A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots

Localization and Mapping are two of the most important capabilities for autonomous mobile robots and have been receiving considerable attention from the scientific computing community over the last 10 years. One of the most efficient methods to address these problems is based on the use of the Extended Kalman Filter (EKF). The EKF simultaneously estimates a model of the environment (map) and the position of the robot based on odometric and exteroceptive sensor information. As this algorithm demands a considerable amount of computation, it is usually executed on high end PCs coupled to the robot. In this work we present an FPGA-based architecture for the EKF algorithm that is capable of processing two-dimensional maps containing up to 1.8 k features at real time (14 Hz), a three-fold improvement over a Pentium M 1.6 GHz, and a 13-fold improvement over an ARM920T 200 MHz. The proposed architecture also consumes only 1.3% of the Pentium and 12.3% of the ARM energy per feature.

Chromium ions phytoaccumulation by three floating aquatic macrophytes from a nutrient medium

In the present work, the trivalent and hexavalent chromium phytoaccumulation by three living free floating aquatic macrophytes Salvinia auriculata, Pistia stratiotes, and Eicchornia crassipes was investigated in greenhouse. These plants were grown in hydroponic solutions supplied with non-toxic Cr3+ and Cr6+ chromium concentrations, performing six collections of nutrient media and plants in time from a batch system. The total chromium concentrations into Cr-doped hydroponic media and dry roots and aerial parts were assayed, by using the Synchrotron radiation X-ray fluorescence technique. The aquatic plant-based chromium removal data were described by using a nonstructural kinetic model, obtaining different bioaccumulation rate, ranging from 0.015 to 0.837 1 mg(-1) d(-1). The Cr3+ removal efficiency was about 90%, 50%, and 90% for the E. crassipes, P. stratiotes, and S. auriculata, respectively; while it was rather different for Cr6+ one, with values about 50%, 70%, and 90% for the E. crassipes, P. stratiotes, and S. auriculata.

Identification of non-zein proteins in BR473 maize protein bodies by LC-nanoESI-MS/MS

The nutritional value of maize seed is limited due to its high content of storage proteins (zeins), which are deficient in essential amino acids such as lysine and tryptophan. In a previous paper, we showed that protein bodies obtained from BR473 maize variety, developed by Embrapa (Brazilian Agricultural Research Corporation), were mainly constituted by Z27 and a smaller quantity of Z50 gamma-zeins. Besides zein proteins, other not identified protein band in the SDS/PAGE was also observed, which could indicate the presence of non-zein proteins additionally to gamma-zeins. In the present paper, we have demonstrated the presence of non-zein proteins in BR473 maize protein bodies by LC-nanoESI-MS/MS and database searching. This fact could be related to the excellent energetic value and higher protein quality of BR473 maize grains, since high lysine concentration in some maize varieties has been related to the presence of cytoskeleton proteins that are non-zeins. We have identified the following proteins: Brittle-1 protein (chloroplast precursor), Legumin-1, glyceroldehyde-3-phosphate dehydrogenase, and elongation factor 1-alpha.

Materialising bodies : there is nothing more material than a socially constructed body.

Over the last one of two decades, researchers within the physical education (PE) and sport pedagogy research frequently use the concept ‘the material body’. An initial purpose of this article is to explore what a concept of a ‘material body’ might mean. What other bodies are there? Who would dispute the materiality of bodies? I suggest that the use of a concept as ‘the material body’ suggests a hesitation before the radicalism of the linguistic turn in the sense that the concept ‘discourse’ does not include a material dimension. In this way ‘the material body’ relates to an interpretation of ‘the socially (or discursively) constructed body’ as void of matter. A further purpose with the article is to re-inscribe matter in the concept of ‘discourse’. This is done by way of discussing what theorists like Michel Foucault and, in particular, Judith Butler, has to say about the materiality of the body. In their writings, discourse should not be limited to spoken and/or written language. Rather, discourse is understood in terms of actions and events that create meanings—that matters. One conclusion of the article is that it is important to problematise the mundane view of discourse as ‘verbal interchange’ because it reinforces the promise of an objective knowledge that will eventually shed light on the ‘real’ body and the mysteries of sexual difference, what its origins are, what causes it. Another conclusion is that the PE and sport pedagogy research should pay less attention to the body as an object (what it ‘is’), and pay more attention to how the body matters, and e.g. how movements make bodies matter.

Fire Incidences, Water Bodies, and Population in Maine

http://digitalcommons.colby.edu/atlasofmaine2009/1021/thumbnail.jpg

The trasition from fixed to floating exchange rate regimes: the case of Brazil

This dissertation evaluates macroeconomic management in Brazil from 1994 to the present, with particular focus on exchange rate policy. It points out that while Brazil's Real Plan succeeded in halting the hyperinflation that had reached more than 2000 percent in 1993, it also caused significant real appreciation of the exchange rate situation that was only made worse by the extremely high interest rates and ensuing bout of severe financial crises in the intemational arena. By the end of 1998, the accumulation of internai and externai imbalances led the authorities to drop foreign exchange controls and allow the currency to float. In spite of some initial scepticism, the flexible rate regime cum inflation target proved to work well. Inflation was kept under control; the current account position improved significantly, real interest rates fell and GDP growth resumed. Thus, while great challenges still lie ahead, the recent successes bestow some optimism on the well functioning of this exchange rate regime. The Brazilian case suggests that successful transition from one foreign exchange system to another, particularly during financial crisis, does not depend only on one variable be it fiscal or monetary. In reality, it depends on whole set of co-ordinated policies aimed at resuming price stability with as little exchange rate and output volatility as possible.

