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

Number Processing and Calculation in Brazilian Children Aged 7-12 Years

Numerical cognition is based on two components - number processing and calculation. Its development is influenced by biological, cognitive, educational, and cultural factors. The objectives of the present study were to: i) assess number processing and calculation in Brazilian children aged 7-12 years from public schools using the Zareki-R (Battery of neuropsychological tests for number processing and calculation in children, Revised; von Aster & Dellatolas, 2006) in order to obtain normative data for Portuguese speakers; ii) identify how environment, age, and gender influences the development of these mathematical skills; iii) investigate the construct validity of the Zareki-R by the contrast with the Arithmetic subtest of WISC-III. The sample included 172 children, both genders, divided in two groups: urban (N= 119) and rural (N= 53) assessed by the Zareki-R. Rural children presented lower scores in one aspect of number processing; children aged 7-8 years demonstrated an inferior global score than older; boys presented a superior performance in both number processing and calculation. Construct validity of Zareki-R was demonstrated by high to moderate correlations with Arithmetic subtest of WISC-III. The Zareki-R therefore is a suitable instrument to assess the development of mathematical skills, which is influenced by factors such as environment, age, and gender.

A Comparison of Deep Drawing and Ironing of Metal Alloy Strip Produced conventionally and Non-conventionally via Semi Solid Material Processing

A semi solid thin strip continuous casting process was used to obtain 50%wt Pb/50%wtSn strip by single and twin roll processing at speed of 15 m/min. A 50%wt Pb/50%wtSn plate ingot was also cast for rolling conventionally into strips of 1.4 mm thickness and 45 mm width for comparison with those achieved non-conventionally. This hypoeutectic alloy has a solidification interval and fusion temperature of approximately 31 degrees C and 215 degrees C respectively. The casting alloy temperature was around 280 degrees C as measured by a type K immersion thermocouple prior to pouring into a tundish designed to maintain a constant melt flow on the cooling slope during semi solid material production. A nozzle with a weir ensures that the semi solid material is dragged smoothly by the lower roll, producing strip with minimum contamination of slag/oxide. The temperatures of the cooling slope and the lower roll were also monitored using K type thermocouples. The coiled semi solid strip, which has a thickness of 1.5 mm and 45 mm width, was rolled conventionally in order to obtain 1.2 mm thick strip. The coiled thixorolled strip had a thickness of 1.2 mm and achieved practically the same width as the conventional strips. Blanks of 40 mm diameter were cut from the strips in a mechanical press, ready for deep drawing and ironing for mechanical characterization. All the strips achieved from non-conventional processing had the same mechanical performance as those achieved conventionally. The limiting drawing ratio (LDR) achieved was approximately 2.0 for all strips. Microscopy examination was made in order to observe phase segregation during processing.

Material processing by plasma shock wave generated in an inverse Z-pinch plasma expander

The applicability of plasma shock wave for material processing was investigated using modified inverse Z-pinch device. Shock wave expanding speed and plasma spectral analysis were studied using an internal magnetic,probe and spatially collimated light spectroscopy. The material processing capability of the device was shown by many different surface analysis techniques such as AES, IRS, EPM and SEM. The interactions between a plasma shock wave of similar to4x10(6) cm/s speed with a Si substrate surface shows some ion implantation capability using a nitrogen plasma and thin film formation using a methane plasma.

On the role of synchrony for neuron-astrocyte interactions and perceptual conscious processing

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A high speed 3.3V current mode CMOS comparators with 10-b resolution

This paper presents a high speed current mode CMOS comparator. The comparator was optimized for allows wide range input current 1mA, ±0.5uA resolution and has fast response. This circuit was implemented with 0.8μm CMOS n-well process with area of 120μm × 105μm and operates with 3.3V(±1.65V).

Water flow in high-speed handpieces

Objectives: This study measured the water flow commonly used in high-speed handpieces to evaluate the water flow's influence on temperature generation. Different flow speeds were evaluated between turbines that had different numbers of cooling apertures. Method and materials: Two water samples were collected from each high-speed handpiece at private practices and at the School of Dentistry at São José dos Campos. The first sample was collected at the customary flow and the second was collected with the terminal opened for maximum flow. The two samples were collected into weighed glass receptacles after 15 seconds of turbine operation. The glass receptacles were reweighed and the difference between weights was recorded to calculate the water flow in mL/min and for further statistical analysis. Results: The average water flow for 137 samples was 29.48 mL/min. The flow speeds obtained were 42.38 mL/min for turbines with one coolant aperture; 34.31 mL/min for turbines with two coolant apertures; and 30.44 mL/min for turbines with three coolant apertures. There were statistical differences between turbines with one and three coolant apertures (Tukey-Kramer multiple comparisons test with P < .05). Conclusion: Turbine handpieces with one cooling aperture distributed more water for the burs than high-speed handpieces with more than one aperture.

