Odometria visual baseada em técnicas de structure from motion

Visual Odometry is the process that estimates camera position and orientation based solely on images and in features (projections of visual landmarks present in the scene) extraced from them. With the increasing advance of Computer Vision algorithms and computer processing power, the subarea known as Structure from Motion (SFM) started to supply mathematical tools composing localization systems for robotics and Augmented Reality applications, in contrast with its initial purpose of being used in inherently offline solutions aiming 3D reconstruction and image based modelling. In that way, this work proposes a pipeline to obtain relative position featuring a previously calibrated camera as positional sensor and based entirely on models and algorithms from SFM. Techniques usually applied in camera localization systems such as Kalman filters and particle filters are not used, making unnecessary additional information like probabilistic models for camera state transition. Experiments assessing both 3D reconstruction quality and camera position estimated by the system were performed, in which image sequences captured in reallistic scenarios were processed and compared to localization data gathered from a mobile robotic platform

Técnicas visuais de localização e mapeamento simultâneos sem extração de primitivas geométricas da imagem

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Análise da imagem digital para estimativa da área foliar em plantas de laranja Pêra

Objetivou-se, com o trabalho, avaliar dois métodos de estimativa da área foliar, em plantas de laranja Pêra, pela análise da imagem digital obtida com scanner e câmera fotográfica digital. Para determinar a área das folhas, um grupo de discos foi colocado sobre um leitor de scanner, sendo que a imagem obtida foi armazenada. Os mesmos grupos de discos foram fixados sobre cartolina branca e fotografados com câmera fotográfica digital. As imagens obtidas da câmera fotográfica e do scanner foram processadas utilizando ferramentas de um editor de imagem que permite a contagem de pixels de determinada cor, no caso verde. Para a comparação dos métodos, os discos foram submetidos a integrador óptico de área foliar modelo LICOR-3100, utilizando os mesmos agrupamentos. Foram coletadas 20 folhas (cinco em cada quadrante da planta) por parcela de um experimento para comparação de fertilizantes comerciais e doses de zinco, aplicados via foliar, em plantas de sete anos de idade. O experimento foi composto de sete tratamentos e quatro repetições, num total de 28 parcelas. Os dois métodos apresentaram alta correlação com a área estimada pelo integrador óptico de área, considerado como método de referência. O método da análise da imagem obtida com câmera fotográfica, na resolução de 5.0 megapixel, foi mais precisa quando comparada à área estimada pelo integrador óptico de área.

Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Identificação Visual de Caixas de Medicamentos Usando Features Correspondentes

This work uses computer vision algorithms related to features in the identification of medicine boxes for the visually impaired. The system is for people who have a disease that compromises his vision, hindering the identification of the correct medicine to be ingested. We use the camera, available in several popular devices such as computers, televisions and phones, to identify the box of the correct medicine and audio through the image, showing the poor information about the medication, such: as the dosage, indication and contraindications of the medication. We utilize a model of object detection using algorithms to identify the features in the boxes of drugs and playing the audio at the time of detection of feauteres in those boxes. Experiments carried out with 15 people show that where 93 % think that the system is useful and very helpful in identifying drugs for boxes. So, it is necessary to make use of this technology to help several people with visual impairments to take the right medicine, at the time indicated in advance by the physician

Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Compósito de poliuretano de mamona e vermiculita para isolação térmica

