Análise temporal dos ciclos de crescimento para discriminação e mapeamento das culturas agrícolas de arroz e soja por imagens de sensoriamento remoto.

2015

Indices de eficiência do distrito de irrigação "Sector BXII del bajo Guadalquivir", Sul da Espanha, por sensoriamento remoto.

Avaliação do desempenho dos distritos de irrigação é estratégica para a melhoria da qualidade da gestão da água em grandes áreas ou bacias hidrográficas. Há diversos índices de eficiência, dentre estes se destacam evapotranspiração relativa - RET; coeficiente de déficit hídrico - CDH; índice de uso consumptivo - ICUC; suprimento relativo da irrigação - RIS e suprimento relativo de água (chuva mais irrigação) - RWS e de produtividade da água - WP. O estudo teve como objetivo avaliar o desempenho do distrito de irrigação ?Sector BXII del Bajo Guadalquivir?, região Sul da Espanha, por meio da definição de índices de eficiência e produtividade da água de irrigação.

A UTILIZAÇÃO DO SENSORIAMENTO REMOTO NA IDENTIFICAÇÃO DE SÍTIOS COM POTENCIAL AO DESENVOLVIMENTO DO ECOTURÍSMO

As geotecnologias são fundamentais para os estudos de identificação do potencial turístico e gestão do turismo. O objetivo da pesquisa é utilizar as técnicas de sensoriamento remoto na identificação de sítios com potencial ao desenvolvimento do ecoturismo, como quedas d’água, corredeiras, lagos, entre outros sítios no município de Monte Alegre de Minas – MG (Brasil). A metodologia parte da utilização de imagens de radar para a construção de modelos digitais de terreno e o cruzamento destas informações com bases cartográficas e dados resultantes da manipulação de imagens de satélite. O trabalho teve como fundamentação teórica o Plano Nacional de Turismo 2007 – 2010, elaborado pelo Ministério do Turismo e produções científicas de Sakitani (2006), Oliveira (2005) e Rossato (2004) e no que cabe à caracterização da região a obra de Lima (2007). Todos estes embasamentos teóricos são essenciais para a compreensão do que é a atividade turística e de como o sensoriamento remoto associado à cartografia digital podem facilitar a localização, a identificação, a quantificação, a valorização ambiental do local, o planejamento e finalmente a elaboração de material e disponibilização dos dados para a utilização dos turistas, agentes de turismo e usuários em geral.

Dynamics of undeactuated cable-driven parallel robots

This thesis focuses on the dynamics of underactuated cable-driven parallel robots (UACDPRs), including various aspects of robotic theory and practice, such as workspace computation, parameter identification, and trajectory planning. After a brief introduction to CDPRs, UACDPR kinematic and dynamic models are analyzed, under the relevant assumption of inextensible cables. The free oscillatory motion of the end-effector (EE), which is a unique feature of underactuated mechanisms, is studied in detail, from both a kinematic and a dynamic perspective. The free (small) oscillations of the EE around equilibria are proved to be harmonic and the corresponding natural oscillation frequencies are analytically computed. UACDPR workspace computation and analysis are then performed. A new performance index is proposed for the analysis of the influence of actuator errors on cable tensions around equilibrium configurations, and a new type of workspace, called tension-error-insensitive, is defined as the set of poses that a UACDPR EE can statically attain even in presence of actuation errors, while preserving tensions between assigned (positive) bounds. EE free oscillations are then employed to conceive a novel procedure aimed at identifying the EE inertial parameters. This approach does not require the use of force or torque measurements. Moreover, a self-calibration procedure for the experimental determination of UACDPR initial cable lengths is developed, which consequently enables the robot to automatically infer the EE initial pose at machine start-up. Lastly, trajectory planning of UACDPRs is investigated. Two alternative methods are proposed, which aim at (i) reducing EE oscillations even when model parameters are uncertain or (ii) eliminate EE oscillations in case model parameters are perfectly known. EE oscillations are reduced in real-time by dynamically scaling a nominal trajectory and filtering it with an input shaper, whereas they can be eliminated if an off-line trajectory is computed that accounts for the system internal dynamics.

