Machine learning and small robot navigation

Developing successful navigation and mapping strategies is an essential part of autonomous robot research. However, hardware limitations often make for inaccurate systems. This project serves to investigate efficient alternatives to mapping an environment, by first creating a mobile robot, and then applying machine learning to the robot and controlling systems to increase the robustness of the robot system. My mapping system consists of a semi-autonomous robot drone in communication with a stationary Linux computer system. There are learning systems running on both the robot and the more powerful Linux system. The first stage of this project was devoted to designing and building an inexpensive robot. Utilizing my prior experience from independent studies in robotics, I designed a small mobile robot that was well suited for simple navigation and mapping research. When the major components of the robot base were designed, I began to implement my design. This involved physically constructing the base of the robot, as well as researching and acquiring components such as sensors. Implementing the more complex sensors became a time-consuming task, involving much research and assistance from a variety of sources. A concurrent stage of the project involved researching and experimenting with different types of machine learning systems. I finally settled on using neural networks as the machine learning system to incorporate into my project. Neural nets can be thought of as a structure of interconnected nodes, through which information filters. The type of neural net that I chose to use is a type that requires a known set of data that serves to train the net to produce the desired output. Neural nets are particularly well suited for use with robotic systems as they can handle cases that lie at the extreme edges of the training set, such as may be produced by "noisy" sensor data. Through experimenting with available neural net code, I became familiar with the code and its function, and modified it to be more generic and reusable for multiple applications of neural nets.

As mudanças da cadeia produtiva têxtil em Valença-RJ: das indústrias do setor de tecidos para o APL do setor de Confecções

This study shows how the Industrial Cluster of garments in Valença, RJ ¿ comprised of micro and small enterprises ¿ contributes to overcome the problems left by the declining period of the textile industry. At first, the city took advantage of its talent for textile work and turned to the clothing sector, which now relies on garment factories, subcontractors, cooperatives and laundries in order to create jobs. There is institutional support, but the analysis of the situation identified the need for higher involvement of cluster players, as well as a higher interaction among them to help their own development. In regard to public and private institutions, there is room for steps to guide informal companies that find it difficult to afford labor, financial, and environmental costs towards formalization, the offer of management and labor skill programs, as well as entrepreneurs¿ awareness about the acquisition of modern-technology machinery. It is important to encourage higher participation of Valença firms in the national fashion events, since this draws attention to the name of the city, discloses the work that is carried out there, and attracts new businesses. The entry of Valença companies in the fashion arena of the southern region of Rio de Janeiro state is beneficial, especially to make them better prepared for the Fashion Rio/Fashion Business event. Informality as a way out of the unemployment problem is a growing trend in Valença, as well as in most of Brazilian cities. In this sense, the entrepreneurs need to find favorable steps to make them feel motivated to formalize their businesses.

Um ensaio em gestão de capital de giro em micros e pequenas empresas

Este estudo investiga as diferenças na maneira como gestores administram o capital de giro nas micro e pequenas empresas. As contribuições derivadas deste estudo ampliam a literatura financeira de curto prazo em MPEs no sentido de se compreender como os itens relacionados ao construto de capital de giro se comportam numa economia emergente, com fricções de mercado severas e mutáveis e com nível de desenvolvimento financeiro distinto. Os diferentes estilos de gestão podem ocorrer em razão do impacto do desenvolvimento e profundidade do mercado financeiro e do acesso e da oferta de trade credit. Os fatores determinantes desses estilos de condução da gestão do capital de giro em micro e pequenas empresas (MPEs) são identificados e, explicados, à luz dos fundamentos das teorias de crescimento das firmas por estágios, da visão baseada em recursos, de crédito comercial, de agência e de custos de transação. Esta é uma pesquisa mista com investigação cross-section, em três etapas. Ela foi composta por um survey e por entrevistas. Os dados obtidos por meio de um survey com dirigentes de 447 MPEs dos estados de Minas Gerais e São Paulo foram analisados por técnicas multivariadas, tendo sido identificados quatro “estilos” de gestão de capital de giro, que podem ser explicados por variáveis como idade, tamanho e lucratividade da firma e as entrevistas pela análise de conteúdo. A base de dados foi tratada com técnicas multivariadas e modelagem com equações estruturais. Os resultados sugerem que dirigentes brasileiros são mais propensos a adotar controle financeiro que os dirigentes britânicos e que gestão de crédito afeta positivamente a gestão de estoque quando mediada por fundos internos. Os resultados foram comparados aos obtidos por pesquisa similar realizada com empresas do Reino Unido (Howorth e Westhead, 2003), e a evidência mostra diferenças importantes: 1) as empresas brasileiras revisam a maioria das rotinas de capital de giro com maior frequência que as britânicas; 2) as MPEs brasileiras ofertam e demandam menos crédito comercial que as britânicas. Essas diferenças podem ser explicadas, pelo menos em parte, pelo maior custo do financiamento bancário das firmas brasileiras em comparação às britânicas.

