Performance evaluation of 3D computer vision techniques

This work presents the implementation and comparison of three different techniques of three-dimensional computer vision as follows: • Stereo vision - correlation between two 2D images • Sensorial fusion - use of different sensors: camera 2D + ultrasound sensor (1D); • Structured light The computer vision techniques herein presented took into consideration the following characteristics: • Computational effort ( elapsed time for obtain the 3D information); • Influence of environmental conditions (noise due to a non uniform lighting, overlighting and shades); • The cost of the infrastructure for each technique; • Analysis of uncertainties, precision and accuracy. The option of using the Matlab software, version 5.1, for algorithm implementation of the three techniques was due to the simplicity of their commands, programming and debugging. Besides, this software is well known and used by the academic community, allowing the results of this work to be obtained and verified. Examples of three-dimensional vision applied to robotic assembling tasks ("pick-and-place") are presented.

Hot tool temperature analysis though infrared images

Textile manufacture occupies a prominent place in the national economy. Because of its importance researches have been made on the development of new materials, equipment and methods used in the production process. The cutting of textiles starts in the basic stage, to be followed by the process of the making of clothes and other articles. In the hot cutting of fabric, one of the variables of great importance in the control of the process is the contact temperature between the tool and the fabric. This work presents a technique for the measurement of the temperature based on the processing of infrared images. With this purpose, it was developed a system which is composed of an infrared camera, a framegrabber PC board and a software which analyses the punctual temperature in the cut area enabling the operator to achieve the necessary control of other variables involved in the process.

INFLUENCE OF THE GLYPHOSATE FORMULATIONS ON WETTABILITY AND EVAPORATION TIME OF DROPLETS ON DIFFERENT TARGETS

ABSTRACTEfficiency of weed control can be increased if the herbicide formulation provides higher target coverage and evaporation time that enable an adequate distribution of herbicide on the target plant, allowing the absorption to continue even after the droplets evaporation. The aim of this research was to assess the influence of glyphosate formulations on the wetted area and evaporation time of droplets on different targets. Tests were conducted with droplets sizing from 500 μm containing three formulations of glyphosate (isopropylamine salt, ammonium salt and potassium salt) deposited on three surfaces, two leaves (Bidens pilosa and Cenchrus echinatus) and glass slides. Sequential images analyses were used to quantify the evaporation time and the wetted area. An experimental system was utilized that was composed of a droplet generator, a stereo microscope with a camera to capture images, as well as an environmental chamber controlled for temperature and relative humidity. The kind of glyphosate formulations and target surfaces are crucial in the wetted area and evaporation time. The isopropylamine salt decreased the wetted area and evaporation time when compared with ammonium salt and potassium salt for all the surfaces deposited on. Bidens pilosa allows an increased wetted area for all the glyphosate formulations when compared to Cenchrus echinatus and glass slides.

The renal and hepatic distribution of Bence Jones proteins depends on glycosylation: a scintigraphic study in rats

The aim of the present study was to evaluate renal and liver distribution of two monoclonal immunoglobulin light chains. The chains were purified individually from the urine of patients with multiple myeloma and characterized as lambda light chains with a molecular mass of 28 kDa. They were named BJg (high amount of galactose residues exposed) and BJs (sialic acid residues exposed) on the basis of carbohydrate content. A scintigraphic study was performed on male Wistar rats weighing 250 g for 60 min after iv administration of 1 mg of each protein (7.4 MBq), as the intact proteins and also after carbohydrate oxidation. Images were obtained with a Siemens gamma camera with a high-resolution collimator and processed with a MicroDelta system. Hepatic and renal distribution were established and are reported as percent of injected dose. Liver uptake of BJg was significantly higher than liver uptake of BJs (94.3 vs 81.4%) (P<0.05). This contributed to its greater removal from the intravascular compartment, and consequently lower kidney accumulation of BJg in comparison to BJs (5.7 vs 18.6%) (P<0.05). After carbohydrate oxidation, there was a decrease in hepatic accumulation of both proteins and consequently a higher renal overload. The tissue distribution of periodate-treated BJg was similar to that of native BJs: 82.7 vs 81.4% in the liver and 17.3 vs 18.6% in the kidneys. These observations indicate the important role of sugar residues of Bence Jones proteins for their recognition by specific membrane receptors, which leads to differential tissue accumulation and possible toxicity

Methylmercury intoxication and histochemical demonstration of NADPH-diaphorase activity in the striate cortex of adult cats

