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

Interaction of small amounts of bovine serum albumin with phospholipid monolayers investigated by surface pressure and atomic force microscopy

The influence of small amounts of bovine serum albumin (BSA) (nM concentration) on the lateral organization of phospholipid monolayers at the air-water interface and transferred onto solid substrates as one-layer Langmuir-Blodgett (LB) films was investigated. The kinetics of adsorption of BSA onto the phospholipid monolayers was monitored with surface pressure isotherms in a Langmuir trough, for the zwitterionic dipalmitoylphosphatidyl ethanolamine (N,N-dimethyl-PE) and the anionic dimyristoylphosphatidic acid (DMPA). A monolayer of N,N-dimethyl-PE or DMPA incorporating BSA was transferred onto a solid substrate using the Langmuir-Blodgett technique. Atomic force microscopy (AFM) images of one-layer LB films displayed protein-phospholipid domains, whose morphology was characterized using dynamic scaling theories to calculate roughness exponents. For DMPA-BSA films the surface is characteristic of self-affine fractals, which may be described with the Kardar-Parisi-Zhang (KPZ) equation. on the other hand, for N,N-dimethyl-PE-BSA films, the results indicate a relatively flat surface within the globule. The height profile and the number and size of globules varied with the type of phospholipid. The overall results, from kinetics of adsorption on Langmuir monolayers and surface morphology in LB films, could be interpreted in terms of the higher affinity of BSA to the anionic DMPA than to the zwitterionic N,N-dimethyl-PE. Furthermore, the effects from such small amounts of BSA in the monolayer point to a cooperative response of DMPA and N,N-dimethyl-PE monolayers to the protein. (c) 2005 Elsevier B.V. All rights reserved.

Fractal characterization of brittle fracture in ceramics under mode I stress loading

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

Função Afifim: Teoria e aplicações

In this work we present a proposal to contribute to the teaching and learning of affine function in the first year of high school having as prerequisite mathematical knowledge of basic education. The proposal focuses on some properties, special cases and applications of affine functions in order to show the importance of the demonstrations while awaken student interest by showing how this function is important to solve everyday problems

Classification and characterization of places for mapping of environment using hierarchical neural network and omnivision

Mobile robots need autonomy to fulfill their tasks. Such autonomy is related whith their capacity to explorer and to recognize their navigation environments. In this context, the present work considers techniques for the classification and extraction of features from images, using artificial neural networks. This images are used in the mapping and localization system of LACE (Automation and Evolutive Computing Laboratory) mobile robot. In this direction, the robot uses a sensorial system composed by ultrasound sensors and a catadioptric vision system equipped with a camera and a conical mirror. The mapping system is composed of three modules; two of them will be presented in this paper: the classifier and the characterizer modules. Results of these modules simulations are presented in this paper.

T-duality in 2D integrable models

The non-conformal analogue of Abelian T-duality transformations relating pairs of axial and vector integrable models from the non-Abelian affine Toda family is constructed and studied in detail.

Solitons from dressing in an algebraic approach to the constrained KP hierarchy

The algebraic matrix hierarchy approach based on affine Lie sl(n) algebras leads to a variety of 1 + 1 soliton equations. By varying the rank of the underlying sl(n) algebra as well as its gradation in the affine setting, one encompasses the set of the soliton equations of the constrained KP hierarchy.The soliton solutions are then obtained as elements of the orbits of the dressing transformations constructed in terms of representations of the vertex operators of the affine sl(n) algebras realized in the unconventional gradations. Such soliton solutions exhibit non-trivial dependence on the KdV (odd) time flows and KP (odd and even) time Bows which distinguishes them From the conventional structure of the Darboux-Backlund-Wronskian solutions of the constrained KP hierarchy.

