Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Predição da incrustação em um trocador de calor baseada em redes neurais artificiais

A serious problem that affects an oil refinery s processing units is the deposition of solid particles or the fouling on the equipments. These residues are naturally present on the oil or are by-products of chemical reactions during its transport. A fouled heat exchanger loses its capacity to adequately heat the oil, needing to be shut down periodically for cleaning. Previous knowledge of the best period to shut down the exchanger may improve the energetic and production efficiency of the plant. In this work we develop a system to predict the fouling on a heat exchanger from the Potiguar Clara Camarão Refinery, based on data collected in a partnership with Petrobras. Recurrent Neural Networks are used to predict the heat exchanger s flow in future time. This variable is the main indicator of fouling, because its value decreases gradually as the deposits on the tubes reduce their diameter. The prediction could be used to tell when the flow will have decreased under an acceptable value, indicating when the exchanger shutdown for cleaning will be needed

Utilização de análise multivariada e redes neurais artificiais na determinação do comportamento de colonização de populações de macrófitas aquáticas no reservatório de Santana

As análises de agrupamento e de componentes principais e as redes neurais artificiais foram utilizadas na determinação de padrões de comportamento das populações de macrófitas aquáticas que colonizaram o reservatório de Santana, Piraí-RJ, durante o ano de 2004. As análises de agrupamento dividiram o comportamento das populações durante o ano em dois grupos distintos, apresentando um padrão no primeiro semestre que difere daquele observado no segundo semestre do ano. A análise de componentes principais demonstrou que esse comportamento da comunidade (grupo de populações) é influenciado principalmente pelas espécies S. montevidensis, Heteranthera reniformis, Ludwigia sp., Rhynchospora aurea, C. iria, C. ferax e Aeschynomene denticulata no primeiro grupo e por Echinochloa polystachya, Polygonum lapathifolium, Alternanthera phyloxeroides, Pistia stratiotes, Eichhornia azurea, Brachiaria arrecta e Oxyscarium cubense no segundo grupo. As redes neurais artificiais agruparam as populações de macrófitas aquáticas em nove grupos, conforme sua densidade nos diferentes meses do ano. A aplicação da análise de componentes principais (ACP) nos valores de frequência das populações presentes nos primeiros três grupos de Kohonen permitiu discriminar três grupos de meses, cujas populações apresentaram características diferentes de colonização. A aplicação das redes neurais artificiais permitiu melhor discriminação dos meses e das espécies que compõem as comunidades correspondentes, quando utilizada a análise de componentes principais.

Modelagem de Superfícies Seletivas de Freqüência e Antenas de Microfita utilizando Redes Neurais Artificiais

This work has as main objective the application of Artificial Neural Networks, ANN, in the resolution of problems of RF /microwaves devices, as for example the prediction of the frequency response of some structures in an interest region. Artificial Neural Networks, are presently a alternative to the current methods of analysis of microwaves structures. Therefore they are capable to learn, and the more important to generalize the acquired knowledge, from any type of available data, keeping the precision of the original technique and adding the low computational cost of the neural models. For this reason, artificial neural networks are being increasily used for modeling microwaves devices. Multilayer Perceptron and Radial Base Functions models are used in this work. The advantages/disadvantages of these models and the referring algorithms of training of each one are described. Microwave planar devices, as Frequency Selective Surfaces and microstrip antennas, are in evidence due the increasing necessities of filtering and separation of eletromagnetic waves and the miniaturization of RF devices. Therefore, it is of fundamental importance the study of the structural parameters of these devices in a fast and accurate way. The presented results, show to the capacities of the neural techniques for modeling both Frequency Selective Surfaces and antennas

Controle inteligente de sistemas eletroidráulicos utilizando redes neurais artificiais

