Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Compressão Seletiva de Imagens Coloridas com Detecção Automática de Regiões de Interesse

There has been an increasing tendency on the use of selective image compression, since several applications make use of digital images and the loss of information in certain regions is not allowed in some cases. However, there are applications in which these images are captured and stored automatically making it impossible to the user to select the regions of interest to be compressed in a lossless manner. A possible solution for this matter would be the automatic selection of these regions, a very difficult problem to solve in general cases. Nevertheless, it is possible to use intelligent techniques to detect these regions in specific cases. This work proposes a selective color image compression method in which regions of interest, previously chosen, are compressed in a lossless manner. This method uses the wavelet transform to decorrelate the pixels of the image, competitive neural network to make a vectorial quantization, mathematical morphology, and Huffman adaptive coding. There are two options for automatic detection in addition to the manual one: a method of texture segmentation, in which the highest frequency texture is selected to be the region of interest, and a new face detection method where the region of the face will be lossless compressed. The results show that both can be successfully used with the compression method, giving the map of the region of interest as an input

Caracterização espectral da água do reservatório de Itupararanga, SP, a partir de imagens hiperespectrais hyperion e análise derivativa

The current accessibility to hyperspectral images of Hyperion/EO1 orbital sensor has brought new perspectives for studies of aquatic environments for allowing the remote estimative of several optically active constituents (OACs) in water body. The changes in the composition and concentration of OACs cause different patterns of absorption and scattering of electromagnetic radiation, likely to be detected using hyperspectral data. Therefore, an investigation was conducted taking into account the spectral characterization of water of a reservoir intended for public supply (Itupararanga Reservoir), from Hyperion/EO1 images and derivative analysis technique applied to spectral curves generated. Simultaneously to the acquisition of a Hyperion/EO1 image, a field campaign was carried out to collect limnological data in situ in georeferenced points. After radiometric correction of the image, reflectance curves of pixels were extracted for each station and the curves obtained were subjected to the technique of derivative analysis, which revealed features of absorption and scattering mainly associated to the presence of algal pigments. The results obtained show the presence of phytoplankton and algal activity, matching the field observation.

Extração de feições retas com precisão subpixel: estudo comparativo entre três métodos

In the fields of Machine Vision and Photogrammetry, extracted straight lines from digital images can be used either as vector elements of a digital representation or as control entities that allow the determination of the camera interior and exterior orientation parameters. Applications related with image orientation require feature extraction with subpixel precision, to guarantee the reliability of the estimated parameters. This paper presents three approaches for straight line extraction with subpixel precision. The first approach considers the subpixel refinement based on the weighted average of subpixel positions calculated on the direction perpendicular to the segmented straight line. In the second approach, a parabolic function is adjusted to the grey level profile of neighboring pixels in a perpendicular direction to the segmented line, followed by an interpolation of this model to estimate subpixel coordinates of the line center. In the third approach, the subpixel refinement is performed with a parabolic surface adjustment to the grey level values of neighboring pixels around the segmented line. The intersection of this surface with a normal plane to the line direction generates a parabolic equation that allows estimating the subpixel coordinates of the point in the straight line, assuming that this is the critical point of this function. Three experiments with real images were made and the approach based on parabolic surface adjustment has presented better results.

Extração automatica de segmentos lineares de rodovias em imagens de resoluções variadas

In this paper a methodology for automatic extraction of road segments from images with different resolutions (low, middle and high resolution) is presented. It is based on a generalized concept of lines in digital images, by which lines can be described by the centerlines of two parallel edges. In the specific case of low resolution images, where roads are manifested as entities of 1 or 2 pixels wide, the proposed methodology combines an automatic image enhancement operation with the following strategies: automatic selection of the hysteresis thresholds and the Gaussian scale factor; line length thresholding; and polygonization. In medium and high resolution images roads manifest as narrow and elongated ribbons and, consequently, the extraction goal becomes the road centerlines. In this case, it is not necessary to apply the previous enhancement step used to enhance roads in low resolution images. The results obtained in the experimental evaluation satisfied all criteria established for the efficient extraction of road segments from different resolution images, providing satisfactory results in a completely automatic way.

