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.

Scales, Universality and Finite-Range Correction in Three-body Systems

The scale invariance manifested by the weakly-bound Efimov states implies that all the Efimov spectrum can be merged in a single scaling function. By considering this scaling function, the ratio between two consecutive energy levels, E3 (N+1) and E3 (N), can be obtained from a two-body low-energy observable (usually the scattering length a), given in units of the three-body energy level N. The zero-ranged scaling function is improved by incorporating finite range corrections in first order of r0/a (r0 is the potential effective range). The critical condition for three-identical bosons in s-wave, when the excited E3 (N+1) state disappears in the 2 + 1 threshold, is given by √E2/E3 (N) ≈ 0.38+0.12(r0/a). © 2012 Springer-Verlag.

Trapping of a particle in a short-range harmonic potential well

Eigenstates of a particle in a localized and unconfined harmonic potential well are investigated. Effects due to the variation of the potential parameters as well as certain results from asymptotic expansions are discussed. © 2012 Springer Science+Business Media, LLC.

Role of the range of the dipole function in the classical dynamics of molecular dissociation

The dissociation dynamics of heteronuclear diatomic molecules induced by infrared laser pulses is investigated within the framework of the classical driven Morse oscillator. The interaction between the molecule and the laser field described in the dipole formulation is given by the product of a time-dependent external field with a position-dependent permanent dipole function. The effects of changing the spatial range of the dipole function in the classical dissociation dynamics of large ensembles of trajectories are studied. Numerical calculations have been performed for distinct amplitudes and carrier frequencies of the external pulses and also for ensembles with different initial energies. It is found that there exist a set of values of the dipole range for which the dissociation probability can be completely suppressed. The dependence of the dissociation on the dipole range is explained through the examination of the Fourier series coefficients of the dipole function in the angle variable of the free system. In particular, the suppression of dissociation corresponds to dipole ranges for which the Fourier coefficients associated with nonlinear resonances are null and the chaotic region in the phase space is reduced to thin layers. In this context, it is shown that the suppression of dissociation of heteronuclear molecules for certain frequencies of the external field is a consequence of the finite range of the corresponding permanent dipole. © 2013 American Physical Society.

Observation of long-range, near-side angular correlations in pPb collisions at the LHC

Results on two-particle angular correlations for charged particles emitted in pPb collisions at a nucleon-nucleon center-of-mass energy of 5.02 TeV are presented. The analysis uses two million collisions collected with the CMS detector at the LHC. The correlations are studied over a broad range of pseudorapidity, η, and full azimuth, φ, as a function of charged particle multiplicity and particle transverse momentum, pT. In high-multiplicity events, a long-range (2<|δη|<4), near-side (δφ≈0) structure emerges in the two-particle δη-δφ correlation functions. This is the first observation of such correlations in proton-nucleus collisions, resembling the ridge-like correlations seen in high-multiplicity pp collisions at s=7 TeV and in AA collisions over a broad range of center-of-mass energies. The correlation strength exhibits a pronounced maximum in the range of pT=1-1.5 GeV/c and an approximately linear increase with charged particle multiplicity for high-multiplicity events. These observations are qualitatively similar to those in pp collisions when selecting the same observed particle multiplicity, while the overall strength of the correlations is significantly larger in pPb collisions. © 2012 CERN.

Effective range from tetramer-dissociation data for cesium atoms

The shifts in the four-body recombination peaks, due to an effective range correction to the zero-range model close to the unitary limit, are obtained and used to extract the corresponding effective range of a given atomic system. The approach is applied to an ultracold gas of cesium atoms close to broad Feshbach resonances, where deviations of experimental values from universal model predictions are associated with effective range corrections. The effective range correction is extracted with a weighted average given by 3.9±0.8R vdW, where RvdW is the van der Waals length scale, which is consistent with the van der Waals potential tail for the Cs2 system. The method can be generally applied to other cold atom experimental setups to determine the contribution of the effective range to the tetramer dissociation position. © 2013 American Physical Society.