Electrically charged topological solitons

Two new families of T-dual integrable models of dyonic type are constructed. They represent specific A(n)((1)) singular non-abelian affine Toda models having U(1) global symmetry. Their I-soliton spectrum contains both neutral and U(I)-charged topological solitons sharing the main properties of 4-dimensional Yang-Mills-Higgs monopoles and dyons. The semiclassical quantization of these solutions as well as the exact counterterms and the coupling constant renormalization are studied. (C) 2001 Elsevier B.V. B.V. All rights reserved.

Bicomplexes and conservation laws in non-Abelian Toda models

A bicomplex structure is associated with the Leznov-Saveliev equation of integrable models. The linear problem associated with the zero-curvature condition is derived in terms of the bicomplex linear equation. The explicit example of a non-Abelian conformal affine Toda model is discussed in detail and its conservation laws are derived from the zero-curvature representation of its equation of motion.

Nonabelian Toda theories from parafermionic reductions of the WZW model

We investigate a class of conformal nonabelian-Toda models representing noncompact SL(2, R)/U(1) parafermions (PF) interacting with specific abelian Toda theories and having a global U(1) symmetry. A systematic derivation of the conserved currents, their algebras, and the exact solution of these models are presented. An important property of this class of models is the affine SL(2, R)(q) algebra spanned by charges of the chiral and antichiral nonlocal currents and the U(1) charge. The classical (Poisson brackets) algebras of symmetries VG(n), of these models appear to be of mixed PF-WG(n) type. They contain together with the local quadratic terms specific for the W-n-algebras the nonlocal terms similar to the ones of the classical PF-algebra. The renormalization of the spins of the nonlocal currents is the main new feature of the quantum VA(n)-algebras. The quantum VA(2)-algebra and its degenerate representations are studied in detail. (C) 1999 Academic Press.

T-duality of axial and vector dyonic integrable models

A general construction of affine nonabelian (NA)-Toda models in terms of the axial and vector gauged two loop WZNW model is discussed. They represent integrable perturbations of the conformal sigma -models (with tachyons included) describing (charged) black hole type string backgrounds. We study the off-critical T-duality between certain families of axial and vector type integrable models for the case of affine NA-Toda theories with one global U(1) symmetry. In particular we find the Lie algebraic condition defining a subclass of T-selfdual torsionless NA-Toda models and their zero curvature representation. (C) 2001 Academic Press.

Generalized sine-Gordon/massive Thirring models and soliton/particle correspondences

We consider a real Lagrangian off-critical submodel describing the soliton sector of the so-called conformal affine sl(3)((1)) Toda model coupled to matter fields. The theory is treated as a constrained system in the context of Faddeev-Jackiw and the symplectic schemes. We exhibit the parent Lagrangian nature of the model from which generalizations of the sine-Gordon (GSG) or the massive Thirring (GMT) models are derivable. The dual description of the model is further emphasized by providing the relationships between bilinears of GMT spinors and relevant expressions of the GSG fields. In this way we exhibit the strong/weak coupling phases and the (generalized) soliton/particle correspondences of the model. The sl(n)((1)) case is also outlined. (C) 2002 American Institute of Physics.

Torsion gravity: A reappraisal

The role played by torsion in gravitation is critically reviewed. After a description of the problems and controversies involving the physics of torsion, a comprehensive presentation of the teleparallel equivalent of general relativity is made. According to this theory, curvature and torsion are alternative ways of describing the gravitational field, and consequently related to the same degrees of freedom of gravity. However, more general gravity theories, like for example Einstein-Cartan and gauge theories for the Poincare and the affine groups, consider curvature and torsion as representing independent degrees of freedom. By using an active version of the strong equivalence principle, a possible solution to this conceptual question is reviewed. This solution ultimately favors the teleparallel point of view, and consequently the completeness of general relativity. A discussion of the consequences for gravitation is presented.

Nonautonomous mixed mKdV-sinh-Gordon hierarchy

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

The higher grading structure of the WKI hierarchy and the two-component short pulse equation

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)