Comparing support vector machines and artificial neural networks in the recognition of steering angle for driving of mobile robots through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science

SPECTRUM OF STOCHASTIC ADDING MACHINES AND FIBERED JULIA SETS

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Modeling of state machines in VHDL for encapsulation of DNP3 Protocol in P2P ZigBee Network

Several countries have invested in technologies for Smart Grids. Among such protocols designed cover this area, highlights the DNP3 (Distributed Network Protocol version 3). Although the DNP3 be developed for operation over the serial interface, there is a trend in the literature to the use of other interfaces. The Zigbee wireless interface has become more popular in the industrial applications. In order to study the challenges of integrating of these two protocols, this article is presented the analysis of DNP3 protocol stack through state machines The encapsulation of DNP3 messages in P2P (point-to-point) ZigBee Network, may assist in the discovery and solution of failures of availability and security of this integration. The ultimate goal is to merge the features of DNP3 and Zigbee stacks, and display a solution that provides the benefits of wireless environment, without impairment of security required for Smart Grid applications.

Reformulation and a Lagrangian heuristic for lot sizing problem on parallel machines

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

STOCHASTIC ADDING MACHINE AND 2-DIMENSIONAL JULIA SETS

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Harmony Search applied for Support Vector Machines Training Optimization

Since the beginning, some pattern recognition techniques have faced the problem of high computational burden for dataset learning. Among the most widely used techniques, we may highlight Support Vector Machines (SVM), which have obtained very promising results for data classification. However, this classifier requires an expensive training phase, which is dominated by a parameter optimization that aims to make SVM less prone to errors over the training set. In this paper, we model the problem of finding such parameters as a metaheuristic-based optimization task, which is performed through Harmony Search (HS) and some of its variants. The experimental results have showen the robustness of HS-based approaches for such task in comparison against with an exhaustive (grid) search, and also a Particle Swarm Optimization-based implementation.

Conflitos e conciliações: a relação da personagem Blanche DuBois, de Streetcar Named Desire, com a sociedade americana moderna

This paper presents a reflection on the relationship of the character Blanche DuBois, the protagonist of Tennessee Williams’s play A Streetcar Named Desire, with the society in which she is inserted. There is also a brief analysis of the construction of this character. To do this, the historical context of both the play and the author were studied, as well as his biography, which has great relevance in his work, and also a concise analysis of the elements presented in the literary work itself. In order to have an overview of Blanche, a few lines of this character were collected, as well as the lines of other characters that refer to her and some opposing viewpoints. The aim of this paper is to confront the character’s psychological and social conflicts, setting them in the context of modern American society

Homogamy preferences for cognitive sex-typicality in women

Homogamy has been suggested as crucial for human mate preferences and mate choice. People are attracted to and choose romantic partners that are similar to them in socio-demographic, physical, and psychological traits. However, only a few studies have shown homogamy in preferences for evolved sex-typical traits. Here, we have investigated male and female preferences for the level of cognitive masculinity-femininity (MF). We tested whether self-reported MF positively correlates with preferences for MF. One hundred men and one hundred women from Brazil filled in questionnaires on their own level of cognitive MF and preferred level of cognitive MF in their ideal partner. Half of the respondents were asked to indicate their preferences for long-term, and the other half for short-term relationships. We found a positive correlation between self-ascribed and preferred level of cognitive MF in women (P = 0.002), but no significant correlation in men (P = 0.309). There was no significant effect of the temporal context of the relationship, but there was a positive correlation between self-ascribed and preferred level of cognitive MF only in women answering about long-term partner. By subtracting the preferred from the selfascribed level of cognitive MF, we created a self-similarity index. We found that women desire potential mates more self-similar and more masculine than men (P < 0.001) and that in men there is greater variation in the self-similarity index than in women. Our results thus add to previous evidence on the role of homogamy in human mating, by showing preferences for self-similarity also in cognitive MF for women, especially for long-term partner preferences. Future studies should cross-culturally test whether the higher self-similar preference found in women is universal.

Repair of Bone Defects Filled with New Calcium Aluminate Cement (EndoBinder)

The aim of this study was to evaluate and compare the repair of bone defects filled with calcium aluminate cement (EndoBinder), mineral trioxide aggregate (MTA), and calcium hydroxide. Methods After mixing, the cements were inserted into bone defects (3.3 mm) mechanically created in the right and left tibias of 30 rats (Rattus norvegicus, Wistar). In the control group, the bone defects were filled with blood clot of the animal itself. After time intervals of 7, 30, and 90 days had elapsed, bone tissue biopsies (n = 5) were surgically obtained and submitted to laboratory processing. The response of bone tissue in contact with the materials was microscopically analyzed. The percentage of neoformed bone tissue in the defect was determined by means of planimetry counting points superimposed on the histologic image. Results Significant increase in the percentage of neoformed bone tissue was observed throughout the experimental periods in all groups (P < .05). For the cements EndoBinder and MTA (30 and 90 days), these percentage values were statistically higher than those of the control group (P < .05); however, they were similar to those of calcium hydroxide (P > .05). Conclusions EndoBinder and MTA allowed complete repair of bone defects created in rat tibias.

