Mapping deformed hyperbolic potentials into nondeformed ones

In this work we introduce a mapping between the so-called deformed hyperbolic potentials, which are presenting a continuous interest in the last few years, and the corresponding nondeformed ones. As a consequence, we conclude that these deformed potentials do not pertain to a new class of exactly solvable potentials, but to the same one of the corresponding nondeformed ones. Notwithstanding, we can reinterpret this type of deformation as a kind of symmetry of the nondeformed potentials. © 2005 Elsevier B.V. All rights reserved.

Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.

Improving a process in a brazilian automotive plant applying process mapping, Design of Experiments and Discrete Events Simulation

The objective of this article is to apply the Design of Experiments technique along with the Discrete Events Simulation technique in an automotive process. The benefits of the design of experiments in simulation include the possibility to improve the performance in the simulation process, avoiding trial and error to seek solutions. The methodology of the conjoint use of Design of Experiments and Computer Simulation is presented to assess the effects of the variables and its interactions involved in the process. In this paper, the efficacy of the use of process mapping and design of experiments on the phases of conception and analysis are confirmed.

Mapping hazard risk: A case study of Ubatuba, Brazil

Steep slopes in subtropical zones are always at risk from landslides. The risk greatly increases when there is rapid, unplanned urban growth. This has happened at Ubatuba on the Brazilian coast - tourism-related development has forced local people into narrow valleys with steep slopes. In this article the authors describe how the hazard risk can be mapped, helping the local authorities to control the problem.

Precise mapping of the magnetic field in the CMS barrel yoke using cosmic rays

The CMS detector is designed around a large 4 T superconducting solenoid, enclosed in a 12 000-tonne steel return yoke. A detailed map of the magnetic field is required for the accurate simulation and reconstruction of physics events in the CMS detector, not only in the inner tracking region inside the solenoid but also in the large and complex structure of the steel yoke, which is instrumented with muon chambers. Using a large sample of cosmic muon events collected by CMS in 2008, the field in the steel of the barrel yoke has been determined with a precision of 3 to 8% depending on the location. © 2010 IOP Publishing Ltd and SISSA.

Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

The accuracy potential of Galileo E5/E1 pseudoranges for surveying and mapping

In the paper we discuss the potential of the new Galileo signals for pseudorange based surveying and mapping in open areas under optimal reception conditions (open sky scenarios) and suboptimal ones (multipath created by moderate to thick tree coverage). The paper reviews the main features of the Galileo E5 AltBOC and E1 CBOC signals; describes the simulation strategy, models and algorithms to generate realistic E5 and E1 pseudoranges with and without multipath sources; describes the ionosphere modeling strategy, models and algorithms and discusses and presents the expected positioning accuracy and precision results. According to the simulations performed, pseudoranges can be extracted from the Galileo E5 AltBOC signals with tracking errors (1-σ level) ranging from 0.02 m (open sky scenarios) to 0.08 m (tree covered scenarios) whereas for the Galileo E1 CBOC signals the tracking errors range between 0.25 m to 2.00 m respectively. With these tracking errors and with the explicit estimation of the ionosphere parameters, simulations indicate real-time open sky cm-level horizontal positioning precisions and dm-level vertical ones and dm-level accuracies for both the horizontal and vertical position components.

β-lactam antibiotics epitope mapping with STD NMR spectroscopy: A study of drug-human serum albumin interaction

Molecular recognition events are key issues in many biological processes. STD NMR (saturation transfer difference nuclear magnetic resonance spectroscopy) is one of the techniques used to understand such biological interactions. Herein, we have investigated the interactions of four β-lactam antibiotics belonging to two classes (cephalosporins and penicillins) with human serum albumin (HSA) by 1H STD NMR revealing that the interaction between the aromatic moiety and HSA is responsible for the binding efficiency. Thus, the structural differences from the five to six-membered thio ring in penicillins and cephalosporins do not seem to influence antibiotic-albumin interactions. © 2012 Sociedade Brasileira de Química.

Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Sensory profile and preference mapping of orange cakes with addition of prebiotics inulin and oligofructose

Orange cakes with addition of inulin and oligofructose to justify a prebiotic claim (minimum of 3 g of fructans in a 60 g serving of cake) were investigated regarding sensory aspects. The sensory profile of cakes with inulin, with inulin/oligofructose and without prebiotics (standard cake) was evaluated using descriptive quantitative analysis. Preference mapping was assessed using multidimensional scaling on data obtained through an acceptability test with a nine-point hedonic scale. The cakes with prebiotics presented greater crust brownness, dough beigeness, hardness and stickiness than the standard cake and lower crumbliness. Principal Component Analysis (69.5 and 10.7% of explanation to the first and second principal components, respectively) showed that crust brownness, dough beigeness, hardness and stickiness contributed to distinguish the cakes with prebiotics from standard cakes. The sensory acceptability was similar for the three cakes and higher when compared to three commercial cakes, but the preference mapping showed that cakes with prebiotics were preferred to commercial cakes. Addition of prebiotics in orange cakes is feasible, based on the sensory results, which may facilitate marketing of this functional food with sensorial qualities equivalent to conventional products. © 2012 Elsevier Ltd.

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.

The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Chromosome mapping of repetitive sequences in Anostomidae species: Implications for genomic and sex chromosome evolution

Background: Members of the Anostomidae family provide an interesting model system for the study of the influence of repetitive elements on genome composition, mainly because they possess numerous heterochromatic segments and a peculiar system of female heterogamety that is restricted to a few species of the Leporinus genus. The aim of this study was to isolate and identify important new repetitive DNA elements in Anostomidae through restriction enzyme digestion, followed by cloning, characterisation and chromosome mapping of this fragment. To identify repetitive elements in other Leporinus species and expand on studies of repetitive elements in Anostomidae, hybridisation experiments were also performed using previously described probes of LeSpeI repetitive elements. Results: The 628-base pair (bp) LeSpeII fragment was hybridised to metaphase cells of L. elongatus individuals as well as those of L. macrocephalus, L. obtusidens, L. striatus, L. lacustris, L. friderici, Schizodon borellii and S. isognathus. In L. elongatus, both male and female cells contained small clusters of LeSpeII repetitive elements dispersed on all of the chromosomes, with enrichment near most of the terminal portions of the chromosomes. In the female sex chromosomes of L. elongatus (Z2,Z2/W1W 2), however, this repeated element was absent. In the remaining species, a dispersed pattern of hybridisation was observed on all chromosomes irrespective of whether or not they were sex chromosomes. The repetitive element LeSpeI produced positive hybridisations signals only in L. elongatus, L. macrocephalus and L. obtusidens, i.e., species with differentiated sex chromosomes. In the remaining species, the LeSpeI element did not produce hybridisation signals. Conclusions: Results are discussed in terms of the effects of repetitive sequences on the differentiation of the Anostomidae genome, especially with respect to sex chromosome evolution. LeSpeII showed hybridisation patterns typical of Long Interspersed Elements (LINEs). The differential distribution of this element may be linked to sex chromosome differentiation in L. elongatus species. The relationship between sex chromosome specificity and the LeSpeI element is confirmed in the species L. elongatus, L. macrocephalus and L. obtusidens. © 2012 da Silva et al.; licensee BioMed Central Ltd.

Cytogenetic mapping of H1 histone and ribosomal RNA genes in hybrids between catfish species Pseudoplatystoma corruscans and Pseudoplatystoma reticulatum

A physical chromosome mapping of the H1 histone and 5S and 18S ribosomal RNA (rRNA) genes was performed in interspecific hybrids of Pseudoplatystoma corruscans and P. reticulatum. The results showed that 5S rRNA clusters were located in the terminal region of 2 chromosomes. H1 histone and 18S ribosomal genes were co-localized in the terminal portion of 2 chromosomes (distinct from the chromosomes bearing 5S clusters). These results represent the first report of association between H1 histone and 18S genes in fish genomes. The chromosome clustering of ribosomal and histone genes was already reported for different organisms and suggests a possible selective pressure for the maintenance of this association. © 2012 S. Karger AG, Basel.