Long-range development planning: notes on its substance and methodology

Revisa varios de los problemas que presenta la planificación del desarrollo a largo plazo: los aspectos políticos; la relación entre la planificación y el mercado en las economías mixtas; y los aspectos éticos y metodológicos.

TiO2-Cu photocatalysts: A study on the long- and short-range chemical environment of the dopant

In this study, the short- and long-range chemical environments of Cu dopant in TiO2 photocatalyst have been investigated. The Cu-doped and undoped TiO2 specimens were prepared by the sol-gel approach employing CuSO4·5H2O and Ti(O-iPr)4 precursors and subjecting the dried gels to thermal treatment at 400 and 500 C. The photocatalytic activity, investigated by methylene blue degradation under sunlight irradiation, showed a significantly higher efficiency of Cu-doped samples than that of pure TiO2. The X-ray diffraction results showed the presence of anatase phase for samples prepared at 400 and 500 C. No crystalline CuSO4 phase was detected below 500 C. It was also found that doping decreases the crystallite size in the (004) and (101) directions. Infrared spectroscopy results indicated that the chemical environment of sulfate changes as a function of thermal treatment, and UV-vis spectra showed that the band gap decreases with thermal treatment and Cu doping, showing the lowest value for the 400 C sample. X-ray absorption fine structure measurements and analysis refinements revealed that even after thermal treatment and photocatalytic assays, the Cu2+ local order is similar to that of CuSO4, containing, however, oxygen vacancies. X-ray photoelectron spectroscopy data, limited to the near surface region of the catalyst, evidenced, besides CuSO4, the presence of Cu1+ and CuO phases, indicating the active role of Cu in the TiO2 lattice. © 2013 Springer Science+Business Media New York.

Search for a standard-model-like Higgs boson with a mass in the range 145 to 1000 GeV at the LHC

A search for a standard-model-like Higgs boson in the H→WW and H→ZZ decay channels is reported, for Higgs boson masses in the range 145range 145

Range Corrections to Universal Tetramer Properties

The universal properties of weakly-bound tetramers close to the scaling limit are investigated by solving a subtracted set of Faddeev-Yakubovsky (FY) equations for identical bosons with a zero-range interaction. The solution demands a four-body scale independent of the trimer properties. Furthermore, the effect of a finite effective range is introduced in the FY equations, which we show produces results that are distinct from the scale variation. In particular range effects to two universal scaling functions for the tetramers are investigated. The correlation between successive tetramer energies corresponding to states within two Efimov trimer energies, proposed before and studied close to the unitary limit; and the correlation between the position of the four-atom recombination peaks. In this case, we found a shift in the scaling function due to the range, which can be associated to the shift of the data found for caesium atoms, with respect to zero-range calculations, due to a nonvanishing range in the actual experimental setups. © 2013 Springer-Verlag Wien.

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.

Establishing the reference range for t lymphocytes subpopulations in adults and children from Brazil

Os valores de referências de linfócitos T existentes no Brasil são baseados em dados originados de outros países. Não existem dados locais da variação normal para estes parâmetros em adultos e crianças brasileiras. Avaliamos a variação normal encontrada em doadores de sangue de cinco grandes cidades brasileiras em diferentes regiões e em crianças residentes em Salvador e Rio de Janeiro. Todas as amostras foram processadas por citometria de fluxo. Os resultados foram analisados de acordo com região, gênero e estilo de vida dos doadores. Um total de 641 adultos (63% homens) e 280 crianças (58% meninos) participaram do estudo. Valores absolutos de CD3+ e CD4+ foram significantemente maiores no gênero feminino (adultos e crianças). Maiores valores de CD4+ em adultos foram associados com tabagismo, enquanto que maiores valores de CD8+ foram encontrados entre crianças do sexo feminino. Adultos das regiões sul e sudeste apresentaram maiores valores absolutos para todas as células T enquanto que adultos da região norte, apresentaram menores valores. Indivíduos residentes no nordeste e centro-oeste obtiveram contagens intermediárias para todas as populações de células T. Entretanto, estas diferenças entre as regiões, não demonstraram diferença estatística. No Brasil, gênero e tabagismo foram os principais determinantes para diferenças em valores de referências de linfócitos T.

