Mobile robot localization using sonar ranging and wlan intensity maps

 Main goal of this thesis was to implement a localization system which uses sonars and WLAN intensity maps to localize an indoor mobile robot. A probabilistic localization method, Monte Carlo Localization is used in localization. Also the theory behind probabilistic localization is explained. Two main problems in mobile robotics, path tracking and global localization, are solved in this thesis. Implemented system can achieve acceptable performance in path tracking. Global localization using WLAN received signal strength information is shown to provide good results, which can be used to localize the robot accurately, but also some bad results, which are no use when trying to localize the robot to the correct place. Main goal of solving ambiguity in office like environment is achieved in many test cases.

A new approach to segmentation based on fusing circumscribed contours, region growing and clustering

One of the major problems in machine vision is the segmentation of images of natural scenes. This paper presents a new proposal for the image segmentation problem which has been based on the integration of edge and region information. The main contours of the scene are detected and used to guide the posterior region growing process. The algorithm places a number of seeds at both sides of a contour allowing stating a set of concurrent growing processes. A previous analysis of the seeds permits to adjust the homogeneity criterion to the regions's characteristics. A new homogeneity criterion based on clustering analysis and convex hull construction is proposed

Discrimination of Brazilian red wines according to the viticultural region, varietal, and winery origin

This work evaluated the physicochemical composition of 171 red Brazilian wines from the 2006 vintage, which were represented by 21 varietals. These wines were produced by 58 Brazilian wineries in different regions of the country, with latitudes varying from 9º to 31º South. Physicochemical wine analysis was performed in the same year and discrimination in the viticultural regions, varietal wines, and wineries was performed by means of the principal component analysis (PCA). The main results show that wines from São Joaquim had higher values of A420, A520, A620, color intensity, total phenolic compounds, anthocyanins, and dry extracts, while those from Toledo had lower values of these variables; those from Vale do São Francisco had higher values of potassium, pH, density, and volatile acidity; from Serra do Nordeste A, they had higher titratable acidity; and from Planalto Superior B, higher hue. Regarding the varietal wines, PCA mainly discriminated the wines produced from the varieties Ancellotta, Teroldego, Egiodola, Refosco, Marselan, Cabernet Sauvignon, Pinotage, Pinot Noir, Malbec, Arinarnoa, Barbera, and Alfrocheiro. In relation to wineries, twenty two of them were discriminated by their higher values of some variables, i.e., three were characterized by color intensity; three by hue; eight by alcohol content; six by potassium, dry extract, density, and pH; and two by titratablel acidity.

Studies on Copepods from the EEZ of India-Bay of Bengal and Andaman Sea

The main objectives of the study are: To study the seasonal distribution of copepods with special reference to their qualitative and quantitative distribution, with notes on biodiversity in the Andaman Sea and the Bay of Bengal. To study the spatial and temporal distribution of copepods in the Andaman Sea and the Bay of Bengal.To understand the hydrography and the environmental characteristics of the Andaman Sea and the Bay of Bengal and their role in the distribution and biomass of copepods.To study the vertical migration/diurnal migration of the copepods. To study the difference between the coastal and oceanic composition of copepods in the study area and the factors responsible for it.

An improved lesion detection approach based on similarity measurement between fuzzy intensity segmentation and spatial probability maps

The application of automatic segmentation methods in lesion detection is desirable. However, such methods are restricted by intensity similarities between lesioned and healthy brain tissue. Using multi-spectral magnetic resonance imaging (MRI) modalities may overcome this problem but it is not always practicable. In this article, a lesion detection approach requiring a single MRI modality is presented, which is an improved method based on a recent publication. This new method assumes that a low similarity should be found in the regions of lesions when the likeness between an intensity based fuzzy segmentation and a location based tissue probabilities is measured. The usage of a normalized similarity measurement enables the current method to fine-tune the threshold for lesion detection, thus maximizing the possibility of reaching high detection accuracy. Importantly, an extra cleaning step is included in the current approach which removes enlarged ventricles from detected lesions. The performance investigation using simulated lesions demonstrated that not only the majority of lesions were well detected but also normal tissues were identified effectively. Tests on images acquired in stroke patients further confirmed the strength of the method in lesion detection. When compared with the previous version, the current approach showed a higher sensitivity in detecting small lesions and had less false positives around the ventricle and the edge of the brain

The Augustinians in Northumbria: region, tradition and textuality in a colonizing order

This paper is an attempt to assess perceptions of Augustinian identity and role, amongst both patrons and recruits, in the early stages of the order’s introduction to England. In some ways, the enthusiasm for houses of regular canons, living like monks, seems surprising. Historians of the Augustinians in England have focused on two broad areas of explanation. The first is that Augustinians could be expected to provide more services for secular society than Benedictines; and the second is that support from Henry I and his first queen, Edith-Matilda, made the Augustinians fashionable – at least until they were overtaken by the Cistercians. This paper revisits these issues, whilst also attempting an analysis of the Augustinians’ intellectual and spiritual role, through a case study of northern England.

New developmental stages for common marmosets (Callithrix jacchus) using mass and age variables obtained by K-means algorithm and self-organizing maps (SOM)

LEÃO, Adriano de Castro; DÓRIA NETO, Adrião Duarte; SOUSA, Maria Bernardete Cordeiro de. New developmental stages for common marmosets (Callithrix jacchus) using mass and age variables obtained by K-means algorithm and self-organizing maps (SOM). Computers in Biology and Medicine, v. 39, p. 853-859, 2009

CYTOGENETIC EVIDENCE OF INVOLVEMENT OF CHROMOSOME REGION-15Q12 AND REGION-12Q15 IN CONDITIONS WITH ASSOCIATED OVERGROWTH

Syndromes with associated overgrowth are poorly understood. Besides their mode of inheritance, nothing is known regarding the basic genetic alterations that lead to their abnormal phenotypic manifestations. The chromosome localization of the genes involved remains unknown for this group of syndromes, with the only exception being the Wiedemann-Beckwith syndrome.

Chile: tablas abreviadas de mortalidad masculinas y femeninas de la VIII Region del Biobio y Region Metropolitana de Santiago, 1980

Las tablas de mortalidad construidas para la Octava Region y la Region Metropolitana de Chile, a partir de los ultimos dos censos de poblacion, revelan que los niveles de mortalidad por edad de la poblacion femenina son menores que los de la poblacion masculina. Entre 1969-1970 y 1980 la esperanza de vida del sexo femenino es siempre superior a la del masculino, asi como tambien que la diferencia en la esperanza de vida entre los sexos disminuye a nivel regional, observandose lo contrario a nivel nacional. En efecto, en la Octava Region la diferencia de esperanza de vida entre hombres y mujeres de 6,85 anos desciende a 6,80, en tanto que en la region metropolitana sube de 6,18 a 6,27 (p18). En este sentido la fuerte baja de la mortalidad infantil entre 1971-1980 debe haber pesado en forma importante.