Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

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

Efeito distrator do telefone celular sobre a condução simulada de automóveis: situações de uso manual e viva-voz

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Methods for Clearance Influence Analysis in Planar and Spatial Mechanisms

This doctoral dissertation presents a new method to asses the influence of clearancein the kinematic pairs on the configuration of planar and spatial mechanisms. The subject has been widely investigated in both past and present scientific literature, and is approached in different ways: a static/kinetostatic way, which looks for the clearance take-up due to the external loads on the mechanism; a probabilistic way, which expresses clearance-due displacements using probability density functions; a dynamic way, which evaluates dynamic effects like the actual forces in the pairs caused by impacts, or the consequent vibrations. This dissertation presents a new method to approach the problem of clearance. The problem is studied from a purely kinematic perspective. With reference to a given mechanism configuration, the pose (position and orientation) error of the mechanism link of interest is expressed as a vector function of the degrees of freedom introduced in each pair by clearance: the presence of clearance in a kinematic pair, in facts, causes the actual pair to have more degrees of freedom than the theoretical clearance-free one. The clearance-due degrees of freedom are bounded by the pair geometry. A proper modelling of clearance-affected pairs allows expressing such bounding through analytical functions. It is then possible to study the problem as a maximization problem, where a continuous function (the pose error of the link of interest) subject to some constraints (the analytical functions bounding clearance- due degrees of freedom) has to be maximize. Revolute, prismatic, cylindrical, and spherical clearance-affected pairs have been analytically modelled; with reference to mechanisms involving such pairs, the solution to the maximization problem has been obtained in a closed form.

Maceral distribution, stratigraphic position and vitrinite reflectance at DSDP Hole 81-555

Twenty-four sediment samples from late Paleocene to early Eocene were studied for maceral content, vitrinite reflectance, and spectral fluorescence in order to determine some parameters of the origin and diagenetic history of their organic fraction. The sediments had been obtained at Site 555 of DSDP Leg 81 in the northeastern North Atlantic. The bulk of the microscopically visible fraction is made up of humic materials; inertinites follow as a distant second; and liptinites are exceedingly rare. No unequivocal evidence of marine organic matter was found. Humic materials are highly decomposed, showing signs of aerobic (frequency of sclerotinites) as well as anaerobic (abundance of and intimate association with framboidal pyrite) microbial degradation. Vitrinite reflectance values vary between 0.26 and 0.35 Ro and show a slight increase with depth. These values, indicative of a low-rank lignite stage of coalification, contrast somewhat with the sporinite fluorescence spectra, which show the configuration typical for the peat stage. In either case, the evidence for such a low stage of coalification is surprising in view of the depth and age of the sediments.

Reconocimiento de gestos basado en acelerómetros

En los últimos años, ha crecido de forma significativa el interés por la utilización de dispositivos capaces de reconocer gestos humanos. En este trabajo, se pretenden reconocer gestos manuales colocando sensores en la mano de una persona. El reconocimiento de gestos manuales puede ser implementado para diversos usos y bajo diversas plataformas: juegos (Wii), control de brazos robóticos, etc. Como primer paso, se realizará un estudio de las actuales técnicas de reconocimiento de gestos que utilizan acelerómetros como sensor de medida. En un segundo paso, se estudiará como los acelerómetros pueden utilizarse para intentar reconocer los gestos que puedan realizar una persona (mover el brazo hacia un lado, girar la mano, dibujar un cuadrado, etc.) y los problemas que de su utilización puedan derivarse. Se ha utilizado una IMU (Inertial Measurement Unit) como sensor de medida. Está compuesta por tres acelerómetros y tres giróscopos (MTi-300 de Xsens). Con las medidas que proporcionan estos sensores se realiza el cálculo de la posición y orientación de la mano, representando esta última en función de los ángulos de Euler. Un aspecto importante a destacar será el efecto de la gravedad en las medidas de las aceleraciones. A través de diversos cálculos y mediante la ayuda de los giróscopos se podrá corregir dicho efecto. Por último, se desarrollará un sistema que identifique la posición y orientación de la mano como gestos reconocidos utilizando lógica difusa. Tanto para la adquisición de las muestras, como para los cálculos de posicionamiento, se ha desarrollado un código con el programa Matlab. También, con este mismo software, se ha implementado un sistema de lógica difusa con la que se realizará el reconocimiento de los gestos, utilizando la herramienta FIS Editor. Las pruebas realizadas han consistido en la ejecución de nueve gestos por diferentes personas teniendo una tasa de reconocimiento comprendida entre el 90 % y 100 % dependiendo del gesto a identificar. ABSTRACT In recent years, it has grown significantly interest in the use of devices capable of recognizing human gestures. In this work, we aim to recognize hand gestures placing sensors on the hand of a person. The recognition of hand gestures can be implemented for different applications on different platforms: games (Wii), control of robotic arms ... As a first step, a study of current gesture recognition techniques that use accelerometers and sensor measurement is performed. In a second step, we study how accelerometers can be used to try to recognize the gestures that can make a person (moving the arm to the side, rotate the hand, draw a square, etc...) And the problems of its use can be derived. We used an IMU (Inertial Measurement Unit) as a measuring sensor. It comprises three accelerometers and three gyroscopes (Xsens MTI-300). The measures provided by these sensors to calculate the position and orientation of the hand are made, with the latter depending on the Euler angles. An important aspect to note is the effect of gravity on the measurements of the accelerations. Through various calculations and with the help of the gyroscopes can correct this effect. Finally, a system that identifies the position and orientation of the hand as recognized gestures developed using fuzzy logic. Both the acquisition of samples to calculate position, a code was developed with Matlab program. Also, with the same software, has implemented a fuzzy logic system to be held with the recognition of gestures using the FIS Editor. Tests have involved the execution of nine gestures by different people having a recognition rate between 90% and 100% depending on the gesture to identify.

