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.

Latin America and the Caribbean in the World Economy 2005-2006

Includes bibliography

Latin America and the Caribbean in the World Economy 2011-2012: Continuing crisis in the centre and new opportunities for developing economies

Includes bibliography

Breeding Latin American tigers: operational principles for rehabilitating industrial policies

Includes bibliography

Towards a theory of the small firm: theoretical aspects and some policy implications

Includes bibliography

Export performance, technological upgrading and foreign direct investment strategies in the Asian newly industrializing economies: with special reference to Singapur

Includes bibliography

Proposal of a dedicated telemetry device for real-time and remote measurements

This work aims to demonstrate an application of telemetry for monitoring process variables. The authors developed the prototype of a dedicated device capable of multiplexing, encoding and transmitting real-time data signals via amplitude-shift keying modulation to remotely located device(s). The prototype development is described in details, enabling the reproduction of the proposed telemetry system for a three-phase motor as well as for other devices. Furthermore, the proposed device has an easy implementation by using of accessible components and low cost, also presenting a tutorial and educational purpose. © 2011 IEEE.

Old and new forms of citizenship

Includes bibliography

Maquila, currency misalignment and export-led growth in Mexico

Includes bibliography

A simple procedure for the preparation of laponite and thermoplastic starch nanocomposites: Structural, mechanical, and thermal characterizations

The aim of this article is to propose advances for the preparation of hybrid nanocomposites prepared by the combination of intercalation from solution and melt-processing methods. This research investigates the effect of the laponite RDS content on the thermal, structural, and mechanical properties of thermoplastic starch (TPS). X-ray diffraction was performed to investigate the dispersion of the laponite RDS layers into the TPS matrix. The results show good nanodispersion, intercalation, and exfoliation of the clay platelets, indicating that these composites are true nanocomposites. The presence of laponite RDS also improves the thermal stability and mechanical properties of the TPSmatrix due to its reinforcement effect which was optimized by the high degree of exfoliation of the clay. Thus, these results indicate that the exfoliated TPS-laponite nanocomposites have great potential for industrial applications and, more specifically, in the packaging field. © The Author(s) 2011 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav.

Bioactive substance contents and antioxidant capacity of the lipid fraction of Annona crassiflora Mart. seeds

Annona crassiflora Mart. is a typical fruit of the Brazilian cerrado, considered to be a species of economic interest, mainly for its use in cooking, which is widespread among the inhabitants of that region, and can be found in many typical local dishes, especially sweets, jellies, liqueurs, soft drinks, ice creams and juices. Thus, the objective of this study was to determine the bioactive substance contents and the antioxidant capacity of the lipid fraction of A. crassiflora Mart. seeds in the interest of better identifying the quality of this raw material from the Brazilian cerrado. After the receipt of the fruits, the seeds were removed manually and, then, the lipid fraction was obtained by cold extraction with chloroform:methanol:water (2:1:0.8, v/v/v) and analyzed for the composition of phytosterols, tocopherols, fatty acids, total carotenoids, antioxidant activity and oxidative stability index. The lipid fraction showed significant quantity of bioactive substances, especially phytosterols, tocopherols and unsaturated fatty acids, as well as significant antioxidant capacity and oxidative stability, influenced by the content of phytosterols and the composition of fatty acids present in the analyzed fraction. © 2012 Elsevier B.V.

Environmental ageing studies of chemically modified micro and nanofibril phenol formaldehyde composites

Cellulose micro and nano fibrils were extracted from banana macro fibres and chemically modified using sodium hydroxide, formic acid, 3-methacryloxy propyltrimethoxy silane. These untreated and chemically treated fibrils were incorporated into PF resin and the specimens were prepared. The composites were subjected to long-term water ageing, thermal ageing soil burial and outdoor weathering. The mechanical properties are reduced under all ageing conditions. The present study investigates the effects of different types of ageing on macro fibre, microfibril and nanofibril reinforced PF composites. The effect of chemical modifications of fibres on the degradability of the composites at different environments also has been analysed. © 2013 Elsevier B.V.

Physicochemical and bioactive properties of Hymenaea courbaril L. pulp and seed lipid fraction

This study aimed to assess the nutritional composition of the fruit and the physicochemical and bioactive properties of jatoba (Hymenaea courbaril L.) pulp and seed oils. The lipid content of both fractions was below 6%. There was a significant presence of minerals, especially, sodium, potassium and phosphorus. The main macronutrient in pulp and seed was crude fiber, and considerable amounts of Vitamin C, 51.87 and 121.45. mg/100. g respectively, were found. The physicochemical properties demonstrated the good quality of the oils. The oxidative stability index was influenced by the composition of fatty acids reaching a value of 45.97. h for the jatoba pulp oil. The most abundant bioactive compounds were α-tocopherol (886.37 and 993.63. mg/kg) and β-sitosterol (61.83 and 91.09. mg/kg) for pulp and seed oils, respectively. Among the unsaturated fatty acids in the pulp, the oleic (46.09%) and linolenic acid (14.54%) stood out. The pulp and seed oils can be considered a valuable source for new industrial, cosmetic and pharmaceutical products. © 2013 Elsevier B.V.

Enhanced bulk and superficial hydrophobicities of starch-based bionanocomposites by addition of clay

In this work, thermoplastic starch (TPS)-clay bionanocomposites were obtained by an innovative methodology using a combination of methodologies commonly used in the composites and nanocomposites preparations. The main objectives or novelties were to confirm efficiency of the processing methodology by field emission gun scanning electron microscopy and investigate the effect of clay content on the spectroscopic, bulk and surface hydrophilic/hydrophobic properties of these bionanocomposites. Raman and FTIR spectroscopies confirmed the changes in the spectroscopic properties of the TPS bionanocomposites with the addition of the clay materials. Water absorption and contact angle measurements were also used to analyze the effect of the clay content on the hydrophilic properties of the TPS bionanocomposites. The results also showed that the addition of the cloisite-Na+ clay increased the bulk and surface hydrophobicities of the TPS matrix, which may increase its industrial application, particularly in manufacturing of food containers. © 2013 Elsevier B.V.

Modelagem plana industrial do vestuário: diretrizes para a indústria do vestuário e o ensino-aprendizado

Pós-graduação em Design - FAAC