Physical Realization of an Optical Automatic Target Recognition System

In the modern warfare there is an active development of a new trend connected with a robotic warfare. One of the critical elements of robotics warfare systems is an automatic target recognition system, allowing to recognize objects, based on the data received from sensors. This work considers aspects of optical realization of such a system by means of NIR target scanning at fixed wavelengths. An algorithm was designed, an experimental setup was built and samples of various modern gear and apparel materials were tested. For pattern testing the samples of actively arm engaged armies camouflages were chosen. Tests were performed both in clear atmosphere and in the artificial extremely humid and hot atmosphere to simulate field conditions.

Comparative analysis of the trypanocidal activity and chemical properties of E-lychnophoric acid and its derivatives using theoretical calculations

E-Lychnophoric acid 1, its derivative ester 2 and alcohol 3 killed 100% of trypomastigote blood forms of Trypanosoma cruzi at the concentrations of 13.86, 5.68, and 6.48 µg/mL, respectively. Conformational distribution calculations (AM1) of 1, 2 and 3 gave minimum energies for the conformers a, b, c, and d, which differ from each other only in the cyclononene ring geometry. Calculations (DFT/BLYP/6-31G*) of geometry optimization and chemical properties were performed for conformers of 1, 2, and 3. The theoretical results were numerically compared to the trypanocidal activity. Calculated values of atomic charge, orbital population, and vibrational frequencies showed that the C-4-C-5 pi-endocyclic bond does not affect the trypanocidal activity of the studied compounds. Nevertheless, the structure of the group at C-4 strongly influences the activity. However, the theoretical results indicated that the intra-ring (C-1 and C-9) and pi-exocycle (C-8 and C-14) carbons of caryophyllene-type structures promote the trypanocidal activity of these compounds.

Joustavan särmäyssolun kehittäminen

Tässä diplomityössä esitellään robotisoinnin teoria ja robottisolun oheislaitteet, vaihtoehdot, toiminta ja turvallisuus. Joustavalla tuotantosolulla tarkoitetaan automaattista valmistusjärjestelmää, jossa on useita toisiinsa liitettyjä koneita yhteisellä ohjausjärjestelmällä. Solun komponentteja ovat tuotantolaitteet ja -koneet, ohjausjärjestelmät, valvontalaitteet ja anturit, toimi- ja säätölaitteet sekä ohjelmointijärjestelmä. Joustavaa tuotantosolua voidaan kehittää tehostamalla työntekijöiden koulutusta, ohjelmointia, asetusten tekemistä ja layouttia. Diplomityöhön liittyvä kehitystehtävä koskee heinäveteläisen alihankintakonepajan, Metalliset Oy:n, tuotannon tehostamista robotisoinnin avulla. Metalliset Oy:n joustavan särmäyssolun kehittämiskeinoiksi valittiin nykyisen järjestelmän tehostaminen, uuden tuotantosolun luominen olemassa olevia laitteita hyödyntäen ja tulevaisuuden tuotantosolun kehittäminen. Vertailussa parhaimmaksi osoittautui uuden tuotantosolun luominen olemassa olevia laitteita hyödyntäen.

Uuden robottisolun ohjelmointitavan mahdollisuudet pienille ja keskisuurille yrityksille