Geometrico-static modelling of continuum parallel robots

In this thesis, we explore three methods for the geometrico-static modelling of continuum parallel robots. Inspired by biological trunks, tentacles and snakes, continuum robot designs can reach confined spaces, manipulate objects in complex environments and conform to curvilinear paths in space. In addition, parallel continuum manipulators have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability and strength of rigid-links parallel robots. Subsequently, the foundation of our work is performed on slender beam by applying the Cosserat rod theory, appropriate to model continuum robots. After that, three different approaches are developed on a case study of a planar parallel continuum robot constituted of two connected flexible links. We solve the forward and inverse geometrico-static problem namely by using (a) shooting methods to obtain a numerical solution, (b) an elliptic method to find a quasi-analytical solution, and (c) the Corde model to perform further model analysis. The performances of each of the studied methods are evaluated and their limits are highlighted. This thesis is divided as follows. Chapter one gives the introduction on the field of the continuum robotics and introduce the parallel continuum robots that is studied in this work. Chapter two describe the geometrico-static problem and gives the mathematical description of this problem. Chapter three explains the numerical approach with the shooting method and chapter four introduce the quasi-analytical solution. Then, Chapter five introduce the analytic method inspired by the Corde model and chapter six gives the conclusions of this work.

Il segnale di bioimpedenza per il monitoraggio remoto multiparametrico dei pazienti affetti da COVID-19: il sistema MySIGN

Il CoViD-19, infezione dell’apparato respiratorio causata dal virus SARS-COV-2, può indurre una congestione polmonare acuta caratterizzata da dispnea, bassa saturazione di ossigeno e, spesso, infiltrazioni di liquido nei polmoni. In letteratura sono presenti diversi studi sul monitoraggio della congestione polmonare, seppur di diversa eziologia, per mezzo del segnale di bioimpedenza transtoracica. Questa grandezza quantifica la resistenza opposta dai tessuti al passaggio di una minima corrente alternata che diminuisce in relazione al maggiore contenuto di liquido nel tessuto polmonare patologico. Il monitoraggio remoto dello stato polmonare del paziente CoViD-19 mediante bioimpedenza transtoracica rappresenterebbe una soluzione ottimale in termini di pervasività, semplicità di sistema, sicurezza dal contagio e non invasività. Questo studio, inquadrato in un più ampio progetto regionale, MySIGN, si pone come obiettivo quello di caratterizzare il funzionamento di una scheda prototipale e individuare il setup sperimentale più idoneo per l’acquisizione dei segnali ECG e di bioimpedenza. Per confermare le ipotesi sulla variazione di impedenza è stato scelto come gold standard un sistema commerciale (Edema Guard Monitor) del quale sono state valutate la ripetibilità e sensibilità nell’effettuare misure di impedenza. Vengono perciò riportate le principali soluzioni progettuali per l’acquisizione dei segnali bioimpedenziometrici ed elettrocardiografici, le relative elaborazioni e gli algoritmi che permettono di ricavare stime di frequenza respiratoria, battito cardiaco e intervallo QT. Tali informazioni saranno poi integrate con misure di temperatura ed SpO2 in modo tale da fornire al personale sanitario una panoramica completa dello stato del paziente. La scheda di acquisizione verrà integrata nel dispositivo di telemonitoraggio del progetto MySIGN, il quale sarà impiegato in uno studio di sperimentazione clinica e successivamente andrà incontro all’iter di marcatura CE.

