Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.

JSEG-based image segmentation in computer vision for agricultural mobile robot navigation

This project aims to apply image processing techniques in computer vision featuring an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained.

Distribution network planning using a constructive heuristic algorithm

An optimization technique to solve distribution network planning (DNP) problem is presented. This is a very complex mixed binary nonlinear programming problem. A constructive heuristic algorithm (CHA) aimed at obtaining an excellent quality solution for this problem is presented. In each step of the CHA, a sensitivity index is used to add a circuit or a substation to the distribution network. This sensitivity index is obtained solving the DNP problem considering the numbers of circuits and substations to be added as continuous variables (relaxed problem). The relaxed problem is a large and complex nonlinear programming and was solved through an efficient nonlinear optimization solver. A local improvement phase and a branching technique were implemented in the CHA. Results of two tests using a distribution network are presented in the paper in order to show the ability of the proposed algorithm. ©2009 IEEE.

Network reconfiguration of distribution systems using metaheuristics and reliability measures

In an evermore competitive environment, power distribution companies need to continuously monitor and improve the reliability indices of their systems. The network reconfiguration (NR) of a distribution system is a technique that well adapts to this new deregulated environment for it allows improvement of system reliability indices without the onus involved in procuring new equipment. This paper presents a reliability-based NR methodology that uses metaheuristic techniques to search for the optimal network configuration. Three metaheuristics, i.e. Tabu Search, Evolution Strategy, and Differential Evolution, are tested using a Brazilian distribution network and the results are discussed. © 2009 IEEE.

An investigations on local and global behavior of a (SMA) oscillator of 3 - DOF driven by a limited power supply

SMART material systems offer great possibilities in terms of providing novel and economical solutions to engineering problems. The technological advantages of these materials over traditional ones are due to their unique microstructure and molecular properties. Smart materials such as shape memory alloys (SMA), has been used in such diverse areas of engineering science, nowadays. In this paper, we present a numerical investigation of the dynamics interaction of a nonideal structure (NIS). We analyze the phenomenon of the passage through resonance region in the steady state processes. We remarked that this kind of problem can lead to the so-called Sommerfeld effect: steady state frequencies of the DC motor will usually increase as more power (voltage) is given to it in a step-by-step fashion. When a resonance condition with the structure it is reached, the better part of this energy it is consumed to generate large amplitude vibrations of the foundation without sensible change of the motor frequency as before. The results obtained by using numerical simulations are discussed in details. Copyright © 2009 by ASME.

ANN statistical image recognition method for computer vision in agricultural mobile robot navigation

The main application area in this project, is to deploy image processing and segmentation techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. Thereby, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for image recognition. Hence, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave computational platforms, along with the application of customized Back-propagation Multilayer Perceptron (MLP) algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of segmented images in which reasonably accurate results were obtained. © 2010 IEEE.

Statistical model applied to NetFlow for network intrusion detection

The computers and network services became presence guaranteed in several places. These characteristics resulted in the growth of illicit events and therefore the computers and networks security has become an essential point in any computing environment. Many methodologies were created to identify these events; however, with increasing of users and services on the Internet, many difficulties are found in trying to monitor a large network environment. This paper proposes a methodology for events detection in large-scale networks. The proposal approaches the anomaly detection using the NetFlow protocol, statistical methods and monitoring the environment in a best time for the application. © 2010 Springer-Verlag Berlin Heidelberg.

Network node with wireless and wired interfaces: Nios II processor and uClinux to development of a NCAP embedded (IEEE 1451.1) with two interfaces, wireless (IEEE 1451.5) and wired (IEEE p1451.2)

This paper presents a NCAP embedded on DE2 kit with Nios II processor and uClinux to development of a network gateway with two interfaces, wireless (ZigBee) and wired (RS232) based on IEEE 1451. Both the communications, wireless and wired, were developed to be point-to-point and working with the same protocols, based on IEEE 1451.0-2007. The tests were made using a microcomputer, which through of browser was possible access the web page stored in the DE2 kit and send commands of control and monitoring to both TIMs (WTIM and STIM). The system describes a different form of development of the NCAP node to be applied in different environments with wired or wireless in the same node. © 2011 IEEE.

HW/SW for an intelligent transducer network based on IEEE 1451 standard

This work describes a hardware/software co-design system development, named IEEE 1451 platform, to be used in process automation. This platform intends to make easier the implementation of IEEE standards 1451.0, 1451.1, 1451.2 and 1451.5. The hardware was built using NIOS II processor resources on Alteras Cyclone II FPGA. The software was done using Java technology and C/C++ for the processors programming. This HW/SW system implements the IEEE 1451 based on a control module and supervisory software for industrial automation. © 2011 Elsevier B.V.

Transmission network expansion planning considering phase-shifter transformers

This paper presents a novel mathematical model for the transmission network expansion planning problem. Main idea is to consider phase-shifter (PS) transformers as a new element of the transmission system expansion together with other traditional components such as transmission lines and conventional transformers. In this way, PS are added in order to redistribute active power flows in the system and, consequently, to diminish the total investment costs due to new transmission lines. Proposed mathematical model presents the structure of a mixed-integer nonlinear programming (MINLP) problem and is based on the standard DC model. In this paper, there is also applied a specialized genetic algorithm aimed at optimizing the allocation of candidate components in the network. Results obtained from computational simulations carried out with IEEE-24 bus system show an outstanding performance of the proposed methodology and model, indicating the technical viability of using these nonconventional devices during the planning process. Copyright © 2012 Celso T. Miasaki et al.

Tratamento da endometriose peritoneal com injeção local de ácido acetilsalicítico: estudo experimental em coelhas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Relações de produção e apoio intitucional no arranjo produtivo local de pisos e revestimentos cerâmicos de Santa Gertrudes

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Middleware de comunicação entre objetos distribuídos para gerenciamento de computadores baseado em redes sem fio (WSE-OS)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Construção, caracterização global e local de redes biológicas

A Biologia Sistêmica visa a compreensão da vida através de modelos integrativos que enfatizem as interações entre os diferentes agentes biológicos. O objetivo é buscar por leis universais, não nas partes componentes dos sistemas mas sim nos padrões de interação dos elementos constituintes. As redes complexas biológicas são uma poderosa abstração matemática que permite a representação de grandes volumes de dados e a posterior formulação de hipóteses biológicas. Nesta tese apresentamos as redes biológicas integradas que incluem interações oriundas do metabolismo, interação física de proteínas e regulação. Discutimos sua construção e ferramentas para sua análise global e local. Apresentamos também resultados do uso de ferramentas de aprendizado de máquina que nos permitem compreender a relação entre propriedades topológicas e a essencialidade gênica e a previsão de genes mórbidos e alvos para drogas em humanos

Social wasp-flower visiting guild interactions in less structurally complex habitats are more susceptible to local extinction

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