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.

Conversion Degree of Indirect Resin Composites and Effect of Thermocycling on Their Physical Properties

Purpose: This study evaluated the degree of conversion (DC) of four indirect resin composites (IRCs) with various compositions processed in different polymerization units and investigated the effect of thermal aging on the flexural strength and Vicker's microhardness.Materials and Methods: Specimens were prepared from four IRC materials, namely Gr 1: Resilab (Wilcos); Gr2: Sinfony (3M ESPE); Gr3: VITA VMLC (VITA Zahnfabrik); Gr4: VITA Zeta (VITA Zahnfabrik) using special molds for flexural strength test (N = 80, n = 10 per group) (25 x 2 x 2 mm(3), ISO 4049), for Vicker's microhardness test (N = 80, n = 10 per group) (5 x 4 mm(2)) and for DC (N = 10) using FT-Raman Spectroscopy. For both flexural strength and microhardness tests, half of the specimens were randomly stored in distilled water at 37 degrees C for 24 hours (Groups 1 to 4), and the other half (Groups 5 to 8) were subjected to thermocycling (5000 cycles, 5 to 55 +/- 1 degrees C, dwell time: 30 seconds). Flexural strength was measured in a universal testing machine (crosshead speed: 0.8 mm/min). Microhardness test was performed at 50 g. The data were analyzed using one-way and two-way ANOVA and Tukey's test (alpha = 0.05). The correlation between flexural strength and microhardness was evaluated with Pearson's correlation test (alpha = 0.05).Results: A significant effect for the type of IRC and thermocycling was found (p = 0.001, p = 0.001) on the flexural strength results, but thermocycling did not significantly affect the microhardness results (p = 0.078). The interaction factors were significant for both flexural strength and microhardness parameters (p = 0.001 and 0.002, respectively). Thermocycling decreased the flexural strength of the three IRCs tested significantly (p < 0.05), except for VITA Zeta (106.3 +/- 9.1 to 97.2 +/- 14 MPa) (p > 0.05) when compared with nonthermocycled groups. Microhardness results of only Sinfony were significantly affected by thermocycling (25.1 +/- 2.1 to 31 +/- 3.3 Kg/mm(2)). DC values ranged between 63% and 81%, and were not significantly different between the IRCs (p > 0.05). While a positive correlation was found between flexural strength and microhardness without (r = 0.309) and with thermocycling (r = 0.100) for VITA VMLC, negative correlations were found for Resilab under the same conditions (r = -0.190 and -0.305, respectively) (Pearson's correlation coefficient).Conclusion: Although all four IRCs presented nonsignificant DC values, flexural strength and microhardness values varied between materials with and without thermocycling.

Indirect constraints on the triple gauge boson couplings from Z -> b(b)over-bar partial width: An update

We update the indirect bounds on anomalous triple gauge couplings coming from the non-universal one-loop contributions to the Z --> width. These bounds, which are independent of the Higgs boson mass, are in agreement with the standard model predictions for the gauge boson self-couplings since the present value of R-b agrees fairly well with the theoretical estimates. Moreover, these indirect constraints on Delta g(1)(Z) and g(5)(Z) are most stringent than the present direct bounds on these quantities, while the indirect limit on lambda(Z) is weaker than the available experimental data.

Mapping the Wigner distribution function of the Morse oscillator onto a semiclassical distribution function

The mapping of the Wigner distribution function (WDF) for a given bound state onto a semiclassical distribution function (SDF) satisfying the Liouville equation introduced previously by us is applied to the ground state of the Morse oscillator. The purpose of the present work is to obtain values of the potential parameters represented by the number of levels in the case of the Morse oscillator, for which the SDF becomes a faithful approximation of the corresponding WDF. We find that for a Morse oscillator with one level only, the agreement between the WDF and the mapped SDF is very poor but for a Morse oscillator of ten levels it becomes satisfactory. We also discuss the limit h --> 0 for fixed potential parameters.

Mapping of composite hadrons into elementary hadrons and effective hadronic Hamiltonians

A mapping technique is used to derive in the context of constituent quark models effective Hamiltonians that involve explicit hadron degrees of freedom. The technique is based on the ideas of mapping between physical and ideal Fock spaces and shares similarities with the quasiparticle method of Weinberg. Starting with the Fock-space representation of single-hadron states, a change of representation is implemented by a unitary transformation such that composites are redescribed by elementary Bose and Fermi field operators in an extended Fock space. When the unitary transformation is applied to the microscopic quark Hamiltonian, effective, hermitian Hamiltonians with a clear physical interpretation are obtained. Applications and comparisons with other composite-particle formalisms of the recent literature are made using the nonrelativistic quark model. (C) 1998 Academic Press.

