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.

Comparative study of algorithms for mining association rules: Traditional approach versus multi-relational approach

The multi-relational Data Mining approach has emerged as alternative to the analysis of structured data, such as relational databases. Unlike traditional algorithms, the multi-relational proposals allow mining directly multiple tables, avoiding the costly join operations. In this paper, is presented a comparative study involving the traditional Patricia Mine algorithm and its corresponding multi-relational proposed, MR-Radix in order to evaluate the performance of two approaches for mining association rules are used for relational databases. This study presents two original contributions: the proposition of an algorithm multi-relational MR-Radix, which is efficient for use in relational databases, both in terms of execution time and in relation to memory usage and the presentation of the empirical approach multirelational advantage in performance over several tables, which avoids the costly join operations from multiple tables. © 2011 IEEE.

The assessment of the quality of sugar using electronic tongue and machine learning algorithms

The correct classification of sugar according to its physico-chemical characteristics directly influences the value of the product and its acceptance by the market. This study shows that using an electronic tongue system along with established techniques of supervised learning leads to the correct classification of sugar samples according to their qualities. In this paper, we offer two new real, public and non-encoded sugar datasets whose attributes were automatically collected using an electronic tongue, with and without pH controlling. Moreover, we compare the performance achieved by several established machine learning methods. Our experiments were diligently designed to ensure statistically sound results and they indicate that k-nearest neighbors method outperforms other evaluated classifiers and, hence, it can be used as a good baseline for further comparison. © 2012 IEEE.

Nebular gas drag and planetary accretion with eccentric high-mass planets

Aims.We investigate the dynamics of pebbles immersed in a gas disk interacting with a planet on an eccentric orbit. The model has a prescribed gap in the disk around the location of the planetary orbit, as is expected for a giant planet with a mass in the range of 0.1-1 Jupiter masses. The pebbles with sizes in the range of 1 cm to 3 m are placed in a ring outside of the giant planet orbit at distances between 10 and 30 planetary Hill radii. The process of the accumulation of pebbles closer to the gap edge, its possible implication for the planetary accretion, and the importance of the mass and the eccentricity of the planet in this process are the motivations behind the present contribution. Methods. We used the Bulirsch-Stoer numerical algorithm, which is computationally consistent for close approaches, to integrate the Newtonian equations of the planar (2D), elliptical restricted three-body problem. The angular velocity of the gas disk was determined by the appropriate balance between the gravity, centrifugal, and pressure forces, such that it is sub-Keplerian in regions with a negative radial pressure gradient and super-Keplerian where the radial pressure gradient is positive. Results. The results show that there are no trappings in the 1:1 resonance around the L 4 and L5 Lagrangian points for very low planetary eccentricities (e2 < 0.07). The trappings in exterior resonances, in the majority of cases, are because the angular velocity of the disk is super-Keplerian in the gap disk outside of the planetary orbit and because the inward drift is stopped. Furthermore, the semi-major axis location of such trappings depends on the gas pressure profile of the gap (depth) and is a = 1.2 for a planet of 1 MJ. A planet on an eccentric orbit interacts with the pebble layer formed by these resonances. Collisions occur and become important for planetary eccentricity near the present value of Jupiter (e 2 = 0.05). The maximum rate of the collisions onto a planet of 0.1 MJ occurs when the pebble size is 37.5 cm ≤ s < 75 cm; for a planet with the mass of Jupiter, it is15 cm ≤ s < 30 cm. The accretion stops when the pebble size is less than 2 cm and the gas drag dominates the motion. © 2013 ESO.

Use of algorithms for semi-automatic quantification of pulmonary fibrosis and emphysema

Obtaining a semi-automatic quantification of pathologies found in the lung, through images of high resolution computed tomography (HRCT), is of great importance to aid in medical diagnosis. Paraccocidioidomycosis (PCM) is a systemic disease that affects the lung and even after effective treatment leaves sequels such as pulmonary fibrosis and emphysema. It is very important to the area of tropical diseases that the lung injury be quantified more accurately. In this stud, we propose the development of algorithms in computational environment Matlab® able to objectively quantify lung diseases such as fibrosis and emphysema. The program consists in selecting the region of interest (ROI), and through the use of density masks and filters, obtaining the lesion area quantification in relation to the healthy area of the lung. The proposed method was tested on 15 exams of HRCT of patients with confirmed PCM. To prove the validity and effectiveness of the method, we used a virtual phantom, also developed in this research. © 2013 Springer-Verlag.

