Overture to "Rob-Roy."

Mode of access: Internet.

John MacGregor ("Rob Roy")

Mode of access: Internet.

Condução autónoma – desenvolvimento de um robô para navegação num ambiente rodoviário à escala

Desde sempre que a tecnologia tem procurado ajudar, complementar ou mesmo substituir o ser humano em todas as suas tarefas e necessidades mais tediosas e/ou perigosas. A indústria automóvel é das que mais investe na investigação e desenvolvimento desta área, procurando desenvolver viaturas inteligentes, baseados em condução autónoma que ajudem o ser humano enquanto condutor, seja ao nível do conforto como da segurança. Em Portugal, no Festival Nacional de Robótica, existe uma prova onde se aplicam conceitos de decisão, controlo e visão para a condução autónoma num ambiente à escala. É com este conceito em mente que se executa este projeto, com a intenção de construir um veículo à escala, com direção de Ackerman, com a capacidade de se conduzir sem a intervenção ou controlo humano, que possa ser também utilizado na referida prova de competição. O projeto criado é baseado num sistema de controlo de baixo nível, responsável por controlar a velocidade, direção e travagem do veículo, sob comando de um sistema de alto nível baseado em visão computacional. O sistema desenvolvido foi testado, com sucesso, numa fase preliminar na prova a que se destinava. A versão atual do veículo inclui duas câmaras (uma delas móvel) para aquisição de informação múltipla, e codificadores nas rodas para um controlo mais preciso da velocidade do veículo.

Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

BRITTO, Ricardo S.; MEDEIROS, Adelardo A. D.; ALSINA, Pablo J. Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo. In: SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE,8., 2007, Florianópolis. Anais... Florianópolis: SBAI, 2007.

Navegação de robô móvel em ambiente com humanos

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Navegação de um robô móvel baseado em um modelo de consciência artificial

This work presents a study about a the Baars-Franklin architecture, which defines a model of computational consciousness, and use it in a mobile robot navigation task. The insertion of mobile robots in dynamic environments carries a high complexity in navigation tasks, in order to deal with the constant environment changes, it is essential that the robot can adapt to this dynamism. The approach utilized in this work is to make the execution of these tasks closer to how human beings react to the same conditions by means of a model of computational consci-ousness. The LIDA architecture (Learning Intelligent Distribution Agent) is a cognitive system that seeks tomodel some of the human cognitive aspects, from low-level perceptions to decision making, as well as attention mechanism and episodic memory. In the present work, a computa-tional implementation of the LIDA architecture was evaluated by means of a case study, aiming to evaluate the capabilities of a cognitive approach to navigation of a mobile robot in dynamic and unknown environments, using experiments both with virtual environments (simulation) and a real robot in a realistic environment. This study concluded that it is possible to obtain benefits by using conscious cognitive models in mobile robot navigation tasks, presenting the positive and negative aspects of this approach.

Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

BRITTO, Ricardo S.; MEDEIROS, Adelardo A. D.; ALSINA, Pablo J. Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo. In: SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE,8., 2007, Florianópolis. Anais... Florianópolis: SBAI, 2007.

Population genetic structuring in pacu (Piaractus mesopotamicus) across the Paraná-Paraguay basin: evidence from microsatellites

The Paraná-Paraguay basin encompasses central western Brazil, northeastern Paraguay, eastern Bolivia and northern Argentina. The Pantanal is a flooded plain with marked dry and rainy seasons that, due to its soil characteristics and low declivity, has a great water holding capacity supporting abundant fish fauna. Piaractus mesopotamicus, or pacu, endemic of the Paraná-Paraguay basin, is a migratory species economically important in fisheries and ecologically as a potential seed disperser. In this paper we employ eight microsatellite loci to assess the population structure of 120 pacu sampled inside and outside the Pantanal of Mato Grosso. Our main objective was to test the null hypothesis of panmixia and to verify if there was a different structuring pattern between the Pantanal were there were no physical barriers to fish movement and the heavily impounded Paraná and Paranapanema rivers. All loci had moderate to high levels of polymorphism, the number of alleles varied from three to 18. The average observed heterozygosity varied from 0.068 to 0.911. After the Bonferroni correction three loci remained significant for deviations from Hardy-Weinberg, and for those the frequency of null alleles was estimated. F ST and R ST pairwise comparisons detected low divergence among sampling sites, and differentiation was significant only between Paranapanema and Cuiabá and Paranapanema and Taquari. No correlation between genetic distance and the natural logarithm of the geographic distance was detected. Results indicate that for conservation purposes and for restoration programs small genetic differences detected in the Cuiabá and Paranapanema rivers should be taken in consideration.

Improving sample representativeness in environmental studies: a major component for the uncertainty budget

For environmental quality assessment, INAA has been applied for determining chemical elements in small (200 mg) and large (200 g) samples of leaves from 200 trees. By applying the Ingamells` constant, the expected percent standard deviation was estimated in 0.9-2.2% for 200 mg samples. Otherwise, for composite samples (200 g), expected standard deviation varied from 0.5 to 10% in spite of analytical uncertainties ranging from 2 to 30%. Results thereby suggested the expression of the degree of representativeness as a source of uncertainty, contributing for increasing of the reliability of environmental studies mainly in the case of composite samples.

Chemical Constituents of Papulaspora immersa, an Endophyte from Smallanthus sonchifolius (Asteraceae), and Their Cytotoxic Activity

Papulaspora immersa H. H. HOTS ON was isolated from roots and leaves of Smallanthus sonchifolius (POEPP. and ENDL.) H. ROB. (Asteraceae), traditionally known as Yacon. The fungus was cultured in rice, and, from the AcOEt fraction, 14 compounds were isolated. Among them, (22E,24R)-8,14-epoxyergosta-4,22-diene-3,6-dione (4), 2,3-epoxy-1,2,3,4-tetrahydronaphthalene-c-1,c-4,8-triol (10), and the chromone papulasporin (13) were new secondary metabolites. The spectral data of the known natural products were compared with the literature data, and their structures were established as the (24R)stigmast 4 en 3 one (1), 24-methylenecycloartan-3 beta-ol (2), (22E,24R)-ergosta-4,6,8(14),22-tetraen-3-one (3), (-)-(3R,4R)-4-hydroxymellein (5), (-)-(3R)-5-hydroxymellein (6), 6,8-dihydroxy-3-methylisocoumarin (7), (-)-(4S)-4,8-dihydroxy-alpha-tetralone (8), naphthalene-1,8-diol (9), 6,7,8-trihydroxy-3-methylisocoumarin (11), 7-hydroxy-2,5-dimethylchromone (12), and tyrosol (14). Compound 4 showed the highest cytotoxic activity against the human tumor cell lines MDA-MB435 (melanoma), HCT-8 (colon), SF295 (glioblastoma), and HL-60 (promyelocytic leukemia), with IC(50) values of 3.3, 14.7, 5.0 and 1.6 mu m, respectively. Strong synergistic effects were also observed with compound 5 and some of the isolated steroidal compounds.