This work describes the development of a nonlinear control strategy for an electro-hydraulic actuated system. The system to be controlled is represented by a third order ordinary differential equation subject to a dead-zone input. The control strategy is based on a nonlinear control scheme, combined with an artificial intelligence algorithm, namely, the method of feedback linearization and an artificial neural network. It is shown that, when such a hard nonlinearity and modeling inaccuracies are considered, the nonlinear technique alone is not enough to ensure a good performance of the controller. Therefore, a compensation strategy based on artificial neural networks, which have been notoriously used in systems that require the simulation of the process of human inference, is used. The multilayer perceptron network and the radial basis functions network as well are adopted and mathematically implemented within the control law. On this basis, the compensation ability considering both networks is compared. Furthermore, the application of new intelligent control strategies for nonlinear and uncertain mechanical systems are proposed, showing that the combination of a nonlinear control methodology and artificial neural networks improves the overall control system performance. Numerical results are presented to demonstrate the efficacy of the proposed control system

Desenvolvimento de perfis aerodinâmicos a partir de suas características utilizando redes neurais artificiais

One of the current major concerns in engineering is the development of aircrafts that have low power consumption and high performance. So, airfoils that have a high value of Lift Coefficient and a low value for the Drag Coefficient, generating a High-Efficiency airfoil are studied and designed. When the value of the Efficiency increases, the aircraft s fuel consumption decreases, thus improving its performance. Therefore, this work aims to develop a tool for designing of airfoils from desired characteristics, as Lift and Drag coefficients and the maximum Efficiency, using an algorithm based on an Artificial Neural Network (ANN). For this, it was initially collected an aerodynamic characteristics database, with a total of 300 airfoils, from the software XFoil. Then, through the software MATLAB, several network architectures were trained, between modular and hierarchical, using the Back-propagation algorithm and the Momentum rule. For data analysis, was used the technique of cross- validation, evaluating the network that has the lowest value of Root Mean Square (RMS). In this case, the best result was obtained for a hierarchical architecture with two modules and one layer of hidden neurons. The airfoils developed for that network, in the regions of lower RMS, were compared with the same airfoils imported into the software XFoil

Tensão superficial dinâmica e ângulo de contato de soluções aquosas com surfatantes em superfícies artificiais e naturais

O trabalho objetivou avaliar o efeito de surfatantes em soluções aquosas sobre a tensão superficial dinâmica e ângulo de contato das gotas em diferentes superfícies: artificiais (lâmina de vidro e de óxido de alumínio) e naturais (superfícies adaxiais de folhas de Euphorbia heterophylla, Ipomoea grandifolia e Brachiaria plantaginea). Seis formulações de surfatantes (Antideriva®; Uno®; Pronto 3®; Li-700®; Supersil® e Silwet L-77®), respectivamente nas doses recomendadas do produto comercial (0,050; 0,025; 0,100; 0,250; 0,100 e 0,100 % v v-1) e o dobro delas, foram avaliadas em soluções aquosas. A tensão superficial dinâmica e o ângulo de contato formado sobre as superfícies naturais foram medidos por tensiômetro. Os ângulos de contato formados pelas gotas nas superfícies artificiais foram obtidos por análise de imagens capturadas por uma câmera digital. Os surfatantes influenciam nas propriedades físico-químicas de soluções aquosas. As soluções contendo os surfatantes Silwet L-77® e Supersil®; nas doses de 0,100 e 0,200% v v-1; proporcionaram maiores reduções na tensão superficial dinâmica e menores ângulos de contato das gotas sobre as superfícies artificiais e naturais. Os surfatantes organossiliconados em solução aquosa foram mais eficientes na redução da tensão superficial e proporcionaram maior molhamento de superfícies natural e artificial. em alvos naturais, essas propriedades obtidas com organossiliconados são dependentes das características de superfície das espécies vegetais.

