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

Técnicas neuronais de agrupamentos aplicadas à detecção de anomalias em mamogramas digitais

This work proposes the development of an intelligent system for analysis of digital mammograms, capable to detect and to classify masses and microcalcifications. The digital mammograms will be pre-processed through techniques of digital processing of images with the purpose of adapting the image to the detection system and automatic classification of the existent calcifications in the suckles. The model adopted for the detection and classification of the mammograms uses the neural network of Kohonen by the algorithm Self Organization Map - SOM. The algorithm of Vector quantization, Kmeans it is also used with the same purpose of the SOM. An analysis of the performance of the two algorithms in the automatic classification of digital mammograms is developed. The developed system will aid the radiologist in the diagnosis and accompaniment of the development of abnormalities

Avaliação do potencial das imagens quickbird ortorretificadas para o mapeamento das propriedades localizadas na área de expansão e vazios urbanos

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

Trypanosoma cruzi: establishment of permeable cells for RNA processing analysis with drugs

Pre-mRNA maturation in trypanosomatids occurs through a process called trans-splicing which involves excision of introns and union of exons in two independent transcripts. For the first time, we present the standardization of Trypanosoma cruzi permeable cells (Y strain) as a model for trans-splicing study of mRNAs in trypanosomes, following by RNase protection reaction, which localizes the SL exon and intron. This trans-splicing reaction in vitro was also used to analyze the influence of NFOH-121, a nitrofurazone-derivative, on this mechanism. The results suggested that the prodrug affects the RNA processing in these parasites, but the trans-splicing reaction still occurred.

Rapid test for the evaluation of the activity of the prodrug hydroxymethylnitrofurazone in the processing of Trypanosoma cruzi messenger RNAs

No fully effective treatment has been developed since the discovery of Chagas' disease by Carlos Chagas in 1909. Since drug-resistant Trypanosoma cruzi strains are occurring and the current therapy is effectiveness in the acute phase but with various adverse side effects, more studies are needed to characterize the susceptibility of T. cruzi to new drugs. Many natural and/or synthetic substances showing trypanocidal activity have been used, even though they are not likely to be turned into clinically approved drugs. Originally, drug screening was performed using natural products, with only limited knowledge of the molecular mechanism involved in the development of diseases. Trans-splicing, which is unusual RNA processing reaction and occurs in nematodes and trypanosomes, implies the processing of polycistronic transcription units into individual mRNAs; a short transcript spliced leader (SL RNA) is trans-spliced to the acceptor pre-mRNA, giving origin to the mature mRNA. In the present study, permeable cells of T. cruzi epimastigote forms (Y, BOL and NCS strains) were treated to evaluate the interference of two drugs (hydroxymethylnitrofurazone - NFOH-121 and nitrofurazone) in the trans-splicing reaction using silver-stained PAGE analysis. Both drugs induced a significant reduction in RNA processing at concentrations from 5 to 12.5 µM. These data agreed with the biological findings, since the number of parasites decreased, especially with NFOH-121. This proposed methodology allows a rapid and cost-effective screening strategy for detecting drug interference in the trans-splicing mechanism of T. cruzi.

Alumina developed by pre-gelling starch consolidation (PSC)

In this paper, pre-gelling starch was used to consolidate alumina-dense ceramic suspensions. The colloidal processing of the ceramic was prepared with alumina and commercial potato starch, and slips were prepared with 55 vol% of solids and 0.5 wt.% of starch. This small amount of starch was possible because of a previous pre-gelling starch treatment, resulting in more homogeneous suspensions and particles smaller than starch granules. Additionally, Sucrose was also used as a dispersion aid. After sintering, the samples were analysed according to their mechanical properties. These processes produced ceramics with a 93% relative density, 325 MPa flexural strength, and a Weibull module whose value wits m = 10, maintaining the capacity of this process to produce complex geometric shaped ceramics. (C) 2008 Elsevier Ltd. All rights reserved.

Image analysis of modified cellulose fibers from sugarcane bagasse by zirconium oxychloride

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Phantom development for radiographic image optimization of chest, skull and pelvis examination for nonstandard patient

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

Avaliação da posição do supercílio por medidas angulares

OBJETIVO: Avaliar a posição do supercílio em diferentes idades, utilizando medidas angulares. MÉTODOS: Foram avaliados indivíduos com idade de 4 a 6 anos (Grupo de crianças) e igual ou superior a 50 anos (Grupo de idosos), separados em faixas etárias, avaliando-se a posição do supercílio por meio de imagens digitais, utilizando medidas angulares. As imagens foram tomadas em posição primária do olhar, utilizando filmadora Sony Lithium, e posteriormente transferidas para computador MacIntosh G4 e processadas pelo programa NIH 1,58. Os parâmetros analisados foram: ângulo interno, externo e vertical da cauda do supercílio. As comparações foram entre sexos, faixas etárias e lateralidade. Os resultados obtidos foram submetidos à análise estatística. RESULTADOS: A comparação das medidas angulares mostrou que houve diferença significativa na posição da cauda do supercílio entre os grupos estudados quando comparados dentro do grupo com faixa etária semelhante. Porém, comparando-se crianças e adultos, houve diferença em todos os tipos de ângulos estudados. CONCLUSÕES: A posição do supercílio avaliada por medidas angulares mostrou diferenças entre crianças e idosos, revelando associação positiva com a idade.

