Localização de robôs móveis autônomos utilizando fusão sensorial de odometria e visão monocular

The development and refinement of techniques that make simultaneous localization and mapping (SLAM) for an autonomous mobile robot and the building of local 3-D maps from a sequence of images, is widely studied in scientific circles. This work presents a monocular visual SLAM technique based on extended Kalman filter, which uses features found in a sequence of images using the SURF descriptor (Speeded Up Robust Features) and determines which features can be used as marks by a technique based on delayed initialization from 3-D straight lines. For this, only the coordinates of the features found in the image and the intrinsic and extrinsic camera parameters are avaliable. Its possible to determine the position of the marks only on the availability of information of depth. Tests have shown that during the route, the mobile robot detects the presence of characteristics in the images and through a proposed technique for delayed initialization of marks, adds new marks to the state vector of the extended Kalman filter (EKF), after estimating the depth of features. With the estimated position of the marks, it was possible to estimate the updated position of the robot at each step, obtaining good results that demonstrate the effectiveness of monocular visual SLAM system proposed in this paper

Esforços em ferramentas rompedoras de solo de semeadoras de plantio direto

The individual evaluation of mechanisms for opening furrows to drop the seeds in a no-tillage seeders cultivation assists the companies in the sizing of opening tools of the ground, that search for minor energy petition and for diminishing the ground area mobilized. Therefore this work had the aim of evaluate the efforts of five different mechanisms of opening of ridge of seeding of direct plantation varyng the vertical load. The experiment was installed in one ground classified as Dystroferric Red Nitosol. The used experimental delineation was of the one randomized blocks in a factorial project 5 x 4, constituted a the following factors: five mechanisms of furrow opening (even disk - DL, corrugated disk - DC, ondulated disk - DO, double disk - DD and furrow rod - F) and four vertical loads (750, 1500, 2250 and 3000 N). To measure the forces in the studied treatments a dynamometer with sensitivity in the directions was used horizontal, lateral and vertical direction. The evaluation showed that the interaction between mechanisms of opening of ridge and vertical load was not significant, however the factors were significant when analyzed individually. The connecting rod promoted mobilization of the ground with smaller draft of horizontal effort reaching depths of work. The work showed that the vertical load influenced the depth of work of the mechanisms of ridge opening. The mechanisms of ridge opening of record type need vertical force to penetrate into the ground.

Growth regulator losses from cotton plants due to rainfall

Reguladores de crescimento aplicados às plantas de algodoeiro (Gossypium hirsutum L.) podem ser lavados em função da ocorrência de chuvas. Chuvas que ocorrem próximas à época de aplicação podem ocasionar elevada perda e necessidade de reaplicação dos produtos visando à taxa de crescimento desejada. Avaliou-se o efeito do intervalo de tempo entre a ocorrência de chuva simulada e a aplicação de cloreto de mepiquat e cloreto de chlormequat no algodoeiro no crescimento das plantas, além de estimar a necessidade de reaplicação dos reguladores. Plantas de algodão foram cultivadas em vasos de 12 L que permaneceram em casa de vegetação. Os reguladores de crescimento foram aplicados 40 dias após a emergência, quando 50% das plantas apresentavam botão floral. A chuva foi simulada 1, 2, 4, 6 e 24 horas após a aplicação dos reguladores. Determinou-se a altura das plantas antes da aplicação dos produtos e a cada 3 dias até o 30º dia. Na colheita, foi avaliado o número de ramos e estruturas reprodutivas, com posterior determinação da massa da matéria seca. Também foi determinado o crescimento acumulado e taxa de crescimento das plantas. Os dois reguladores reduziram a massa da matéria seca das plantas, independente do intervalo para ocorrência da chuva. O crescimento excessivo das plantas foi controlado, porém, com eficiência reduzida quanto menor o intervalo para simulação de chuva. em todos os períodos avaliados houve perda de produtos, com necessidade de reaplicação. A taxa de reaplicação de cloreto de mepiquat para os diferentes intervalos de chuva foi, em média, 17% maior.