Encoding mechanisms based on fast oscillations in the retina of the cat and their dependencies on anesthesia

Processing in the visual system starts in the retina. Its complex network of cells with different properties enables for parallel encoding and transmission of visual information to the lateral geniculate nucleus (LGN) and to the cortex. In the retina, it has been shown that responses are often accompanied by fast synchronous oscillations (30 - 90 Hz) in a stimulus-dependent manner. Studies in the frog, rabbit, cat and monkey, have shown strong oscillatory responses to large stimuli which probably encode global stimulus properties, such as size and continuity (Neuenschwander and Singer, 1996; Ishikane et al., 2005). Moreover, simultaneous recordings from different levels in the visual system have demonstrated that the oscillatory patterning of retinal ganglion cell responses are transmitted to the cortex via the LGN (Castelo-Branco et al., 1998). Overall these results suggest that feedforward synchronous oscillations contribute to visual encoding. In the present study on the LGN of the anesthetized cat, we further investigate the role of retinal oscillations in visual processing by applying complex stimuli, such as natural visual scenes, light spots of varying size and contrast, and flickering checkerboards. This is a necessary step for understanding encoding mechanisms in more naturalistic conditions, as currently most data on retinal oscillations have been limited to simple, flashed and stationary stimuli. Correlation analysis of spiking responses confirmed previous results showing that oscillatory responses in the retina (observed here from the LGN responses) largely depend on the size and stationarity of the stimulus. For natural scenes (gray-level and binary movies) oscillations appeared only for brief moments probably when receptive fields were dominated by large continuous, flat-contrast surfaces. Moreover, oscillatory responses to a circle stimulus could be broken with an annular mask indicating that synchronization arises from relatively local interactions among populations of activated cells in the retina. A surprising finding in this study was that retinal oscillations are highly dependent on halothane anesthesia levels. In the absence of halothane, oscillatory activity vanished independent of the characteristics of the stimuli. The same results were obtained for isoflurane, which has similar pharmacological properties. These new and unexpected findings question whether feedfoward oscillations in the early visual system are simply due to an imbalance between excitation and inhibition in the retinal networks generated by the halogenated anesthetics. Further studies in awake behaving animals are necessary to extend these conclusions

Padrão de distribuição e caracterização morfológica de fibras serotonérgicas nos núcleos da linha Média/ intralaminares do tálamo do mocó (Kerodon rupestris)

The midline/intralaminar nuclei form a remarkable group of nuclei of the medial and dorsal thalamus. The midline nuclei, in rats, comprises the paratenial nuclei (PT), paraventricular (PV), intermediodorsal (IMD), reuniens (Re) and rhomboid (Rh). The intralaminar nuclei comprises the central medial (CM), paracentral (PC), central lateral (CL) and parafascicular (PF). Such nuclei have dense serotonergic innervation originating from the brainstem, especially from the so-called ascending activation system. These nuclei, in turn, send projections to various cortical and subcortical areas, specifically to limbic areas, which suggests the important role of this neurotransmitter in the limbic circuitry. The aim of this study was to characterize the distribution pattern and morphology of serotonin fibers in the nuclei of the midline and intralaminar thalamic of rocky cavy (Kerodon rupestris), a tipical rodent from brazilizan northeast. To reach this aim we used four rock cavies adults. Following the transcardially perfusion with paraformaldehyde and brain microtomy steps was performed immunohistochemistry for serotonin (5-HT), Nissl technique and subsequent achievement and image analysis to characterize the cytoarchitecture of these nuclei and the serotonergic fibers visualized. An analysis was made of Relative Optical Density (ROD) to semi-quantify the concentration of serotonin fibers in the areas of interest. Thus, we observed a cytoarchitectonic arrangement of these nuclei similar to that found in rats. In case of fibers distribution, those immunoreactive to 5-HT were presented in a higher concentration according as ROD in the midline nuclei relative to intralaminar; Re being the core which has a higher pixel value followed by the PV , Rh, IMD and PT. In intralaminar CL showed higher pixels, followed by nuclei CM, PC and PF. The serotonergic fibers were classified as number of varicosities and axon diameter, therefore find three types of fibers distributed through this nuclear complex: fibers rugous, granular and semi-granular. In PV fibers predominated rugous; in PT fibers predominated granular; IMD, CL and PF fibers were represented by semi-granular and Re, Rh, PC and CM fibers showed granular and semi-granular. Morphological characterization of serotonergic fibers and differences in density between the nuclei may suggest different patterns of synaptic organization of this neurotransmitter beyond confirming his large repertoire functional