Robotin ohjelmointi on aikaa vievää ja tarvitsee robotin ohjelmoinnin tuntevan operaattorin toimimaan robotin opettajana. Saadakseen robottisolun kustannustehokkaaksi operaattorilla olisi hyvä olla useampi solu hoidettavanaan samaan aikaan. Tämä ei ole suuri ongelma suurille yrityksille, joissa voi olla kymmeniä robottisoluja. Jos kyseessä on pieni tai keskisuuri yritys, automatisointi-investointi voi jäädä tekemättä ohjelmoinnin vaikeuden aiheuttaman ongelman vuoksi. Diplomityössä keskityttiin tutkimaan robotisointia pienten ja keskisuurten yritysten kannalta. Teoriaosassa on keskitytty robottisolun suunnittelun kannalta tarvittaviin perustietoihin robotin rakenteesta, ohjausjärjestelmästä, ohjelmoinnista sekä turvallisuudesta. Näiden perustietojen lisäksi on huomioitu hitsauksen automatisointia sekä taluttamalla ohjelmoitavan robottisolun tekninen konsepti. Taluttamalla ohjelmoitavan robottisolun konseptin käsittelyosassa on myös perehdytty taluttamalla ohjelmoinnin vaatimiin komponentteihin kuten voima/vääntö-anturi. Robottisolun suunnittelu on tehtävä koneasetuksen vaatimusten mukaan. Turvallisuus osiossa on käsitelty koneasetuksen vaatimuksia koneensuunnittelulle ja käytännön osassa on käsitelty Winnovan taluttamalla ohjelmoitavan robottisolun suunnittelua koneasetuksen ohjeiden mukaan. Käytännön osassa on tutkittu taluttamalla ohjelmoinnin tuomia etuja muihin ohjelmointimenetelmiin nähden sekä suoritettu investointilaskelmat taluttamalla ohjelmoitavasta ja opettamalla ohjelmoitavasta robottisolusta. Koetuloksista nähdään taluttamalla ohjelmoinnin olevan nopeampi ja yksinkertaisempi tapa ohjelmoida robottia kuin opettamalla ohjelmointi. Investointilaskelmien vertailusta nähdään taluttamalla ohjelmoinnin tulevan opettamalla ohjelmointia edullisemmaksi vaihtoehdoksi käyttökustannusten edullisuuden ansiosta.

Mobile Teleoperation of a Mobile Robot

This thesis describes the design and implementation of a graphical application on a mobile device to teleoperate a mobile robot. The department of information technology in Lappeenranta University conducts research in robotics, and the main motivation was to extend the available teleoperation applications for mobile devices. The challenge was to port existing robot software library onto an embedded device platform, then develop a suitable user interface application that provides sufficient functionality to perform teleoperation tasks over a wireless communication network. This thesis involved investigating previous teleoperation applications and conducted similar experiments to test and evaluate the designed application for functional activity and measure performance on a mobile device which have been identified and achieved. The implemented solution offered good results for navigation purposes particularly for teleoperating a visible robot and suggests solutions for exploration when no environment map for the operator is present.

Analysis of the structural and electronic properties of 1-(5-Hydroxymethyl - 4 -[ 5 - (5-oxo-5-piperidin-1-yl-penta-1,3dienyl)-benzo[1,3]dioxol-2-yl] -tetrahydro-furan-2-yl)-5-methyl-1H-pyrimidine-2,4dione molecule

The structural and electronic properties of 1-(5-Hydroxymethyl - 4 -[ 5 - (5-oxo-5-piperidin- 1 -yl-penta- 1,3 -dienyl)-benzo [1,3] dioxol- 2 -yl]-tetrahydro -furan-2 -yl)-5-methy l-1Hpyrimidine-2,4dione (AHE) molecule have been investigated theoretically by performing density functional theory (DFT), and semi empirical molecular orbital calculations. The geometry of the molecule is optimized at the level of Austin Model 1 (AM1), and the electronic properties and relative energies of the molecules have been calculated by density functional theory in the ground state. The resultant dipole moment of the AHE molecule is about 2.6 and 2.3 Debyes by AM1 and DFT methods respectively, This property of AHE makes it an active molecule with its environment, that is AHE molecule may interacts with its environment strongly in solution.

Dinâmica da vegetação natural no nordeste do estado de São Paulo, entre 1988 e 2003

As imagens de sensoriamento remoto orbital juntamente com as ferramentas em Sistemas de Informações Geográficas têm possibilitado diversos estudos sobre as alterações na cobertura das terras. O objetivo deste trabalho foi detalhar os resultados do mapeamento de uso e cobertura das terras e alterações em uma região no Nordeste do Estado de São Paulo entre 1988 e 2003, especificamente em relação à vegetação natural. A avaliação da dinâmica das áreas de remanescentes de vegetação natural das terras revelou retração de 0,14% em relação à área total dos municípios (51.649,5 km2). Mas houve avanço da vegetação ripária de 0,22% em relação à área total. Dos 125 municípios da região em estudo e possuidores de remanescentes de vegetação natural, 60,8% mantiveram praticamente a mesma porcentagem de cobertura vegetal natural (florestas estacionais, secundárias, cerrado e vegetação ripária) em 2003 com relação a 1988. Considerando somente as áreas com floresta estacional, secundária e cerrado, o número de municípios cresce para 79,2% do total. Os municípios que mantiveram os maiores percentuais de cobertura vegetal natural de Floresta Estacional, Floresta Secundária e Cerrado no período foram: Águas da Prata, com 39,9% de sua área municipal total, Rifaina (31,7%), São Sebastião da Grama (24,9%) e Pedregulho (24,0%). A ocupação das terras de 1988 a 2003 caracterizou-se pela dinâmica de substituição entre atividades que competem por área no setor rural, comum nas regiões administrativas tecnicamente mais avançadas do Estado de São Paulo.

