Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Nióbia magnética como adsorvente de contaminantes orgânicos em meio aquoso: efeito da temperatura e do pH

This work describes novel materials based on pure iron oxide and iron oxide/niobia composite to produce a magnetic adsorbent. These materials were prepared with synthetic iron oxide and characterized by powder XRD, SEM, FTIR, TPR and Mössbauer spectroscopy. Results showed that the main iron oxides formed were goethite (aFeOOH) and maghemite (gFe2O3) with small particle size. The iron oxide and iron oxide/niobia composite showed high adsorption ability for organic compounds. The positive enthalpy indicated an endothermic adsorption process suggesting physical adsorption.

Fitodisponibilidad de Cd en suelo de diferente pH tratado con lodo albañal estimada por método isotópico y extracción química

The Cd phytoavailability in sewage sludge-amended soils of different pHs using the 109Cd L-value isotopic method and Cd extracted by DTPA has been determined. Maize plants (Zea mais L.) were grown under greenhouse conditions in a xanthic ferralsol at different pHs amended with five sewage sludge (SS) rates, and labeled with 74 kBq kg-1 of 109Cd. The SS rates altered the properties of the soil chemicals and these influenced the isotopic parameter (L-value) and percent of Cd uptake by plants from soil (%Cdpdfs) and SS (%CdpdfSS). L-values and Cd extracted by DTPA correlate significantly with SS rates and Cd uptake by plants and are efficient for predicting the Cd phytoavailability in the sewage sludge-amended soil.

Estudo da degradação fotocatalítica de dimetil dissulfeto: avaliação estatistica do efeito do pH da temperatura e concentração do contaminante orgânico

This work aimed to assess the photocatalytic degradation of a model odor compound (dimethyl disulfide, DMDS), found in liquid and gaseous wastes of plants for processing poultry byproducts. The effect of pH and temperature on adsorption and photocatalytic degradation was evaluated through factorial experimental designs. The results suggest the presence of an optimum region for adsorption, at 45.0 ºC and pH 4.0. In the photocatalytic runs an optimum for temperature and pH was also observed. At 45 ºC and pH 4.0 the removal of DMDS was 99% after 60 min of irradiation.

pH effect on the synthesis of magnetite nanoparticles by the chemical reduction-precipitation method

This work aimed at putting in evidence the influence of the pH on the chemical nature and properties of the synthesized magnetic nanocomposites. Saturation magnetization measurements evidenced a marked difference of the magnetic behavior of samples, depending on the final pH of the solution after reaction. Magnetite and maghemite in different proportions were the main magnetic iron oxides actually identified. Synthesis with final pH between 9.7-10.6 produced nearly pure magnetite with little or no other associated iron oxide. Under other synthetic conditions, goethite also appears in proportions that depended upon the pH of the synthesis medium.

Measuring air pressure with a polymeric gas sensor

In this communication we describe the application of a conductive polymer gas sensor as an air pressure sensor. The device consists of a thin doped poly(4'-hexyloxy-2,5-biphenylene ethylene) (PHBPE) film deposited on an interdigitated metallic electrode. The sensor is cheap, easy to fabricate, lasts for several months, and is suitable for measuring air pressures in the range between 100 and 700 mmHg.

Um sistema microcontrolado para o monitoramento on-line, in situ e remoto de pH, condutividade e temperatura de águas

A portable microcontrolled system is proposed to monitor conductivity, temperature and pH in on-line, in situ and remote way from a water reservoir faraway 200 m. The system comprises two modules: one for data reception (located in laboratory) and another for data acquisition/transmission (located near water reservoir). It uses a microcontroller and a transceiver to remote data transmission/reception by radio frequency. Variations of water parameters were simultaneously monitored without interruption during a period of ten hours with a relative error about 4.0 %. The developed system showed simple, stable, accurate, robust and low-cost to determine parameters of water in field.

