Melhorando a estimação de pose com o RANSAC preemptivo generalizado e múltiplos geradores de hipóteses

The camera motion estimation represents one of the fundamental problems in Computer Vision and it may be solved by several methods. Preemptive RANSAC is one of them, which in spite of its robustness and speed possesses a lack of flexibility related to the requirements of applications and hardware platforms using it. In this work, we propose an improvement to the structure of Preemptive RANSAC in order to overcome such limitations and make it feasible to execute on devices with heterogeneous resources (specially low budget systems) under tighter time and accuracy constraints. We derived a function called BRUMA from Preemptive RANSAC, which is able to generalize several preemption schemes, allowing previously fixed parameters (block size and elimination factor) to be changed according the applications constraints. We also propose the Generalized Preemptive RANSAC method, which allows to determine the maximum number of hipotheses an algorithm may generate. The experiments performed show the superiority of our method in the expected scenarios. Moreover, additional experiments show that the multimethod hypotheses generation achieved more robust results related to the variability in the set of evaluated motion directions

Caracterizando os fluxos excepcionais em linhas de produto de software: um estudo exploratório

The Exception Handling (EH) is a widely used mechanism for building robust systems. In Software Product Line (SPL) context it is not different. As EH mechanisms are embedded in most of mainstream programming languages (like Java, C# and C++), we can find exception signalers and handlers spread over code assets associated to common and variable SPL features. When exception signalers and handlers are added to an SPL in an unplanned way, one of the possible consequences is the generation of faulty family instances (i.e., instances on which common or variable features signal exceptions that are mistakenly caught inside the system). In this context, some questions arise: How exceptions flow between the optional and alternative features an LPS? Aiming at providing answers to these questions, this master thesis conducted an exploratory study, based on code inspection and static analysis code, whose goal was to categorize the main ways which exceptions flow in LPSs. To support the study, we developed an static analysis tool called PLEA (Product Line Exception Analyzer) that calculates the exceptional flows of LPSs, and categorize these flows according to the features associated with handlers and signalers. Preliminary results showed that some types of exceptional flows have more potential to yield failures in exceptional behavior of SLPs

Formal verification of PLC programs using the B Method

PLCs (acronym for Programmable Logic Controllers) perform control operations, receiving information from the environment, processing it and modifying this same environment according to the results produced. They are commonly used in industry in several applications, from mass transport to petroleum industry. As the complexity of these applications increase, and as various are safety critical, a necessity for ensuring that they are reliable arouses. Testing and simulation are the de-facto methods used in the industry to do so, but they can leave flaws undiscovered. Formal methods can provide more confidence in an application s safety, once they permit their mathematical verification. We make use of the B Method, which has been successfully applied in the formal verification of industrial systems, is supported by several tools and can handle decomposition, refinement, and verification of correctness according to the specification. The method we developed and present in this work automatically generates B models from PLC programs and verify them in terms of safety constraints, manually derived from the system requirements. The scope of our method is the PLC programming languages presented in the IEC 61131-3 standard, although we are also able to verify programs not fully compliant with the standard. Our approach aims to ease the integration of formal methods in the industry through the abbreviation of the effort to perform formal verification in PLCs

Controlador adaptativo por modelo de referência e estrutura variável aplicado ao controle de ângulo de carga e fluxo de campo de um gerador síncrono

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Estudo comparativo de estratégias de controle aplicadas a um gerador síncrono

The robustness and performance of the Variable Structure Adaptive Pole Placement Controller are evaluated in this work, where this controller is applied to control a synchronous generator connected to an infinite bus. The evaluation of the robustness of this controller will be accomplished through simulations, where the control algorithm was subjected to adverse conditions, such as: disturbances, parametric variations and unmodeled dynamic. It was also made a comparison of this control strategy with another one, using classic controllers. In the simulations, it is used a coupled model of the synchronous generator which variables have a high degree of coupling, in other words, if there is a change in the input variables of the generator, it will change all outputs simultaneously. The simulation results show which control strategy performs better and is more robust to disturbances, parametric variations and unmodeled dynamics for the control of Synchronous Generator

Identificação e comparação entre controle preditivo com modelo não linear e PI sintonizados com PSO em sistema de separação gravitacional de águia-óleo