THE EFFECT of WEAK DISSIPATION IN TWO-DIMENSIONAL MAPPING

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Mapping soil pollution by spatial analysis and fuzzy classification

Spatial analysis and fuzzy classification techniques were used to estimate the spatial distributions of heavy metals in soil. The work was applied to soils in a coastal region that is characterized by intense urban occupation and large numbers of different industries. Concentrations of heavy metals were determined using geostatistical techniques and classes of risk were defined using fuzzy classification. The resulting prediction mappings identify the locations of high concentrations of Pb, Zn, Ni, and Cu in topsoils of the study area. The maps show that areas of high pollution of Ni and Cu are located at the northeast, where there is a predominance of industrial and agricultural activities; Pb and Zn also occur in high concentrations in the northeast, but the maps also show significant concentrations of Pb and Zn in other areas, mainly in the central and southeastern parts, where there are urban leisure activities and trade centers. Maps were also prepared showing levels of pollution risk. These maps show that (1) Cu presents a large pollution risk in the north-northwest, midwest, and southeast sectors, (2) Pb represents a moderate risk in most areas, (3) Zn generally exhibits low risk, and (4) Ni represents either low risk or no risk in the studied area. This study shows that combining geostatistics with fuzzy theory can provide results that offer insight into risk assessment for environmental pollution.

Mapping an uncertainty zone between interpolated types of a categorical variable

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Geoelectrical mapping of contamination in the cemeteries: the case study in Piracicaba, São Paulo/Brazil

This paper presents the results of electrical resistivity methods in the area delineation that was potentially contaminated by liquefaction products, which are also called putrefactive liquids in Vila Rezende municipal cemetery, Piracicaba, So Paulo, Brazil. The results indicate a depth of water table between 3.1 and 5.1 m, with two groundwater direction flows, one to the SW and another to the SE. Due to the contamination plumes, which have the same groundwater direction flow, as well the conductive anomalies observed in the geoelectric sections, the contamination suspicions in the area were confirmed. The probable plume to the SE extends beyond the limits of the cemetery. The location of the conductive anomalies and the probable contamination plumes showed that the contamination is linked with the depth of the water table and the burial time. Mapping using the geostatistical method of ordinary kriging applied to the work drew structural characteristics of the regional phenomenon and spatial behavior of the electrical resistivity data, resulting in continued surfaces. Thus, this method has proved to be an important tool for mapping contamination plumes in cemeteries.

Indirect method for quantifying the content of photosynthetic pigments in genotypes of dwarf elephant grass

O objetivo deste ensaio foi determinar equações que indiretamente associem os valores obtidos no medidor de clorofila SPAD-502 aos teores de clorofila e carotenóides de genótipos de capim-elefante anão. Folhas de genótipos de capim-elefante anão foram utilizadas e, depois de coletadas, foram transportadas em caixas de isopor, protegidas da luz, até o laboratório de Fisiologia Vegetal da UENF. Posteriormente, os discos foliares de área conhecida foram extraídos. Com o auxílio do medidor portátil de clorofila (MPC) SPAD-502, foi obtida a média de 5 leituras/disco foliar e utilizaram-se 6 discos para cada intervalo, distribuídos de acordo com a seguinte escala de valores do MPC: 0-10; 10-20; 20-30; 30-40; 40-50; 50-60. O medidor de clorofila SPAD-502 possibilitou uma rápida e eficaz estimativa do conteúdo de clorofila total, clorofila-a e clorofila-b em genótipos de capim-elefante anão.

Ultrastructural analysis of in vitro direct and indirect organogenesis

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

Mapping oil spill environmental sensitivity in cardoso island state park and surroundings areas, São Paulo, Brazil

This study presents an environmental oil spill sensitivity map of Cardoso Island State Park, located in São Paulo state, Brazil, including some of its surrounding areas. This map was designed following the procedures determined by the Brazilian Federal Environment Organ (Ministry of the Environment), which separates coastal habitats in different littoral sensitivity indexes (LSI) to oil spills. We have also analysed some seasonal variations in morphologic and textural parameters at the local marine beaches that could affect their sensitivity, having found that they are more sensitive during summer due to a wider foreshore zone during these periods. Local most sensitive habitats are estuarine mangroves (LSI 10) and estuarine mud banks (LSI 9). Marine beaches were ranked LSI 3, and littoral rocky shores were subdivided in exposed flat rocky shores (LSI 1), boulder rocky shores (LSI 6) and sheltered rocky shores (LSI 8). Due to the elevated sensitivity of an estuarine system in the area, we considered necessary the installation of an Environmental Emergency Centre and the design of an emergency plan for the region in case of an accident resulting in oil spills within its vicinities. (C) 2007 Elsevier Ltd. All rights reserved.

Indirect cathodic-stripping voltammetric determination of ceftazidime as a mercury salt

At accumulation potentials close to +0.1 V at a hanging mercury drop electrode, ceftazidime is accumulated at pH 9.5, probably in a hydrolysed or otherwise chemically altered form, in an anodic process to give an adsorbed mercury salt. The accumulation of this mercury salt allows the indirect cathodic-stripping voltammetric determination of ceftazidime using the reduction peak of the mercury salt at -0.70 V. The high sensitivity of the method coupled with high sample dilution allows ceftazidime to be determined in milk samples at the 28 mu g ml(-1) level without prior separation. In order to determine lower levels of ceftazidime in milk (ca. 10 ng ml(-1)) a separation process would be required. (C) 1998 Elsevier B.V. B.V. All rights reserved.