A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

Development of a support vector machine-based navigation system for driving a mobile robot through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.

Gesture-based teleoperation using a holonomic robot

This work presents the development and integration of an user interface (UI) framework based on various current input devices that take advantage of our ergonomics. The purpose is to teleoperate a holonomic robot using upper member gestures and postures for studying the suitable of such interfaces when programming and interacting with a mobile robot. As performance vary from UI to UI the framework is focused to be used as a complementary industrial or didactic tool thus, changing how inexperience users tackle their first impressions when working with mobile robots while performing simple gesture-based teleoperation tasks. © 2012 ICROS.

Towards an integrated vision for dealing with instability and risk

Includes bibliography

A brazilian ergonomic human-robot interface case

Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesńt seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region. © (2013) Trans Tech Publications, Switzerland.

Changement structurel pour l'égalité: Une vision intégrée du développement. Trente-quatrième session de la CEPALC. Synthèse

Versión en inglés, portugués y en español disponibles en Biblioteca

A computer vision approach to quantify leaf anatomical plasticity: A case study on gochnatia polymorpha (less.) cabrera

Inferences about leaf anatomical characteristics had largely been made by manually measuring diverse leaf regions, such as cuticle, epidermis and parenchyma to evaluate differences caused by environmental variables. Here we tested an approach for data acquisition and analysis in ecological quantitative leaf anatomy studies based on computer vision and pattern recognition methods. A case study was conducted on Gochnatia polymorpha (Less.) Cabrera (Asteraceae), a Neotropical savanna tree species that has high phenotypic plasticity. We obtained digital images of cross-sections of its leaves developed under different light conditions (sun vs. shade), different seasons (dry vs. wet) and in different soil types (oxysoil vs. hydromorphic soil), and analyzed several visual attributes, such as color, texture and tissues thickness in a perpendicular plane from microscopic images. The experimental results demonstrated that computational analysis is capable of distinguishing anatomical alterations in microscope images obtained from individuals growing in different environmental conditions. The methods presented here offer an alternative way to determine leaf anatomical differences. © 2013 Elsevier B.V.

Local data fusion algorithm for fire detection through mobile robot

Multisensor data fusion is a technique that combines the readings of multiple sensors to detect some phenomenon. Data fusion applications are numerous and they can be used in smart buildings, environment monitoring, industry and defense applications. The main goal of multisensor data fusion is to minimize false alarms and maximize the probability of detection based on the detection of multiple sensors. In this paper a local data fusion algorithm based on luminosity, temperature and flame for fire detection is presented. The data fusion approach was embedded in a low cost mobile robot. The prototype test validation has indicated that our approach can detect fire occurrence. Moreover, the low cost project allow the development of robots that could be discarded in their fire detection missions. © 2013 IEEE.

Migraciones internacionales en Belice: una vision etno-demográfica

Incluye Bibliografía

Migraciones internacionales en Belice. Una vision etno-demografica

Incluye Bibliografía

Strategic vision for ports: the year 2010

This month's FAL leading article is Larry Burkhalter's swan song as a United Nations staff member. Larry has served ECLAC and the UN for more than 22 years and has been the Commission's guiding light in maritime transport and port issues for the most part of that time.

Transportation in the 21st century: a vision for integration

The Third Western Hemisphere Transportation Ministerial meeting was held in New Orleans, Lousiana, United States, from 14 to 16 December 1998, under the theme Transportation in the 21st Century: A Vision for Integration. The meeting was attended by Ministers and heads of delegations from 33 countries of the Americas, representatives of various international organizations and business sector of the Continent. The current issue of the Bulletin provides the complete text of the Ministerial Declaration. For additional information, contact José María Rubiato: e-mail jrubiato@eclac.cl

Impairment of color spatial vision in chronic alcoholism measured by psychophysical methods

We used psychophysical tests to evaluate spatial vision in 15 subjects with a clinical history of chronic alcoholism by measuring luminance contrast sensitivity and color discrimination. The subjects were initially subjected to clinical inquiry and ophthalmological exam. Subjects then performed psychophysical tests to measure spatial contrast thresholds using sine wave gratings of different spatial frequencies and contrasts and chromatic discrimination thresholds using the Mollon-Reffin test. For the analysis, subjects were divided into three groups according to age and compared with age-matched controls. Ten subjects had some degree of color vision loss, which was quite severe in seven cases. All subjects had normal luminance contrast sensitivity. The results suggest that color vision changes related to chronic alcoholism can occur in the absence of impairment of spatial luminance contrast sensitivity and thus is an important aspect to be considered in the clinical evaluation of this condition.

Color vision loss in patients treated with chloroquine

Pacientes que fazem uso de cloroquina ou hidróxi-cloroquina, drogas que são freqüentemente administradas para o tratamento de artrite reumatóide, lúpus eritrematoso ou malária, podem sofrer alterações na visão de cores e na sensibilidade de contraste. O presente estudo avaliou a função visual destes pacientes em um estudo conjunto da Universidade de São Paulo (USP), em São Paulo, e da Universidade Federal do Pará (UFPA), em Belém. Trinta e dois pacientes usuários de cloroquina sem alterações no exame de fundo de olho foram avaliados em São Paulo (n=10, 38 a 71 anos, média=55,8 anos) e em Belém (n=22, 20 a 67 anos, média=40 anos). A dose acumulada de cloroquina prescrita foi de 45 a 430 g (média=213 g; dp=152 g) para o grupo de São Paulo, e de 36 a 540 g (média=174 g; dp=183 g) para o grupo de Belém. Os testes foram realizados monocularmente com o estado refracional corrigido. A discriminação de cor foi avaliada utilizando o Teste de Cor de Cambridge (CCT): o limiar de discriminação de cor foi mensurado primeiro nos eixos protano, deutano e tritano, e em seqüência, três elipses de MacAdam foram determinadas. A visão de cores dos pacientes também foi avaliada com testes de arranjo de cores: o teste de 100 matizes de Farnsworth-Munsell (FM100), o D15 de Farnsworth-Munsell, e o teste Lanthony Dessaturado (D15d). A sensibilidade de contraste foi também medida com grades senoidais preto-e-brancas em 22 pacientes. Os resultados foram comparados com controles sem patologias oftalmológicasou neuro-oftalomológicas. 24 pacientes apresentaram discromatopsia adquirida, com perdas seletivas (11 pessoas) ou difusas (13 pessoas). Embora as perdas estivessem presentes no FM100, não houve correlação entre o escore de erro do FM100 e a área elíptica medida pelo CCT. Além disso, três pacientes que tiveram escores normais no FM100 falharam para alcançar limiares normais no CCT. O teste de Lanthony foi menos sensível do que os outros dois testes, tal que falhou em indicar perda em cerca de metade dos pacientes afetados, e o D15 foi o teste menos sensível, deixando de indicar déficits em 9 de 10 pacientes. A sensibilidade de contraste esteve dentro dos valores normais para pacientes submetidos a este teste. A extensão das perdas na discriminação de cores foi positivamente correlacionada com a dose acumulada. O CCT é recomendado para o acompanhamento destes pacientes, pois forneceu dados quantitativos que podem ser diretamente interpretados no espaço cromático da CIE (Commission Internationelle d'Éclairage).