Entry strategies into biosimilars: assessment of entry modes into the field of biosimilars from the perspective of pharmaceuticals, generics and biologics companies

Indústria farmacêutica de hoje está em transição. Como grandes blockbuster drogas estão perdendo ou estão prestes a perder a proteção de patente, e as grandes empresas farmacêuticas não estão substituindo os produtos com novas drogas químicas inovadoras, a indústria busca novas áreas de crescimento. Uma dessas áreas é o mercado de biossimilares, que está sendo inseridos por produtos farmacêuticos, genéricos e empresas de produtos biológicos. Mesmo que o grande potencial de mercado será acordado por volta de 2020, quando importantes blockbusters biológicos perder a proteção de patente, as empresas precisam decidir logo se querem participar ou não devido a elevadas barreiras à entrada técnicos, bem como de desenvolvimento de longo prazos. Como todas as empresas vêm de diferentes origens, compreendem capacidades diferentes e têm diferentes incentivos de entrada, a questão que surge é se esses fatos estão relacionados com as suas estratégias de entrada correspondentes. A tese utiliza estudos de caso de cada segmento da indústria farmacêutica - produtos farmacêuticos, biológicos e genéricos - e examina através de entrevistas semi-estruturadas, por isso que os participantes do estudo de caso entrevistados explicitamente escolhido sua estratégia de entrada. Os dados de entrevistas será então ligada a quadros estratégicos da revisão da literatura e irá ser utilizado para uma comparação global e análise. O estudo revelou que o fundo do participante do mercado que influenciam a sua estratégia de entrada. Os principais pontos de influência derivam tanto as barreiras à entrada, bem como os incentivos de entrada. A tese não é possível determinar o sucesso futuro do modo de entrada analisados no novo mercado.

The influence of the tag-along rights in the value of companies: an event study of the effects on the market and service companies

The aim of this work is to check the effect of granting tag-along rights to stockholders by analyzing the behavior of the return of the stock. To do so we carried out event studies for a group of 21 company stocks, divided into service provider companies and others, who granted this right to their stockholders after Law 10,303 was passed in October, 2001. In the test we used two models for estimating abnormal returns: adjusted to the market and adjusted to the risk and market. The results of the tests we carried out based on these models did not capture abnormal returns (surpluses), telling us that the tag-along rights did not affect the pattern of daily returns of the stocks of companies traded on BOVESPA (The Sao Paulo Stock Exchange). We did not expect this result because of the new corporate governance practices adopted by companies in Brazil.

Estudo sobre a mortalidade e sobrevivência de micro e pequenas empresas natalenses e seus impactos nas políticas públicas pró-empreendedorismo

The principal purpose of this research was to investigate discriminant factors of survival and failure of micro and small businesses, and the impacts of these factors in the public politics for entrepreneurship in the State of Rio Grande do Norte. The data were ceded by SEBRAE/RN and the Commercial Committee of the Rio Grande do Norte State and it included the businesses that were registered in 2000, 2001 and 2002. According to the theoretical framework 3 groups of factors were defined Business Financial Structure, Entrepreneurial Preparation and Entrepreneurial Behavior , and the factors were studied in order to determine whether they are discriminant or not of the survival and business failure. A quantitative research was applied and advanced statistical techniques were used multivariate data analysis , beginning with the factorial analysis and after using the discriminant analysis. As a result, canonical discriminant functions were found and they partially explained the survival and business failure in terms of the factors and groups of factors. The analysis also permitted the evaluation of the public politics for entrepreneurship and it was verified, according to the view of the entrepreneurs, that these politics were weakly effective to avoid business failure. Some changes in the referred politics were suggested based on the most significant factors found.