An approach to implement data fusion techniques in wireless sensor networks using genetic machine learning algorithms

Wireless Sensor Networks (WSNs) can be used to monitor hazardous and inaccessible areas. In these situations, the power supply (e.g. battery) of each node cannot be easily replaced. One solution to deal with the limited capacity of current power supplies is to deploy a large number of sensor nodes, since the lifetime and dependability of the network will increase through cooperation among nodes. Applications on WSN may also have other concerns, such as meeting temporal deadlines on message transmissions and maximizing the quality of information. Data fusion is a well-known technique that can be useful for the enhancement of data quality and for the maximization of WSN lifetime. In this paper, we propose an approach that allows the implementation of parallel data fusion techniques in IEEE 802.15.4 networks. One of the main advantages of the proposed approach is that it enables a trade-off between different user-defined metrics through the use of a genetic machine learning algorithm. Simulations and field experiments performed in different communication scenarios highlight significant improvements when compared with, for instance, the Gur Game approach or the implementation of conventional periodic communication techniques over IEEE 802.15.4 networks. © 2013 Elsevier B.V. All rights reserved.

Disturbances, elevation, topography and spatial proximity drive vegetation patterns along an altitudinal gradient of a top biodiversity hotspot

The correlation between vegetation patterns (species distribution and richness) and altitudinal variation has been widely reported for tropical forests, thereby providing theoretical basis for biodiversity conservation. However, this relationship may have been oversimplified, as many other factors may influence vegetation patterns, such as disturbances, topography and geographic distance. Considering these other factors, our primary question was: is there a vegetation pattern associated with substantial altitudinal variation (10-1,093 m a.s.l.) in the Atlantic Rainforest-a top hotspot for biodiversity conservation-and, if so, what are the main factors driving this pattern? We addressed this question by sampling 11 1-ha plots, applying multivariate methods, correlations and variance partitioning. The Restinga (forest on sandbanks along the coastal plains of Brazil) and a lowland area that was selectively logged 40 years ago were floristically isolated from the other plots. The maximum species richness (>200 spp. per hectare) occurred at approximately 350 m a.s.l. (submontane forest). Gaps, multiple stemmed trees, average elevation and the standard deviation of the slope significantly affected the vegetation pattern. Spatial proximity also influenced the vegetation pattern as a structuring environmental variable or via dispersal constraints. Our results clarify, for the first time, the key variables that drive species distribution and richness across a large altitudinal range within the Atlantic Rainforest. © 2013 Springer Science+Business Media Dordrecht.

Uma investigação da influência do parâmetro de barreira na solução do problema de fluxo de potência ótimo

Pós-graduação em Engenharia Elétrica - FEB

Distribution of phlebotomine fauna (Diptera: Psychodidae) across an urban-rural gradient in an area of endemic visceral leishmaniasis in northern Brazil

The number of visceral leishmaniasis (VL) cases has increased over the past 10 years in Brazil, especially in the North and Northeast regions of the country. The aim of this study was to evaluate the urbanisation of VL vectors in Barcarena, Pará, an area in northern Brazil where VL is endemic. Sandflies were captured using Centers for Disease Control (CDC) light traps along an urban-rural gradient. The CDC traps were installed inside hen houses at a height of 150 cm. A total of 5,089 sandflies were collected and 11 species were identified. The predominant species was Lutzomyia longipalpis (rate of 95.15%), which suggests its participation in the transmission of VL. A total of 1,451 Lu. longipalpis females were dissected and no Leishmania infections were detected. Most of the sandflies were captured at the border of a forest (88.25%) and no flies were captured in the urban area, which suggests that transmission is still restricted to rural sites. However, the fact that a specimen was collected in an intermediate area indicates that urbanisation is a real possibility and that vector monitoring is important.

Simultaneous spectrometric determination of Cu2+, Mn2+ and Zn2+ in polivitaminic/polimineral drug using SPA and GA algorithms for variable selection

Este artigo apresenta uma aplicação do método para determinação espectrofotométrica simultânea dos íons divalentes de cobre, manganês e zinco à análise de medicamento polivitamínico/polimineral. O método usa 4-(2-piridilazo) resorcinol (PAR), calibração multivariada e técnicas de seleção de variáveis e foi otimizado o empregando-se o algoritmo das projeções sucessivas (APS) e o algoritmo genético (AG), para escolha dos comprimentos de onda mais informativos para a análise. Com essas técnicas, foi possível construir modelos de calibração por regressão linear múltipla (RLM-APS e RLM-AG). Os resultados obtidos foram comparados com modelos de regressão em componentes principais (PCR) e nos mínimos quadrados parciais (PLS). Demonstra-se a partir do erro médio quadrático de previsão (RMSEP) que os modelos apresentam desempenhos semelhantes ao prever as concentrações dos três analitos no medicamento. Todavia os modelos RLM são mais simples pois requerem um número muito menor de comprimentos de onda e são mais fáceis de interpretar que os baseados em variáveis latentes.