The separation methods are reduced applications as a result of the operational costs, the low output and the long time to separate the uids. But, these treatment methods are important because of the need for extraction of unwanted contaminants in the oil production. The water and the concentration of oil in water should be minimal (around 40 to 20 ppm) in order to take it to the sea. Because of the need of primary treatment, the objective of this project is to study and implement algorithms for identification of polynomial NARX (Nonlinear Auto-Regressive with Exogenous Input) models in closed loop, implement a structural identification, and compare strategies using PI control and updated on-line NARX predictive models on a combination of three-phase separator in series with three hydro cyclones batteries. The main goal of this project is to: obtain an optimized process of phase separation that will regulate the system, even in the presence of oil gushes; Show that it is possible to get optimized tunings for controllers analyzing the mesh as a whole, and evaluate and compare the strategies of PI and predictive control applied to the process. To accomplish these goals a simulator was used to represent the three phase separator and hydro cyclones. Algorithms were developed for system identification (NARX) using RLS(Recursive Least Square), along with methods for structure models detection. Predictive Control Algorithms were also implemented with NARX model updated on-line, and optimization algorithms using PSO (Particle Swarm Optimization). This project ends with a comparison of results obtained from the use of PI and predictive controllers (both with optimal state through the algorithm of cloud particles) in the simulated system. Thus, concluding that the performed optimizations make the system less sensitive to external perturbations and when optimized, the two controllers show similar results with the assessment of predictive control somewhat less sensitive to disturbances

Controlador adaptativo backstepping a estrutura variavel com Observadores de estado

This research aims at developing a variable structure adaptive backstepping controller (VS-ABC) by using state observers for SISO (Single Input Single Output), linear and time invariant systems with relative degree one. Therefore, the lters were replaced by a Luenberger Adaptive Observer and the control algorithm uses switching laws. The presented simulations compare the controller performance, considering when the state variables are estimated by an observer, with the case that the variables are available for measurement. Even with numerous performance advantages, adaptive backstepping controllers still have very complex algorithms, especially when the system state variables are not measured, since the use of lters on the plant input and output is not something trivial. As an attempt to make the controller design more intuitive, an adaptive observer as an alternative to commonly used K lters can be used. Furthermore, since the states variables are considered known, the controller has a reduction on the dependence of the unknown plant parameters on the design. Also, switching laws could be used in the controller instead of the traditional integral adaptive laws because they improve the system transient performance and increase the robustness against external disturbances in the plant input

Estudo comparativo de abordagens de inversão do fator de qualidade Q

Seismic wave dispersion and attenuation studies have become an important tool for lithology and fluid discrimination in hydrocarbon reservoirs. The processes associated to attenuation are complex and are encapsulated in a single quantitative description called quality factor (Q). The present dissertation has the objective of comparing different approaches of Q determination and is divided in two parts. Firstly, we made performance and robustness tests of three different approaches for Q determination in the frequency domain. They are: peak shift, centroid shift and spectral ratio. All these tests were performed in a three-layered model. In the suite of tests performed here, we varied the thickness, Q and inclination of the layers for propagation pulses with central frequency of 30, 40 and 60 Hz. We found that the centroid shift method is produces robust results for the entire suíte of tests. Secondly, we inverted for Q values using the peak and centroid shift methods using an sequential grid search algorithm. In this case, centroid shift method also produced more robust results than the peak shift method, despite being of slower convergence

Estimativa da profundidade do embasamento na bacia potiguar usando inversão gravimétrica

The gravity inversion method is a mathematic process that can be used to estimate the basement relief of a sedimentary basin. However, the inverse problem in potential-field methods has neither a unique nor a stable solution, so additional information (other than gravity measurements) must be supplied by the interpreter to transform this problem into a well-posed one. This dissertation presents the application of a gravity inversion method to estimate the basement relief of the onshore Potiguar Basin. The density contrast between sediments and basament is assumed to be known and constant. The proposed methodology consists of discretizing the sedimentary layer into a grid of rectangular juxtaposed prisms whose thicknesses correspond to the depth to basement which is the parameter to be estimated. To stabilize the inversion I introduce constraints in accordance with the known geologic information. The method minimizes an objective function of the model that requires not only the model to be smooth and close to the seismic-derived model, which is used as a reference model, but also to honor well-log constraints. The latter are introduced through the use of logarithmic barrier terms in the objective function. The inversion process was applied in order to simulate different phases during the exploration development of a basin. The methodology consisted in applying the gravity inversion in distinct scenarios: the first one used only gravity data and a plain reference model; the second scenario was divided in two cases, we incorporated either borehole logs information or seismic model into the process. Finally I incorporated the basement depth generated by seismic interpretation into the inversion as a reference model and imposed depth constraint from boreholes using the primal logarithmic barrier method. As a result, the estimation of the basement relief in every scenario has satisfactorily reproduced the basin framework, and the incorporation of the constraints led to improve depth basement definition. The joint use of surface gravity data, seismic imaging and borehole logging information makes the process more robust and allows an improvement in the estimate, providing a result closer to the actual basement relief. In addition, I would like to remark that the result obtained in the first scenario already has provided a very coherent basement relief when compared to the known basin framework. This is significant information, when comparing the differences in the costs and environment impact related to gravimetric and seismic surveys and also the well drillings