Image analysis for assessing broiler breeder behavior response to thermal environment

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

Pattern recognition theory in nonlinear signal processing

A body of research has developed within the context of nonlinear signal and image processing that deals with the automatic, statistical design of digital window-based filters. Based on pairs of ideal and observed signals, a filter is designed in an effort to minimize the error between the ideal and filtered signals. The goodness of an optimal filter depends on the relation between the ideal and observed signals, but the goodness of a designed filter also depends on the amount of sample data from which it is designed. In order to lessen the design cost, a filter is often chosen from a given class of filters, thereby constraining the optimization and increasing the error of the optimal filter. To a great extent, the problem of filter design concerns striking the correct balance between the degree of constraint and the design cost. From a different perspective and in a different context, the problem of constraint versus sample size has been a major focus of study within the theory of pattern recognition. This paper discusses the design problem for nonlinear signal processing, shows how the issue naturally transitions into pattern recognition, and then provides a review of salient related pattern-recognition theory. In particular, it discusses classification rules, constrained classification, the Vapnik-Chervonenkis theory, and implications of that theory for morphological classifiers and neural networks. The paper closes by discussing some design approaches developed for nonlinear signal processing, and how the nature of these naturally lead to a decomposition of the error of a designed filter into a sum of the following components: the Bayes error of the unconstrained optimal filter, the cost of constraint, the cost of reducing complexity by compressing the original signal distribution, the design cost, and the contribution of prior knowledge to a decrease in the error. The main purpose of the paper is to present fundamental principles of pattern recognition theory within the framework of active research in nonlinear signal processing.

An image analysis study of pit formation on Ti-6Al-4V

Metallographic techniques and digital image processing have been used to investigate heat-treated Ti-6Al-4V pitting corrosion, often used as aircraft components. LM and SEM metallography of 'as received', annealed (heating up to 800 degreesC/30 min and cooling furnace) and aged (heating up to 900 degreesC/30 min, quenching in water, heating up to 540 degreesC/240 min and again water-quenched) microstructures reveal pitting sites at primary and secondary alpha/beta interfaces. Microstructural arrangements influence and corrosive environment association on pit morphology could be demonstrated by digital image analysis and results statistical treatment. (C) 2002 Elsevier B.V. B.V. All rights reserved.

Gaze pursuit and arm control of adolescent males diagnosed with attention deficit hyperactivity disorder (ADHD) and normal controls: evidence of a dissociation in processing visual information of short and long duration

Three-dimensional kinematic analysis of line of gaze, arm and ball was used to describe the visual and motor behaviour of male adolescents diagnosed with attention deficit hyperactivity disorder (ADHD). The ADHD participants were tested when both on (ADHD-On) and off (ADHD-Off) their medication and compared to age-matched normal controls in a modified table tennis task that required tracking the ball and hitting to cued right and left targets. Long-duration information was provided by a pre-cue, in which the target was illuminated approximately 2 s before the serve, and short-duration information by an early-cue illuminated about 350 ms after the serve, leaving -500 ms to select the target and perform the action. The ADHD groups differed significantly from the control group in both the pre-cue and early-cue conditions in being less accurate, in having a later onset and duration of pursuit tracking, and a higher frequency of gaze on and off the ball. The use of medication significantly reduced the gaze frequency of the ADHD participants, but surprisingly this did not lead to an increase in pursuit tracking, suggesting a barrier was reached beyond which ball flight information could not be processed. The control and ADHD groups did not differ in arm movement onset, duration and velocity in the short-duration early-cue condition; in the long-duration pre-cue condition, however, the ADHD group's movement time onset and arm velocity differed significantly from controls. The results show that the ADHD groups were able to process short-duration information without experiencing adverse effects on their motor behaviour; however, long-duration information contributed to irregular movement control.

Image registration and image interpolation in volume rendering of cross sections

We outline a method for registration of images of cross sections using the concepts of The Generalized Hough Transform (GHT). The approach may be useful in situations where automation should be a concern. To overcome known problems of noise of traditional GHT we have implemented a slight modified version of the basic algorithm. The modification consists of eliminating points of no interest in the process before the application of the accumulation step of the algorithm. This procedure minimizes the amount of accumulation points while reducing the probability of appearing of spurious peaks. Also, we apply image warping techniques to interpolate images among cross sections. This is needed where the distance of samples between sections is too large. Then it is suggested that the step of registration with GHT can help the interpolation automation by simplifying the correspondence between points of images. Some results are shown.

A comparison of molar root canal preparation using stainless-steel and nickel-titanium instruments

Fifty-four extracted human mandibular molars were embedded and sectioned at two levels. The reassembled mesial root canals were prepared with stainless-steel hand K-files (Flexofiles) and either Nitiflex or Mity nickel-titanium hand K-files using a push-pull anticurvature filing technique. Each of the three experimental groups contained 36 mesial canals randomly distributed. Superimposed pre- and postinstrumentation cross-sectional root images were magnified using a stereomicroscope and transferred to a computer for measurement and statistical analysis. The direction and extent of canal center movement were evaluated. At the apical level, the groups produced no significant difference of direction of canal center movement. In cervical sections, all groups tended to move in a distolingual direction. The three groups, however, produced no significant difference in the cervical sections in the extent of canal center movement. In apical sections, Nitiflex produced the least canal center movement. Copyright © 1999 by The American Association of Endodontists.