Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação

This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which is a discrete mapping approach, where each cell stores the occupancy probability, the height of the terrain at current place in the environment and the variance of this height. This 2.5-dimensional representation allows that a mobile robot to know whether a place in the environment is occupied by an obstacle and the height of this obstacle, thus, it can decide if is possible to traverse the obstacle. Sensorial informations necessary to construct the map is provided by a stereo vision system, which has been modeled with a robust probabilistic approach, considering the noise present in the stereo processing. The resulting maps favors the execution of tasks like decision making in the autonomous navigation, exploration, localization and path planning. Experiments carried out with a real mobile robots demonstrates that this proposed approach yields useful maps for robot autonomous navigation

Knowledge extraction using visualization of hemoglobin parameters to identify thalassemia

The analysis of large amounts of data is better performed by humans when represented in a graphical format. Therefore, a new research area called the Visual Data Mining is being developed endeavoring to use the number crunching power of computers to prepare data for visualization, allied to the ability of humans to interpret data presented graphically.This work presents the results of applying a visual data mining tool, called FastMapDB to detect the behavioral pattern exhibited by a dataset of clinical information about hemoglobinopathies known as thalassemia. FastMapDB is a visual data mining tool that get tabular data stored in a relational database such as dates, numbers and texts, and by considering them as points in a multidimensional space, maps them to a three-dimensional space. The intuitive three-dimensional representation of objects enables a data analyst to see the behavior of the characteristics from abnormal forms of hemoglobin, highlighting the differences when compared to data from a group without alteration.

Cell detection at far ranges: supporting T(b) - Z relationships

The Bauru radar detects inner cores of deep convective storm cells at long range, but relevant cell areas are left undetected. A procedure is in development to generate a more complete three-dimensional representation of the cell structure for cost-beneficial hydrological use at larger distances. A set of satellite microwave brightness temperature (T(b)) - radar reflectivity (Z) relationships, basic to the retrieval procedure, has been derived. Copyright (C) 2005 Royal Meteorological Society

Visualization of Protein Folding Funnels in Lattice Models

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

Self-Organizing Maps of Molecular Descriptors for Sesquiterpene Lactones and Their Application to the Chemotaxonomy of the Asteraceae Family

The Asteraceae, one of the largest families among angiosperms, is chemically characterised by the production of sesquiterpene lactones (SLs). A total of 1,111 SLs, which were extracted from 658 species, 161 genera, 63 subtribes and 15 tribes of Asteraceae, were represented and registered in two dimensions in the SISTEMATX, an in-house software system, and were associated with their botanical sources. The respective 11 block of descriptors: Constitutional, Functional groups, BCUT, Atom-centred, 2D autocorrelations, Topological, Geometrical, RDF, 3D-MoRSE, GETAWAY and WHIM were used as input data to separate the botanical occurrences through self-organising maps. Maps that were generated with each descriptor divided the Asteraceae tribes, with total index values between 66.7% and 83.6%. The analysis of the results shows evident similarities among the Heliantheae, Helenieae and Eupatorieae tribes as well as between the Anthemideae and Inuleae tribes. Those observations are in agreement with systematic classifications that were proposed by Bremer, which use mainly morphological and molecular data, therefore chemical markers partially corroborate with these classifications. The results demonstrate that the atom-centred and RDF descriptors can be used as a tool for taxonomic classification in low hierarchical levels, such as tribes. Descriptors obtained through fragments or by the two-dimensional representation of the SL structures were sufficient to obtain significant results, and better results were not achieved by using descriptors derived from three-dimensional representations of SLs. Such models based on physico-chemical properties can project new design SLs, similar structures from literature or even unreported structures in two-dimensional chemical space. Therefore, the generated SOMs can predict the most probable tribe where a biologically active molecule can be found according Bremer classification.

Prediction of new crystal structures under extreme conditions

One of the most important challenges in chemistry and material science is the connection between the contents of a compound and its chemical and physical properties. In solids, these are greatly influenced by the crystal structure.rnrnThe prediction of hitherto unknown crystal structures with regard to external conditions like pressure and temperature is therefore one of the most important goals to achieve in theoretical chemistry. The stable structure of a compound is the global minimum of the potential energy surface, which is the high dimensional representation of the enthalpy of the investigated system with respect to its structural parameters. The fact that the complexity of the problem grows exponentially with the system size is the reason why it can only be solved via heuristic strategies.rnrnImprovements to the artificial bee colony method, where the local exploration of the potential energy surface is done by a high number of independent walkers, are developed and implemented. This results in an improved communication scheme between these walkers. This directs the search towards the most promising areas of the potential energy surface.rnrnThe minima hopping method uses short molecular dynamics simulations at elevated temperatures to direct the structure search from one local minimum of the potential energy surface to the next. A modification, where the local information around each minimum is extracted and used in an optimization of the search direction, is developed and implemented. Our method uses this local information to increase the probability of finding new, lower local minima. This leads to an enhanced performance in the global optimization algorithm.rnrnHydrogen is a highly relevant system, due to the possibility of finding a metallic phase and even superconductor with a high critical temperature. An application of a structure prediction method on SiH12 finds stable crystal structures in this material. Additionally, it becomes metallic at relatively low pressures.

