Localização e mapeamento simultâneos de ambientes planos usando visão monocular e representação híbrida do ambiente

The goal of this work is to propose a SLAM (Simultaneous Localization and Mapping) solution based on Extended Kalman Filter (EKF) in order to make possible a robot navigates along the environment using information from odometry and pre-existing lines on the floor. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor . Then the image processing identifies floor lines and the parameters of these lines are mapped to world using a homography matrix. Finally, the identified lines are used in SLAM as landmarks in order to build a feature map. In parallel, using the corrected robot pose, the uncertainty about the pose and also the part non floor of the image, it is possible to build an occupancy grid map and generate a metric map with the obstacle s description. A greater autonomy for the robot is attained by using the two types of obtained map (the metric map and the features map). Thus, it is possible to run path planning tasks in parallel with localization and mapping. Practical results are presented to validate the proposal

Proportional controllers: Direct method for stability analysis and MATLAB implementation

In most cases, the cost of a control system increases based on its complexity. Proportional (P) controller is the simplest and most intuitive structure for the implementation of linear control systems. The difficulty to find the stability range of feedback systems with P controllers, using the Routh-Hurwitz criterion, increases with the order of the plant. For high order plants, the stability range cannot be easily obtained from the investigation of the coefficient signs in the first column of the Routh's array. A direct method for the determination of the stability range is presented. The method is easy to understand, to compute, and to offer the students a better comprehension on this subject. A program in MATLAB language, based on the proposed method, design examples, and class assessments, is provided in order to help the pedagogical issues. The method and the program enable the user to specify a decay rate and also extend to proportional-integral (PI), proportional-derivative (PD), and proportional-integral-derivative (PID) controllers.

On certain curves of genus three in characteristic two

We study curves of genus 3 over algebraically closed fields of characteristic 2 with the canonical theta characteristic totally supported in one point. We compute the moduli dimension of such curves and focus on some of them which have two Weierstrass points with Weierstrass directions towards the support of the theta characteristic. We answer questions related to order sequence and Weierstrass weight of Weierstrass points and the existence of other Weierstrass points with similar properties.

Combination of Tevatron Searches for the Standard Model Higgs Boson in the W+W- Decay Mode

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Combined Tevatron upper limit on gg -> H -> W+W- and constraints on the Higgs boson mass in fourth-generation fermion models

We combine results from searches by the CDF and D0 collaborations for a standard model Higgs boson (H) in the process gg -> H -> W+W- in p (p) over bar collisions at the Fermilab Tevatron Collider at root s = 1.96 TeV. With 4.8 fb(-1) of integrated luminosity analyzed at CDF and 5.4 fb(-1) at D0, the 95% confidence level upper limit on sigma(gg -> H) x B(H -> W+W-) is 1.75 pb at m(H) = 120 GeV, 0.38 pb at m(H) = 165 GeV, and 0.83 pb at m(H) = 200 GeV. Assuming the presence of a fourth sequential generation of fermions with large masses, we exclude at the 95% confidence level a standard-model-like Higgs boson with a mass between 131 and 204 GeV.

Characterization of micro-bubble size distribution and flow configuration in DAF contact zone by a non-intrusive image analysis system and tracer tests

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

Método para determinação de distribuição de tamanho de microbolhas (DTMB) em sistemas flotação (FAD) para tratamento de águas utilizando a análise de imagem digital

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

Aprendizado não-supervisionado em redes neurais pulsadas de base radial: um estudo da capacidade de agrupamento para a classificação de pixels