Alvejamento químico de caulins Brasileiros: efeito do potencial eletroquímico da polpa e do ajuste do pH

Samples of Kaolin from different regions in Brazil were characterized by XRD, SEM and chemical analysis. A chemical bleaching study with pH adjustment was accomplished with the fractions below 37 μm, after classification by screening. The main objective was to evaluate the conditions of chemical bleaching that most increase the brightness of these kaolin's samples. Increases between 2.63 and 2.98% in the brightness (ISO) were observed after the chemical bleaching. We could say that the reduction of Fe3+ to Fe2+ during the chemical bleaching promoted an increase in the brightness, based on the Pourbaix Diagrams.

Utilização do sensor linear de luz ILX554 em espectroscopia óptica

This technical note describes the construction of a low-cost optical detector. This device is composed by a high-sensitive linear light sensor (model ILX554) and a microcontroller. The performance of the detector was demonstrated by the detection of emission and Raman spectra of the several atomic systems and the results reproduce those found in the literature.

Development of an optical redox chemical sensor for nitrite determination

An optical chemical sensor for the determination of nitrite based on incorporating methyltrioctylammonium chloride as an anionic exchanger on the triacetylcellulose polymer has been reported. The response of the sensor is based on the redox reaction between nitrite in aqueous solution and iodide adsorbed on sensing membrane using anion exchange phenomena. The sensing membrane reversibly responses to nitrite ion over the range of 6.52×10-6 - 8.70×10-5 mol L-1 with a detection limit of 6.05×10-7 mol L-1 (0.03 µg mL-1) and response time of 6 min. The relative standard deviation for eight replicate measurements of 8.70×10-6 and 4.34×10-5 mol L-1 of nitrite was 4.4 and 2.5 %, respectively. The sensor was successfully applied for determination of nitrite in food, saliva and water samples.

Uso da RMN como um sensor online em processos industriais

Nuclear magnetic resonance (NMR) is one of the most versatile analytical techniques for chemical, biochemical and medical applications. Despite this great success, NMR is seldom used as a tool in industrial applications. The first application of NMR in flowing samples was published in 1951. However, only in the last ten years Flow NMR has gained momentum and new and potential applications have been proposed. In this review we present the historical evolution of flow or online NMR spectroscopy and imaging, and current developments for use in the automation of industrial processes.

Influência do pH nas propriedades físico-químicas, térmicas e mecânicas de filmes de poli(vinil álcool)/poli(ácido acrílico)/aciclovir

Drug-loaded films represent an alternative method for the treatment of skin lesions caused by Herpes simplex, since they facilitate delivery of the drug directly at the site of lesion. The objective of this work was to prepare PVA/PAA films containing AC at pH 2.0 and 4.0. The results show that the pH of the film preparations influences the polymer¾drug interaction kinetic order and the degree of swelling. The mechanism of release of AC from the films obtained at pH 4.0 was anomalous, whereas for the films prepared at pH 2.0 the release followed zero-order kinetics.

Preparative separation of C19-diterpenoid alkaloids from Aconitum carmichaelii Debx by pH‑zone-refining counter-current chromatography

The technique of pH-zone-refining counter-current chromatography was successfully applied to preparatively separate three C19-diterpenoid alkaloids from the crude extracts of Aconitum carmichaelii for the first time using a two-phase solvent system of petroleum ether-ethyl acetate-methanol-water (5:5:1:9, v/v/v/v). Mesaconitine (I), hypaconitine (II), and deoxyaconitine (III) were obtained from 2.5 g of the crude alkaloids in a one-step separation; the yields were 4.16%, 16.96%, and 5.05%, respectively. The purities of compounds I, II, and III were 93.0%, 95%, and 96%, respectively, as determined by HPLC. The chemical structures of the three compounds were identified by electrospray ionization mass spectrometry (ESI-MS) and NMR.

Registrador portátil de odorantes basado en la modulación de temperatura de un sensor mos comercial

A simple, portable and low-cost system for odor detection was developed using a single MOS commercial sensor and a microcontroller. The temperature modulation technique was implemented applying a DC signal pulse to the sensor heater by a bipolar transistor. Two odorant profiles, ethanol and acetic acid vapors, were obtained and distinguished based on their amplitude versus time responses. Response for acetic acid was not reported by the sensor manufacturer. An ethanol vapor calibration curve was also obtained. Experimental data showed a potential behavior according to the theoretical equation of the MOS sensors. Values of logK=0.457 and α=-0.213 for a 95% confidence level were obtained.