Learning Robot Environment through Simulation

Traditionally simulators have been used extensively in robotics to develop robotic systems without the need to build expensive hardware. However, simulators can be also be used as a “memory”for a robot. This allows the robot to try out actions in simulation before executing them for real. The key obstacle to this approach is an uncertainty of knowledge about the environment. The goal of the Master’s Thesis work was to develop a method, which allows updating the simulation model based on actual measurements to achieve a success of the planned task. OpenRAVE was chosen as an experimental simulation environment on planning,trial and update stages. Steepest Descent algorithm in conjunction with Golden Section search procedure form the principle part of optimization process. During experiments, the properties of the proposed method, such as sensitivity to different parameters, including gradient and error function, were examined. The limitations of the approach were established, based on analyzing the regions of convergence.

Identificação e mapeamento de áreas de milho na região sul do Brasil utilizando imagens MODIS

O presente trabalho teve como proposta avaliar a identificação e o mapeamento das áreas de milho da região noroeste do Estado do Rio Grande do Sul a partir de dados multitemporais do sensor MODIS (Moderate Resolution Imaging Spectroradiometer) a bordo do satélite Earth Observing System - EOS-AM (Terra). O algoritmo de classificação supervisionada Spectral Angle Mapper (SAM) foi aplicado com sucesso em uma série multitemporal de imagens EVI pré-processadas. Verificou-se que as áreas classificadas como milho na imagem coincidiam plenamente com áreas mais extensas ou contínuas (> 90 ha) de milho. Áreas de menor extensão ou localizadas em encostas de morros, ao lado de vegetação arbórea, não foram detectadas pelo classificador devido à baixa resolução espacial das imagens. A maior utilidade prática da identificação e da classificação digital das áreas de milho obtidas das imagens MODIS está na sua aplicação para isolar ou complementar o mapeamento das áreas agrícolas visando ao seu monitoramento a partir de diferentes índices de vegetação, derivados de imagens de alta resolução temporal e baixa resolução espacial.

Estimativa de parâmetros biofísicos de plantios de café a partir de imagens orbitais de alta resolução espacial

O uso de recursos de sensoriamento remoto orbital constitui um grande avanço no levantamento de dados sobre a cafeicultura, sobretudo por seu caráter temporal e baixo custo. Sendo assim, o objetivo do trabalho foi avaliar a utilização da imagem do satélite QUICKBIRD na determinação de parâmetros biofísicos importantes para a cultura cafeeira. Foram utilizados 25 talhões com plantios de café localizados entre os municípios de Ribeirão Corrente, Franca e Cristais Paulista (SP). Os parâmetros biofísicos utilizados foram os espaçamentos entre linhas e plantas, altura, IAF, diâmetro da copa, porcentagem de cobertura vegetal, rugosidade, variedade e biomassa. Foram utilizados valores de refletância real das bandas espectrais do satélite QUICKBIRD e os índices de vegetação NDVI, GVI, SAVI e RVI. A partir desses dados, foram feitas análises de regressão linear e não linear para a geração dos modelos de estimativa. A utilização de modelos de regressão baseados em equações não lineares mostrou-se mais adequado para determinar os parâmetros IAF e a porcentagem de biomassa, importantes como indicativos da produtividade da cultura cafeeira.