The effects of methylmercury (MeHg) on histochemical demonstration of the NADPH-diaphorase (NADPH-d) activity in the striate cortex were studied in 4 adult cats. Two animals were used as control. The contaminated animals received 50 ml milk containing 0.42 µg MeHg and 100 g fish containing 0.03 µg MeHg daily for 2 months. The level of MeHg in area 17 of intoxicated animals was 3.2 µg/g wet weight brain tissue. Two cats were perfused 24 h after the last dose (group 1) and the other animals were perfused 6 months later (group 2). After microtomy, sections were processed for NADPHd histochemistry procedures using the malic enzyme method. Dendritic branch counts were performed from camera lucida drawings for control and intoxicated animals (N = 80). Average, standard deviation and Student t-test were calculated for each data group. The concentrations of mercury (Hg) in milk, fish and brain tissue were measured by acid digestion of samples, followed by reduction of total Hg in the digested sample to metallic Hg using stannous chloride followed by atomic fluorescence analysis. Only group 2 revealed a reduction of the neuropil enzyme activity and morphometric analysis showed a reduction in dendritic field area and in the number of distal dendrite branches of the NADPHd neurons in the white matter (P<0.05). These results suggest that NADPHd neurons in the white matter are more vulnerable to the long-term effects of MeHg than NADPHd neurons in the gray matter.

Ethological analysis of mother-pup interactions and other behavioral reactions in rats: effects of malnutrition and tactile stimulation of the pups

Mother-pup interaction, as well as other behavioral reactions were studied during the lactation period in 24 litters of Wistar rats and their dams fed either a 16% (control - C; 12 litters) or a 6% (malnourished - M; 12 litters) protein diet. The diets were isocaloric. Throughout lactation there was a 36.4% weight loss of M dams and a 63% body weight deficit in the M pups when compared to control pups. During this period, half of the litters were exposed daily to additional tactile stimulation (CS or MS), while the other half were submitted to normal rearing conditions (CN or MN). The tactile stimulation of pups (handling) consisted of holding the animal in one hand and gently touching the dorsal part of the animal's body with the fingers for 3 min. A special camera and a time-lapse video were used to record litter behavior in their home cages. Starting at 6 p.m. and ending at 6 a.m., on days 3, 6, 12, 15, 18 and 21 of lactation, photos were taken at 4-s intervals. An increase in the frequency (154.88 ± 16.19) and duration (455.86 ± 18.05 min) of suckling was observed throughout the lactation period in all groups compared to birth day (frequency 24.88 ± 2.37 and duration 376.76 ± 21.01 min), but the frequency was higher in the C (84.96 ± 8.52) than in the M group (43.13 ± 4.37); however, the M group (470.2 ± 11.87 min) spent more time suckling as compared with the C group (393.67 ± 13.09 min). The M dams showed a decreased frequency of resting position throughout the lactation period (6.5 ± 2.48) compared to birth day (25.42 ± 7.74). Pups from the C group were more frequently observed separated (73.02 ± 4.38) and interacting (258.99 ± 20.61) more with their mothers than the M pups (separated 66.94 ± 5.5 and interacting 165.72 ± 12.05). Tactile stimulation did not interact with diet condition, showing that the kind of stimulation used in the present study did not lead to recovery from the changes induced by protein malnutrition. The changes in mother-pup interaction produced by protein malnutrition of both may represent retardation in neuromotor development and a higher dependence of the pups on their mothers. These changes may represent an important means of energy saving and heat maintenance in malnourished pups.

Defense reaction induced by a metabotropic glutamate receptor agonist microinjected into the dorsal periaqueductal gray of rats

The behavioral effects of trans-(±)-1-amino-1,3-cyclopentanedicarboxylic acid (t-ACPD), a metabotropic glutamate receptor (mGluR) agonist, or 0.9% (w/v) saline, injected into the dorsal periaqueductal gray (DPAG), was investigated. Male Wistar rats showed defense reactions characterized by jumps toward the top edges of the cages (saline = 0 vs t-ACPD = 6.0, medians P<0.05) and gallops (saline = 0 vs t-ACPD = 10.0, medians P<0.05) during the 60-s period after the beginning of the injection. In another experiment animals were placed inside an open arena for 5 min immediately after injection. Their behavior was recorded by a video camera and a computer program analyzed the videotapes. Eleven of fifteen rats injected with t-ACPD showed a short-lasting (about 1 min) flight reaction. No saline-treated animal showed this reaction (P<0.0005, chi-square test). The drug induced an increase in turning behavior (P = 0.002, MANOVA) and a decrease in the number of rearings (P<0.001, MANOVA) and grooming episodes (P<0.001, MANOVA). These results suggest that mGluRs play a role in the control of defense reactions in the DPAG.

