Development of a support vector machine-based navigation system for driving a mobile robot through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.

STOCHASTIC ADDING MACHINE AND 2-DIMENSIONAL JULIA SETS

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Integrated cutting machine programming and lot sizing in furniture industry

In this paper a mathematical model that combines lot-sizing and cutting-stock problems applied to the furniture industry is presented. The model considers the usual decisions of the lot sizing problems, as well as operational decisions related to the cutting machine programming. Two sets of a priori generated cutting patterns are used, industry cutting patterns and a class of n-group cutting patterns. A strategy to improve the utilization of the cutting machine is also tested. An optimization package was used to solve the model and the computational results, using real data from a furniture factory, show that a small subset of n-group cutting patterns provides good results and that the cutting machine utilization can be improved by the proposed strategy.

Introducing the Discriminative Paraconsistent Machine (DPM)

This paper introduces a new tool for pattern recognition. Called the Discriminative Paraconsistent Machine (DPM), it is based on a supervised discriminative model training that incorporates paraconsistency criteria and allows an intelligent treatment of contradictions and uncertainties. DPMs can be applied to solve problems in many fields of science, using the tests and discussions presented here, which demonstrate their efficacy and usefulness. Major difficulties and challenges that were overcome consisted basically in establishing the proper model with which to represent the concept of paraconsistency.

Cardiopulmonary bypass: development of John Gibbon's heart-lung machine

To provide a brief review of the development of cardiopulmonary bypass. A review of the literature on the development of extracorporeal circulation techniques, their essential role in cardiovascular surgery, and the complications associated with their use, including hemolysis and inflammation. The advancement of extracorporeal circulation techniques has played an essential role in minimizing the complications of cardiopulmonary bypass, which can range from various degrees of tissue injury to multiple organ dysfunction syndrome. Investigators have long researched the ways in which cardiopulmonary bypass may insult the human body. Potential solutions arose and laid the groundwork for development of safer postoperative care strategies. Steady progress has been made in cardiopulmonary bypass in the decades since it was first conceived of by Gibbon. Despite the constant evolution of cardiopulmonary bypass techniques and attempts to minimize their complications, it is still essential that clinicians respect the particularities of each patient's physiological function.

Preliminary diagnosis of ophtalmological diseases through machine learning techniques

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

Machine vision and planning applied on assembby line of multiple products

This article describes the use of Artificial Intelligence (IA) techniques applied in cells of a manufacturing system. Machine Vision was used to identify pieces and their positions of two different products to be assembled in the same productive line. This information is given as input for an IA planner embedded in the manufacturing system. Therefore, initial and final states are sent automatically to the planner capable to generate assembly plans for a robotic cell, in real time.

Traffic soil compaction of an oxisol related to soybean development and yield

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

A new approach to the granulation of beta-cyclodextrin inclusion complexes

Cyclodextrins (CDs) are annular oligosaccharides containing 6-12 glucose unities joined together by alpha-1,4 bonds. They have a conical-truncated shape with a lipophilic cavity in which different molecules can be included resulting in a stable inclusion complex. The cyclodextrins have been widely applied in pharmaceutical technology with the objective of increasing the solubility, stability and bioavailability of drugs in different pharmaceutical dosage forms, such as tablets. In order to obtain beta-CD tablets, liquid dispersions of drug/beta-CD are usually submitted to different drying processes, like spray-drying, freeze-drying or slow evaporation, being this dry material added to a number of excipients. However, such drying processes can generate particulate materials showing problems of flow and compressibility, needing their conversion into granulates by means of wetting with granulation liquid followed by additional drying. In this work, the main objective was to evaluate the preparation of tablets without the need of this additional drying step. For this purpose an aqueous dispersion containing acetaminophen/beta-CD complex and cornstarch was dried using a spouted bed and the obtained granules were compressed in tablets. Acetaminophen was used as model drug due to its low water solubility and the inexpensive and widely available cornstarch was chosen as excipient. Acetaminophen powder was added into a beta-cyclodextrin solution prepared in distilled water at 70 degrees C. Stirring was kept until this dispersion cooled to room temperature. Then cornstarch was added and the resulting dispersion was dried in spouted bed equipment. This material was compressed into tablets using an Erweka Korsh EKO tablet machine. This innovative approach allowed the tablets preparation process to be carried out with fewer steps and represents a technological reliable strategy to produce beta-cyclodextrin inclusion complexes tablets. (C) 2010 Elsevier By. All rights reserved.

Surface finishing of flat pieces when submitted to lapping kinematics on abrasive disc dressed under several overlap factors

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

Which kind of miniplate to use in mandibular sagittal split osteotomy? An in vitro study

This study verified the resistance to displacement of six miniplate fixation methods after sagittal split osteotomy (SSO). SSO was performed in 30 polyurethane synthetic mandible replicas. The distal segments were advanced (4 mm) and specimens were grouped according to the fixation method: four-hole standard miniplate; four-hole locking miniplate; six-hole standard miniplate; six-hole locking miniplate; six-hole standard sagittal miniplate; six-hole locking sagittal miniplate. Biomechanical evaluation was performed by applying compression loads to three points on the second molar region, using an Instron universal testing machine until a 3 mm displacement of the segments occurred. Compression loads able to produce 3 mm displacement were recorded in kN and subjected to analysis of variance (P < 0.01) and Tukey's tests for comparison between groups (P < 0.05). The locking sagittal miniplate showed higher resistance to displacement than the regular four- and six-hole locking and standard miniplates. No significant differences were observed between the locking sagittal miniplate and the regular sagittal or the four-hole locking miniplates. Two of the three groups with the best results had locking plate fixation methods. Fixation of SSO with a single miniplate is better accomplished using six-hole locking sagittal miniplates, six-hole standard sagittal miniplates, or four-hole locking miniplates; these methods are more resistant to displacement.