Reference range for T lymphocytes populations in blood donors from two different regions in Brazil

ABSTRACT: This study defined the normal variation range for different subsets of T-lymphocyte cells count in two different Brazilian regions. We analysed the T-lymphocytes subpopulations (CD3+, CD4+, CD8+) in blood donors of two Brazilian cities, located in North (Belem, capital state of Para, indian background) and Northeast (Salvador, capital state od Bahia, African background) regions of Brazil. Results were compared according to gender, stress level (sleep time lower than 8 hours/day), smoking, and alcohol intake. Lymphocytes subpopulations were measured by flow cytometry. Five hundred twenty-six blood donors from two Brazilians cities participated in the study: 450 samples from Bahia and 76 samples from Pará. Most (60%) were men, 59% reported alcohol intake, 12% were smokers, and 80% slept at least 8 h/day. Donors from Bahia presented with significantly higher counts for all parameters, compared with Para. Women had higher lymphocytes levels, in both states, but only CD4+ cells count was significantly higher than men's values. Smokers had higher CD4+ counts, but sleep time had effect on lymphocytes levels only for Para's donors (higher CD3+ and CD4+ counts). That state had also, a higher proportion of donors reporting sleep time <8 h/day. The values for CD3, CD4 and CD8+ cells count were significantly higher in blood donors from Bahia than among those from Pará. Female gender, alcohol intake, stress level, and smoking were associated with higher lymphocyte counts. The use of a single reference range for normal lymphocytes count is not appropriate for a country with such diversity, like Brazil is.

Circulation and salt intrusion in the Piaçaguera Channel, Santos (SP)

A análise de dados termohalinos e correntes medidos em uma estação fixa no Canal de Piaçaguera (Estuário de Santos) no inverno foi feita em termos de condições cíclicas da maré (quadratura e sizígia) e quase-estacionária, com o objetivo de caracterizar a estratificação da massa de água estuarina, sua circulação e transporte de sal forçados pela modulação quinzenal da maré. Foram utilizados métodos clássicos de análise de dados observacionais horários e quase sinóticos e de simulações analíticas de perfis estacionários de salinidade e do componente longitudinal da velocidade. Durante o ciclo de maré de quadratura as velocidades de enchente (v<0) e vazante (v>0) variaram de -0.20 m/s a 0.30 m/s, associadas à pequena variação de salinidade entre a superfície e o fundo (26.4 psu a 30.7 psu). No ciclo de sizígia a velocidade aumentou de -0.40 m/s a 0.45 m/s, mas a estratificação de salinidade permaneceu praticamente a mesma. Os perfis estacionários teóricos de salinidade e de velocidade apresentaram boa concordância (Skill próximo a 1,0) quando comparados aos perfis observacionais. Durante a modulação quinzenal da maré não houve alteração na classificação do canal estuarino (tipo 2a-parcialmente misturado e fracamente estratificado), pois a taxa de aumento da energia potencial não foi suficiente para ocasionar a erosão da haloclina. Esses resultados, associados à alta estabilidade vertical (RiL >20) e ao número de Richardson estuarino (1,6), permitem as seguintes conclusões: i) o mecanismo que forçou a circulação e os processos de mistura foi principalmente o balanço da descarga fluvial com a maré, associado ao componente baroclínico da força de gradiente de pressão; ii) não houve variações nas principais características termohalinas e da circulação devido à modulação quinzenal da maré; e iii) os perfis quase estacionários de salinidade e da velocidade foram adequadamente simulados com um modelo analítico clássico.