Determination of macromolecular exchange and PO2 in the microcirculation: a simple system for in vivo fluorescence and phosphorescence videomicroscopy

We have developed a system with two epi-illumination sources, a DC-regulated lamp for transillumination and mechanical switches for rapid shift of illumination and detection of defined areas (250-750 µm²) by fluorescence and phosphorescence videomicroscopy. The system permits investigation of standard microvascular parameters, vascular permeability as well as intra- and extravascular PO2 by phosphorescence quenching of Pd-meso-tetra (4-carboxyphenyl) porphine (PORPH). A Pechan prism was used to position a defined region over the photomultiplier and TV camera. In order to validate the system for in vivo use, in vitro tests were performed with probes at concentrations that can be found in microvascular studies. Extensive in vitro evaluations were performed by filling glass capillaries with solutions of various concentrations of FITC-dextran (diluted in blood and in saline) mixed with different amounts of PORPH. Fluorescence intensity and phosphorescence decay were determined for each mixture. FITC-dextran solutions without PORPH and PORPH solutions without FITC-dextran were used as references. Phosphorescence decay curves were relatively unaffected by the presence of FITC-dextran at all concentrations tested (0.1 µg/ml to 5 mg/ml). Likewise, fluorescence determinations were performed in the presence of PORPH (0.05 to 0.5 mg/ml). The system was successfully used to study macromolecular extravasation and PO2 in the rat mesentery circulation under controlled conditions and during ischemia-reperfusion.

Pupil size following dark adaptation in patients with retinitis pigmentosa

According to the equivalent light hypothesis, molecular defects in the photoreceptor lead to a continuous activation of the photoreceptor cascade in a manner equivalent to real light. The consequences in diseases such as retinitis pigmentosa (RP) are as disruptive to the cells as real light. Two forms of the equivalent light hypothesis can be distinguished: strong - mutations in rhodopsin or other cascade proteins in some forms of RP continuously excite the visual phototransduction cascade; weak - disruption of outer segments in all patients with RP eliminates circulating dark current and blocks neurotransmitter release in a manner similar to real light. Both forms of the equivalent light hypothesis predict that pupils of patients with RP will be constricted like those of normal subjects in the light. The purpose of this study was to test the equivalent light hypothesis by determining whether steady-state pupil diameter following full dark adaptation is abnormally small in any of a sample of patients with RP. Thirty-five patients with RP and 15 normal subjects were tested. Direct steady-state pupillometric measures were obtained from one eye in a full-field dome after 45 min of dark adaptation by videotaping the pupil with an infrared camera. Mean pupil diameter in the dark was comparable (t = -0.15, P = 0.88) between patients with RP (6.85 ± 0.58 mm) and normal subjects (6.82 ± 0.76 mm). The results of the present study are clearly counter to the prediction of the second (weaker) form of the equivalent light hypothesis.

Fingerprinting of cell lines by directed amplification of minisatellite-region DNA (DAMD)

The development of in vitro propagation of cells has been an extraordinary technical advance for several biological studies. The correct identification of the cell line used, however, is crucial, as a mistaken identity or the presence of another contaminating cell may lead to invalid and/or erroneous conclusions. We report here the application of a DNA fingerprinting procedure (directed amplification of minisatellite-region DNA), developed by Heath et al. [Nucleic Acids Research (1993) 21: 5782-5785], to the characterization of cell lines. Genomic DNA of cells in culture was extracted and amplified by PCR in the presence of VNTR core sequences, and the amplicons were separated by agarose gel electrophoresis. After image capture with a digital camera, the banding profiles obtained were analyzed using a software (AnaGel) specially developed for the storage and analysis of electrophoretic fingerprints. The fingerprints are useful for construction of a data base for identification of cell lines by comparison to reference profiles as well as comparison of similar lines from different sources and periodic follow-up of cells in culture.

Pharmacology of human experimental anxiety

This review covers the effect of drugs affecting anxiety using four psychological procedures for inducing experimental anxiety applied to healthy volunteers and patients with anxiety disorders. The first is aversive conditioning of the skin conductance responses to tones. The second is simulated public speaking, which consists of speaking in front of a video camera, with anxiety being measured with psychometric scales. The third is the Stroop Color-Word test, in which words naming colors are painted in the same or in a different shade, the incongruence generating a cognitive conflict. The last test is a human version of a thoroughly studied animal model of anxiety, fear-potentiated startle, in which the eye-blink reflex to a loud noise is recorded. The evidence reviewed led to the conclusion that the aversive conditioning and potentiated startle tests are based on classical conditioning of anticipatory anxiety. Their sensitivity to benzodiazepine anxiolytics suggests that these models generate an emotional state related to generalized anxiety disorder. On the other hand, the increase in anxiety determined by simulated public speaking is resistant to benzodiazepines and sensitive to drugs affecting serotonergic neurotransmission. This pharmacological profile, together with epidemiological evidence indicating its widespread prevalence, suggests that the emotional state generated by public speaking represents a species-specific response that may be related to social phobia and panic disorder. Because of scant pharmacological data, the status of the Stroop Color-Word test remains uncertain. In spite of ethical and economic constraints, human experimental anxiety constitutes a valuable tool for the study of the pathophysiology of anxiety disorders.