Migração FD 3D em profundidade usando aproximação de Padé complexa

A implementação convencional do método de migração por diferenças finitas 3D, usa a técnica de splitting inline e crossline para melhorar a eficiência computacional deste algoritmo. Esta abordagem torna o algoritmo eficiente computacionalmente, porém cria anisotropia numérica. Esta anisotropia numérica por sua vez, pode levar a falsos posicionamentos de refletores inclinados, especialmente refletores com grandes ângulos de mergulho. Neste trabalho, como objetivo de evitar o surgimento da anisotropia numérica, implementamos o operador de extrapolação do campo de onda para baixo sem usar a técnica splitting inline e crossline no domínio frequência-espaço via método de diferenças finitas implícito, usando a aproximação de Padé complexa. Comparamos a performance do algoritmo iterativo Bi-gradiente conjugado estabilizado (Bi-CGSTAB) com o multifrontal massively parallel solver (MUMPS) para resolver o sistema linear oriundo do método de migração por diferenças finitas. Verifica-se que usando a expansão de Padé complexa ao invés da expansão de Padé real, o algoritmo iterativo Bi-CGSTAB fica mais eficientes computacionalmente, ou seja, a expansão de Padé complexa atua como um precondicionador para este algoritmo iterativo. Como consequência, o algoritmo iterativo Bi-CGSTAB é bem mais eficiente computacionalmente que o MUMPS para resolver o sistema linear quando usado apenas um termo da expansão de Padé complexa. Para aproximações de grandes ângulos, métodos diretos são necessários. Para validar e avaliar as propriedades desses algoritmos de migração, usamos o modelo de sal SEG/EAGE para calcular a sua resposta ao impulso.

Approximate controllability for the semilinear heat equation in RN involving gradient terms

We prove the approximate controllability of the semilinear heat equation in R^N, when the nonlinear term is globally Lipschitz and depends both on the state u and its spatial gradient Ñu. The approximate controllability is viewed as the limit of a sequence of optimal control problems. In order to avoid the difficulties related to the lack of compactness of the Sobolev embeddings, we work with the similarity variables and use weighted Sobolev spaces.

Palm community transitions along a topographic gradient from floodplain to terra firme in the eastern Amazon

Palmeiras apresentam padrões claros de segregação de nicho ao longo de gradientes topográficos, com algumas espécies associadas a florestas de terra firme e outras a áreas alagáveis. O objetivo desse estudo foi descrever quantitativamente as variações em pequena escala dentro de uma comunidade de palmeiras, investigando as mudanças na abundância de espécies ao longo de gradientes ambientais associados com um igarapé perene na Amazônia Oriental. O estudo de comunidades de palmeiras foi baseado em 60 parcelas florestais em que todos os adultos de palmeiras foram contados. Encontramos um total de 566 palmeiras em uma comunidade contendo 11 espécies. Além disso, encontramos uma separação significativa na comunidade de palmeiras entre florestas sazonalmente inundadas e florestas de terra firme e um gradiente das densidades das três espécies mais abundantes, ao longo dos primeiros 100 m de distância da área alagada. A abundância das seis espécies mais comuns variou em relação ao gradiente de umidade das áreas alagáveis para a terra firme, com a distribuição das palmeiras da mais tolerante a alagamentos a menos tolerante a alagamentos da seguinte forma: Euterpe oleracea, Attalea phalerata, Socratea exorrhiza (espécies associadas a áreas alagadas), Astrocaryum gynacanthum, Astrocaryum aculeatum, Attalea maripa (espécies com afinidade por terra firme).

Analysis of fish assemblages in sectors along a salinity gradient based on species, families and functional groups

Neste trabalho foi testado o efeito do gradiente de salinidade do eixo-leste oeste do sistema subtropical Complexo Estuarino da Baía de Paranaguá na estrutura dos peixes de águas rasas, determinado de acordo com as métricas taxonômica (famílias e espécies) e de composição funcional. Um total de 152 espécies foi registrado. As famílias com maior número de espécies foram Sciaenidae, Carangidae, Haemulidae e Gobiidae. As espécies mais abundantes foram A. brasiliensis, H. clupeola, A. januaria e A. tricolor. Os visitantes marinhos dominaram em número de espécies, seguidos pelos migrantes marinhos e estuarinos. A maioria das espécies são zoobentívoras, seguidas pelas piscívoras e zooplanctívoras. As famílias e espécies mais relacionadas com condições estuarinas dominaram no setor mesohalino e aquelas mais relacionadas com condições marinhas dominaram no setor euhalino. A métrica taxonômica foi mais eficiente na caracterização das assembleias de peixes ao longo do gradiente estuarino de salinidade do que a funcional. Isso ocorreu principalmente porque indivíduos de todos os grupos funcionais estiveram presentes ao longo de todos os setores de salinidade, invalidando o emprego dessa métrica na diferenciação das assembleias nos diversos setores. Nosso resultado foi diferente do encontrado em outros estuários tropicais e subtropicais, que enfatizaram a importância dos grupos funcionais na estruturação das assembleias de peixes ao longo de um gradiente de salinidade.