Pattern recognition structured heuristics methods for image processing in mobile robot navigation

In this project, the main focus is to apply image processing techniques in computer vision through 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 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 patterns in which reasonably accurate results were obtained. ©2010 IEEE.

On a control design to an AFM microcantilever beam, operating in a tapping-mode, with irregular behavior

In last decades, control of nonlinear dynamic systems became an important and interesting problem studied by many authors, what results the appearance of lots of works about this subject in the scientific literature. In this paper, an Atomic Force Microscope micro cantilever operating in tapping mode was modeled, and its behavior was studied using bifurcation diagrams, phase portraits, time history, Poincare maps and Lyapunov exponents. Chaos was detected in an interval of time; those phenomena undermine the achievement of accurate images by the sample surface. In the mathematical model, periodic and chaotic motion was obtained by changing parameters. To control the chaotic behavior of the system were implemented two control techniques. The SDRE control (State Dependent Riccati Equation) and Time-delayed feedback control. Simulation results show the feasibility of the bothmethods, for chaos control of an AFM system. Copyright © 2011 by ASME.

A set of linear equations to calculate the steady-state operation of an electrical distribution system

In this paper, the calculation of the steady-state operation of a radial/meshed electrical distribution system (EDS) through solving a system of linear equations (non-iterative load flow) is presented. The constant power type demand of the EDS is modeled through linear approximations in terms of real and imaginary parts of the voltage taking into account the typical operating conditions of the EDS's. To illustrate the use of the proposed set of linear equations, a linear model for the optimal power flow with distributed generator is presented. Results using some test and real systems show the excellent performance of the proposed methodology when is compared with conventional methods. © 2011 IEEE.

Use of myoelectric signals to command mobile entertainment robot by disabled children: Design and control architecture

Severely disabled children have little chance of environmental and social exploration and discovery. This lack of interaction and independency may lead to an idea that they are unable to do anything by themselves. In an attempt to help children in this situation, educational robotics can offer and aid, once it can provide them a certain degree of independency in the exploration of environment. The system developed in this work allows the child to transmit the commands to a robot through myoelectric and movement sensors. The sensors are placed on the child's body so they can obtain information from the body inclination and muscle contraction, thus allowing commanding, through a wireless communication, the mobile entertainment robot to carry out tasks such as play with objects and draw. In this paper, the details of the robot design and control architecture are presented and discussed. With this system, disabled children get a better cognitive development and social interaction, balancing in a certain way, the negative effects of their disabilities. © 2012 IEEE.

Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Relationship between citrus productivity and indicators of uniformity in trickle irrigation system

In trickle irrigation systems, the design is based on the pre-established emission uniformity (EU) which is the combined result of the equipment characteristics and its hydraulic configuration. However, this desired value of the EU may not be confirmed by the final project (in field conditions) and neither by the yield uniformity. The hypotheses of this research were: a) the EU of a trickle irrigation system at field conditions is equal to the emission uniformity pre-established in the its design; b) EU has always the lowest value when compared with other indicators of uniformity; c) the discharge variation coefficient (VC) is not equal to production variation coefficient in the operational unit; d) the difference between the discharge variation coefficient and the productivity variation coefficient depends on the water depth applied. This study aimed to evaluate the relationship between EU used in the irrigation system design and the final yield uniformity. The uniformity indicators evaluated were: EU, distribution uniformity (UD) and the index proposed by Barragan & Wu (2005). They were compared estimating the performance of a trickle irrigation system applied in a citrus orchard with dimensions of 400m x 600m. The design of the irrigation system was optimized by a Linear Programming model. The tree rows were leveled in the larger direction and the spacing adopted in the orchard was 7m x 4m. The manifold line was always operating on a slope condition. The sensitivity analysis involved different slopes, 0, 3, 6, 9 and 12%, and different values of emission uniformity, 60, 70, 75, 80, 85, 90 and 94%. The citrus yield uniformity was evaluated by the variation coefficient. The emission uniformity (EU) after design differed from the EU pre-established, more sharply in the initial values lower than 90%. Comparing the uniformity indexes, the EU always generated lower values when compared with the UD and with the index proposed by Barragan. The emitter variation coefficient was always lower than the productivity variation coefficient. To obtain uniformity of production, it is necessary to consider the irrigation system uniformity and mainly the water depth to be applied.

A new microcontrolled structural health monitoring system based on the electromechanical impedance principle

This article presents a new method to detect damage in structures based on the electromechanical impedance principle. The system follows the variations in the output voltage of piezoelectric transducers and does not compute the impedance itself. The proposed system is portable, autonomous, versatile, and could efficiently replace commercial instruments in different structural health monitoring applications. The identification of damage is performed by simply comparing the variations of root mean square voltage from response signals of piezoelectric transducers, such as lead zirconate titanate patches bonded to the structure, obtained for different frequencies of the excitation signal. The proposed system is not limited by the sampling rate of analog-to-digital converters, dispenses Fourier transform algorithms, and does not require a computer for processing, operating autonomously. A low-cost prototype based on microcontroller and digital synthesizer was built, and experiments were carried out on an aluminum structure and excellent results have been obtained. © The Author(s) 2012.

Convertibility and the banking system in Argentina

Includes bibliography

Worker participation in company profits or operating results in Latin America

Includes bibliography

A brazilian ergonomic human-robot interface case

Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesńt seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region. © (2013) Trans Tech Publications, Switzerland.