Direct Kinematics of Underactuated Cable-Driven Parallel Robots: Sensitivity to Redundant Measurements

Underactuated cable-driven parallel robots (UACDPRs) shift a 6-degree-of-freedom end-effector (EE) with fewer than 6 cables. This thesis proposes a new automatic calibration technique that is applicable for under-actuated cable-driven parallel robots. The purpose of this work is to develop a method that uses free motion as an exciting trajectory for the acquisition of calibration data. The key point of this approach is to find a relationship between the unknown parameters to be calibrated (the lengths of the cables) and the parameters that could be measured by sensors (the swivel pulley angles measured by the encoders and roll-and-pitch angles measured by inclinometers on the platform). The equations involved are the geometrical-closure equations and the finite-difference velocity equations, solved using the least-squares algorithm. Simulations are performed on a parallel robot driven by 4 cables for validation. The final purpose of the calibration method is, still, the determination of the platform initial pose. As a consequence of underactuation, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained by means of forward kinematics only. Hence, a direct-kinematics algorithm for a 4-cable UACDPR using redundant sensor measurements is proposed. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. Then, we study the performance of the direct-kinematics algorithm through the computation of the sensitivity of the direct-kinematics solution to measurement errors. Furthermore, position and orientation error upper limits are computed for bounded cable lengths errors resulting from the calibration procedure, and roll and pitch angles errors which are due to inclinometer inaccuracies.

Mechanical design and hybrid control strategies for overconstrained cable-driven parallel robots

Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. They are attractive for many industrial tasks to be performed on a large scale, such as handling and manufacturing, without a substantial increase in costs and mechanical complexity with respect to a small-scale application. However, since cables can only sustain tensile stresses, cable tensions must be kept within positive limits during the end-effector motion. This problem can be managed by overconstraining the end-effector and controlling cable tensions. Tension control is typically achieved by mounting a load sensor on all cables, and using specific control algorithms to avoid cable slackness or breakage while the end-effector is controlled in a desired position. These algorithms require multiple cascade control loops and they can be complex and computationally demanding. To simplify the control of overconstrained cable-driven parallel robots, this Thesis proposes suitable mechanical design and hybrid control strategies. It is shown how a convenient design of the cable guidance system allows kinematic modeling to be simplified, without introducing geometric approximations. This guidance system employs swiveling pulleys equipped with position and tension sensors and provides a parallelogram arrangement of cables. Furthermore, a hybrid force/position control in the robot joint space is adopted. According to this strategy, a particular set of cables is chosen to be tension-controlled, whereas the other cables are length-controlled. The force-controlled cables are selected based on the computation of a novel index called force-distribution sensitivity to cable-tension errors. This index aims to evaluate the maximum expected cable-tension error in the length-controlled cables if a unit tension error is committed in the force-controlled cables. In practice, the computation of the force-distribution sensitivity allows determining which cables are best to be force-controlled, to ensure the lowest error in the overall force distribution when a hybrid force/position joint-space strategy is used.

Trajectory planning of single and dual-arm robots for time-optimal handling of liquids and objects

This Thesis studies the optimal control problem of single-arm and dual-arm serial robots to achieve the time-optimal handling of liquids and objects. The first topic deals with the planning of time-optimal anti-sloshing trajectories of an industrial robot carrying a cylindrical container filled with a liquid, considering 1-dimensional and 2-dimensional planar motions. A technique for the estimation of the sloshing height is presented, together with its extension to 3-dimensional motions. An experimental validation campaign is provided and discussed to assess the thoroughness of such a technique. As far as anti-sloshing trajectories are concerned, 2-dimensional paths are considered and, for each one of them, three constrained optimizations with different values of the sloshing-height thresholds are solved. Experimental results are presented to compare optimized and non-optimized motions. The second part focuses on the time-optimal trajectory planning for dual-arm object handling, employing two collaborative robots (cobots) and adopting an admittance-control strategy. The chosen manipulation approach, known as cooperative grasping, is based on unilateral contact between the cobots and the object, and it may lead to slipping during motion if an internal prestress along the contact-normal direction is not prescribed. Thus, a virtual penetration is considered, aimed at generating the necessary internal prestress. The stability of cooperative grasping is ensured as long as the exerted forces on the object remain inside the static-friction cone. Constrained-optimization problems are solved for 3-dimensional paths: the virtual penetration is chosen among the control inputs of the problem and friction-cone conditions are treated as inequality constraints. Also in this case experiments are presented in order to prove evidence of the firm handling of the object, even for fast motions.

