Classification and characterization of places for mapping of environment using hierarchical neural network and omnivision

Mobile robots need autonomy to fulfill their tasks. Such autonomy is related whith their capacity to explorer and to recognize their navigation environments. In this context, the present work considers techniques for the classification and extraction of features from images, using artificial neural networks. This images are used in the mapping and localization system of LACE (Automation and Evolutive Computing Laboratory) mobile robot. In this direction, the robot uses a sensorial system composed by ultrasound sensors and a catadioptric vision system equipped with a camera and a conical mirror. The mapping system is composed of three modules; two of them will be presented in this paper: the classifier and the characterizer modules. Results of these modules simulations are presented in this paper.

Image analysis for assessing broiler breeder behavior response to thermal environment

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Some comments on the F ring-Prometheus-Pandora environment

The system formed by the F ring and two close satellites, Prometheus and Pandora, has been analysed since the time that Voyager visited the planet Saturn. During the ring plane crossing in 1995 the satellites were found in different positions as predicted by the Voyager data. Besides the mutual effects of Prometheus and Pandora, they are also disturbed by a massive F ring. Showalter et al. [Icarus 100 (1992) 394] proposed that, the core of the ring has a mass which corresponds to a moonlet varying in size from 15 to 70 kin in radius which can prevent the ring from spreading due to dissipative forces, such as Poynting-Robertson drag and collisions. We have divided this work into two parts. Firstly we analysed the secular interactions between Prometheus-Pandora and a massive F ring using the secular theory. Our results show the variation in eccentricity and inclination of the satellites and the F ring taking into account a massive ring corresponding to a moonlet of different sizes. There is also a population of dust particles in the ring in the company of moonlets at different sizes [Icarus 109 (1997) 304]. We also analysed the behaviour of these particles under the effects of the Poynting-Robertson drag and radiation pressure. Our results show that the time scale proposed for a dust particle to leave the ring is much shorter than predicted before even in the presence of a coorbital moonlet. This result does not agree with the confinement model proposed by Dermott et al. [Nature 284 (1980) 309]. In 2004, Cassini mission will perform repeated observations of the whole system, including observations of the satellites and the F ring environment. These data will help us to better understand this system. (C) 2003 COSPAR. Published by Elsevier Ltd. All rights reserved.

DIFFERENT MEDIA, DIFFERENT TYPES OF COLLECTIVE WORK IN ONLINE CONTINUING TEACHER EDUCATION: WOULD YOU PASS THE PEN, PLEASE?

This paper presents some findings regarding the interaction between different computer interfaces and different types of collective work. We want to claim that design in online learning environments has a paramount role in the type of collaboration that happens among participants. In this paper, we report on data that illustrate how teachers can collaborate online in order to learn how to use geometry software in teaching activities. A virtual environment which allows that construction to be carried out collectively, even if the participants are not sharing a classroom, is the setting for the research presented in this paper.

DNA hybridization mechanism in an interfacial environment: What hides beneath first order k (s(-1)) kinetic constant?

The scientific question addressed in this work is: what hides beneath first order kinetic constant k (s(-1)) measured for hybridization of a DNA target on a biosensor surface. Kinetics hybridization curves were established with a 27 MHz quartz microbalance (9 MHz, third harmonic) biosensor, constituted of a 20-base probe monolayer deposited on a gold covered quartz surface. Kinetics analysis, by a known two-step adsorption-hybridization mechanism, is well appropriate to fit properly hybridization kinetics curves, for complementary 20-base to 40-base targets over two concentration decades. It was found that the K-1 (M-1) adsorption constant, relevant to the first step, concerns an equilibrium between non hybridized targets and hybridized pre-complex and increases with DNA target length. It was established that k(2) (s(-1)), relevant to irreversible formation of a stable duplex, varies in an opposite way to K-1 with DNA target length. (C) 2012 Published by Elsevier B.V.

Network reconfiguration and loss allocation in a deregulated environment of distribution systems

Low flexibility and reliability in the operation of radial distribution networks make those systems be constructed with extra equipment as sectionalising switches in order to reconfigure the network, so the operation quality of the network can be improved. Thus, sectionalising switches are used for fault isolation and for configuration management (reconfiguration). Moreover, distribution systems are being impacted by the increasing insertion of distributed generators. Hence, distributed generation became one of the relevant parameters in the evaluation of systems reconfiguration. Distributed generation may affect distribution networks operation in various ways, causing noticeable impacts depending on its location. Thus, the loss allocation problem becomes more important considering the possibility of open access to the distribution networks. In this work, a graphic simulator for distribution networks with reconfiguration and loss allocation functions, is presented. Reconfiguration problem is solved through a heuristic methodology, using a robust power flow algorithm based on the current summation backward-forward technique, considering distributed generation. Four different loss allocation methods (Zbus, Direct Loss Coefficient, Substitution and Marginal Loss Coefficient) are implemented and compared. Results for a 32-bus medium voltage distribution network, are presented and discussed.

