymbiontic or parasitic to eukaryotes, the more tolerant RNA would be better adapted to interactions with the homologous nucleus-derived ribosomal proteins: the intermediate values observed in their precursors were interpreted as preadaptive.Among other groups, only the Deinococcus-Thermus eubacteria showed excessive AA and cluster contents, possibly related to their peculiar tolerance to mutagens, and the Ciliates showed excessive AA contents, indicative of retention of primitive characters.

Clustering of rare earth in glasses, aluminum effect: experiments and modeling

Luminescent spectra of Eu3+-doped sol-gel glasses have been analyzed during the densification process and compared according to the presence or not of aluminum as a codoping ion. A transition temperature from hydrated to dehydroxyled environments has been found different for doped and codoped samples. However, only slight modifications have been displayed from luminescence measurements beyond this transition. To support the experimental analysis, molecular dynamics simulations have been performed to model the doped and codoped glass structures. Despite no evidence of rare earth clustering reduction due to aluminum has been found, the modeled structures have shown that the luminescent ions are mainly located in aluminum-rich domains. The synthesis of both experimental and numerical analyses has lead us to interpret the aluminum effect as responsible for differences in structure of the luminescent sites rather than for an effective dispersion of the rare earth ions. (C) 2004 Elsevier B.V. All rights reserved.

Structure, mobility and clustering of interstitial O in La2CuO4+delta in the limit of small delta

Anelastic spectra (elastic energy absorption as a function of temperature) are reported which provide evidence that excess O in La2CuO4+delta starts forming two different types of defects already at very low concentrations, where no phase separation or changes in the type of O intercalation are believed to occur. The absorption peak with the lowest activation enthalpy, H/k(B) = 5600 K, is visible at lowest values of delta and is attributed to the hopping of single interstitial O2- ions. The second process, with a slightly slower dynamics, appears at higher values of delta and soon becomes preponderant over the former process. The latter process is proposed to be due to stable pairs of O atoms and is put in connection with the formation of partially covalent bonds between interstitial and apical oxygen; such bonds would reduce the doping efficiency of excess O at increasing delta. The geometry of the interstitial O defect is discussed. O 1998 Published by Elsevier B.V. B.V. All rights reserved.

Hierarchical Assembly of CaMoO4 Nano-Octahedrons and Their Photoluminescence Properties

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Oviposition of a leaf-miner on Erythroxylum tortuosum (Erythroxylaceae) leaves: hierarchical variation of physical leaf traits

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estimates of genetic parameters, and cluster and principal components analyses of breeding values related to egg production traits in a White Leghorn population

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

Labeling index in pituitary adenomas evaluated by means of MIB-1: is there a prognostic role? A critical review

Objective: The present article presents an overview of the literature, and analyses the methods and the primary questions related to assessment of proliferation index using the Ki-67/MIB-1 labeling index in pituitary adenomas. Although atypical adenomas are characterized by their atypical morphological features by an elevated mitotic index, a Ki-67 (MIB-1) labeling index greater than 3% and extensive nuclear staining for p53, use of the proliferation index (LI) of pituitary adenomas in assessing the degree of tumor aggressiveness is a controversial topic in the literature, and there are disparate results involving many studies.Methods: A review of literature was carried out to correlate the role of Ki-67 LI and its correlation with clinical findings, tumor size, invasiveness, recurrence, adenoma subtype, adenoma doubling time, and pituitary carcinomas is addressed. Results: The prognosis cannot be predicted on the basis of the Ki-67 LI alone. Although there is no direct relation between Ki-67 LI and some of these variables and controversial data were found regarding some topics, our review justify the use of Ki-67 in the analysis of pituitary adenomas as an additional information for clinical decision.Conclusion: Although assessment of proliferative may be helpful in predicting subsequent tumor recurrence or invasiveness, there are many other important and as yet unidentified factors pituitary tumors. It is clear that further research is needed to clarify these molecular mechanisms to predict those with a potentially poor clinical outcome.

Comparative phylogeography of Trypanosoma cruzi TCIIc: New hosts, association with terrestrial ecotopes, and spatial clustering

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)