Um algoritmo prático para determinação da variância do estimador de um contraste de parâmetros

Testes de significância de contrastes de efeitos de níveis de um fator ou de combinações de níveis de dois ou mais fatores requerem o conhecimento das estimativas das variâncias dos estimadores desses contrastes. As expressões dessas estimativas para experimentos com delineamentos complexos, em geral, não são disponíveis em textos. Sua derivação algébrica a partir da equação do modelo estatístico é trabalhosa. Expõe-se um algoritmo prático para a obtenção da variância do estimador de qualquer contraste de parâmetros para delineamentos completos balanceados. O algoritmo baseia-se nos valores esperados dos quadrados médios.

Sensitivity to Change of the Ultrasound synovitis SONAR Score in RA Patients: Results of the Scqm Cohort

Background/Purpose: Since the end of 2009, an ultrasound scoring call SONAR has been implemented for RA patients as a routine tool in the SCQM registry (Swiss Clinical Quality Management registry for rheumatic diseases). A cross-sectional evaluation of patients with active disease and clinical remission according to the DAS28ESR and the novel ACR/EULAR remission criteria from 2010 clearly indicated a good correlational external validity of synovial pathologies with clinical disease activity in RA (2012 EULAR meeting. Objective: of this study was to evaluate the sensitivity to change of B-mode and Power-Doppler scores in a longitudinal perspective along with the changes in DAS28ESR in two consecutive visits among the patients included in the SCQM registry Methods: All patients who had at least two SONAR scores and simultaneous DAS28ESR evaluations between December 2009 and June 2012 were included in this study. The data came from 20 different operators working mostly in hospitals but also in private practices, who had received a previous teaching over 3 days in a reference center. The SONAR score includes a semi-quantitative B mode and Power-Doppler evaluation of 22 joints from 0 to 3, maximum 66 points for each score. The selection of these 22 joints was done in analogy to a 28 joint count and further restricted to joint regions with published standard ultrasound images. Both elbows and wrist joints were dynamically scanned from the dorsal and the knee joints from a longitudinal suprapatellar view in flexion and in joint extension. The bilateral evaluation of the second to fifth metacarpophalangeal and proximal interphalangeal joints was done from a palmar view in full extension, and the Power-Doppler scoring from a dorsal view with hand and finger position in best relaxation. Results: From the 657 RA patients with at least one score performed, 128 RA patients with 2 or more consultations of DAS28ESR, and a complete SONAR data set could be included. The mean (SD) time between the two evaluations was 9.6 months (54). The mean (SD) DAS28ESR was: 3.5 (1.3) at the first visit and was significantly lower (mean 3.0, SD.2.0, p:_0.0001) at the second visit. The mean (SD) of the total B mode was 12 (9.5) at baseline and 9.6 (7.6) at follow-up (p_0.0004). The Power-Doppler score at entry was 2.9 (5.7) and 1.9 (3.6), at the second visit, p _0.0001. The Pearson r correlation between change in DAS28ESR and the B mode was 0.44 (95% CI: 0.29, 0.57, p_ 0.0001),and 0.35 (95% CI: 0.16, 0.50, p _ 0.0002) for the Power-Doppler score,. Clinical relevant change in DAS (_1.1) was associated with a change of total B mode score _3 in 23/32 patients and a change a Doppler score _0.5 in 19/26. Conclusion: This study confirms that the SONAR score is sensitive to change and provides a complementary method of assessing RA disease activity to the DAS that could be very useful in daily practice.