They are in this study the experimental results of the analysis of thermal performance of composite material made from a plant matrix of polyurethane derived from castor oil of kernel of mamona (COF) and loading of clay-mineral called vermiculite expanded. Bodies of evidence in the proportions in weight of 10%, 15% and 20% were made to determine the thermal properties: conductivity (k), diffusivity (ά) and heat capacity (C), for purposes of comparison, the measurements were also performed the properties of polyurethane of castor without charge and also the oil polyurethane (PU), both already used in thermal insulation. Plates of 0.25 meters of material analyzed were manufactured for use as insulation material in a chamber performance thermal coverage. Thermocouples were distributed on the surface of the cover, and inside the material inside the test chamber and this in turn was subjected to artificial heating, consisting of a bank of incandescent lamps of 3000 w. The results obtained with the composite materials were compared with data from similar tests conducted with the camera alone with: (a) of oil PU, (b) of COF (c) glass wool, (d ) of rock wool. The heat resistance tests were performed with these composites, obtaining temperature limits for use in the range of 100 º C to 130 º C. Based on the analysis of the results of performance and thermal properties, it was possible to conclude that the COF composites with load of expanded vermiculite present behavior very close to those exhibited by commercial insulation material

Resposta térmica de um compósito PEEK+PTFE+Fibra de carbono+grafite

Composites based on PEEK + PTFE + CARBON FIBER + Graphite (G_CFRP) has increased application in the top industries, as Aerospace, Aeronautical, Petroleum, Biomedical, Mechanical and Electronics Engineering challenges. A commercially available G_CFRP was warmed up to three different levels of thermal energy to identify the main damage mechanisms and some evidences for their intrinsic transitions. An experimental test rig for systematize a heat flux was developed in this dissertation, based on the Joule Effect. It was built using an isothermal container, an internal heat source and a real-time measurement system for test a sample by time. A standard conical-cylindrical tip was inserted into a soldering iron, commercially available and identified by three different levels of nominal electrical power, 40W (manufacturer A), 40W (manufacturer B), 100W and 150W, selected after screening tests: these power levels for the heat source, after one hour of heating and one hour of cooling in situ, carried out three different zones of degradation in the composite surface. The bench was instrumented with twelve thermocouples, a wattmeter and a video camera. The twelve specimens tested suffered different degradation mechanisms, analyzed by DSC (Differential Scanning Calorimetry) and TG (Thermogravimetry) techniques, Scanning Electron Microscopy (SEM) and Energy-Dispersive X-Rays (EDX) Analysis. Before and after each testing, it was measured the hardness of the sample by HRM (Hardness Rockwell M). Excellent correlations (R2=1) were obtained in the plots of the evaporated area after one hour of heating and one hour of cooling in situ versus (1) the respective power of heat source and (2) the central temperature of the sample. However, as resulting of the differential degradation of G_CFRP and their anisotropy, confirmed by their variable thermal properties, viscoelastic and plastic properties, there were both linear and non-linear behaviour between the temperature field and Rockwell M hardness measured in the radial and circumferential directions of the samples. Some morphological features of the damaged zones are presented and discussed, as, for example, the crazing and skeletonization mechanism of G_CFRP

Digital monitoring of mycelium growth kinetics and vigor of shiitake (Lentinula edodes (Berk.) Pegler) on agar medium

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

Tensão superficial dinâmica e ângulo de contato de soluções aquosas com surfatantes em superfícies artificiais e naturais

O trabalho objetivou avaliar o efeito de surfatantes em soluções aquosas sobre a tensão superficial dinâmica e ângulo de contato das gotas em diferentes superfícies: artificiais (lâmina de vidro e de óxido de alumínio) e naturais (superfícies adaxiais de folhas de Euphorbia heterophylla, Ipomoea grandifolia e Brachiaria plantaginea). Seis formulações de surfatantes (Antideriva®; Uno®; Pronto 3®; Li-700®; Supersil® e Silwet L-77®), respectivamente nas doses recomendadas do produto comercial (0,050; 0,025; 0,100; 0,250; 0,100 e 0,100 % v v-1) e o dobro delas, foram avaliadas em soluções aquosas. A tensão superficial dinâmica e o ângulo de contato formado sobre as superfícies naturais foram medidos por tensiômetro. Os ângulos de contato formados pelas gotas nas superfícies artificiais foram obtidos por análise de imagens capturadas por uma câmera digital. Os surfatantes influenciam nas propriedades físico-químicas de soluções aquosas. As soluções contendo os surfatantes Silwet L-77® e Supersil®; nas doses de 0,100 e 0,200% v v-1; proporcionaram maiores reduções na tensão superficial dinâmica e menores ângulos de contato das gotas sobre as superfícies artificiais e naturais. Os surfatantes organossiliconados em solução aquosa foram mais eficientes na redução da tensão superficial e proporcionaram maior molhamento de superfícies natural e artificial. em alvos naturais, essas propriedades obtidas com organossiliconados são dependentes das características de superfície das espécies vegetais.