Redes neurais pulsadas - redes que utilizam uma codificação temporal da informação - têm despontado como uma promissora abordagem dentro do paradigma conexionista, emergente da ciência cognitiva. Um desses novos modelos é a rede neural pulsada com função de base radial, que é capaz de armazenar informação nos tempos de atraso axonais dos neurônios. Um algoritmo de aprendizado foi aplicado com sucesso nesta rede pulsada, que se mostrou capaz de mapear uma seqüência de pulsos de entrada em uma seqüência de pulsos de saída. Mais recentemente, um método baseado no uso de campos receptivos gaussianos foi proposto para codificar dados constantes em uma seqüência de pulsos temporais. Este método tornou possível a essa rede lidar com dados computacionais. O processo de aprendizado desta nova rede não se encontra plenamente compreendido e investigações mais profundas são necessárias para situar este modelo dentro do contexto do aprendizado de máquinas e também para estabelecer as habilidades e limitações desta rede. Este trabalho apresenta uma investigação desse novo classificador e um estudo de sua capacidade de agrupar dados em três dimensões, particularmente procurando estabelecer seus domínios de aplicação e horizontes no campo da visão computacional.

Eventually minimal curves

A curve defined over a finite field is maximal or minimal according to whether the number of rational points attains the upper or the lower bound in Hasse-Weil's theorem, respectively. In the study of maximal curves a fundamental role is played by an invariant linear system introduced by Ruck and Stichtenoth in [6]. In this paper we define an analogous invariant system for minimal curves, and we compute its orders and its Weierstrass points. In the last section we treat the case of curves having genus three in characteristic two.

Lower-semicontinuity and optimization of convex functionals

The result that we treat in this article allows to the utilization of classic tools of convex analysis in the study of optimality conditions in the optimal control convex process for a Volterra-Stietjes linear integral equation in the Banach space G([a, b],X) of the regulated functions in [a, b], that is, the functions f : [a, 6] → X that have only descontinuity of first kind, in Dushnik (or interior) sense, and with an equality linear restriction. In this work we introduce a convex functional Lβf(x) of Nemytskii type, and we present conditions for its lower-semicontinuity. As consequence, Weierstrass Theorem garantees (under compacity conditions) the existence of solution to the problem min{Lβf(x)}. © 2009 Academic Publications.

Combination of CDF and D0 measurements of the W boson helicity in top quark decays

We report the combination of recent measurements of the helicity of the W boson from top quark decay by the CDF and D0 collaborations, based on data samples corresponding to integrated luminosities of 2.7-5.4fb -1 of pp̄ collisions collected during Run II of the Fermilab Tevatron collider. Combining measurements that simultaneously determine the fractions of W bosons with longitudinal (f 0) and right-handed (f +) helicities, we find f 0=0.722±0.081[±0.062(stat)±0.052(syst)] and f +=-0.033±0.046[±0.034(stat)±0.031(syst)]. Combining measurements where one of the helicity fractions is fixed to the value expected in the standard model, we find f 0=0.682±0. 057[±0.035(stat)±0.046(syst)] for fixed f + and f +=-0.015±0.035[±0.018(stat)±0.030(syst)] for fixed f 0. The results are consistent with standard model expectations. © 2012 American Physical Society.

Combination of the top-quark mass measurements from the Tevatron collider

The top quark is the heaviest known elementary particle, with a mass about 40 times larger than the mass of its isospin partner, the bottom quark. It decays almost 100% of the time to a W boson and a bottom quark. Using top-antitop pairs at the Tevatron proton-antiproton collider, the CDF and D0 Collaborations have measured the top quark's mass in different final states for integrated luminosities of up to 5.8fb -1. This paper reports on a combination of these measurements that results in a more precise value of the mass than any individual decay channel can provide. It describes the treatment of the systematic uncertainties and their correlations. The mass value determined is 173.18±0.56(stat)±0.75(syst)GeV or 173.18±0.94GeV, which has a precision of ±0.54%, making this the most precise determination of the top-quark mass. © 2012 American Physical Society.

Teorema de Riemann-Roch e aplicações

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

Um estudo de fractais geométricos na formação de professores de matemática

Pós-graduação em Educação Matemática - IGCE

Comportamento caótico em sistemas dinâmicos e aplicação no estudo de tumores de câncer

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)