Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Vectorized algorithms for quadtree construction and descent

This paper presents vectorized methods of construction and descent of quadtrees that can be easily adapted to message passing parallel computing. A time complexity analysis for the present approach is also discussed. The proposed method of tree construction requires a hash table to index nodes of a linear quadtree in the breadth-first order. The hash is performed in two steps: an internal hash to index child nodes and an external hash to index nodes in the same level (depth). The quadtree descent is performed by considering each level as a vector segment of a linear quadtree, so that nodes of the same level can be processed concurrently. © 2012 Springer-Verlag.

Fast robot voice interface through optimum-path forest

Voice-based user interfaces have been actively pursued aiming to help individuals with motor impairments, providing natural interfaces to communicate with machines. In this work, we have introduced a recent machine learning technique named Optimum-Path Forest (OPF) for voice-based robot interface, which has been demonstrated to be similar to the state-of-the-art pattern recognition techniques, but much faster. Experiments were conducted against Support Vector Machines, Neural Networks and a Bayesian classifier to show the OPF robustness. The proposed architecture provides high accuracy rates allied with low computational times. © 2012 IEEE.

Development of an instrumentation system embedded on FPGA for real time measurement of mechanical vibrations in rotating machinery

The real-time monitoring of events in an industrial plant is vital, to monitor the actual conditions of operation of the machinery responsible for the manufacturing process. A predictive maintenance program includes condition monitoring of the rotating machinery, to anticipate possible conditions of failure. To increase the operational reliability it is thus necessary an efficient tool to analyze and monitor the equipments, in real-time, and enabling the detection of e.g. incipient faults in bearings. To fulfill these requirements some innovations have become frequent, namely the inclusion of vibration sensors or stator current sensors. These innovations enable the development of new design methodologies that take into account the ease of future modifications, upgrades, and replacement of the monitored machine, as well as expansion of the monitoring system. This paper presents the development, implementation and testing of an instrument for vibration monitoring, as a possible solution to embed in industrial environment. The digital control system is based on an FPGA, and its configuration with an open hardware design tool is described. Special focus is given to the area of fault detection in rolling bearings. © 2012 IEEE.

Evaluating serial ZigBee devices for application in wireless networked control systems

Networked control systems (NCS) are distributed control system where the sensors, actuators and controllers are physically separated and connected through communication networks. NCS represent the evolution of networked control architectures providing greater modularity and control decentralization, ease maintenance and diagnosis and lower cost of implementation. A recent trend in this research topic is the development of NCS using wireless networks (WNCS) enabling interoperability between existing wired and wireless systems. This paper evaluates a serial RS-232 ZigBee device as a wireless sensor link in NCS. In order to support this investigation, relevant performance metrics for wireless control applications such as jitter, time delay and messages lost are highlighted and calculated to evaluate the device capabilities. In addition the control performance of an implemented motor control system using the device is analyzed. Experimental results led to the conclusion that serial RS-232 ZigBee devices can be used to implement WNCS and the use of this device delay information in the PID controller discretization can improve the control performance of the system. © 2012 IEEE.

Energy-performance tradeoffs in software transactional memory

Transactional memory (TM) is a new synchronization mechanism devised to simplify parallel programming, thereby helping programmers to unleash the power of current multicore processors. Although software implementations of TM (STM) have been extensively analyzed in terms of runtime performance, little attention has been paid to an equally important constraint faced by nearly all computer systems: energy consumption. In this work we conduct a comprehensive study of energy and runtime tradeoff sin software transactional memory systems. We characterize the behavior of three state-of-the-art lock-based STM algorithms, along with three different conflict resolution schemes. As a result of this characterization, we propose a DVFS-based technique that can be integrated into the resolution policies so as to improve the energy-delay product (EDP). Experimental results show that our DVFS-enhanced policies are indeed beneficial for applications with high contention levels. Improvements of up to 59% in EDP can be observed in this scenario, with an average EDP reduction of 16% across the STAMP workloads. © 2012 IEEE.