Séries temporais de NDVI do sensor SPOT Vegetation e algoritmo SAM aplicados ao mapeamento de cana‑de‑açúcar

O objetivo deste trabalho foi avaliar o mapeamento de área de cana‑de‑açúcar por meio de série temporal, de seis anos de dados do índice de vegetação por diferença normalizada (NDVI), oriundos do sensor Vegetation, a bordo do satélite "système pour l'observation de la Terre" (SPOT). Três classes de cobertura do solo (cana‑de‑açúcar, pasto e floresta), do Estado de São Paulo, foram selecionadas como assinaturas espectro‑temporais de referência, que serviram como membros extremos ("endmembers") para classificação com o algoritmo "spectral angle mapper" (SAM). A partir desta classificação, o mapeamento da área de cana‑de‑açúcar foi realizado com uso de limiares na imagem-regra do SAM, gerados a partir dos valores dos espectros de referência. Os resultados mostram que o algoritmo SAM pode ser aplicado a séries de dados multitemporais de resolução moderada, o que permite eficiente mapeamento de alvo agrícola em escala mesorregional. Dados oficiais de áreas de cana‑de‑açúcar, para as microrregiões paulistas, apresentam boa correlação (r² = 0,8) com os dados obtidos pelo método avaliado. A aplicação do algoritmo SAM mostrou ser útil em análises temporais. As séries temporais de NDVI do sensor SPOT Vegetation podem ser utilizadas para mapeamento da área de cana‑de‑açúcar em baixa resolução.

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.

Propuesta de algoritmo para el diagnóstico de hipocalcemia tras tiroidectomía

Para diagnosticar la hipocalcemia, que a veces se presenta tras una tiroidectomia, habitualmente se recurre a la medida del ion calcio y a la evaluación de síntomas específicos de hipocalcemia (tetania, signo de Trousseau) o inespecíficos (parestesia, vómitos, etc) en los días posteriores a la intervención. Sería ideal que existiesen magnitudes bioquímicas que permitieran diagnosticar precozmente esta hipocalcemia y sintomatologia. Recientemente, se ha demostrado que las concentraciones intraoperatorias de paratirina (PTH) informan sobre el estado funcional de las glándulas paratiroides tras la tiroidectomia, por lo que éstas serian las magnitudes ideales que buscamos.

Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Algoritmo genético em química

Genetic algorithm is an optimization technique based on Darwin evolution theory. In last years its application in chemistry is increasing significantly due the special characteristics for optimization of complex systems. The basic principles and some further modifications implemented to improve its performance are presented, as well as a historical development. A numerical example of a function optimization is also shown to demonstrate how the algorithm works in an optimization process. Finally several chemistry applications realized until now is commented to serve as parameter to future applications in this field.

Fourier-based registration for robust forward-looking sonar mosaicing in low-visibility underwater environments

Vehicle operations in underwater environments are often compromised by poor visibility conditions. For instance, the perception range of optical devices is heavily constrained in turbid waters, thus complicating navigation and mapping tasks in environments such as harbors, bays, or rivers. A new generation of high-definition forward-looking sonars providing acoustic imagery at high frame rates has recently emerged as a promising alternative for working under these challenging conditions. However, the characteristics of the sonar data introduce difficulties in image registration, a key step in mosaicing and motion estimation applications. In this work, we propose the use of a Fourier-based registration technique capable of handling the low resolution, noise, and artifacts associated with sonar image formation. When compared to a state-of-the art region-based technique, our approach shows superior performance in the alignment of both consecutive and nonconsecutive views as well as higher robustness in featureless environments. The method is used to compute pose constraints between sonar frames that, integrated inside a global alignment framework, enable the rendering of consistent acoustic mosaics with high detail and increased resolution. An extensive experimental section is reported showing results in relevant field applications, such as ship hull inspection and harbor mapping

Constantes de acidez de ácidos dipróticos a partir de titulações potenciométricas: ilustração dos princípios do cálculo através da construção de um algoritmo muito simples

This work describes the creation of an very simple calculation algorithm, based in basic chemical and mathematic principles, for the calculation of weak diprotic acid dissociation constants as, for example, amino acids, from potentiometric titrations. For an easier understanding of the algorithm the logical reasoning of this calculus is schematized in a diagram of blocks. In the second part of the work the algorithm is applied to an Excel calculation sheet to determine the dissociation constants of Nicotinic Acid and Glycine, from the respective potentiometric titration curves. The values obtained using this algorithm are compared with those estimated by Hyperquad2008 (program generally used for this type of calculus) and also with the values of a stability constants database.