Global analysis of aerodynamics deflectors efficiency in the grinding process

The conventional, grinding methods in some cases are not very efficient because the arising of thermal damages in the pieces is very common. Optimization methods of cutting fluid application in the grinding zone are essential to prevent thermal problems from interaction of the wheel grains with the workpiece. surface. The optimization can happen through the correct selection of the cut parameters and development of devices that eliminate air layer effects generated around the grinding wheel. This article will collaborate with the development of an experimentation methodology which allows evaluating, comparatively, the performance of the deflectors in the cutting region to minimize the air layer effect of the high speed of the grinding wheel. The air layers make the cutting fluid jet to dissipate in the machine. An optimized nozzle was used in order to compare the results with the conventional method (without baffles or deflectors) of cutting fluid application. The results showed the high eficciency of the deflectors or baffles in the finish results. Copyright © 2006 by ABCM.

Improving accuracy and speed of optimum-path forest classifier using combination of disjoint training subsets

The Optimum-Path Forest (OPF) classifier is a recent and promising method for pattern recognition, with a fast training algorithm and good accuracy results. Therefore, the investigation of a combining method for this kind of classifier can be important for many applications. In this paper we report a fast method to combine OPF-based classifiers trained with disjoint training subsets. Given a fixed number of subsets, the algorithm chooses random samples, without replacement, from the original training set. Each subset accuracy is improved by a learning procedure. The final decision is given by majority vote. Experiments with simulated and real data sets showed that the proposed combining method is more efficient and effective than naive approach provided some conditions. It was also showed that OPF training step runs faster for a series of small subsets than for the whole training set. The combining scheme was also designed to support parallel or distributed processing, speeding up the procedure even more. © 2011 Springer-Verlag.

Keratinase production by new strain of Bacillus Amyloliquefaciens: Application of statistical experimental design for optimization of keratinase production

Feathers are rich in amino acids and can be employed as a dietary protein supplement for animal feed. Microbial degradation is an alternative technology for improving the nutritional value of feathers. Other potential applications of keratinase include use in the leather industry, detergents and medicine as well as the pharmaceutical for the treatment of acne, psoriasis and calluses. A new keratinolytic enzyme production bacterium was isolated from a poultry processing plant. To improve keratinase yield, statistically based experimental designs were applied to optimize three significant variables: temperature, substrate concentration (feathers) and agitation speed. Response surface methodology demonstrated an increase in keratinolytic activity at temperature, agitation speed and substrate concentration of 26.6°C, 150 rpm and 2%, respectively. Liquid chromatography revealed the release of amino acids in the Bacillus amyloliquefaciens culture broth, thereby demonstrating the potential of feather meal in the animal feed industry. © Global Science Publications.

Projeto mecânico e análise térmica de tanques cilíndricos verticais com agitação e superfície de troca de calor

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Processamento e caracterização de snack extrudado a partir de farinhas de quirera de arroz e de bandinha de feijão

Este trabalho teve por objetivo desenvolver nova formulação de snack por extrusão termoplástica a partir de mistura de farinhas de quirera de arroz e de bandinha de feijão, bem como avaliar o potencial nutricional, tecnológico e sensorial do novo produto. A farinha de bandinha de feijão carioca foi incorporada à farinha de quirera de arroz na proporção de 30%. O snack foi produzido em extrusora monorrosca, escala piloto. Os parâmetros de extrusão foram fixos, utilizando-se três zonas de extrusão com temperaturas de 40, 60 e 85 °C; velocidade do parafuso de 177 rpm; taxa de alimentação de 292 g.min-1, e matriz circular de 3,85 mm de diâmetro. A amostra de snack foi submetida a caracterizações fisicoquímica, tecnológica e sensorial. Observou-se efeito significativo da farinha de bandinha de feijão no aumento dos teores proteico e de fibras no snack obtido, quando comparada à farinha de quirera de arroz. Em relação às características tecnológicas do produto, obteve-se 0,17 g.cm-3 para densidade aparente, 7,75 para o índice de expansão e 435, g.f para a dureza instrumental. A formulação estudada foi aceita sensorialmente, com índice de aceitação para impressão global de 76%. Conclui-se que é possível produzir snacks por extrusão a partir da incorporação de 30% de farinha de bandinha de feijão à farinha de quirera de arroz, resultando em produto aceito sensorialmente e com adequado valor nutricional.