Contributions to the performance analysis of continuum parallel robots

Continuum parallel robots (CPRs) are manipulators employing multiple flexible beams arranged in parallel and connected to a rigid end-effector. CPRs promise higher payload and accuracy than serial CRs while keeping great flexibility. As the risk of injury during accidental contacts between a human and a CPR should be reduced, CPRs may be used in large-scale collaborative tasks or assisted robotic surgery. There exist various CPR designs, but the prototype conception is rarely based on performance considerations, and the CPRs realization in mainly based on intuitions or rigid-link parallel manipulators architectures. This thesis focuses on the performance analysis of CPRs, and the tools needed for such evaluation, such as workspace computation algorithms. In particular, workspace computation strategies for CPRs are essential for the performance assessment, since the CPRs workspace may be used as a performance index or it can serve for optimal-design tools. Two new workspace computation algorithms are proposed in this manuscript, the former focusing on the workspace volume computation and the certification of its numerical results, while the latter aims at computing the workspace boundary only. Due to the elastic nature of CPRs, a key performance indicator for these robots is the stability of their equilibrium configurations. This thesis proposes the experimental validation of the equilibrium stability assessment on a real prototype, demonstrating limitations of some commonly used assumptions. Additionally, a performance index measuring the distance to instability is originally proposed in this manuscript. Differently from the majority of the existing approaches, the clear advantage of the proposed index is a sound physical meaning; accordingly, the index can be used for a more straightforward performance quantification, and to derive robot specifications.

Indicatori di rischio di scompenso cardiaco in pazienti con dispositivi impiantabili e in monitoraggio remoto

L'incidenza complessiva dell'insufficienza cardiaca a livello globale sta aumentando, sia a causa della crescente aspettativa di vita per i pazienti che ricevono una diagnosi, sia per un progressivo invecchiamento della popolazione. Nonostante i continui progressi clinici, questa patologia continua ad avere una alta mortalità e a causare una forte sintomatologia nei pazienti che ne sono affetti. Per questo motivo e per il forte peso che questa patologia ha sulla sanità si è reso necessario cercare di prevenire eventi di scompenso cardiaco o di peggioramento della condizione di insufficienza cardiaca. Questo elaborato si sofferma inizialmente sull'insufficienza cardiaca, sulla sua patologia, le sue classificazioni, la sua epidemiologia e sui dispostivi impiantabili utilizzati nel trattamento di quest'ultima. Successivamente sono stati analizzati cinque studi clinici longitudinali, di cui uno monoparametrico e gli altri multiparametrici, caratterizzati dal monitoraggio remoto di alcuni parametri vitali con l'obiettivo di individuare, e quindi prevenire, eventi avversi o un peggioramento della condizione di insufficienza cardiaca.

Feedback control of underactuated cable-driven parallel robots

In this work an Underactuated Cable-Driven Parallel Robot (UACDPR) that operates in the three dimensional Euclidean space is considered. The End-Effector has 6 degrees of freedom and is actuated by 4 cables, therefore from a mechanical point of view the robot is defined underconstrained. However, considering only three controlled pose variables, the degree of redundancy for the control theory can be considered one. The aim of this thesis is to design a feedback controller for a point-to-point motion that satisfies the transient requirements, and is capable of reducing oscillations that derive from the reduced number of constraints. A force control is chosen for the positioning of the End-Effector, and error with respect to the reference is computed through data measure of several sensors (load cells, encoders and inclinometers) such as cable lengths, tension and orientation of the platform. In order to express the relation between pose and cable tension, the inverse model is derived from the kinematic and dynamic model of the parallel robot. The intrinsic non-linear nature of UACDPRs systems introduces an additional level of complexity in the development of the controller, as a result the control law is composed by a partial feedback linearization, and damping injection to reduce orientation instability. The fourth cable allows to satisfy a further tension distribution constraint, ensuring positive tension during all the instants of motion. Then simulations with different initial conditions are presented in order to optimize control parameters, and lastly an experimental validation of the model is carried out, the results are analysed and limits of the presented approach are defined.