Utilization of macrophyte biofilter in effluent from aquaculture: I. Floating plant

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

Preliminary results of a floating subirrigation system (Aquaforest system) as an alternative to conventional tree nurseries

A new methodology for tree seedling production (Aquaforest system) based on a continuous floating subirrigation system was developed and tested using creeks with different nutrient levels. Eucalyptus grandis seedlings were produced in water from polluted and clean creeks, and compared to conventional tree nursery production. The growth variables analyzed in the seedling phase were: survival, height, diameter, shoot and root dry weight, leaf area, and root/shoot ratio. Water and substrate were analyzed, as well as leaf nutritional status. Plant survival was 100% in all treatments. Height and diameter were greater in the higher nutrient water treatment. Leaf area and dry weight of plants produced in the higher nutrient water treatment were similar to those of the control. The results showed that polluted water can represent a good nutrient source. The preliminary results show that the Aquaforest system can be a viable alternative for tree seedling production. (C) 2004 Elsevier B.V. All rights reserved.

Dinâmica da comunidade de macrófitas aquáticas no reservatório de Santana, RJ

Apesar da importância na dinâmica dos ecossistemas aquáticos, as macrófitas podem formar densas e extensas colonizações em corpos hídricos cujos equilíbrios ecológicos foram rompidos. Nessas condições, essas plantas promovem uma série de problemas que as tornam alvos de controle. Para elaboração de planos adequados de manejo dessa vegetação, é fundamental o conhecimento das dinâmicas relativas das populações que a compõem. O objetivo deste trabalho foi realizar levantamentos mensais da composição específica da comunidade de macrófitas que coloniza o reservatório de Santana, localizado no município de Piraí/RJ, monitorando 97 pontos georreferenciados, abrangendo toda a lâmina d'água. Foram identificadas 41 espécies, inseridas em 21 famílias botânicas. As famílias Poaceae, Pontederiaceae e Cyperacae foram as que apresentaram os maiores números de espécies ao longo do ano. Salvinia herzogii e Egeria densa apresentaram as maiores notas anuais de colonização do reservatório. As populações de Eichhornia azurea, Brachiaria arrecta e Paspalum repens completaram o grupo das espécies numericamente mais relevantes. As plantas de hábito flutuante tenderam a apresentar populações com padrão de distribuição geográfica casualizado, enquanto as espécies fixadas no sedimento e as submersas apresentaram populações com padrão agregado. Não houve expressivas variações mensais dos valores dos índices de diversidade (H') e de equitabilidade (E') das comunidades de macrófitas aquáticas ao longo do ano. O dendrograma construído com o coeficiente de Odum mostrou uma seqüência lógica dos meses, evidenciando uma definida sucessão de populações divididas em dois grupos de similaridade separados pelo mês de junho. Nessa época, o nível de água do reservatório foi reduzido e o sedimento ficou exposto, favorecendo as espécies de hábito emergente.

Lipid and energy contents in the bodies of queens of Atta sexdens rubropilosa Forel (Hymenoptera, Formicidae): pre-and post-nuptial flight

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Variabilidade genética entre populações de Pistia stratiotes

O manejo de plantas daninhas em ambientes aquáticos requer cuidado diferencial e específico, a fim de evitar a contaminação ou alteração nas funções dos corpos hídricos e otimização do custo-benefício das operações. O estudo das características genéticas de populações de plantas daninhas aquáticas fornece informações que podem auxiliar no seu controle e manejo. A alface-d'água é uma planta aquática flutuante livre amplamente distribuída em todo o Brasil, mas é em ambientes aquáticos eutrofizados que essa e outras espécies de rápido desenvolvimento causam problemas sociais e econômicos, devido à grande massa vegetal produzida. Este estudo caracterizou geneticamente populações de alface-d'água coletadas em 15 reservatórios de hidrelétricas (Barra Bonita-BAB, Bariri-BAR, Ibitinga-IBI, Chavantes-CHA, Salto Grande-SAG, Jurumirim-JUR, Promissão-PRO Jaguari-JAG, Nova Avanhandava-NAV, Mogi-Guaçu-MOG, Limoeiro-LIM, Três Irmãos-TRI, Ilha Solteira-ILS, Jupiá-JUP e Porto Primavera-PPR) do Estado de São Paulo. As análises foram realizadas no NUPAM (Núcleo de Pesquisas Avançadas em Matologia), ligado à FCA/UNESP, campus de Botucatu-SP. A técnica utilizada no estudo da diversidade genética foi o RAPD. Os materiais amostrados nos reservatórios do Estado foram muito similares em sua maioria. As populações de NAV, MOG, IBI, JUR, PRO e CHA foram idênticas geneticamente. BAB e SAG, LIM e TRI também foram muito parecidas, apresentando índice de distância genética de 0,0093 e 0,0178, respectivamente. A grande maioria dos reservatórios estudados (93%) apresentou distâncias inferiores a 0,30, formando um grupo definido. No entanto, a população de Jupiá, em média, foi a que apresentou maior diversidade genética (0,45).