Modelagem dinâmica do escoamento de um sistema de elevação por plunger lift

A critical problem in mature gas wells is the liquid loading. As the reservoir pressure decreases, gas superficial velocities decreases and the drag exerted on the liquid phase may become insufficient to bring all the liquid to the surface. Liquid starts to drain downward, flooding the well and increasing the backpressure which decreases the gas superficial velocity and so on. A popular method to remedy this problem is the Plunger Lift. This method consists of dropping the "plunger"to the bottom of the tubing well with the main production valve closed. When the plunger reaches the well bottom the production valve is opened and the plunger carry the liquid to the surface. However, models presented in literature for predicting the behavior in plunger lift are simplistic, in many cases static (not considering the transient effects). Therefore work presents the development and validation of a numerical algorithm to solve one-dimensional compressible in gas wells using the Finite Volume Method and PRIME techniques for treating coupling of pressure and velocity fields. The code will be then used to develop a dynamic model for the plunger lift which includes the transient compressible flow within the well

Experimental and theoretical studies on the enhanced photoluminescence activity of zinc sulfide with a capping agent

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

Mean motion resonances and the stability of a circumbinary disk in a triple stellar system

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Avaliação da remoção de matéria orgânica carbonácea e nitrogenada de águas residuárias em biorreator de membranas

O presente trabalho objetivou a avaliação da remoção de matéria orgânica carbonácea e nitrogenada, bem como a determinação do fluxo crítico, em biorreator de membranas, com zona pré-anóxica, tratando águas residuárias industriais da produção de aminoácidos. O reator foi operado sob carga orgânica volumétrica de 1,91 kg.DQO.m-3.d-1 e 0,18 kg.NTK.m-3.d-1; a recirculação do reator aeróbio para o reator anóxico foi de quatro vezes a vazão afluente. O reator apresentou médias de remoção de DQO, NTK e NT de 97, 98 e 92%, respectivamente. O sistema de ultrafiltração foi testado em vários fluxos entre 25 e 37 L.m-2.h-1 e determinou-se o fluxo crítico de 28 L.m-2.h-1 quando operado com 11,4 g.L-1 de SST e 35 dias de tempo de retenção celular. Os resultados mostraram que houve viabilidade técnica no uso de biorreator de membranas para remoção de matéria orgânica de águas residuárias industriais da produção de aminoácidos.

Análise hidrodinâmica e morfodinâmica do complexo estuarino do Rio Piranhas-Açu/RN, Nordeste do Brasil

The aim of this study was the seasonal characterization of the morphology, sedimentology and hydrodynamic of the Açu, Cavalos and Conchas estuaries. These estuaries are inserted in a semi-arid climate area and form the mouth of the hydrographic basin of the Piranhas-Açu river, that represent the discharge of the largest watershed in the state. They are embedded in an environment consisting of a fluvial-marine floodplain, mangrove ecosystem, sandbanks, fields of dunes, spits and sandy beaches. Adjacent to the natural units are the main local socioeconomic activities (oil industry, salt industry, shrimp farming, fishing and tourism) are dependent on this river and its conservation. The environmental monitoring is necessary because it is an area under constant action of coastal processes and at high risk of oil spill. The acquisition and interpretation of hydrodynamic, sonographic and sediment data was conducted in two campaigns, dry season (2010) and rainy season (2011), using respectively the current profiler ADCP Doppler effect, the side-scan sonar and Van Veen sampler. In these estuaries: Açu, Cavalos and Conchas were identified the following types of bedforms: flatbed and Dunes 2-D and 3-D (small to medium size), generated at lower flow regime (Froude number <1). Structures such as ripples were observed in the Açu estuary mouth. The higher values of flow discharge and velocity were recorded in the Açu estuary (434,992 m³.s-¹ and 0,554 m.s-¹). In rainy season, despite the record of highest values of discharge and flow velocities at the mouth, the energy rates upstream did not differ much from the data of the dry season. However, in all estuaries were recorded an increase in speed and flow, with reservation to the flow in the Açu estuary and flow at the mouth of the Conchas estuary. Sediment grain sizes tend to increase towards the mouth of the estuary and these ranged from very fine sand to very coarse sand, medium sand fraction being the most recurrent. Based on the data acquired and analyzed, the estuaries Açu, Cavalos and Conchas are classified as mixed , dominated by waves and tides. According to their morphology, they are classified as estuaries constructed by bar and according to the classification by salinity, estuaries Conchas and Cavalos were ranked as hypersaline estuaries, and Açu as hypersaline and vertically well mixed type C