Avaliação de técnicas de classificação digital de imagens landsat em diferentes padrões de cobertura da terra em Rondônia

Remotely sensed imagery has been widely used for land use/cover classification thanks to the periodic data acquisition and the widespread use of digital image processing systems offering a wide range of classification algorithms. The aim of this work was to evaluate some of the most commonly used supervised and unsupervised classification algorithms under different landscape patterns found in Rondônia, including (1) areas of mid-size farms, (2) fish-bone settlements and (3) a gradient of forest and Cerrado (Brazilian savannah). Comparison with a reference map based on the kappa statistics resulted in good to superior indicators (best results - K-means: k=0.68; k=0.77; k=0.64 and MaxVer: k=0.71; k=0.89; k=0.70 respectively for three areas mentioned). Results show that choosing a specific algorithm requires to take into account both its capacity to discriminate among various spectral signatures under different landscape patterns as well as a cost/benefit analysis considering the different steps performed by the operator performing a land cover/use map. it is suggested that a more systematic assessment of several options of implementation of a specific project is needed prior to beginning a land use/cover mapping job.

Estimativa de parâmetros biofísicos de plantios de café a partir de imagens orbitais de alta resolução espacial

Remote sensing data are each time more available and can be used to monitor the vegetal development of main agricultural crops, such as the Arabic coffee in Brazil, since that the relationship between spectral and agronomical data be well known. Therefore, this work had the main objective to assess the use of Quickbird satellite images to estimate biophysical parameters of coffee crop. Test area was composed by 25 coffee fields located between the cities of Ribeirão Corrente, Franca and Cristais Paulista (SP), Brazil, and the biophysical parameters used were row and between plants spacing, plant height, LAI, canopy diameter, percentage of vegetation cover, roughness and biomass. Spectral data were the reflectance of four bands of QUICKBIRD and values of four vegetations indexes (NDVI, GVI, SAVI and RVI) based on the same satellite. All these data were analyzed using linear and nonlinear regression methods to generate estimation models of biophysical parameters. The use of regression models based on nonlinear equations was more appropriate to estimate parameters such as the LAI and the percentage of biomass, important to indicate the productivity of coffee crop.

Albedo à superfície a partir de imagens Landsat 5 em áreas de cana-de-açúcar e cerrado

Propôs-se, neste trabalho, estimar dados de albedo à superfície terrestre usando-se o sensor Thematic Mapper (TM) do satélite LANDSAT 5 e compará-lo com dados de duas estações agrometeorológicas localizadas em região de Cerrado e a outra em cultivo da cana-de-açúcar. A região de estudo está localizada no município de Santa Rita do Passa Quatro, SP, Brasil. Para a realização do estudo obtiveram-se seis imagens orbitais do satélite Landsat 5 sensores TM, na órbita 220 e ponto 75, nas datas de 22/02, 11/04, 29/05, 01/08, 17/08 e 21/11, todas do ano de 2005, a que correspondem os dias juliano de 53, 101, 149, 213, 229 e 325, respectivamente. As correções geométricas para as imagens foram realizadas e geradas as cartas de albedo. O algoritmo SEBAL estimou satisfatoriamente os valores de albedo de superfícies sobre áreas de cerrado e de cana-de-açúcar, na região de Santa Rita do Passa Quatro, SP, consistentes com observações realizadas do albedo à superfície.