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.

Mapping of composite hadrons into elementary hadrons and effective hadronic Hamiltonians

A mapping technique is used to derive in the context of constituent quark models effective Hamiltonians that involve explicit hadron degrees of freedom. The technique is based on the ideas of mapping between physical and ideal Fock spaces and shares similarities with the quasiparticle method of Weinberg. Starting with the Fock-space representation of single-hadron states, a change of representation is implemented by a unitary transformation such that composites are redescribed by elementary Bose and Fermi field operators in an extended Fock space. When the unitary transformation is applied to the microscopic quark Hamiltonian, effective, hermitian Hamiltonians with a clear physical interpretation are obtained. Applications and comparisons with other composite-particle formalisms of the recent literature are made using the nonrelativistic quark model. (C) 1998 Academic Press.

Mapping soil pollution by spatial analysis and fuzzy classification

Spatial analysis and fuzzy classification techniques were used to estimate the spatial distributions of heavy metals in soil. The work was applied to soils in a coastal region that is characterized by intense urban occupation and large numbers of different industries. Concentrations of heavy metals were determined using geostatistical techniques and classes of risk were defined using fuzzy classification. The resulting prediction mappings identify the locations of high concentrations of Pb, Zn, Ni, and Cu in topsoils of the study area. The maps show that areas of high pollution of Ni and Cu are located at the northeast, where there is a predominance of industrial and agricultural activities; Pb and Zn also occur in high concentrations in the northeast, but the maps also show significant concentrations of Pb and Zn in other areas, mainly in the central and southeastern parts, where there are urban leisure activities and trade centers. Maps were also prepared showing levels of pollution risk. These maps show that (1) Cu presents a large pollution risk in the north-northwest, midwest, and southeast sectors, (2) Pb represents a moderate risk in most areas, (3) Zn generally exhibits low risk, and (4) Ni represents either low risk or no risk in the studied area. This study shows that combining geostatistics with fuzzy theory can provide results that offer insight into risk assessment for environmental pollution.

Mapping oil spill environmental sensitivity in cardoso island state park and surroundings areas, São Paulo, Brazil

This study presents an environmental oil spill sensitivity map of Cardoso Island State Park, located in São Paulo state, Brazil, including some of its surrounding areas. This map was designed following the procedures determined by the Brazilian Federal Environment Organ (Ministry of the Environment), which separates coastal habitats in different littoral sensitivity indexes (LSI) to oil spills. We have also analysed some seasonal variations in morphologic and textural parameters at the local marine beaches that could affect their sensitivity, having found that they are more sensitive during summer due to a wider foreshore zone during these periods. Local most sensitive habitats are estuarine mangroves (LSI 10) and estuarine mud banks (LSI 9). Marine beaches were ranked LSI 3, and littoral rocky shores were subdivided in exposed flat rocky shores (LSI 1), boulder rocky shores (LSI 6) and sheltered rocky shores (LSI 8). Due to the elevated sensitivity of an estuarine system in the area, we considered necessary the installation of an Environmental Emergency Centre and the design of an emergency plan for the region in case of an accident resulting in oil spills within its vicinities. (C) 2007 Elsevier Ltd. All rights reserved.

Clarifications on breakpoints in HSAX and BTAX by comparative mapping of F9, HPRT, and XIST in cattle

The coagulation factor IX gene (179), the hypoxanthine phosphoribosyl transferase 1 gene (HPRT1), and the X-inactive specific transcript gene (XIST) were physically assigned in cattle to analyze chromosomal breakpoints on BTAX recently identified by radiation hybrid (RH) mapping experiments. Whereas the FISH assignment of XIST indicates a similar location on the q-arm of the human and cattle X chromosomes, the locus of HPRT1 supported the assumption of a chromosome rearrangement between the distal half of the q-arm of HSAX and the p-arm of BTAX identified by RH mapping. F9 previously located on the Cl-arm of BTAX was assigned to the p-arm of BTAX using RH mapping and FISH. The suggested new position of F9 close to HPRT I supports the homology between HSAXq and BTAXp. The F9 locus corresponds with the gene order found in the homologous human chromosome segment. XIST was assigned on BTAXq23, HPRT1 and F9 were mapped to BTAXp22, and the verification of the location of F9 in a 5000 rad cattle-hamster whole genome radiation hybrid panel linked the gene to markers URB10 and HPRT1. Copyright (C) 2003 S. Karger AG, Basel.

Mapping QTLs on chicken chromosome 1 for performance and carcass traits in a broiler x layer cross

With the objective of mapping quantitative trait loci (QTLs) for performance and carcass traits, an F-2 chicken population was developed by crossing broiler and layer lines. A total of 2063 F-2 chicks in 21 full-sib families were reared as broilers and slaughtered at 42 days of age. Seventeen performance and carcass traits were measured. Parental (F-0) and F-1 individuals were genotyped with 80 microsatellites from chicken chromosome 1 to select informative markers. Thirty-three informative markers were used for selective genotyping of F-2 individuals with extreme phenotypes for body weight at 42 days of age (BW42). Based on the regions identified by selective genotyping, seven full-sib families (649 F-2 chicks) were genotyped with 26 markers. Quantitative trait loci affecting body weight, feed intake, carcass weight, drums and thighs weight and abdominal fat weight were mapped to regions already identified in other populations. Quantitative trait loci for weights of gizzard, liver, lungs, heart and feet, as well as length of intestine, not previously described in the literature were mapped on chromosome 1. This F-2 population can be used to identify novel QTLs and constitutes a new resource for studies of genes related to growth and carcass traits in poultry.