Tele-education environment and didactic iconography in sexual transmitted diseases

The field of advertising has developed techniques of mass communication and rapid transmission of information. Among these techniques are slogans and iconographies. This work used such tools for educational purposes and was divided into three modules. Module 1 evaluated the use of simplified textual communication (slogans) about the subject Sexually Transmitted Diseases. It was applied to third-year medical students, which had not taken the course on this theme. To evaluate the impact of the textual communication form (slogans), long phrases were elaborated in scientific language containing 15 topics. From these long phrases, compact phrases were developed using techniques of the advertising area for elaboration of slogans. Three forms of didactic material about that theme were developed. The first form consisted of long phrases in descriptive topics, using scientific language. The second was constituted exclusively of compact phrases in the form of slogans, and the third was composed of the combination of the two previous forms. Then, 10 multiple-choice questions were elaborated and applied in two phases. In the first phase, application occurred immediately after the reading of didactic texts; in the second phase, it happened 60 days after the reading. For statistical analysis, Snedcor's F test was used for analysis of variance, at 5% significance level. There was an increase in memorization by students who read the material containing the association between long phrases and slogans, which indicates that the latter, when used as an auxiliary model of learning, can bring significant benefits for education. Module 2 consisted of analyzing the elaboration of educational videos produced in graphic computing (called iconographies) for development of dynamic communication means. The theme Hair Cycle was utilized. Viability of high quantities of information in few minutes of animation could be demonstrated together with the advantage of presenting the process in a dynamic form without wasting scientific details. Module 3 presented the inclusion of slogans in educational videos produced in graphic computing about the Hair Cycle, showing a new tool for rapid and efficient transference of data. Slogans and iconographies, when utilized in educational material, can bring significant benefits for the student's learning.

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.

Sustainable development: changing production patterns, social equity and the environment

Includes bibliography

The Brazilian architecture in wood and the confrontations with the questions of the environment

Two discussions are imposed to the designers of wood constructions. The first one deals with the technical knowledge to project and execute buildings; the second one is concerned with the preservation of the environment, use of the wood in a sustainable way. The work presents the tendencies of the wood used in the Brazilian habitation architecture characterizing the used woods; how the construction technical solutions have developed and discusses about the necessity of using the wood in a conscious way, knowing its origin and control, sustainable use of the forests resources. It focalizes, mainly, the search of the designers to harmonize the use of the wood and the preservation of the forest biodiversity, when it deals with the native forest.

Simulation environment of distance protection with ATP and foreign models

This paper presents an interactive simulation environment for distance protection, developed with ATP and foreign models based on ANSI C. Files in COMTRADE format are possible to generate after ATP simulation. These files can be used to calibrate real relays. Also, the performance of relay algorithms with real oscillography events is possible to assess by using the ATP option for POSTPROCESS PLOT FILE (PPF). The main purpose of the work is to develop a tool to allow the analysis of diverse fault cases and to perform coordination studies, as well as, to allow the analysis of the relay's performance in the face of a real event. © 2011 IEEE.

From cytoplasm to environment: The inorganic ingredients for the origin of life

Early in its history, Earth's surface developed from an uninhabitable magma ocean to a place where life could emerge. The first organisms, lacking ion transporters, fixed the composition of their cradle environment in their intracellular fluid. Later, though life adapted and spread, it preserved some qualities of its initial environment within. Modern prokaryotes could thus provide insights into the conditions of early Earth and the requirements for the emergence of life. In this work, we constrain Earth's life-forming environment through detailed analysis of prokaryotic intracellular fluid. Rigorous assessment of the constraints placed on the early Earth environment by intracellular liquid will provide insight into the conditions of abiogenesis, with implications not only for our understanding of early Earth but also the formation of life elsewhere in the Universe. Copyright © 2013, Mary Ann Liebert, Inc. 2013.

Small particles in Pluto's environment: Effects of the solar radiation pressure

Impacts of micrometeoroids on the surfaces of the plutonian small satellites Nix and Hydra can generate dust particles. Even in this region so far from the Sun these tiny ejected particles are under the effects of the solar radiation pressure. In this work, we investigate the orbital evolution of the escaping ejecta from both the small satellites under the effects of the radiation pressure combined with the gravitational effects of Pluto, Charon, Nix and Hydra. The mass production rate of micron-sized dust particles generated by micrometeoroids hitting the satellites is obtained, and numerical simulations are performed to derive the lifetime of the ejecta. These pieces of information allow us to estimate the optical depth of a putative ring, which extends from the orbits of Nix to Hydra. The ejected particles, between the orbits of Nix and Hydra, form a wide ring of about 16 000 km. Collisions with the massive bodies and escape from the system are mainly determined by the effects of the solar radiation pressure. This is an important loss mechanism, removing 30 per cent of the initial set of 1 μm-sized particles in 1 yr. The surviving particles form a ring too faint to be detectable with the derived maximum optical depth of 4 × 10-11. © 2013 The Authors Published by Oxford University Press on behalf of the Royal Astronomical Society.

Draft programme of statistical work of the ECLAC system, 2006-2007

Includes bibliography

Trade, environment and development: implications for Caribbean countries

Includes bibliography