Modelagem e controle de posição e orientação de uma Plataforma de Stewart

Este trabalho apresenta o controle de posição e orientação de um modelo não linear de Plataforma de Stewart com seis graus de liberdade construído no ambiente de sistemas multicorpos ADAMS® desenvolvido pela Mechanical Dynamics, Inc. O modelo não linear é exportado para o ambiente SIMULINK® desenvolvido pela MathWorks, Inc., onde o controle de posição e orientação é realizado a partir da linearização do modelo e a aplicação de um sistema seguidor com realimentação de estados. Utililiza-se, também o SIMULINK® para implementar a dinâmica de um sistema servoválvula e cilindro hidráulico com um servocontrole de pressão e assim simular o comportamento dinâmico de um simulador de vôo com acionamento hidráulico. A utilização destes pacotes comerciais visa obter uma economia de tempo e esforço na modelagem de sistemas mecânicos complexos e na programação para obtenção da resposta do sistema no tempo, além de facilitar a análise de várias configurações de Plataformas de Stewart

Spatial memory and orientation strategies in the elasmobranch Potamotrygon motoro

We investigated whether juvenile freshwater stingrays (Potamotrygon motoro) can solve spatial tasks by constructing a cognitive map of their environment. Two experimental conditions were run: allocentric and ego-allocentric. Rays were trained to locate food within a four-arm maze placed in a room with visual spatial cues. The feeding location (goal) within the maze (room) remained constant while the starting position varied for the allocentrically but not for the ego-allocentrically trained group. After training, all rays solved the experimental tasks; however, different orientation strategies were used within and between groups. Allocentrically trained rays reached the goal via novel routes starting from unfamiliar locations, while ego-allocentrically trained rays primarily solved the task on the basis of an egocentric turn response. Our data suggest that P. motoro orients by constructing a visual cognitive map of its environment, but also uses egocentric and/or other orientation strategies alone or in combination for spatial orientation, a choice which may be governed by the complexity of the problem. We conclude that spatial memory functions are a general feature of the vertebrate brain.

Transverse load and orientation measurement with multicore fiber Bragg gratings

We demonstrate the sensitivity of Bragg gratings in a multicore fiber to transverse load. The Bragg peaks are split because of stress-induced birefringence, the magnitude of which depends upon the load and grating position relative to the load axis. Experiments show that a set of gratings in a four-core fiber can measure a load axis angle to ±5° and a load magnitude to ±15 N m-1 up to 2500 N m-1. We consider alternative designs of multicore fiber for optimal load sensing and compare experimental and modeled data. © 2005 Optical Society of America.

Changes in temporomandibular joint disc position and form following Herbst and fixed orthodontic treatment

Objective: To determine the changes in the position and form of the temporomandibular joint articular disc in adolescents with Class II division 1 malocclusion and mandibular retrognathism treated with the Herbst appliance (phase I) and fixed orthodontic appliance (phase II). Materials and Methods: Thirty-two consecutive adolescents went through phase I of treatment and 23 completed phase II. The temporomandibular joints were evaluated qualitatively by means of magnetic resonance images at the beginning of treatment (T1), during phase I (T2), at the end of phase I (T3), and at the end of phase II (T4). Results: Significant changes in disc position were not observed with the mouth closed between T1 X T3 (P = .317), T3 X T4 (P = .287), or T1 X T4 (P = .261). At T2, on average, the disc was positioned regressively. With the mouth open, no difference was observed between T1 X T3 (P = .223) or T1 X T4 (P = .082). We did observe a significant difference between T3 X T4 (P < .05). Significant changes in the disc form were found with the mouth closed between T1 X T2 (P < .001) and T2 X T3 (P < .001). Conclusions: At the end of the two-phase treatment, in general terms, the position and form of the initial articular discs were maintained; however, in some temporomandibular joints some seemingly adverse effects were observed at T4. (Angle Orthod. 2010;80:843-852.)