Congestion Effects on Regional & System Emission and Consumers Allocated Cost

This paper considers the congestion effects on emission and consumers' allocated cost. In order to consider some environmental and operational effects of congestion, an environmental constrained active-reactive optimal power flow (AROPF) considering capability curve is presented. On outage conditions, the total cost of the system will increase. On the other hand in power systems, the operating cost and system emission have conflicted objectives, then it may be concluded that the outage in the system may lead to a total emission decrease. In this paper the famous Aumann-Shapley method is used as a pricing methodology. Two case studies such as 14-bus and US-bus IEEE test systems are conducted. Results demonstrate that, although the line outage in power systems leads to increase the total cost, the amount of emission depending on the place where the outage occurs can be more than, less than or equal to the normal conditions' emission. Also results show that although from power sellers' standpoint the well-known Aumann-Shapley method is a precise pricing method to cover the incurred cost with an acceptable error that can show the real effect of congestion on consumers' cost, from consumers' standpoint it is not a good method for cost allocation, because some consumers will face with an increase in cost and the others will face with a decrease on their cost.

A Fixed Netting System as a Means of Excluding Birds From a Domestic Waste Landfill

Many bird species are attracted to landfills which take domestic or putrescible waste. These sites provide a reliable, rich source of food which can attract large concentrations of birds. The birds may cause conflicts with human interest with respect to noise, birds carrying litter off site, possible transmission of pathogens in bird droppings and the potential for birdstrikes. In the UK there is an 8 mile safeguarding radius around an airfield, within which any planning applications must pass scrutiny from regulatory bodies to show they will not attract birds into the area and increase the birdstrike risk. Peckfield Landfill site near Leeds, West Yorkshire was chosen for a trial of a netting system designed to exclude birds from domestic waste landfills. The site was assessed for bird numbers before the trial, during the netting trial and after the net had been removed. A ScanCord net was installed for 6 weeks, during which time all household waste was tipped inside the net. Gull numbers decreased on the site from a mean of 1074 per hourly count to 29 per hourly count after two days. The gull numbers increased again after the net had been removed. Bird concentrations in the surroundings were also monitored to assess the effect of the net. Bird numbers in the immediate vicinity of the landfill site were higher than those further away. When the net was installed, the bird concentrations adjacent to the landfill site decreased. Corvids were not affected by the net as they fed on covered waste which was available outside the net throughout the trial. This shows that bird problems on a landfill site are complex, requiring a comprehensive policy of bird control. A supporting bird scaring system and clear operating policy for sites near to airports would be required.

ANALYSIS OF MANGROVE FOREST SUCCESSION, USING SEDIMENT CORES: A CASE STUDY IN THE CANANEIA-IGUAPE COASTAL SYSTEM, SAO PAULO-BRAZIL

Sediment cores are an essential tool for the analysis of the dynamics of mangrove succession. Coring was used to correlate changes in depositional environments and lateral sedimentary facies with discrete stages of forest succession at the Cananeia-Iguape Coastal System in southeastern Brazil. A local level successional pattern was examined based on four core series T1) a sediment bank; T2) a smooth cordgrass Spartina alterniflora bank; T3) an active mangrove progradation fringe dominated by Laguncularia racemosa, and; T4) a mature mangrove forest dominated by Avicennia schaueriana. Cores were macroscopically described in terms of color, texture, sedimentary structure and organic components. The base of all cores exhibited a similar pattern suggesting common vertical progressive changes in depositional conditions and subsequent successional colonization pattern throughout the forest. The progradation zone is an exposed bank, colonized by S. alterniflora. L. racemosa, replaces S. alterniflora as progradation takes place. As the substrate consolidates A. schaueriana replaces L. racemosa and attains the greatest structural development in the mature forest. Cores collected within the A. schaueriana dominated stand contained S. alterniflora fragments near the base, confirming that a smooth cordgrass habitat characterized the establishment and early seral stages. Cores provide a reliable approach to describe local-level successional sequences in dynamic settings subject to drivers operating on multiple temporal and spatial scales where spatial heterogeneity can lead to multiple equilibria and where similar successional end-points may be reached through convergent paths.

Robust and optimal adjustment of Power System Stabilizers through Linear Matrix Inequalities

This work presents the application of Linear Matrix Inequalities to the robust and optimal adjustment of Power System Stabilizers with pre-defined structure. Results of some tests show that gain and zeros adjustments are sufficient to guarantee robust stability and performance with respect to various operating points. Making use of the flexible structure of LMI's, we propose an algorithm that minimizes the norm of the controllers gain matrix while it guarantees the damping factor specified for the closed loop system, always using a controller with flexible structure. The technique used here is the pole placement, whose objective is to place the poles of the closed loop system in a specific region of the complex plane. Results of tests with a nine-machine system are presented and discussed, in order to validate the algorithm proposed. (C) 2012 Elsevier Ltd. All rights reserved.

Pervasive multimedia guidance system for special needs passengers on public transport

[EN] This article presents a practical case of a pervasive multimedia guidance system for public transport passengers. In order to provide useful information to passengers, the system is capable of operating and adapting spontaneously to the different parts of a public transport network, using local data communication technologies. The multimedia data provided by the system are highly accessible, and adapt to the passengers' preferences, and are consequently suitable for special needs passengers. To this end, a paradigm of pervasive computing has been applied.