Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

Beneficial effects of fermented vegetal beverages on human gastrointestinal microbial ecosystem in a simulator

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

Fermentation by gut microbiota cultured in a simulator of the human intestinal microbial ecosystem is improved probiotic Enterococcus faecium CRL 183

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

Assessing the dynamic of structural changes in Cerrado vegetation of protected and non-protected areas using NDVI

The structure of Brazilian savannah, named locally as “cerrado”, tends to change if the human pressures, such as pasture and intensive fire, are suppressed showing a densification of the physiognomies throughout the time. Vegetation Index acquired from remotely sensed data has been a proper way to study and monitoring large areas, and the Normalized Difference Vegetation Index (NDVI) is one of the most used for this purpose. The aim of this study was to assess the dynamic of structural changes in protected and non-protected areas of cerrado vegetation using NDVI. For this purpose, three cerrado fragments in the state of São Paulo, Brazil, were evaluated for a 26 year time span from 1985 and 2011, being two of them protected against anthropogenic interference. Landsat 5 –Thematic Mapper images were used and processed in ArcGIS. In the protected areas NDVI indicated that the vegetation followed the expected trend of changes for cerrado, with more open physiognomies tending to be denser throughout this period of 26 years, whereas in the non-protected fragment the NDVI evidences human pressure, showing lower phytomass in 2011. NDVI showed to be efficient in detecting and monitoring changes in cerrado vegetation structure, and can be useful to study both, the natural dynamics of cerrado vegetation and the anthropogenic interference in protected areas.