Uma investigação de algoritmos exatos e metaheurísticos aplicados ao nonograma

Nonogram is a logical puzzle whose associated decision problem is NP-complete. It has applications in pattern recognition problems and data compression, among others. The puzzle consists in determining an assignment of colors to pixels distributed in a N  M matrix that satisfies line and column constraints. A Nonogram is encoded by a vector whose elements specify the number of pixels in each row and column of a figure without specifying their coordinates. This work presents exact and heuristic approaches to solve Nonograms. The depth first search was one of the chosen exact approaches because it is a typical example of brute search algorithm that is easy to implement. Another implemented exact approach was based on the Las Vegas algorithm, so that we intend to investigate whether the randomness introduce by the Las Vegas-based algorithm would be an advantage over the depth first search. The Nonogram is also transformed into a Constraint Satisfaction Problem. Three heuristics approaches are proposed: a Tabu Search and two memetic algorithms. A new function to calculate the objective function is proposed. The approaches are applied on 234 instances, the size of the instances ranging from 5 x 5 to 100 x 100 size, and including logical and random Nonograms

Enteric coated magnetic HPMC capsules evaluated in human gastrointestinal tract by AC biosusceptometry

Purpose. To employ the AC Biosusceptometry (ACB) technique to evaluate in vitro and in vivo characteristics of enteric coated magnetic hydroxypropyl methylcellulose (HPMC) capsules and to image the disintegration process.Materials and Methods. HPMC capsules filled with ferrite (MnFe2O4) and coated with Eudragit (R) were evaluated using USP XXII method and administered to fasted volunteers. Single and multisensor ACB systems were used to characterize the gastrointestinal (GI) motility and to determine gastric residence time (GRT), small intestinal transit time (SITT) and orocaecal transit time (OCTT). Mean disintegration time (t (50)) was quantified from 50% increase of pixels in the imaging area.Results. In vitro and in vivo performance of the magnetic HPMC capsules as well as the disintegration process were monitored using ACB systems. The mean disintegration time (t (50)) calculated for in vitro was 25 +/- 5 min and for in vivo was 13 +/- 5 min. In vivo also were determined mean values for GRT (55 +/- 19 min), SITT (185 +/- 82 min) and OCTT (240 +/- 88 min).Conclusions. AC Biosusceptometry is a non-invasive technique originally proposed to monitoring pharmaceutical dosage forms orally administered and to image the disintegration process.

Úlceras crônicas dos membros inferiores: avaliação pela fotografia digital

OBJETIVO: Avaliar o desempenho da análise de imagem digital na estimativa da área acometida pelas úlceras crônicas dos membros inferiores. MÉTODOS: Estudo prospectivo em que foram mensuradas úlceras empregando o método planimétrico clássico, utilizando desenho dos seus contornos em filme plástico transparente, medida sua área posteriormente por folha milimetrada. Esses valores foram utilizados como padrão para a comparação com a estimativa de área pelas fotografias digitais padronizadas das úlceras e dos desenhos das mesmas em filme plástico. Para criar um referencial de conversão dos pixels em milímetros, foi empregado um adesivo com tamanho conhecido, adjacente à úlcera. RESULTADOS: foram avaliadas 42 lesões em 20 pacientes portadores de úlceras crônicas de membros inferiores. As áreas das úlceras variaram de 0,24 a 101,65cm². Observou-se forte correlação entre as medidas planimétricas e as fotos das úlceras (R²=0,86 p<0,01), porém a correlação das medidas planimétricas com as fotos digitais dos desenhos das úlceras foi ainda maior (R²=0,99 p<0,01). CONCLUSÃO: A fotografia digital padronizada revelou-se método rápido, preciso e não-invasivo capaz de estimar a área afetada por úlceras. A avaliação das medidas fotográficas dos contornos das úlceras deve ser preferida em relação à análise de sua fotografia direta.

Segmentação fuzzy de imagens coloridas com características texturais: uma aplicação a rochas sedimentares

Image segmentation is the process of labeling pixels on di erent objects, an important step in many image processing systems. This work proposes a clustering method for the segmentation of color digital images with textural features. This is done by reducing the dimensionality of histograms of color images and using the Skew Divergence to calculate the fuzzy a nity functions. This approach is appropriate for segmenting images that have colorful textural features such as geological, dermoscopic and other natural images, as images containing mountains, grass or forests. Furthermore, experimental results of colored texture clustering using images of aquifers' sedimentary porous rocks are presented and analyzed in terms of precision to verify its e ectiveness.

