Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Operational parameters of soybean seeding in santa fe system

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

Experimental performance of a direct evaporative cooler operating during summer in a Brazilian city

This paper presents the basic principles of the evaporative cooling process for human thermal comfort, the principles of operation for the direct evaporative cooling system and the mathematical development of the equations of thermal exchanges, allowing the determination of the effectiveness of saturation. It also presents the results of experimental tests in a direct evaporative cooler that take place in the Air Conditioning Laboratory at the University of Taubate Mechanical Engineering Department, and the experimental results are used to determinate the convective heat transfer co-efficient and to compare with the mathematical model. (c) 2005 Elsevier Ltd and IIR. All rights reserved.

Scanning tunneling microscope operating as a spin diode

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Paraconsistent Autonomous Mobile Robot Emmy III

This work presents some improvements regarding to the autonomous mobile robot Emmy based on Paraconsistent Annotated Evidential Logic ET. A discussion on navigation system is presented.

Experimental analysis of heat recoveries with heat pipes operating in low inclination angle

Heat recovery devices are important in the optimization of thermal systems, since they can be used to reduce thermal losses to the environment. The use of heat pipes in these types of equipment can provide heat recoveries of higher efficiency, since both fluid flows are external and there are less contamination risks between the hot and cold fluids. The objective of this work is to study a heat recovery unit constructed with heat pipes and mainly, to analyze the influence of the inclination of the heat pipes on the performance of the equipment. For this analysis, a heat recovery unit was constructed which possesses 48 finned heat pipes in triangular geometry, the evaporator and condenser being of the same length. This unit was tested in an air-air system simulating a heat recovery process in which heat was supplied to the hot fluid by electrical resistances. The results have shown that there exists an inclination at which the system has a better performance, but for higher inclinations there is no significant increase of the efficiency of the system. This paper also presents the influence of inclination of heat pipes on effectiveness and NTU parameters which are important in heat exchanger design.

Photodegradation of dichloroacetic acid and 2,4-dichlorophenol by ferrioxalate/H2O2 system

The photo-Fenton process using potassium ferrioxalate as a mediator in the photodegradation reaction of organochloride compounds in an aqueous medium was investigated. The influence of parameters such as hydrogen peroxide and ferrioxalate concentrations and initial pH, was evaluated using dichloroacetic acid (DCA) as a model compound under black-light lamp irradiation. An upflow annular photoreactor, operating in a single pass or recirculating mode was used during photodegradation experiments with artificial light. The extent of the release of chloride ions was used to evaluate the photodegradation reaction. The optimum pH range observed was 2.5-2.8. The efficiency of DCA dechlorination increased with increasing concentrations of H2O2 and potassium ferrioxalate, reaching a plateau after the addition of 6 and 1.5 mmol/L of those reagents, respectively. The total organic carbon (TOC) content in DCA and 2,4-dichlorophenol (DCP) solutions was compared with the chloride released after photodegradation. The influence of natural solar light intensity, measured at 365 nm, was evaluated for the dechlorination of DCA on typical summer's days showing a linear dependency. The photodegradation of DCA using black-light lamp and solar irradiation was compared.

Mathematical optimisation techniques applied to power system operation and planning

Nowadays, power system operation becomes more complex because of the critical operating conditions resulting from the requirements of a market-driven operation. In this context, efficient methods for optimisation of power system operation and planning become critical to satisfy the operational (technical), financial and economic demands. Therefore, the detailed analysis of modern optimisation techniques as well as their application to the power system problems represent a relevant issue from the scientific and technological points of view. This paper presents a brief overview of the developments on modern mathematical optimisation methods applied to power system operation and planning. Copyright © 2007 Inderscience Enterprises Ltd.

Mechanical damping of the snoek peak in tantalum - Oxygen system

Interstitial solutes in body-centered cubic metals, such as oxygen in tantalum, produce ideally Snoek effects when they are in solutions enough diluted. However, for higher concentration of these solutes, more complex relaxation process can occur, as interaction between interstitial solutes and dislocations. Anelastic relaxation measurements were carried out in polycrystalline tantalum samples, using torsion pendulum inverted, operating between 300 K and 680 K and oscillation frequencies in the hertz bandwidth, for three different experimental sample conditions: as received sample, annealed and annealed followed by a treatment in an oxygen atmosphere. These measurements have revealed the following behavior: the intensity of the internal friction peak associated to matrix-interstitial interaction Ta-O decreased between the first run and the next runs, and this phenomenon did not occur for the others conditions. The variation of relaxation strength of Ta-O peak, with number of runs is due to a decrease of an amount of oxygen in solid solution, which can be associated with the precipitation of new phases in Ta sample and with the trapping of oxygen atoms by dislocations.

JSEG-based image segmentation in computer vision for agricultural mobile robot navigation

This project aims to apply image processing techniques in computer vision featuring an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained.

HPF boost interleaved operating in discontinuous conduction mode for trolleybus application

This paper deals with results of a research and development (R&D) project in cooperation with Electric Power Distribution Company in São Paulo (Brazil) regarding the development and experimental analysis of a new concept of power drive system suitable for application in traction systems of electrical vehicles pulled by electrical motors, which can be powered by urban DC or AC distribution networks. The proposed front-end structure is composed by five boost power cells in interleaving connection, operating in discontinuous conduction mode as AC-DC converter, or as DC-DC converter, in order to provide the proper DC output voltage range required by DC or AC adjustable speed drivers. Therefore, when supplied by single-phase AC distribution networks, and operating as AC-DC converter, it is capable to provide high power factor, reduced harmonic distortion in the input current, complying with the restrictions imposed by the IEC 61000-3-4 standards resulting in significant improvements for the trolleybuses systems efficiency and for the urban distribution network costs. Considering the compliance with input current restrictions imposed by IEC 61000-3-4 standards, two digital control strategies were evaluated. The digital controller has been implemented using a low cost FPGA (XC3S200) and developed totally using a hardware description language VHDL and fixed point arithmetic. Experimental results from a 15 kW low power scale prototype operating in DC and AC conditions are presented, in order to verify the feasibility and performance of the proposed system. © 2009 IEEE.

Trolleybus power system for operation with AC or DC distribution networks

This paper presents the development and experimental analysis of a special input stage converter for a Trolleybus type vehicle allowing its operation in AC (two wires, single-phase) or DC distribution networks. The architecture of proposed input stage converter is composed by five interleaved boost rectifiers operating in discontinuous conduction mode. Furthermore, due to the power lines characteristics, the proposed input power structure can act as AC to DC or as DC to DC converter providing a proper DC output voltage range required to the DC bus. When operation is AC to DC, the converter is capable to provide high power factor with reduced harmonic distortion for the input current, complying with the restrictions imposed by IEC 61000-3-4 standard. Finally, the main experimental results are presented in order to verify the feasibility of the proposed converter, demonstrating the benefits and the possibility for AC feeding system for trolleybus type vehicle. © 2010 IEEE.

ANN statistical image recognition method for computer vision in agricultural mobile robot navigation

The main application area in this project, is to deploy image processing and segmentation techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. Thereby, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for image recognition. Hence, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave computational platforms, along with the application of customized Back-propagation Multilayer Perceptron (MLP) algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of segmented images in which reasonably accurate results were obtained. © 2010 IEEE.