Comparing support vector machines and artificial neural networks in the recognition of steering angle for driving of mobile robots 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 pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. 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 and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science

Influence of the addition of chlorhexidine diacetate on bond strength of a high-viscosity glass ionomer cement to sound and artificial caries-affected dentin

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Natural and anthropogenic influence on soil erosion in a rural watershed in the Brazilian southeastern region

Human activities have been driven land cover, provoking acceleration of the erosive process and alteration on the soil characteristics. To explore the effects of human disturbance, we investigated the influences of natural and anthropogenic features on soil quality and soil erosion indicators (EI) within a Brazilian rural watershed located in Bauru Municipality, State of So Paulo. A pre-established set of soil EI was used to evaluate the influence of anthropogenic land cover categories on the presence and severity of erosion, related with spatial variations of soil attributes. On-site visits were carried out to measure the occurrence and the intensity of eleven separate EI values and to collect undisturbed topsoil samples for subsequent analyses. We registered 17 occurrences of EIs, distributed in ten locals. Occurrence and intensity of EIs were related to degree of sheet erosion. The EI qualities were more strongly associated with land cover management practices than to local topographic features. The occurrence of EIs and characteristics of soil and soil organic matter (SOM) were not significantly self-correlated. Although land cover class seems to influence soil properties and SOM attributes, we observed that the granulometric composition of the soils also contributes to the structural characteristics of the soil and consequently to the dynamic loss and gain of soil carbon. Sites covered with natural remnant vegetation (NRV) store 96.5 Mg ha(-1) of C and grassy and tilled soils stored more C than NRV, 100.1 and 142.4 Mg ha(-1), respectively. Due to the influence of soil texture over the soil C dynamic, we observe that in Bauru, pastured areas have high potential for sequestration of C if factors such as fire and/or erosion were avoided or effectively controlled. Results from this study show that human disturbance substantially affects soil properties within of southeastern region of Brazil.

Antifungals and acetylcholinesterase inhibitors from the stem bark of Croton heliotropiifolius

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

The occurrence of UV filters in natural and drinking water in São Paulo State (Brazil)

Ultraviolet (UV) filters are widely used in the formulation of personal care products (PCPs) to prevent damage to the skin, lips, and hair caused by excessive UV radiation. Therefore, large amounts of these substances are released daily into the aquatic environment through either recreational activities or the release of domestic sewage. The concern regarding the presence of such substances in the environment and the exposure of aquatic organisms is based on their potential for bioaccumulation and their potential as endocrine disruptors. Although there are several reports regarding the occurrence and fate of UV filters in the aquatic environment, these compounds are still overlooked in tropical areas. In this study, we investigated the occurrence of the organic UV filters benzophenone-3 (BP-3), ethylhexyl salicylate (ES), ethylhexyl methoxycinnamate (EHMC), and octocrylene (OC) in six water treatment plants in various cities in Southeast Brazil over a period of 6 months to 1 year. All of the UV filters studied were detected at some time during the sampling period; however, only EHMC and BP-3 were found in quantifiable concentrations, ranging from 55 to 101 and 18 to 115 ng L(-1), respectively. Seasonal variation of BP-3 was most clearly noticed in the water treatment plant in Araraquara, São Paulo, where sampling was performed for 12 months. BP-3 was not quantifiable in winter but was quantifiable in summer. The levels of BP-3 were in the same range in raw, treated and chlorinated water, indicating that the compound was not removed by the water treatment process.

Shear strength of a natural and compacted tropical soil

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

Estimation of deposit and spray distribution in hydro sensible paper and morning glory plant

Herbicides application success depends, besides product correct choice, the observation of environmental conditions and application quality. The work aimed to quantify the effects of surfactant addition in spraying solution, in natural and artificial targets, associated to different nozzle boom angles in relation to application offset, by using distinct evaluation methods. Two experiments were conducted at NuPAM-FCA/UNESP, Botucatu County, São Paulo State, constituted by ten treatments, in factorial scheme 2 × 5, corresponding to two spraying solutions conditions (absence or presence of Aterbane BRTM (0.25% v/v) adjuvant) and five angles of spray nozzle in relation to offset application (-30°, -15°, 90°, +15° and +30°). In Ipomea grandifolia leaves, the distribution and drops deposition of a tracer solution were evaluated by using scores visual and spectrophotometer process. In hydro sensible papers, volumetric medium diameter (VMD), density (cm2 ) and drops medium diameter, covered area (%) and application fees (L ha-1) were evaluated through e-SprinkleTM software. Aterbane BRTM (0.25% v/v) presence or absence, associated or no, to spray nozzles offset did not provide significant differences in I. grandifolia spray deposition. The use of artificial targets presented applicative technical limitations in relation to the use of natural ones as study matrix. Deposit and distribution variables esteem distinct behaviours, independent of target nature.