Desenvolvimento de um algoritmo para identificação e correção de spikes em espectroscopia Raman de imagem

Raman imaging spectroscopy is a highly useful analytical tool that provides spatial and spectral information on a sample. However, CCD detectors used in dispersive instruments present the drawback of being sensitive to cosmic rays, giving rise to spikes in Raman spectra. Spikes influence variance structures and must be removed prior to the use of multivariate techniques. A new algorithm for correction of spikes in Raman imaging was developed using an approach based on comparison of nearest neighbor pixels. The algorithm showed characteristics including simplicity, rapidity, selectivity and high quality in spike removal from hyperspectral images.

Metaheurística algoritmo genético para solução de problemas de planejamento florestal com restrições de integridade

Os objetivos deste trabalho foram desenvolver e testar um algoritmo genético (AG) para a solução de problemas de gerenciamento florestal com restrições de integridade. O AG foi testado em quatro problemas, contendo entre 93 e 423 variáveis de decisão, sujeitos às restrições de singularidade, produção mínima e produção máxima, periodicamente. Todos os problemas tiveram como objetivo a maximização do valor presente líquido. O AG foi codificado em ambiente delphi 5.0 e os testes foram realizados em um microcomputador AMD K6II 500 MHZ, com memória RAM de 64 MB e disco rígido de 15GB. O desempenho do AG foi avaliado de acordo com as medidas de eficácia e eficiência. Os valores ou categorias dos parâmetros do AG foram testados e comparados quanto aos seus efeitos na eficácia do algoritmo. A seleção da melhor configuração de parâmetros foi feita com o teste L&O, a 1% de probabilidade, e as análises foram realizadas através de estatísticas descritivas. A melhor configuração de parâmetros propiciou ao AG eficácia média de 94,28%, valor mínimo de 90,01%, valor máximo de 98,48%, com coeficiente de variação de 2,08% do ótimo matemático, obtido pelo algoritmo exato branch and bound. Para o problema de maior porte, a eficiência do AG foi cinco vezes superior à eficiência do algoritmo exato branch and bound. O AG apresentou-se como uma abordagem bastante atrativa para solução de importantes problemas de gerenciamento florestal.

Estimativa dos componentes do balanço de energia e da evapotranspiração em plantios de eucalipto utilizando o algoritmo sebal e imagem landsat 5 - TM

Variáveis climáticas são essenciais para a compreensão das condições ambientais que influenciam o crescimento e o desenvolvimento vegetal. Nos últimos anos, as pesquisas que utilizam dados climáticos e técnicas de sensoriamento remoto em análises espaço-temporais da demanda por água e energia das plantas têm-se intensificado. O SEBAL (Surface Energy Balance Algorithms for Land) é um dos algoritmos mais destacados em estudos que envolvem estimativas dos fluxos de energia em grandes áreas, e pode ser aplicado com poucas medições de campo. Este trabalho, realizado no Município de Santa Bárbara, Minas Gerais, objetivou estimar os componentes do balanço de energia e, por conseguinte, a evapotranspiração em plantios de eucalipto com aplicação do algoritmo SEBAL e de imagem do sensor TM do satélite Landsat 5. As estimativas foram realizadas para cena do dia 20/06/2003. Considerando apenas as áreas referentes aos plantios de eucalipto (sete anos de idade), foram obtidos valores médios de saldo de radiação (Rn), fluxo de calor no solo (G), fluxo de calor sensível (H), fluxo de calor latente (LE) de 420,12 W m-2, 81,80 W m-2, 149,93 W m-2, 188,39 W m-2, respectivamente. Para a evapotranspiração real horária (ETr h), o valor médio obtido foi de 0,28 mm h-1. As estimativas mostraram-se condizentes com dados da literatura, no entanto pesquisas com maior controle experimental devem ser realizadas.