An Oka principle for equivariant isomorphisms

Let G be a reductive complex Lie group acting holomorphically on normal Stein spaces X and Y, which are locally G-biholomorphic over a common categorical quotient Q. When is there a global G-biholomorphism X → Y? If the actions of G on X and Y are what we, with justification, call generic, we prove that the obstruction to solving this local-to-global problem is topological and provide sufficient conditions for it to vanish. Our main tool is the equivariant version of Grauert's Oka principle due to Heinzner and Kutzschebauch. We prove that X and Y are G-biholomorphic if X is K-contractible, where K is a maximal compact subgroup of G, or if X and Y are smooth and there is a G-diffeomorphism ψ : X → Y over Q, which is holomorphic when restricted to each fibre of the quotient map X → Q. We prove a similar theorem when ψ is only a G-homeomorphism, but with an assumption about its action on G-finite functions. When G is abelian, we obtain stronger theorems. Our results can be interpreted as instances of the Oka principle for sections of the sheaf of G-biholomorphisms from X to Y over Q. This sheaf can be badly singular, even for a low-dimensional representation of SL2(ℂ). Our work is in part motivated by the linearisation problem for actions on ℂn. It follows from one of our main results that a holomorphic G-action on ℂn, which is locally G-biholomorphic over a common quotient to a generic linear action, is linearisable.

Aerodynamic optimization of the ICE2 high-speed train nose using a genetic algorithm and metamodels

An aerodynamic optimization of the ICE 2 high-speed train nose in term of front wind action sensitivity is carried out in this paper. The nose is parametrically defined by Be?zier Curves, and a three-dimensional representation of the nose is obtained using thirty one design variables. This implies a more complete parametrization, allowing the representation of a real model. In order to perform this study a genetic algorithm (GA) is used. Using a GA involves a large number of evaluations before finding such optimal. Hence it is proposed the use of metamodels or surrogate models to replace Navier-Stokes solver and speed up the optimization process. Adaptive sampling is considered to optimize surrogate model fitting and minimize computational cost when dealing with a very large number of design parameters. The paper introduces the feasi- bility of using GA in combination with metamodels for real high-speed train geometry optimization.

Detecting changes in the basin of attraction of a dynamical system: Application to the postural restoring system

A method that provides athree-dimensional representation ofthe basin ofattraction of a dynamical system from experimen tal data was applied tothe problem ofdynamic balance restoration. The method isbased onthe density ofthe data onthe phase space ofthe system under study and makes use ofmodeling and numerical curve fittingtools.For the dynamical system ofbalance restora tion,the shape and the size of the basin of attraction depend on the dynamics of the postural restoring mechanisms and contain important information regarding the biomechanical,as well as the neuromuscular condition of the individual. The aim ofthis work was toexamine the ability ofthe method todetect, through the observed changes inthe shape and/or the size ofthe calculated basins of attraction, (a)the inherent differences between different systems (in the current application, postural restoring systems of different individuals)and (b)induced chan ges in the same system (thepostural restoring system of an individual).The results ofthe study confirm the validity of the method and furthermore justify its robustness.

¿Es este un proyecto de Mies? / Is this a Mies s project?

Is this a Mies?s project? Disappearances, or the art of being a Mies project Angel Borrego Several years ago I had to solve the structure of Mies House of the Werkbund exhibition of 1931 as an exercise for a course named Structures Projects in the School of Architecture of Madrid. We were offered this house as an exercise because there had been some complaints about having to calculate and deal with ?bad, real, anonymous? architecture widely recognized as such, in so far as it has been widely published, that furthermore had some ideal quality to it, a quality reinforced by the fact that it was not there anymore, one could not go and see it, old and deteriorated, all images we have of it are of a shiny new object: in fact its ideal quality was even present in that it had not even been designed to be a completely real house, as nobody ever lived there and wasn?t supposed to. It was a three dimensional representation of a house, what gave it a further flair of ideality. And it was as well the representation of an idea, and we all liked that. Last but not least, it had Mies to back it up, which promised us the remote possibility of analyzing one of his works in depth, with proper tools (this was a structures course, and we had already read, or heard, something about the importance of structures in Mies?s work.) We were lured by the possibility of reconstructing, if not the pavilion, some of the ideas leading to it. Ideas that were themselves structural, like the ?perfectly regular all columnar structure?, an ideal structure. We had a sensation that we could somehow reproduce the process and thoughts of Mies leading to the solution of a particular work, investigate him in a cuasi archaeological manner, reconstruct the project, as if being able to reconstruct one work we could reconstruct the entire Mies, and placing ourselves in his position replace him, which was to know for once where we were (1). All these thoughts, passed through our minds more or less abstractly, believe it or not, before we realized that we were supposed to imagine that the roof was also supported by the walls and that the plan was lacking two columns, which was short. We could not believe that only to make the exercise more difficult, as it was admitted, the professors would mutilate a Mies work in such a way. The exercise had lost all interest to us and there were some timid protests. The surprise came when, though admitting that the supporting walls had been their idea, the professors said they had not manipulated the plan of the house at all. Some confusion followed, since that seemed quite incredible to us, even more to professors I guess. Two of us went to the library and checkout two books, one being the ?History of Modern Architecture? (the Benevolo as it was known), from where they said to have copied the plan of the house for the exercise, and another book on Mies that included the same project. The Benevolo was actually lacking the two columns, but the other book included them, making clear our point. We were able to reorient the exercise and calculate the house just as Mies had designed it. We, the students I mean, were really happy, since we had a voice in the discipline of architecture: our own discipline since we were the ones being disciplined, and we had been allowed to freely talk our way through it. I had the nice sensation that what happened was curiously and rewardingly similar to, or a kind of metaphor for, the flowing space of the free plan, that was allowed to move through the perfectly regular structure, a most disciplined structure. As Mark Wigley has noted, discipline is intimately related to prothesis. The concept of prothesis (pro-thesis) would be already architectural as ?the act of placing before?, referring to a structure that has to be placed before anything else; it is already a structure, rather than being something added that could be removed..