Armazenamento e requerimento fotoblástico de sementes de Acacia polyphylla DC

Acacia polyphyla (Mimosaceae) é uma espécie arbórea nativa do Brasil, importante para a recuperação de áreas degradadas. Sementes dessa espécie foram armazenadas em condições naturais e artificiais, com os objetivos de avaliar a longevidade das sementes no solo, conservar a sua qualidade fisiológica pelo período correspondente a duas colheitas e verificar o requerimento fotoblástico das sementes armazenadas. em condições naturais, as sementes foram enterradas em clareira, sob dossel ralo e sob dossel denso. As sementes deterioraram rapidamente, revelando-se incapazes de compor o banco de sementes do solo. em condições artificiais, as sementes foram acondicionadas em diferentes embalagens e armazenadas por dois anos em ambiente não controlado e em câmara fria. Periodicamente, as sementes foram colocadas para germinar a 25ºC, na ausência de luz e sob fotoperíodo de oito horas sob luzes branca e de sombreamento. Durante todo o período de armazenamento, a germinação no escuro foi inferior à constatada sob luzes branca e de sombreamento. A qualidade fisiológica foi conservada por dois anos, quando as sementes foram acondicionadas em embalagem impermeável e armazenadas em câmara fria. O comportamento germinativo das sementes armazenadas por dois anos foi comparado com o de sementes recém-colhidas, em temperaturas constante e alternada, não sendo constatado efeito da idade e do regime de temperatura no requerimento fotoblástico das sementes.

Improving photoprotection of Beauveria bassiana conidia for biological control of the cactus pest Dactylopius opuntiae in the semiarid region northeast of Brazil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Limiarização contextual automática de imagens coloridas: aplicação na extração de sementes de rodovia

In this paper is a totally automatic strategy proposed to reduce the complexity of patterns ( vegetation, building, soils etc.) that interact with the object 'road' in color images, thus reducing the difficulty of the automatic extraction of this object. The proposed methodology consists of three sequential steps. In the first step the punctual operator is applied for artificiality index computation known as NandA ( Natural and Artificial). The result is an image whose the intensity attribute is the NandA response. The second step consists in automatically thresholding the image obtained in the previous step, resulting in a binary image. This image usually allows the separation between artificial and natural objects. The third step consists in applying a preexisting road seed extraction methodology to the previous generated binary image. Several experiments carried out with real images made the verification of the potential of the proposed methodology possible. The comparison of the obtained result to others obtained by a similar methodology for road seed extraction from gray level images, showed that the main benefit was the drastic reduction of the computational effort.

Florescimento e frutificação do maracujazeiro silvestre Passiflora setacea D. C. cultivado em Jaboticabal, SP

Muitas espécies de Passiflora apresentam comportamento florífero diferente durante o ano e, consequentemente, com variações nas produções e períodos de colheitas, como observado para o maracujazeiro-amarelo (Passiflora edulis sims). Estudo com espécies silvestre constitui-se numa importante alternativa para usos de novos genótipos no melhoramento das espécies cultivadas comercialmente, em especial, a Passiflora setacea, devido ao grande potencial de mercado; contudo, essa espécie é pouco estudada, principalmente em relação à propagação, germinação, floração e condições de armazenamento. Assim, o objetivo deste trabalho foi avaliar o florescimento e a frutificação do maracujazeiro silvestre Passiflora setacea cultivado em Jaboticabal-SP. A floração e a frutificação foram avaliadas pelo percentual de frutificação através da polinização natural e artificial das flores, realizado no período de agosto a outubro. As características físicas dos frutos foram avaliadas através dos seguintes parâmetros: a) massa do fruto (g); b) diâmetro longitudinal do fruto (cm); c) diâmetro transversal do fruto (cm); d) espessura da casca (cm); e) rendimento de polpa (%). A característica química foi determinada por meio do teor de sólidos solúveis (SS). Verificou-se que a Passiflora setacea apresentou precocidade de floração em relação ao maracujazeiro-amarelo, com florescimento durante o ano todo, nas condições de Jaboticabal-SP. Observou-se que essa espécie possui bom nível de tolerância às doenças foliares, resistência à morte precoce e apresenta diferentes níveis de compatibilidade entre as plantas, possibilitando a essas características serem utilizadas em programas de melhoramento genético. Constatou-se ainda que as características físicas encontradas nos frutos atendem às exigências da indústria.

Variação e parâmetros genéticos em teste de progênies de polinização livre de Peltophorum dubium (Sprengel) taubert em Luiz Antonio -SP

Intensive deforestation and forest fragmentation of the Brazilian forest biomes has contributed to increase the number of trees species under the risk of extinction. Peltophorum dubium (Sprengel) Taubert is one of these species. Some of its populations are being conserved ex situ by the Instituto Florestal de São Paulo through provenance and progeny tests. The aim of this study was to investigate the genetic variation and to estimate genetic parameters at age 24 years in a progeny test of P. dubium established in Luiz Antônio, São Paulo State, Brazil. The trial was established in a random block design, with six replications, five plants per plot and 18 open-pollinated progenies. Measured were: diameter at breast height (DBH), height and stem form. The genetic parameters heritability, genetic variation and effective population size were estimated. Significant genetic differences were observed only for DBH. This trait also presented a high coefficient of genetic variation (CV g=4.8%) and heritability, especially among progeny means (h m 2=0.6607). This indicates that DBH is the most indicated trait for selection in the population. The effective population size conserved ex situ in the test was estimated to be 38.9. Concerning genetic conservation, although the effective population size in the test is small, the values of the genetic variation and of the heritability indicate that the ex situ population has sufficient genetic variation and potential to respond to changes promoted by natural and artificial selection.

Contribuição diferencial de quatro famílias de aves dispersoras de sementes na recuperação de habitats florestais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação da fragilidade à erosão das margens do reservatório de Ilha Solteira - SP, utilizando as geotecnologias como ferramentas de análise ambiental

Pós-graduação em Engenharia Civil - FEIS

Aplicação do método respirométrico em wetlands para a determinação de parâmetros cinéticos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)