Morphological characterization with image analysis of cocoa beverage powder agglomerated with steam

In this study, the morphological characteristics of cocoa beverage powder granules under minimal, average, and maximal process conditions of a steam agglomerator were studied. a stereoscopic microscope coupled to a digital camera was used for the morphological analysis. The images were analyzed to obtain shape and size descriptors. aiming to evaluate the descriptors, 150 particles were analyzed. The results showed that there was no difference between the shape descriptors - compacity, circularity, roughness, and aspect ratio - in the operating conditions evaluated. It was observed that the cocoa beverage powder granules are elongated in shape. The size descriptors, area, perimeter, perimeter of convex bounding polygon, minimal and maximal Feret diameter, were different in the process conditions for the granules of size above 600 μm. as for the minimal process conditions, especially due to low solid feed rates, there is an increase in the size descriptor values. In addition, under the minimum process conditions, in which there is low solid feed rate (400g/min) for a steam pressure of 1.0 bar, it was obtained a good granular condition with retention of 81.1% of granules on sieves with aperture size between 300 and 1190 μm.

Seed anatomy and germination of Phoenix roebelenii O'Brien (Arecaceae)

The objective of this study was to investigate the morphology, anatomy and germination behaviour of Phoenix roebelenii seeds. Biometric data were obtained by measuring 100 seeds extracted from recently harvested fruits and air-dried for one day. Four replications of 50 seeds each were previously treated with Vitavax-Thiran and then put to germinate in Sphagnum sp. in plastic trays at room temperature. Morphological details of the seeds were documented with the help of a scanning electronic microscope and then drawings were made with the help of a clear camera coupled to a stereomicroscope. Permanent lamina containing embryo sections were prepared to study its anatomy. The mean dimensions of the seeds were: length of 10.32mm, width of 5.21mm and thickness of 3.91mm. The weight of one thousand seeds was of 151.1g and the mean number of units.kg-1 was 6,600. Germination started between 27 and 58 days after sowing. The seeds are of the albuminous type, the endosperm is hard and the embryo (which is not clearly differentiated) occupies a lateral and peripheral position. During seed germination, seedling protrusion begins with the opening of an operculum, through which the cotyledon petiole is emitted with the embryonic axis at its tip. The portion of the cotyledon petiole that remains inside the seeds acts as a haustorium for the absorption of nutrients from the endosperm. The plumule emerges through a rift in the posterior part of the cotyledon. Secondary roots are observed to grow from the anterior part of the primary root.

Inoculação de Curtobacterium flaccumfaciens pv. flaccumfaciens em sementes de feijão por meio da técnica de condicionamento fisiológico

Neste estudo foi testada a técnica de condicionamento fisiológico em meio agarizado para inoculação de Curtobacterium flaccumfaciens pv. flaccumfaciens (Cff) em sementes de feijão. Na primeira etapa, avaliou-se o comportamento das sementes de feijão cultivar Pérola, durante o pré-condicionamento osmótico em substrato agarizado com restrição hídrica. Os tratamentos consistiram em expor, por diferentes períodos de tempo, sementes de feijão desinfestadas a quatro níveis de restrição hídrica do meio 523 (-0,55, -0,75, -0,95 e -1,15 MPa), com o uso de quatro substratos (meio 523, meio 523+KCl, meio 523+manitol e meio 523+sacarose). Como testemunha, utilizou-se o meio 523 sem restrição hídrica (-0,55 MPa). Decorridos os respectivos tempos, avaliou-se a percentagem de sementes com protrusão radicular e, posteriormente, o teor de água, a germinação e os padrões enzimáticos das sementes. Na segunda etapa do estudo, avaliou-se o crescimento de quatro isolados de Cff (Cff DF - Feij-2936, Cff PR - 12768, Cff SC - Feij-2928 e Cff SP - Feij-2634) em substrato agarizado com restrição hídrica. Os tratamentos da terceira etapa foram definidos com base na primeira etapa, em que o melhor tratamento foi o meio 523 com manitol no potencial hídrico de -0,95 MPa e com 48 horas de exposição das sementes no meio agarizado. Na segunda etapa, verificou-se que o isolado de Cff SC (Feij-2928), proveniente do estado de Santa Catarina, apresentou o melhor crescimento no substrato e no potencial hídrico definido na primeira etapa. Portanto, foi possível a inoculação artificial de sementes de feijão com Cff por meio da técnica de condicionamento fisiológico em substrato agarizado, sem o comprometimento de sua qualidade fisiológica.