First crystal structures of lanthanide-hydrocinnamate complexes: Hydrothermal synthesis and photophysical studies

Five new lanthanide(III) complexes of hydrocinnamic acid (Hcin), [Ln(cin)3(H2O)3]·3Hcin (Ln = Tb(III) (1), Dy(III) (2), Er(III) (3), Eu(III) (4) and Gd(III) (5)) have been synthesized and characterized. The X-ray structures of 1-5 reveal that all compounds are isostructural and that each lanthanide ion is nine-coordinated by oxygen atoms in an overall distorted tricapped trigonal-prismatic geometry. Six oxygen atoms are provided by carboxylate moieties, and the other three by water molecules. The supramolecular architectures of 1-5 show the presence of uncoordinated hydrocinnamic acid molecules which induce the formation of numerous hydrogen bonds. The photophysical properties of these complexes in the solid state at room temperature were studied using diffuse reflectance (DR), fluorescence excitation and emission spectra. An energy level diagram was used to establish the most relevant channels involved in the ligand-to-metal energy transfer, indicating that cin- ligands can act as intramolecular energy donors for Tb(III), Dy(III) and Eu(III) ions. © 2012 Elsevier B.V.

Use of hemoglobin as alternative to peroxidases in cholesterol amperometric biosensors

Sophisticated molecular architectures can be produced with the layer-by-layer (LbL) method, which may combine distinct materials on the same film. In this study, we take advantage of this capability to produce cholesterol amperometric biosensors from LbL films containing hemoglobin (Hb) and cholesterol oxidase in addition to the polyelectrolytes poly(allylamine hydrochloride) (PAH) and poly(ethylene imine) (PEI). Following an optimization procedure, we found that an LbL film deposited onto ITO substrates, with the architecture ITO(PEI/Hb)5(PEI/COx)10, yielded a sensitivity of 93.4 μA μmol L-1 cm-2 for cholesterol incorporated into phospholipid liposomes, comparable to state-of-the-art biosensors. Hb acted as efficient electron mediator and did not suffer interference from phospholipids. Significantly, cholesterol could also be detected in real samples from chicken egg yolk, with no effects from potential interferents, including phospholipids. Taken together these results demonstrate the possible fabrication of low cost, easy-to-use cholesterol amperometric biosensors, whose sensitivity can be enhanced by further optimizing the molecular architectures of the LbL films. © 2012 Elsevier B.V.

La part des pauvres dans le partage des fruits de la croissance

Incluye Bibliografía

Reduced in vitro immune response on titania nanotube arrays compared to titanium surface

Material surfaces that provide biomimetic cues, such as nanoscale architectures, have been shown to alter cell/biomaterial interactions. Recent studies have identified titania nanotube arrays as strong candidates for use in interfaces on implantable devices due to their ability to elicit improved cellular functionality. However, limited information exists regarding the immune response of nanotube arrays. Thus, in this study, we have investigated the short- and long-term immune cell reaction of titania nanotube arrays. Whole blood lysate (containing leukocytes, thrombocytes and trace amounts of erythrocytes), isolated from human blood, were cultured on titania nanotube arrays and biomedical grade titanium (as a control) for 2 hours and 2 and 7 days. In order to determine the in vitro immune response on titania nanotube arrays, immune cell functionality was evaluated by cellular viability, adhesion, proliferation, morphology, cytokine/chemokine expression, with and without lipopolysaccharide (LPS), and nitric oxide release. The results presented in this study indicate a decrease in short- and long-term monocyte, macrophage and neutrophil functionality on titania nanotube arrays as compared to the control substrate. This work shows a reduced stimulation of the immune response on titania nanotube arrays, identifying this specific nanoarchitecture as a potentially optimal interface for implantable biomedical devices. © 2013 The Royal Society of Chemistry.