Morphological characterization by SEM, TEM and AFM of nanoparticles and functional nanocomposites based on natural rubber filled with oxide nanopowders

Nanocomposites were prepared from mixture of different concentrations of ferroelectric nanoparticles in an elastomeric matrix based on the vulcanized natural rubber. The morphological characterization of nanocomposites was carried out using Scanning electron microscopy (SEM), Transmission electron microscopy (TEM) and Atomic force microscopy (AFM). The nanocrystalline ferroelectric oxide is potassium strontium niobate (KSN) with stoichiometry KSr2Nb5O15, and was synthesized by the chemical route using a modified polyol method, obtaining particle size and microstrain equal to 20 nm and 0.32, respectively. These ferroelectric nanoparticles were added into the natural rubber in concentrations equal to 1, 3, 5, 10, 20 and 50 phr (parts per hundred of rubber) forming ferroelectric nanocomposites (NR/KSN). Using morphological characterization, we identified the maximum value of surface roughness at low concentrations, in particular, sample with 3 phr of nanoparticles and factors such as encapsulation and uniformity in the distribution of nanoparticles into the natural rubber matrix are investigated and discussed.

Learning kernels for support vector machines with polynomial powers of sigmoid

In the pattern recognition research field, Support Vector Machines (SVM) have been an effectiveness tool for classification purposes, being successively employed in many applications. The SVM input data is transformed into a high dimensional space using some kernel functions where linear separation is more likely. However, there are some computational drawbacks associated to SVM. One of them is the computational burden required to find out the more adequate parameters for the kernel mapping considering each non-linearly separable input data space, which reflects the performance of SVM. This paper introduces the Polynomial Powers of Sigmoid for SVM kernel mapping, and it shows their advantages over well-known kernel functions using real and synthetic datasets.

Instantaneous complex power applied to three-phase machines

The theory presented in this paper was primarily developed to give a physical interpretation for the instantaneous power flow on a three-phase induction machine, without a neutral conductor, on any operational state and may be extended to any three-phase load. It is a vectorial interpretation of the instantaneous reactive power theory presented by Akagi et al. Which, believe the authors, isn't enough developed and its physical meaning not yet completely understood. This vectorial interpretation is based on the instantaneous complex power concept defined by Torrens for single-phase, ac, steady-state circuits, and leads to a better understanding of the power phenomenon, particularly of the distortion power. This concept has been extended by the authors to three-phase systems, through the utilization of the instantaneous space vectors. The results of measurements of instantaneous complex power on a self-excited induction generator's terminals, during an over-load application transient, are presented for illustration. The compensation of reactive power proposed by Akagi is discussed and a new horizon for the theory application is opened.

Bone regeneration in surgically created deffects filled with autogenous bone: epifluorescence microscopy analysis in rats

Although the search for the ideal bone substitute has been the focus of a large number of studies, autogenous bone is still the gold standard for the filling of defects caused by pathologies and traumas, and mainly, for alveolar ridge reconstruction, allowing the titanium implants installation. OBJECTIVES: The aim of this study was to evaluate the dynamics of autogenous bone graft incorporation process to surgically created defects in rat calvaria, using epifluorescence microscopy. MATERIAL AND METHODS: Five adult male rats weighing 200-300 g were used. The animals received two 5-mm-diameter bone defects bilaterally in each parietal bone with a trephine bur under general anesthesia. Two groups of defects were formed: a control group (n=5), in which the defects were filled with blood clot, and a graft group (n=5), in which the defects were filled with autogenous bone block, removed from the contralateral defect. The fluorochromes calcein and alizarin were applied at the 7th and 30th postoperative days, respectively. The animals were killed at 35 days. RESULTS: The mineralization process was more intense in the graft group (32.09%) and occurred mainly between 7 and 30 days, the period labeled by calcein (24.66%). CONCLUSIONS: The fluorochromes showed to be appropriate to label mineralization areas. The interfacial areas between fluorochrome labels are important sources of information about the bone regeneration dynamics.

Expert system to detect incipient fauts in rotating machines using fuzzy logic and virtual instrumentation

This paper refers to the design of an expert system that captures a waveform through the use of an accelerometer, processes the signal and converts it to the frequency domain using a Fast Fourier Transformer to then, using artificial intelligence techniques, specifically Fuzzy Reasoning, it determines if there is any failure present in the underlying mode of the equipment, such as imbalance, misalignment or bearing defects.

Hybrid methods for lot sizing on parallel machines

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