Effects of processing on physical properties of extruded snacks with blends of sour cassava starch and flaxseed flour

The opportunity to supplement common cassava biscuits with a product of higher nutritional value meets consumer expectations. In this work it was studied the effects of process parameters and flaxseed addition on physical properties of expanded snacks. Extrusion process was carried out using a single screw extruder in a factorial central composite rotatable design with four factors: flaxseed flour percentage (0-20%), moisture (12-20%), extrusion temperature (90-130 °C) and screw speed (190-270). The effect of extrusion variables was investigated in terms of expansion index, specific volume, water absorption index, water solubility index, color parameters (L*, a* ,b*) and hardness. The data analysis showed that variable parameters of the extrusion process and flaxseed flour affected physical properties of puffed snacks. Among the experimental conditions used in the present study, expanded snack products with good physical properties can be obtained under the conditions of 10% flaxseed flour, 230 rpm screw speed, temperature of 90 °C and moisture of 12%.

Comparative Studies of Bacillus thuringiensis var. israelensis Metabolism in Different Concentrations of Cassava Flour Processing Waste Based Media

Techniques of production of enthomopatogenic bacteria are developed aiming to increase the productivity and to reduce the costs of the fermentative process. Like this, it has been using agroindustrial wastes or by-products as nutrient sources in culture medium, having been used, in this study, the manipueira, a by-product of the processing of the cassava flour. Fermentations were performed in flasks of Erlenmeyer of 500 mL containing 250 mL of culture media, conditioned in shaker at 180 r.p.m. and 28°C, and the media were composed by manipueira, in concentrations that varied between 400 and 1000 mL/L. The time of the process varied between 48 and 120 hours. They appraised the following parameters: cellular growth, the production of spores, the reduction of organic matter (COD analysis) and the variation of reduction sugar. Although there was a proportional cellular growth to the manipueira concentration, the production of spores was similar in all the cases, at the end of the process, in spite of the smallest speed of production of the same ones in the highest concentrations. In relation to the variation of COD, it has, also, a percentile minor of reduction in the highest concentrations. In the analysis of variation of reduction sugars, the higher concentrations are the ones that they present larger slowness in the reduction of this.

Fluorescence Level of Composites Assessed by Computer Processing of Digital Images - ScanWhite

The human dentition is naturally translucent, opalescent and fluorescent. Differences between the level of fluorescence of tooth structure and restorative materials may result in distinct metameric properties and consequently perceptible disparate esthetic behavior, which impairs the esthetic result of the restorations, frustrating both patients and staff. In this study, we evaluated the level of fluorescence of different composites (Durafill in tones A2 (Du), Charisma in tones A2 (Ch), Venus in tone A2 (Ve), Opallis enamel and dentin in tones A2 (OPD and OPE), Point 4 in tones A2 (P4), Z100 in tones A2 ( Z1), Z250 in tones A2 (Z2), Te-Econom in tones A2 (TE), Tetric Ceram in tones A2 (TC), Tetric Ceram N in tones A1, A2, A4 (TN1, TN2, TN4), Four seasons enamel and dentin in tones A2 (and 4SD 4SE), Empress Direct enamel and dentin in tones A2 (EDE and EDD) and Brilliant in tones A2 (Br)). Cylindrical specimens were prepared, coded and photographed in a standardized manner with a Canon EOS digital camera (400 ISO, 2.8 aperture and 1/ 30 speed), in a dark environment under the action of UV light (25 W). The images were analyzed with the software ScanWhite©-DMC/Darwin systems. The results showed statistical differences between the groups (p < 0.05), and between these same groups and the average fluorescence of the dentition of young (18 to 25 years) and adults (40 to 45 years) taken as control. It can be concluded that: Composites Z100, Z250 (3M ESPE) and Point 4 (Kerr) do not match with the fluorescence of human dentition and the fluorescence of the materials was found to be affected by their own tone.