Integridade no posicionamento RTK e RTK em rede

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

O hipertexto eletrônico de meio ambiente : estratégias de leitura e navegação

The incorporation of computing in class instigate the use of the Internet and websites as a content support in the teaching/leaning process. This kind of practice had challenged the students to read through eletronic hypertextual means. In that way, we re trying to undestand which strategies of reading and navigation the students of the second and third grade of highschool levels are using when reading electronic hypertexts from the www.ambientebrasil.com.br website. The research took place in the Escola Estadual Jerônimo Rosado in Mossoró RN. Our theoretical base was estructured on the digital Technology (electronic hypertext estructure and it s navigation modes), in applied linguistics (act of reading) and in cognition (interaction of the reader with the text and the use of reading strategies in the virtual computing enviroment). The applied methodology was the case analysis which was developed with the reunion of collected data through qualitative reseach questionaries, direct observations and video recording sessions. The research demonstrates that reader s ability in the act of navigating on virtual sites activates his/her reading strategies. Also shows how the semantic architecture of the hyperlinks can interfere directly over the strategies of reading and navigation in specific websites. Our research also intend to demonstrate that the student use his strategies of linear text reading when are not accustomed to use the reading through websites in a regular basis. The investigation concludes observing that the amount of hypertexts per pages and the inappropriate use of the multimedia elements were harmful to the reading fluency

Estudo da estabilidade térmica de adoçantes naturais e artificiais

Sweeteners provide a pleasant sensation of sweetness that helps the sensory quality of the human diet, can be divided into natural sweeteners such as fructose, galactose, glucose, lactose and sucrose, and articial sweeteners such as aspartame, cyclamate and saccharin. This work aimed to study the thermal stability of natural and artificial sweeteners in atmospheres of nitrogen and syntetic air using thermogravimetry (TG), derivative thermogravimetry (DTG), Differential Thermal Analysis (DTA) and Differential Scanning Calorimetry (DSC). Among the natural sweeteners analyzed showed higher thermal stability for the lactose and sucrose, which showed initial decomposition temperatures near 220 ° C, taking advantage of the lactose has a higher melting point (213 ° C) compared to sucrose (191 ° C). The lower thermal stability was observed for fructose, it has the lowest melting point (122 °C) and the lower initial decomposition temperature (170 °C). Of the artificial sweeteners studied showed higher thermal stability for sodium saccharin, which had the highest melting point (364 ° C) as well as the largest initial decomposition temperature (466 ° C under nitrogen and 435 ° C in air). The lower thermal stability was observed for aspartame, which showed lower initial decomposition temperature (158 ° C under nitrogen and 170 ° C under air). For commercial sweeteners showed higher thermal stability for the sweeteners L and C, which showed initial temperature of thermal decomposition near 220 ° C and melting points near 215 ° C. The lower thermal stability was observed for the sweetener P, which showed initial decomposition temperature at 160 ° C and melting point of 130 °C. Sweeteners B, D, E, I, J, N and O had low thermal stability, with the initial temperature of decomposition starts near 160 °C, probably due to the presence of aspartame, even if they have as the main constituent of the lactose, wich is the most stable of natural sweeteners. According to the results we could also realize that all commercial sweeteners are in its composition by at least a natural sweeteners and are always found in large proportions, and lactose is the main constituent of 60% of the total recorded

Desenvolvimento de metodologia capaz de detectar e quantificar misturas de corantes em sucos artificiais em pó