Evaluation of the Bond Strength of Denture Base Resins to Acrylic Resin Teeth: Effect of Thermocycling

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

Shear bond strength of aesthetic materials bonded to Ni-Cr alloy

Objectives. This study was undertaken to evaluate the shear bond strength of four materials used as aesthetic material bonded to Ni-Cr alloy.Methods. Sixty-eight alloy discs were prepared and divided equally into four groups, and received four treatments for veneering: conventional feldspathic porcelain (Noritake EX-3) and three light-cured prosthodontic composite resins (Artglass, Solidex and Targis). The aesthetic materials were applied after metal structure conditioning in accordance with the manufacturers' recommendations. The specimens were stored in distilled water at 37 degreesC for 7 days. A universal testing machine was used to measure the shear bond strength of the specimens at a cross head speed of 0.5 mm/min. Fractured specimens were examined by using both optical and scanning electron microscope.Results. The analysis of variance and Tukey's test showed that the strongest mean shear bond was obtained with Noritake EX-3 (mean shear bond strength 42.90 +/- 7.82 MPa). For composites, the highest mean shear bond strength was observed for Targis (12.30 +/- 1.57 MPa); followed by Solidex (11.94 +/- 1.04 MPa) and Artglass (10.04 +/- 0.75 MPa). Optical analysis of the fractured surf aces indicated that for Targis and Noritake EX-3 all failures were a mixture of both cohesive and adhesive patterns. As for Artglass and Solidex, the fractures were mainly adhesive in nature.Conclusions. The Solidex system was equivalent to the Targis system in bond strength and exhibited greater strength than the Artglass system. The porcelain fused-to-metal showed considerably higher shear bond strength than the three metal-resin bonding techniques. (C) 2003 Elsevier B.V. Ltd. Ali rights reserved.

Effect of metal conditioners on the adhesive bonding of resin cements to cast titanium

Objective: To assess the effect of metal conditioners on the bond strength between resin cements and cast titanium. Method and Materials: Commercially pure titanium (99.56%) was cast using an arc casting machine. Surfaces were finished with 400-grit silicon carbide paper followed by air abrasion with 50-mu m aluminum oxide. A piece of double-coated tape with a 4-mm circular hole was then positioned on the metal surface to control the area of the bond. The prepared surfaces were then divided into 4 groups (n=10): G1, unprimed Panavia F; G2, Alloy Primer-Panavia F; G3, unprimed Bistite DC; G4, Metaltite-Bistite DC. Forty minutes after insertion of the resin cements, the specimens were detached from the mold and stored in water at 37 C for 24 hours. Shear bond strength was performed in a testing machine (MTS 810) at a crosshead speed of 0.5 mm/min. Data were analyzed using ANOVA and Tukey's test with a .05 significance level. The fractured surfaces were observed through an optical microscope at 10x magnification. Results: the G1 group demonstrated significantly higher shear bond strength (17.95 MPa) than the other groups. G3 (13.79 MPa) and G4 (12.98 MPa) showed similar mean values to each other and were statistically superior to G2 (9.31 MPa). Debonded surfaces generally presented adhesive failure between metal surfaces and resin cements. Conclusion: While the Metaltite conditioner did not influence the bond strength of the Bistite DC cement, the Alloy Primer conditioner significantly decreased the mean bond strength of the Panavia F cement.

Bond strength of different endodontic sealers to dentin: push-out test

Objective: The aim of this in vitro study was to evaluate the bond strength of different root canal sealers to dentin. Material and Methods: Forty extracted single-rooted human teeth were examined and the coronal and middle thirds of the canals were prepared with a 1.50 mm post drill (FibreKor Post System, Pentron). The teeth were allocated in two experimental groups, irrigated with 2.5% NaOCl+17% EDTA or saline solution (control group) and instrumented using Race rotary files (FKG) to a size #40 at the working length. Then, the groups were divided into four subgroups and filled with Epiphany sealer (Group 1), EndoREZ (Group 2), AH26 (Group 3) and Grossman's Sealer (Group 4). After 2 weeks of storage in 100% humidity at 37 degrees C, all teeth were sectioned transversally into 2-mm-thick discs. Push-out tests were performed at a cross-head speed of 1 mm/min using a universal testing machine. The maximum load at failure was recorded and expressed in MPa. Results: Means (+/- SD) in root canals irrigated with 2.5% NaOCl and 17% EDTA were: G1 (21.6 +/- 6.0), G2 (15.2 +/- 3.7), G3 (14.6 +/- 4.5) and G4 (11.7 +/- 4.1). Two-way ANOVA and Tukey's test showed the highest bond strength for the Epiphany's group (p < 0.01) when compared to the other tested sealers. Saline solution decreased the values of bond-strength (p < 0.05) for all sealers. Conclusion: Epiphany sealer presented higher bond strength values to dentin in both irrigating protocols, and the use of 2.5% NaOCl and 17% EDTA increased the bond strength values for all sealers.