MAPPING CORRELATION-FUNCTIONS OF SCHWINGER AND AXIAL MODELS

We show that all Green's functions of the Schwinger and axial models can be obtained one from the other. In particular, we show that the two models have the same chiral anomaly. Finally it is demonstrated that the Schwinger model can keep gauge invariance for an arbitrary mass, dispensing with an additional gauge group integration.

Mapping eIF5A binding sites for Dys1 and Lia1: In vivo evidence for regulation of eIF5A hypusination

The evolutionarily conserved factor eIF5A is the only protein known to undergo hypusination, a unique posttranslational modification triggered by deoxyhypusine synthase (Dys1). Although eIF5A is essential for cell viability, the function of this putative translation initiation factor is still obscure. To identify eIF5A-binding proteins that could clarify its function, we screened a two-hybrid library and identified two eIF-5A partners in S. cerevisiae: Dys1 and the protein encoded by the gene YJR070C, named Lia1 (Ligand of eIF5A). The interactions were confirmed by GST pulldown. Mapping binding sites for these proteins revealed that both eIF5A domains can bind to Dys1, whereas the C-terminal domain is sufficient to bind Lia1. We demonstrate for the first time in vivo that the N-terminal α-helix of Dys1 can modulate enzyme activity by inhibiting eIF5A interaction. We suggest that this inhibition be abrogated in the cell when hypusinated and functional eIF5A is required. © 2003 Published by Elsevier B.V. on behalf of the Federation of European Biochemical Societies.

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.

Improving a process in a brazilian automotive plant applying process mapping, Design of Experiments and Discrete Events Simulation

The objective of this article is to apply the Design of Experiments technique along with the Discrete Events Simulation technique in an automotive process. The benefits of the design of experiments in simulation include the possibility to improve the performance in the simulation process, avoiding trial and error to seek solutions. The methodology of the conjoint use of Design of Experiments and Computer Simulation is presented to assess the effects of the variables and its interactions involved in the process. In this paper, the efficacy of the use of process mapping and design of experiments on the phases of conception and analysis are confirmed.

Sensory profile and preference mapping of orange cakes with addition of prebiotics inulin and oligofructose

Orange cakes with addition of inulin and oligofructose to justify a prebiotic claim (minimum of 3 g of fructans in a 60 g serving of cake) were investigated regarding sensory aspects. The sensory profile of cakes with inulin, with inulin/oligofructose and without prebiotics (standard cake) was evaluated using descriptive quantitative analysis. Preference mapping was assessed using multidimensional scaling on data obtained through an acceptability test with a nine-point hedonic scale. The cakes with prebiotics presented greater crust brownness, dough beigeness, hardness and stickiness than the standard cake and lower crumbliness. Principal Component Analysis (69.5 and 10.7% of explanation to the first and second principal components, respectively) showed that crust brownness, dough beigeness, hardness and stickiness contributed to distinguish the cakes with prebiotics from standard cakes. The sensory acceptability was similar for the three cakes and higher when compared to three commercial cakes, but the preference mapping showed that cakes with prebiotics were preferred to commercial cakes. Addition of prebiotics in orange cakes is feasible, based on the sensory results, which may facilitate marketing of this functional food with sensorial qualities equivalent to conventional products. © 2012 Elsevier Ltd.

Chromosome mapping of repetitive sequences in Anostomidae species: Implications for genomic and sex chromosome evolution

Background: Members of the Anostomidae family provide an interesting model system for the study of the influence of repetitive elements on genome composition, mainly because they possess numerous heterochromatic segments and a peculiar system of female heterogamety that is restricted to a few species of the Leporinus genus. The aim of this study was to isolate and identify important new repetitive DNA elements in Anostomidae through restriction enzyme digestion, followed by cloning, characterisation and chromosome mapping of this fragment. To identify repetitive elements in other Leporinus species and expand on studies of repetitive elements in Anostomidae, hybridisation experiments were also performed using previously described probes of LeSpeI repetitive elements. Results: The 628-base pair (bp) LeSpeII fragment was hybridised to metaphase cells of L. elongatus individuals as well as those of L. macrocephalus, L. obtusidens, L. striatus, L. lacustris, L. friderici, Schizodon borellii and S. isognathus. In L. elongatus, both male and female cells contained small clusters of LeSpeII repetitive elements dispersed on all of the chromosomes, with enrichment near most of the terminal portions of the chromosomes. In the female sex chromosomes of L. elongatus (Z2,Z2/W1W 2), however, this repeated element was absent. In the remaining species, a dispersed pattern of hybridisation was observed on all chromosomes irrespective of whether or not they were sex chromosomes. The repetitive element LeSpeI produced positive hybridisations signals only in L. elongatus, L. macrocephalus and L. obtusidens, i.e., species with differentiated sex chromosomes. In the remaining species, the LeSpeI element did not produce hybridisation signals. Conclusions: Results are discussed in terms of the effects of repetitive sequences on the differentiation of the Anostomidae genome, especially with respect to sex chromosome evolution. LeSpeII showed hybridisation patterns typical of Long Interspersed Elements (LINEs). The differential distribution of this element may be linked to sex chromosome differentiation in L. elongatus species. The relationship between sex chromosome specificity and the LeSpeI element is confirmed in the species L. elongatus, L. macrocephalus and L. obtusidens. © 2012 da Silva et al.; licensee BioMed Central Ltd.