Composition and orientation effects on the final recrystallization texture of coarse-grained Nb-containing AISI 430 ferritic stainless steels

Composition and orientation effects on the final recrystallization texture of three coarse-grained Nb-containing AISI 430 ferritic stainless steels (FSSs) were investigated. Hot-bands of steels containing distinct amounts of niobium, carbon and nitrogen were annealed at 1250 degrees C for 2h to promote grain growth. In particular, the amounts of Nb in solid solution vary from one grade to another. For purposes of comparison, the texture evolution of a hot-band sheet annealed at 1030 degrees C for 1 min (finer grain structure) was also investigated. Subsequently, the four sheets were cold rolled up to 80% reduction and then annealed at 800 degrees C for 15 min. Texture was determined using X-ray diffraction and electron backscatter diffraction (EBSD). Noticeable differences regarding the final recrystallization texture and microstructure were observed in the four investigated grades. Results suggest that distinct nucleation mechanisms take place within these large grains leading to the development of different final recrystallization textures. (c) 2011 Elsevier B.V. All rights reserved.

Stability of clavulanic acid under variable pH, ionic strength and temperature conditions. A new kinetic approach

Clavulanic acid (CA) is a beta-lactam antibiotic that alone exhibits only weak antibacterial activity, but is a potent inhibitor of beta-lactamases enzymes. For this reason it is used as a therapeutic in conjunction with penicillins and cephalosporins. However, it is a well-known fact that it is unstable not only during its production phase, but also during downstream processing. Therefore, the main objective of this study was the evaluation of CA long-term stability under different conditions of pH and temperature, in the presence of variable levels of different salts, so as to suggest the best conditions to perform its simultaneous production and recovery by two-phase polymer/salt liquid-liquid extractive fermentation. To this purpose, the CA stability was investigated at different values of pH (4.0-8.0) and temperature (20-45 degrees C), and the best conditions were met at a pH 6.0-7.2 and 20 degrees C. Its stability was also investigated at 30 degrees C in the presence of NaCl, Na(2)SO(4), CaCl(2) and MgSO(4) at concentrations of 0.1 and 0.5 M in Mcllvaine buffer (pH 6.5). All salts led to increased CA instability with respect to the buffer alone, and this effect decreased in following sequence: Na(2)SO(4) > MgSO(4) > CaCl(2) > NaCl. Kinetic and thermodynamic parameters of CA degradation were calculated adopting a new model that took into consideration the equilibrium between the active and a reversibly inactivated form of CA after long-time degradation. (C) 2009 Elsevier B.V. All rights reserved.

An integrated database on ticks and tick-borne zoonoses in the tropics and subtropics with special reference to developing and emerging countries

Tick-borne zoonoses (TBZ) are emerging diseases worldwide. A large amount of information (e.g. case reports, results of epidemiological surveillance, etc.) is dispersed through various reference sources (ISI and non-ISI journals, conference proceedings, technical reports, etc.). An integrated database-derived from the ICTTD-3 project (http://www.icttd.nl)-was developed in order to gather TBZ records in the (sub-)tropics, collected both by the authors and collaborators worldwide. A dedicated website (http://www.tickbornezoonoses.org) was created to promote collaboration and circulate information. Data collected are made freely available to researchers for analysis by spatial methods, integrating mapped ecological factors for predicting TBZ risk. The authors present the assembly process of the TBZ database: the compilation of an updated list of TBZ relevant for (sub-)tropics, the database design and its structure, the method of bibliographic search, the assessment of spatial precision of geo-referenced records. At the time of writing, 725 records extracted from 337 publications related to 59 countries in the (sub-)tropics, have been entered in the database. TBZ distribution maps were also produced. Imported cases have been also accounted for. The most important datasets with geo-referenced records were those on Spotted Fever Group rickettsiosis in Latin-America and Crimean-Congo Haemorrhagic Fever in Africa. The authors stress the need for international collaboration in data collection to update and improve the database. Supervision of data entered remains always necessary. Means to foster collaboration are discussed. The paper is also intended to describe the challenges encountered to assemble spatial data from various sources and to help develop similar data collections.