Design and development of the architecture of an agricultural mobile robot

Parameters such as tolerance, scale and agility utilized in data sampling for using in Precision Agriculture required an expressive number of researches and development of techniques and instruments for automation. It is highlighted the employment of methodologies in remote sensing used in coupled to a Geographic Information System (GIS), adapted or developed for agricultural use. Aiming this, the application of Agricultural Mobile Robots is a strong tendency, mainly in the European Union, the USA and Japan. In Brazil, researches are necessary for the development of robotics platforms, serving as a basis for semi-autonomous and autonomous navigation systems. The aim of this work is to describe the project of an experimental platform for data acquisition in field for the study of the spatial variability and development of agricultural robotics technologies to operate in agricultural environments. The proposal is based on a systematization of scientific work to choose the design parameters utilized for the construction of the model. The kinematic study of the mechanical structure was made by the virtual prototyping process, based on modeling and simulating of the tension applied in frame, using the.

Use of data mining and spectral profiles to differentiate condition after harvest of coffee plants

This study aimed at identifying different conditions of coffee plants after harvesting period, using data mining and spectral behavior profiles from Hyperion/EO1 sensor. The Hyperion image, with spatial resolution of 30 m, was acquired in August 28th, 2008, at the end of the coffee harvest season in the studied area. For pre-processing imaging, atmospheric and signal/noise effect corrections were carried out using Flaash and MNF (Minimum Noise Fraction Transform) algorithms, respectively. Spectral behavior profiles (38) of different coffee varieties were generated from 150 Hyperion bands. The spectral behavior profiles were analyzed by Expectation-Maximization (EM) algorithm considering 2; 3; 4 and 5 clusters. T-test with 5% of significance was used to verify the similarity among the wavelength cluster means. The results demonstrated that it is possible to separate five different clusters, which were comprised by different coffee crop conditions making possible to improve future intervention actions.

Analysis of land use and occupancy in permanent preservation areas according to the hydrography of Ribeirão Água Fria - Bofete, SP - Brazil

The use conflicts are determined by the inadequate occupations of the soil, as it is the case of soil occupation inside of permanent preservation areas. This study aimed to determine the classes of the soil use and if there are conflicts inside of permanent preservation areas along the drainage network of the Água Fria Stream watershed, located in Bofete city - São Paulo, Brazil. It locates geographically between the coordinates: 48°09'30" to 48°18'30" longitude WGr., 22°58'30" to 23°04'30" latitude S, with an area of 15242.84 ha. The map of soil use was elaborated through the interpretation directly in the computer screen of satellite digital image. In the orbital data, the study area is inserted in the quadrant A, of image TM/Landsat - 5, orbit 220, point 76, passage 9/8th/2007. The Geographical Information System used was CartaLinx. The conflict areas of the watershed were obtained from the crossing between the maps of soil use and of PPAs. The results allowed the conclusion that more than half of the area (51.09%) is occupied by pastures, reflex of sandy soils and low fertility. It was also verified that although almost half of the watershed is covered with some type of vegetation (48.78% of natural forest /reforestation), it has approximately a third of permanent preservation areas used inappropriately by pastures (88.15%), reforestation (10.42%) and exposed soil (1.43%), totaling 343.07ha of conflicting areas, in a total of 993.26 ha of PPAs.

Seasonality of net radiation in two sub-basins of Paracatu by the use of modis sensor products

The net radiation (Rn) represents the main source of energy for physical and chemical processes that occur in the surface-atmosphere interface, and it is used for air and soil heating, water transfer, in the form of vapor from the surface to the atmosphere, and for the metabolism of plants, especially photosynthesis. If there is no record of net radiation in certain areas, the use of information is important to help determine it. Among them we can highlight those provided by remote sensing. In this context, this work aims to estimate the net radiation, with the use of products of MODIS sensor, in the sub-basins of Entre Ribeiros creek and Preto River, located between the Brazilian states of Goiás and Minas Gerais. The SEBAL (Surface Energy Balance Algorithm for Land) was used to obtain the Rn in four different days in the period of July to October, 2007. The Rn results obtained were consistent with others cited in the literature and are important because the orbital information can help determine the Rn in areas where there are not automatic weather stations to record the net radiation.

Sinusite recorrente de causa incomum

The authors present a case of chronic recurrent sinusitis of rare etiology in a man submitted previously to a facial peeling. The computed tomography and the sinusal endoscopy revealed periorbital fat in the maxilary sinus. There was a history of old orbital floor fracture.