Influence of homeopathic treatment with comfrey on bone density around titanium implants. A digital subtraction radiography study in rats

Objective: The objective of this study was to evaluate the influence of homeopathic treatment with comfrey (Shymphytum officinalis 6CH) on radiographic bone density and area around titanium implants.Material and methods: Forty-eight rats were divided into two groups of 24 animals each: a control group (C) and a test group (SO). Each animal received one titanium micro-implant placed in the tibia. The animals in Group SO were subjected to 10 drops of comfrey 6CH per day mixed into their drinking water until the day of sacrifice. Eight animals of each group were sacrificed at 7, 14 and 28 days post-surgery, respectively.Standardized digital radiographs were obtained on the day of implant installation (baseline images) and on the day of sacrifice (final images). Digital subtraction of the two corresponding images was performed to evaluate changes in bone density and the area related to change around the implant between baseline and final images.Results: Subtraction images demonstrated that a significant difference existed in mean shade of gray at 14 days post-surgery between Group SO (mean 175.3 +/- 14.4) and Group C (mean 146.2 +/- 5.2). Regarding the area in pixels corresponding to the bone gain in Group SO, the differences observed between the sacrifice periods and groups were only significant at 7 days sacrifice between Group SO (mean 171.2 +/- 21.9) and Group C (mean 64.5 +/- 60.4).Conclusion: Within the limits of this study, comfrey administration promotes an increase in radiographic bone density around titanium implants in the initial period of bone healing.

Automatic estimation of crowd density using texture

This paper considers the role of automatic estimation of crowd density and its importance for the automatic monitoring of areas where crowds are expected to be present. A new technique is proposed which is able to estimate densities ranging from very low to very high concentration of people, which is a difficult problem because in a crowd only parts of people's body appear. The new technique is based on the differences of texture patterns of the images of crowds. Images of low density crowds tend to present coarse textures, while images of dense crowds tend to present fine textures. The image pixels are classified in different texture classes and statistics of such classes are used to estimate the number of people. The texture classification and the estimation of people density are carried out by means of self organising neural networks. Results obtained respectively to the estimation of the number of people in a specific area of Liverpool Street Railway Station in London (UK) are presented. (C) 1998 Elsevier B.V. Ltd. All rights reserved.

Mathematical equation correction to spectral and transport interferences in high-resolution continuum source flame atomic absorption spectrometry: determination of lead in phosphoric acid

Um método de correção de interferência espectral e de transporte é proposto, e foi aplicado para minimizar interferências por moléculas de PO produzidas em chama ar-acetileno e de transporte causada pela variação da concentração de ácido fosfórico. Átomos de Pb e moléculas de PO absorvem a 217,0005 nm, então Atotal217,0005 nm = A Pb217,0005 nm + A PO217,0005 nm. Monitorando o comprimento de onda alternativo de PO em 217,0458 nm, é possível calcular a contribuição relativa de PO na absorbância total a 217,0005 nm: A Pb217,0005 nm = Atotal217,0005 nm - A PO217,0005 nm = Atotal217,0005 nm - k (A PO217,0458 nm). O fator de correção k é a razão entre os coeficientes angulares de duas curvas analíticas para P obtidas a 217,0005 e 217,0458 nm (k = b217,0005 nm/b217,0458 nm). Fixando-se a taxa de aspiração da amostra em 5,0 ml min-1, e integrando-se a absorbância no comprimento de onda a 3 pixels, curvas analíticas para Pb (0,1 - 1,0 mg L-1) foram obtidas com coeficientes de correlação típicos > 0,9990. As correlações lineares entre absorbância e concentração de P nos comprimentos de onda 217,0005 e 217,0458 foram > 0,998. O limite de detecção de Pb foi 10 µg L-1. O método de correção proposto forneceu desvios padrão relativos (n=12) de 2,0 a 6,0%, ligeiramente menores que os obtidos sem correção (1,4-4,3%). As recuperações de Pb adicionado às amostras de ácido fosfórico variaram de 97,5 a 100% (com correção pelo método proposto) e de 105 a 230% (sem correção).

DETERMINATION of SILICON IN LUBRICANT OIL BY HIGH-RESOLUTION CONTINUUM SOURCE FLAME ATOMIC ABSORPTION SPECTROMETRY USING LEAST-SQUARE BACKGROUND CORRECTION and INTERNAL STANDARDIZATION

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