Estudo de simulação de modelos lineares mistos com distribuição normal contaminada no melhoramento genético animal

Objetivou-se com esse trabalho comparar estimativas de componentes de variâncias obtidas por meio de modelos lineares mistos Gaussianos e Robustos, via Amostrador de Gibbs, em dados simulados. Foram simulados 50 arquivos de dados com 1.000 animais cada um, distribuídos em cinco gerações, em dois níveis de efeito fixo e três valores fenotípicos distintos para uma característica hipotética, com diferentes níveis de contaminação. Exceto para os dados sem contaminação, quando os modelos foram iguais, o modelo Robusto apresentou melhores estimativas da variância residual. As estimativas de herdabilidade foram semelhantes em todos os modelos, mas as análises de regressão mostraram que os valores genéticos preditos com uso do modelo Robusto foram mais próximos dos valores genéticos verdadeiros. Esses resultados sugerem que o modelo linear normal contaminado oferece uma alternativa flexível para estimação robusta em melhoramento genético animal.

Controle do fornecimento e da utilização de substratos energéticos no encéfalo

Correspondendo a apenas 2% do peso corpóreo, o cérebro apresenta taxa metabólica superior à maioria dos demais órgãos e sistemas. A maior parte do consumo energético encefálico ocorre no transporte iônico para manutenção do potencial de membrana celular. Praticamente desprovido de estoques, os substratos energéticos para o encéfalo são fornecidos necessariamente pela circulação sanguínea.O suprimento desses substratos sofre também a ação seletiva da barreira hemato-encefálica (BHE). O principal substrato, que é a glicose, tem uma demanda de 150 g/dia (0,7 mM/g/min). A metabolização intracelular parece ser controlada pela fosfofrutoquinase. A manose e os produtos intermediários do metabolismo (frutose 1,6 bifosfato, piruvato, lactato e acetato) podem substituir, em parte, a glicose, quando os níveis sangüíneos desta encontram-se elevados. Quando oxidado, o lactato chega a responder por 21% do consumo cerebral de Ov em situações de isquemia e inflamação infecciosa, o tecido cerebral passa de consumidor a produtor de lactato. Os corpos cetônicos também podem reduzir as necessidades cerebrais de glicose desde que oferecidos em quantidades suficientes ao encéfalo. Entretanto, devem ser considerados como um substrato complementar e nunca alternativo da glicose, pois comprometem a produção cerebral de succinil CoA e GTP. Quanto aos demais substratos, embora apresentem condições metabólicas, não existem demonstrações consistentes de que o cérebro produza energia a partir dos ácidos graxos sistêmicos, mesmo em situações de hipoglicemia. de maneira análoga, etanol e glicerol são considerados apenas a nível de experimentação. A utilização dos aminoácidos é dependente da sua captação, limitada tanto pela baixa concentração sangüínea, como pela seletividade da BHE. A maior captação ocorre para os de cadeia ramificada e destes, a valina. A menor captação é a de aminoácidos sintetizados no cérebro (aspartato,gluconato e alanina). Todos podem ser oxidados a CO, e H(2)0. Entretanto, mesmo com o consumo de glicose reduzido a 50%, a contribuição energética dos aminoácidos não ultrapassa 10%. Para manter o suprimento adequado de glicose e oxigênio, o fluxo sangüíneo cerebral é da ordem de 800 ml/min (15% do débito cardíaco). O consumo de O, pelo cérebro é equivalente a 20% do total consumido pelo corpo. Esses mecanismos, descritos como controladores da utilização de substratos energéticos pelo cérebro, sofrem a influência da idade apenas no período perinatal, com a oxidação do lactato na fase pré-latente e dos corpos cetônicos, no início da amamentação.

Genetic linkage map of chicken chromosome 1 from a Brazilian resource population

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

Relatório de pesquisa: avaliaçao dos critérios de sustentabilidade dos financiamentos apoiados pelos fundos constitucionais brasileiros

Incluye Bibliografía

Projeto e implementação com chaveamento de reguladores fuzzy Takagi-Sugeno para um conjunto de pontos de operação

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Controle da posição da perna de pessoas hígidas utilizando um controlador PID

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)