Immunosensor based on immobilization of antigenic peptide NS5A-1 from HCV and silk fibroin in nanostructured films

The peptide NS5A-1 (PPLLESWKDPDYVPPWHG), derived from hepatitis C virus (HCV) NS5A protein, was immobilized into layer-by-layer (LbL) silk fibroin (SF) films. Deposition was monitored by UV-vis absorption measurements at each bilayer deposited. The interaction SF/peptide film induced secondary structure in NS5A-1 as indicated by fluorescence and circular dichroism (CD) measurements. Voltammetric sensor (SF/NS5A-1) properties were observed when the composite film was tested in the presence of anti-HCV. The peptide-silk fibroin interaction studied here showed new architectures for immunosensors based on antigenic peptides and SF as a suitable immobilization matrix. © 2013 American Chemical Society.

Contrasting engineering effects of leaf-rolling caterpillars on a tropical mite community

Ecosystem engineers are organisms that change the physical structure of environments and provide habitats for other organisms. Lepidopteran caterpillars may act as ecosystem engineers by rolling leaves as shelters to complete metamorphosis. After being abandoned, these structures may provide shelter for other organisms. In this study, the influence of leaf-rolling caterpillars on tropical mite communities was reported. Expanded leaves and leaves rolled by larvae and also developed field experiments using leaves rolled manually with different shapes and sizes (i.e. different architectures) in different seasons were surveyed (dry and rainy). While the abundance and diversity of predatory mites were higher in rolled leaves, the abundance of phytophages decreased in these leaves. Species composition differed between rolled and expanded leaves. The structure of shelters affected the distribution of predatory mites, with higher abundances found on funnel-shaped leaves. Predatory mites only benefited from the rolled leaves in the dry season. This is the first study showing (i) the contrasting effects of ecosystem engineers on microarthropod communities, favouring some feeding guilds and inhibiting others; (ii) that the shape of rolled leaves has variable effects on mite communities; and (iii) that facilitation was temporally dependent, i.e. occurred only in the dry season. © 2013 The Royal Entomological Society.

Molecularly designed layer-by-layer (LbL) films to detect catechol using information visualization methods

The control of molecular architectures has been exploited in layer-by-layer (LbL) films deposited on Au interdigitated electrodes, thus forming an electronic tongue (e-tongue) system that reached an unprecedented high sensitivity (down to 10-12 M) in detecting catechol. Such high sensitivity was made possible upon using units containing the enzyme tyrosinase, which interacted specifically with catechol, and by processing impedance spectroscopy data with information visualization methods. These latter methods, including the parallel coordinates technique, were also useful for identifying the major contributors to the high distinguishing ability toward catechol. Among several film architectures tested, the most efficient had a tyrosinase layer deposited atop LbL films of alternating layers of dioctadecyldimethylammonium bromide (DODAB) and 1,2-dipalmitoyl-sn-3-glycero-fosfo-rac-(1-glycerol) (DPPG), viz., (DODAB/DPPG)5/DODAB/Tyr. The latter represents a more suitable medium for immobilizing tyrosinase when compared to conventional polyelectrolytes. Furthermore, the distinction was more effective at low frequencies where double-layer effects on the film/liquid sample dominate the electrical response. Because the optimization of film architectures based on information visualization is completely generic, the approach presented here may be extended to designing architectures for other types of applications in addition to sensing and biosensing. © 2013 American Chemical Society.

Approximation of hyperbolic tangent activation function using hybrid methods

Artificial Neural Networks are widely used in various applications in engineering, as such solutions of nonlinear problems. The implementation of this technique in reconfigurable devices is a great challenge to researchers by several factors, such as floating point precision, nonlinear activation function, performance and area used in FPGA. The contribution of this work is the approximation of a nonlinear function used in ANN, the popular hyperbolic tangent activation function. The system architecture is composed of several scenarios that provide a tradeoff of performance, precision and area used in FPGA. The results are compared in different scenarios and with current literature on error analysis, area and system performance. © 2013 IEEE.

A pintura ilusionista no meio norte de Minas Gerais - Diamantina e Serro - e em São Paulo - Mogi das Cruzes (Brasil)

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