Foi desenvolvido um método para detectar e quantificar misturas de corantes em sucos artificiais em pó fabricados no Brasil, de diferentes marcas e sabores. Foram estudados 6 corantes artificiais: amarelo tartrazina, amarelo crepúsculo, vermelho ponceau 4R, vermelho bordeaux S, vermelho 40 e azul brilhante presentes de forma unitária ou em misturas nos sucos com sabores laranja, tangerina, maracujá, abacaxi, limão e uva. A identificação dos corantes nas amostras foi feita através da comparação com os espectros dos padrões, utilizando-se a análise por infravermelho médio e pelos respectivos valores de absorção máxima nos comprimentos de onda relativos aos padrões e valores de referência na literatura. Também foram estudados os perfis de decomposição térmica por termogravimetria, termogravimetria derivada e calorimetria diferencial exploratória dos corantes e dos sucos em pó, sendo determinados os teores de umidade, de matéria orgânica e de cinzas. O teor de umidade encontrado não ultrapassou 4% para todas as amostras de suco analisadas. Com relação ao teor de matéria orgânica obteve-se para 57% dos sucos analisados um teor médio de 51,3% e para 43% das outras amostras obteve-se uma média de 67,2 %. Os resultados obtidos para o teor de cinzas indicaram que 29% das amostras apresentaram um teor de 26,7% para esse parâmetro enquanto 71% das amostras apresentaram um teor de cinzas de 46,4%. Os resultados obtidos por análise térmica mostraram-se adequados considerando-se que para obter os resultados pelo método tradicional há um investimento maior de tempo, de pessoal envolvido e de material, além da proteção ao meio ambiente. Para a análise por espectroscopia de absorção molecular foi proposta uma equação simplificada para a determinação de cada corante na mistura utilizando-se a lei de Beer. Para validação, empregou-se a espectroscopia de absorção molecular no visível, onde foi investigada a influência dos interferentes (TiO2 e açúcar) presentes nas amostras de sucos, os testes de fotodegradação e a avaliação do efeito do pH. Para quantificação tomou-se como referência 512 amostras sintéticas contendo um e dois corantes (1,5625 a 25,000 mg L-1) para obtenção das curvas analíticas que foram aplicadas à análise dos sucos em pó. Os resultados indicaram que o teor máximo do amarelo crepúsculo foi encontrado nos sucos com os sabores laranja, tangerina e manga que correspondeu a 25,6% da ingestão diária aceitável (para ser ultrapassada corresponderia a ingestão de 4 copos). O teor máximo encontrado para o amarelo tartrazina nos sucos foi para o sabor maracujá que correspondeu a 8,5% da ingestão diária aceitável, (para ser alcançado corresponderia a ingestão de 12 copos). O método proposto foi testado e validado com sucesso para amostras de sucos em pó sendo de simples execução e de rapidez na obtenção dos resultados

Sistema não-Intrusivo para Estimação da Direção do olhar utilizando redes neurais artificiais

The fundamental senses of the human body are: vision, hearing, touch, taste and smell. These senses are the functions that provide our relationship with the environment. The vision serves as a sensory receptor responsible for obtaining information from the outside world that will be sent to the brain. The gaze reflects its attention, intention and interest. Therefore, the estimation of gaze direction, using computer tools, provides a promising alternative to improve the capacity of human-computer interaction, mainly with respect to those people who suffer from motor deficiencies. Thus, the objective of this work is to present a non-intrusive system that basically uses a personal computer and a low cost webcam, combined with the use of digital image processing techniques, Wavelets transforms and pattern recognition, such as artificial neural network models, resulting in a complete system that performs since the image acquisition (including face detection and eye tracking) to the estimation of gaze direction. The obtained results show the feasibility of the proposed system, as well as several feature advantages.

Avaliando o impacto da utilização de renderizações panorâmicas para a navegação em ambientes virtuais

Panoramic rendering is the visualization of three-dimensional objects in a virtual environment through a wide viewing angle. This work investigated if the use of panoramas is able to promote faster searches in a virtual environment. Panoramas allow the presentation of space through less need to change the orientation of the camera, especially for the case of projections spanning 360º surrounding the user, which can benefit searching. However, the larger the angle, more distorted is the visualization of the environment, causing confusion in navigation. The distortion is even bigger when the user changes the pitch of the camera, by looking up or down. In this work we developed a technique to eliminate specifically the distortions caused by changes in pitch, which was called hemispheric projection. Experiments were done to evaluate the performance of search navigation through perspective, cylindrical and hemispherical projections. The results indicate that navigating with perspective projection is superior than navigating with panoramic projections, possibly due to factors such as (i) lack of experience of the participants in understanding the scenes displayed as panoramas, (ii) the inherent presence of distortion in panoramic projections and (iii) a lower display resolution because the objects are presented in smaller sizes in panoramic projections, making the perception of details more difficult. However, the hemispherical projection was better than the cylindrical, indicating that the developed technique provides benefits for navigation compared to current techniques of panoramic projection. The hemispheric projection also provided the least amount of changes of camera orientation, which is an indication that the hemispheric projections may be particularly useful in situations where there are restrictions on the ease to change the orientation. Future research will investigate the performance of cameras interactions on slower devices, such as using only keyboard, or brain-machine interfaces

Resistência de união entre dentes artificiais e resinas acrílicas para base protética

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)