Numerical modeling of electromagnetic coupling phenomena in the vicinities of overhead power transmission lines.

Electromagnetic coupling phenomena between overhead power transmission lines and other nearby structures are inevitable, especially in densely populated areas. The undesired effects resulting from this proximity are manifold and range from the establishment of hazardous potentials to the outbreak of alternate current corrosion phenomena. The study of this class of problems is necessary for ensuring security in the vicinities of the interaction zone and also to preserve the integrity of the equipment and of the devices there present. However, the complete modeling of this type of application requires the three- -dimensional representation of the region of interest and needs specific numerical methods for field computation. In this work, the modeling of problems arising from the flow of electrical currents in the ground (the so-called conductive coupling) will be addressed with the finite element method. Those resulting from the time variation of the electromagnetic fields (the so-called inductive coupling) will be considered as well, and they will be treated with the generalized PEEC (Partial Element Equivalent Circuit) method. More specifically, a special boundary condition on the electric potential is proposed for truncating the computational domain in the finite element analysis of conductive coupling problems, and a complete PEEC formulation for modeling inductive coupling problems is presented. Test configurations of increasing complexities are considered for validating the foregoing approaches. These works aim to provide a contribution to the modeling of this class of problems, which tend to become common with the expansion of power grids.

Las maquetas como material didáctico para la enseñanza y aprendizaje de la lectura e interpretación de planos en la ingeniería

Utilizamos las maquetas como herramientas auxiliares para proyectar y mostrar proyectos de ingeniería, pero también pueden ser un excelente material didáctico para la enseñanza y aprendizaje de la lectura, interpretación y realización de los planos que definen un proyecto o sus diferentes elementos. En este trabajo se refiere la experiencia realizada por los autores con los alumnos de Ingeniería Técnica de Obras Públicas dentro de la unidad de Interpretación de Planos de la asignatura de Sistemas de Representación. La dificultad que los alumnos de la materia tienen para interpretar el lenguaje, códigos y convenciones de la expresión gráfica está entre los motivos por los que se ha utilizado las maquetas como método de representación tridimensional que permite hacer comprensibles y fácilmente interpretadas las características constructivas de los diferentes elementos y las operaciones necesarias para pasar de la representación a la realización de la unidad de obra. En la comunicación se describe la actividad realizada con los alumnos, la selección de las unidades a representar, la elaboración de las maquetas y planos, poniendo especial acento en la concordancia entre la representación gráfica y el modelo tridimensional. Asimismo se han analizado las capacidades didácticas de uno de los trabajos realizados por los alumnos así como la evaluación y conclusiones de la experiencia realizada.

On Selmer groups and factoring p-adic L-functions

Thesis (Ph.D.)--University of Washington, 2016-06

A Multi-View Learning Algorithm

Report published in the Proceedings of the National Conference on "Education and Research in the Information Society", Plovdiv, May, 2014

Real-time intensity domain characterization of fibre lasers using spatio-temporal dynamics

Fibre lasers are light sources that are synonymous with stability. They can give rise to highly coherent continuous-wave radiation, or a stable train of mode locked pulses with well-defined characteristics. However, they can also exhibit an exceedingly diverse range of nonlinear operational regimes spanning a multi-dimensional parameter space. The complex nature of the dynamics poses significant challenges in the theoretical and experimental studies of such systems. Here, we demonstrate how the real-time experimental methodology of spatio-temporal dynamics can be used to unambiguously identify and discern between such highly complex lasing regimes. This two-dimensional representation of laser intensity allows the identification and tracking of individual features embedded in the radiation as they make round-trip circulations inside the cavity. The salient features of this methodology are highlighted by its application to the case of Raman fibre lasers and a partially mode locked ring fibre laser operating in the normal dispersion regime.