Micro and nanosystems for delivering local anesthetics

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

A evolução do emprego formal industrial nas cidades médias do estado do Ceará (Juazeiro do Norte, Crato e Sobral) no período de 1990 a 2010

The work consists in a discussion of the evolution of formal employment in the industrial cities of Ceará state averages from 1990 to 2010, since this period was marked by important changes. It is emphasized that in order to achieve this aim, the present study was based on a survey of relevant literature on the subject, as well as the use of the Annual Report of Social Information (RAIS), published by the Ministry of Labour and Employment (MTE) and the Brazilian Institute of Geography and Statistics (IBGE). The central question to be considered in this study is how we evolved formal employment industry in medium-sized cities (Juazeiro do Norte, Crato and Sobral) of Ceará? The assumption that guides this work is that given the economic policies of the 1990 and 2000 these policies encouraged the relocation, thus implying significant growth in the formal manufacturing employment in these cities. Regarding the results obtained in the survey, it was found that the industrial sector of these cities, showed considerable dynamism in what refers to the expansion of establishments. When observed in percentage terms medium-sized cities (345.5%) had the highest growth in number of establishments in the 1990s with rates higher than the Northeast region (285.9%) and Brazil (167.5%). The highlight was the city of Juazeiro, with the highest concentration of micro and small footwear companies in the state. Regarding the number of formal jobs created in medium-sized cities, it went from 6.596 in 1990 to 41.660 million formal jobs in 2010, with a growth rate of 532%. The sector contributed most to employment generation was the footwear. Although the levels of minimum wages, the 1990 recorded the lowest levels. In the 2000, there were real gains in levels of minimum wages in all cities, however, it may be noted that over the decades there has been significant momentum. However, this momentum was not enough to prevent the end of the study period CMs-Ceará present low wages

A gestão do conhecimento e a inovação tecnológica como fatores de sobrevivência e de competitividade na sociedade do conhecimento: uma análise exploratória das MPEs do Rio Grande do Norte

The study examines the process of Knowledge Management and Technological Innovation in Small and Micro Enterprises (SME) in Rio Grande do Norte, Brazil, and proposes actions that can contribute to regional development and competitiveness of SME. Presents as technological innovation can help to make the SME entrepreneurial activities with innovative and competitive. Defines the phases and activities of the construction of knowledge in small organizations. Examines the process of Innovation, Research and Development (R & D) in SME. Identifies the use of knowledge management and technological innovation in management practices and social interaction to influence the competitiveness of SME. Covers the communities of practice as a diffuser of knowledge and learning. To obtain the data were used questionnaires with closed questions with multiple choice, direct observations and interviews with companies. The questionnaires and interviews covered the topics of Innovation, Knowledge Management and Competitive Intelligence on SME. The sample consisted of a total of 13 Small and Micro Enterprises Award winning MPE Brazil Competitiveness, sponsored by SEBRAE in the State of Rio Grande do Norte. The assessment questionnaires dealing with the Knowledge Management (KM Diagnostics - Model Bukowitz and Williams, 2002) and the process of Technological Innovation (Adaptation of ANPEI - National Association for Research, Development and Engineering of Innovative Companies). With the analysis, we concluded that the SME perceive knowledge management, but not formalized management practices so as to facilitate the dissemination of information. Soon, these companies need additional supports to direct them to the innovative activities that generate added value and competitiveness in the market

Docking and small angle X-ray scattering studies of purine nucleoside phosphorylase

Docking simulations have been used to assess protein complexes with some success. Small angle X-ray scattering (SAXS) is a well-established technique to investigate protein spatial configuration. This work describes the integration of geometric docking with SAXS to investigate the quaternary structure of recombinant human purine nucleoside phosphorylase (PNP). This enzyme catalyzes the reversible phosphorolysis of N-ribosidic bonds of purine nucleosides and deoxynucleosides. A genetic deficiency due to mutations in the gene encoding for PNP causes gradual decrease in T-cell immunity. Inappropriate activation of T-cells has been implicated in several clinically relevant human conditions such as transplant rejection, rheumatoid arthritis, lupus, and T-cell lymphomas. PNP is therefore a target for inhibitor development aiming at T-cell immune response modulation and has been submitted to extensive structure-based drug design. The present analysis confirms the trimeric structure observed in the crystal. The potential application of the present procedure to other systems is discussed. (C) 2003 Elsevier B.V. All rights reserved.