Superação de dormência de sementes de Ceratophyllum demersum

Dentre as várias plantas daninhas aquáticas imersas que proliferam nos reservatórios de usinas hidrelétricas, destaca-se em importância Ceratophyllum demersum, devido à sua grande capacidade de reprodução e produção de biomassa. Contudo, apesar de problemática, estudos relacionados com o mecanismo de propagação e persistência dessa espécie em ambiente aquático são bastante escassos no Brasil. Dessa forma, o objetivo deste estudo foi avaliar diferentes métodos de superação de dormência em sementes desta planta daninha aquática coletadas na Lagoa Vírgula, localizada no rio Tietê-SP. As sementes coletadas foram divididas em dois lotes, sendo um constituído por sementes acondicionadas em um recipiente contendo água destilada e o outro por sementes acondicionadas em sacos de papel em condições de câmara fria (16,8 ºC). Após 650 dias da coleta das sementes, foram realizados os testes de superação de dormência, utilizando os seguintes tratamentos: escarificação manual; imersão em ácido sulfúrico concentrado (98%) por 5, 15, 25 e 35 minutos; imersão em água quente (98 ºC); e testemunha A, constituída pelo lote de sementes acondicionadas em um recipiente contendo água destilada, e uma testemunha B, constituída pelo lote de sementes acondicionadas em saco de papel. Os resultados demonstraram que a espécie C. demersum produz sementes férteis e podem permanecer viáveis no sedimento por vários anos após a fecundação. A escarificação das sementes foi o método mais eficaz na superação da dormência, sendo significativamente superior aos demais tratamentos e apresentando 65,0% de germinação aos 79 DAT. Ficou evidente a necessidade de realização de mais estudos para determinação de uma metodologia mais adequada à avaliação de dormência em sementes de C. demersum.

Enraizamento de estacas apicais de figueira Roxo de Valinhos submetidas à estratificação a frio úmido e AIB

Na produção de mudas de figueira a utilização de estacas apicais de menor comprimento pode facilitar o manejo no viveiro, entretanto ainda não foram definidos os protocolos para enraizamento desse tipo de estaca. O objetivo do presente trabalho foi avaliar a ação da estratificação à frio úmido e do tratamento com AIB na rizogênese de estacas apicais de figueira Roxo de Valinhos. As estacas foram coletadas da porção apical dos ramos no final do período hibernal (julho) e padronizadas com 20 cm de comprimento e diâmetro aproximado de 0,7 cm. As estacas foram estratificadas (estacas embrulhadas em jornal umedecido e protegidas com saco plástico à temperatura de 4 ºC, em câmara tipo BOD) por diferentes períodos (0, 15, 30, 45 e 60 dias) e, posteriormente, tratadas e não tratadas com 2.000 mg L-1 de AIB por 10 segundos. em seguida, as estacas foram enterradas em leito de areia umedecido sob telado constituído de tela de polipropileno preta (sombreamento de 50%). Passados 60 dias de cada período de estratificação, foram mensuradas a percentagem de estacas enraizadas, a percentagem de estacas brotadas e o número médio de brotações e de raízes por estaca. Conclue-se que as estacas apicais de figueira Roxo de Valinhos estratificadas a frio úmido por 30 dias e posteriormente tratadas com 2.000 mg L-1 de AIB apresentaram maior potencial de rizogênese.