MUSCLE MASS GAIN AFTER RESISTANCE TRAINING IS INVERSELY CORRELATED WITH TRUNK ADIPOSITY GAIN IN POSTMENOPAUSAL WOMEN

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Evaluation of in vitro and in vivo adhesion and immunomodulatory effect of Lactobacillus species strains isolated from chickens

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

Effect of progesterone and/or estradiol treatments prior to induction of ovulation on subsequent luteal lifespan in anestrous Nelore cows

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

Histological and three-dimensional evaluation of osseointegration to nanostructured calcium phosphate-coated implants

Nanostructures on implant surfaces have been shown to enhance osseointegration; however, commonly used evaluation techniques are probably not sufficiently sensitive to fully determine the effects of this process. This study aimed to observe the osseointegration properties of nanostructured calcium phosphate (CaP)-coated implants, by using a combination of three-dimensional imaging and conventional histology. Titanium implants were coated with stable CaP nanoparticles using an immersion technique followed by heat treatment. Uncoated implants were used as the control. After topographical and chemical characterizations, implants were inserted into the rabbit femur. After 2 and 4 weeks, the samples were retrieved for micro-computed tomography and histomorphometric evaluation. Scanning electron microscopy evaluation indicated that the implant surface was modified at the nanoscale by CaP to obtain surface textured with rod-shaped structures. Relative to the control, the bone-to-implant contact for the CaP-coated implant was significantly higher at 4 weeks after the implant surgery. Further, corresponding 3-D images showed active bone formation surrounding the implant. 3-D quantification and 2-D histology demonstrated statistical correlation; moreover, 3-D quantification indicated a statistical decrease in bone density in the non-coated control implant group between 2 and 4 weeks after the surgery. The application of 3-D evaluation further clarified the temporal characteristics and biological reaction of implants in bone. (C) 2011 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

Nandrolone Stimulates Myod Expression During Muscle Regeneration in the Condition of Myonecrosis Induced by Bothrops jararacussu Venom Poisoning

Myonecrosis with permanent loss of muscle mass is a relevant local toxic effect following envenomation with Bothrops jararacussu snake venom. Regeneration of adult skeletal muscle involves the activation of satellite cells, a process regulated by myogenic regulatory factors (MRF). MyoD is an MRF involved in both proliferation and differentiation of satellite cells. Androgens are modulators of skeletal muscle, known to increase muscle mass and strength. This study examined the hypothesis that anabolic androgens improve the muscle regeneration process in mice following envenomation by Bothrops jararacussu snake venom. Myonecrosis was induced by venom injection (30 g/50 l in physiological solution) over the extensor digitorum longus (EDL) muscles of mice. Nandrolone (ND) (6 mg/kg, sc) was administered after 12 h, 7 d, and 14 d following venom injection. The histological changes in EDL muscle at 1, 3, 7, and 21 d after muscle injury were analyzed by light microscopy. Cross-sectional areas of fibers were measured. MyoD was evaluated by immunofluorescence technique. Histological examination revealed the presence of a regeneration process in ND-treated animals, characterized by the appearance of some myotubes at 3 d, and numerous myotubes at 7 d from venom injection. Nandrolone treatment reduced the frequency of small fibers at 7 and 21 d after venom administration, and increased the frequency of large fibers at 7 d postinjury. Nandrolone also significantly augmented the expression of MyoD-positive cells at 7 and 21 d after envenomation. These results suggest that ND accelerates muscle regeneration and indicate the involvement of MyoD in this process.

Fenvalerate, A Pyrethroid Insecticide, Adversely Affects Sperm Production and Storage in Male Rats

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Messenger ribonucleic acid abundance of intestinal enzymes and transporters in feed-restricted and refed chickens at different ages

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)