Um método para determinação da profundidade combinando visão estéreo e autocalibração para aplicação em robótica móvel

This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment

Monitoramento em tempo real de processos fermentativos por espectroscopia no infravermelho próximo (NIRS)

A chemical process optimization and control is strongly correlated with the quantity of information can be obtained from the system. In biotechnological processes, where the transforming agent is a cell, many variables can interfere in the process, leading to changes in the microorganism metabolism and affecting the quantity and quality of final product. Therefore, the continuously monitoring of the variables that interfere in the bioprocess, is crucial to be able to act on certain variables of the system, keeping it under desirable operational conditions and control. In general, during a fermentation process, the analysis of important parameters such as substrate, product and cells concentration, is done off-line, requiring sampling, pretreatment and analytical procedures. Therefore, this steps require a significant run time and the use of high purity chemical reagents to be done. In order to implement a real time monitoring system for a benchtop bioreactor, these study was conducted in two steps: (i) The development of a software that presents a communication interface between bioreactor and computer based on data acquisition and process variables data recording, that are pH, temperature, dissolved oxygen, level, foam level, agitation frequency and the input setpoints of the operational parameters of the bioreactor control unit; (ii) The development of an analytical method using near-infrared spectroscopy (NIRS) in order to enable substrate, products and cells concentration monitoring during a fermentation process for ethanol production using the yeast Saccharomyces cerevisiae. Three fermentation runs were conducted (F1, F2 and F3) that were monitored by NIRS and subsequent sampling for analytical characterization. The data obtained were used for calibration and validation, where pre-treatments combined or not with smoothing filters were applied to spectrum data. The most satisfactory results were obtained when the calibration models were constructed from real samples of culture medium removed from the fermentation assays F1, F2 and F3, showing that the analytical method based on NIRS can be used as a fast and effective method to quantify cells, substrate and products concentration what enables the implementation of insitu real time monitoring of fermentation processes

Caracterização mecânica e térmica da borracha natural formulada e vulcanizada dos clones: GT 1, IAN 873, PB 235 e RRIM 600

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

Structural characterization and Curie temperature determination of a sodium strontium niobate ferroelectric nanostructured powder

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

Estudo de coprólito da bacia sedimentar do Araripe por meios de espectroscopia FT-IR e difração de Raios-X

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Enolase from Paracoccidioides brasiliensis: isolation and identification as a fibronectin-binding protein

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

Thermal behavior and stability of biodegradable spray-dried microparticles containing triamcinolone

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

A discriminating dissolution method for glimepiride polymorphs

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

Propagação de danos em sistemas cooperativos: propriedades termodinâmicas

High-precision calculations of the correlation functions and order parameters were performed in order to investigate the critical properties of several two-dimensional ferro- magnetic systems: (i) the q-state Potts model; (ii) the Ashkin-Teller isotropic model; (iii) the spin-1 Ising model. We deduced exact relations connecting specific damages (the difference between two microscopic configurations of a model) and the above mentioned thermodynamic quanti- ties which permit its numerical calculation, by computer simulation and using any ergodic dynamics. The results obtained (critical temperature and exponents) reproduced all the known values, with an agreement up to several significant figures; of particular relevance were the estimates along the Baxter critical line (Ashkin-Teller model) where the exponents have a continuous variation. We also showed that this approach is less sensitive to the finite-size effects than the standard Monte-Carlo method. This analysis shows that the present approach produces equal or more accurate results, as compared to the usual Monte Carlo simulation, and can be useful to investigate these models in circumstances for which their behavior is not yet fully understood

Synthesis, characterization and thermal behaviour of solid-state compounds of benzoates with some bivalent transition metal ions

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

Two field BPS solutions for generalized Lorentz breaking models

In this work we present nonlinear models in two-dimensional space-time of two interacting scalar fields in the Lorentz and CPT violating scenarios. We discuss the soliton solutions for these models as well as the question of stability for them. This is done by generalizing a model recently published by Barreto and collaborators and also by getting new solutions for the model introduced by them.

Infrared studies of the monoclinic-tetragonal phase transition in Pb(Zr, Ti)O-3 ceramics

Recently, the observation of a new monoclinic phase in the PbZr1-xTixO3 (PZT) system in the vicinity of the morphotropic phase boundary was reported. Investigations of this new phase were reported using different techniques such as high-resolution synchrotron x-ray powder diffraction and Raman spectroscopy. In this work, the monoclinic --> tetragonal phase transition in PbZr0.50Ti0.50O3 ceramics was studied using infrared spectroscopy between 1000 and 400 cm(-1). The four possible nu(1)-stretching modes (Ti-O and Zr-O stretch) in the BO6 octahedron in the ABO(3) structure of PZT in this region were monitored as a function of temperature. The lower-frequency mode nu(1)-(Zr-O) remains practically unaltered, while both intermediate nu(1)-(Ti-O) modes decrease linearly as temperature increases from 89 to 263 K. In contrast, the higher-frequency nu(1)-(Ti-O) and nu(1)-(Zr-O) modes present anomalous behaviour around 178 K. The singularity observed at this mode was associated with the monoclinic --> tetragonal phase transition in PbZr0.50Ti0.50O3 ceramics.

Induced crystallization on tellurite 20Li(2)O-80TeO(2) glass

Crystallization kinetics and structure of 20Li(2)O-80TeO(2) glasses are studied using x-ray diffraction, Fourier transform infrared spectroscopy and differential scanning calorimetry techniques. XRD results show gamma-TeO2, alpha-TeO2 and Li2Te2O5 phase crystallization in the glass matrix. The infrared band structure of this glass is similar to that observed in glassy TeO2. Activation energies were evaluated from Lorentzian three-peak deconvolution of the DSC crystallization peak recorded at different particle sizes. As the obtained activation values were very close, it was not possible to establish a hierarchy on the crystallization of this glass. In addition, the height of the Lorentzian peaks ( delta T-P1, delta T-P2 and delta T-P3) for each sample was measured and plotted against the nucleation temperature. The presence of two maxima at around 284 and 304 degrees C suggests at least two maximum nucleation temperatures in the studied 20Li(2)O-80TeO(2) glass.

Encapsulation of titanium (IV) silsesquioxane into the NH4USY zeolite: Preparation, characterization and application

This work describes the encapsulation of titanium (IV) silsesquioxane into the supercavities of NH4USY ultra stabilized zeolite, after chemical treatment. The modified zeolite was characterized by Fourier transform infrared spectra, Nuclear magnetic resonance, scanning electronic microscopy, X-ray diffraction and thermogravity. This encapsulated titanium (IV) silsesquioxane can adsorb Azure A chloride after treatment with H3PO4, without modifier leaching problems. In an electrochemical study, the cyclic voltammograms of the graphite paste modified electrode, shows two redox couples with formal potential (E-0) -0. 1 V and 0.21 V to I and II redox couples respectively (v = 700 mV s(-1); Britton Robinson buffer (B-R) solution, pH 3) versus SCE ascribed to a monomer and dimmer of azure. This paper shows the use of ultra stabilized zeolite in the electrochemical field as host for molecules with nanometric dimensions. (c) 2006 Elsevier Ltd. All rights reserved.

Compósitos de borracha natural com polianilina

Compósitos de borracha natural (Hevea brasiliensis)-BN/polianilina - PANI, com diferentes composições foram obtidos através da polimerização por emulsão do monômero anilina na presença da BN e do ácido dodecilbenzeno sulfônico (DBSA). Filmes finos e homogêneos foram obtidos por prensagem a quente. Os compósitos foram caracterizados por condutividade elétrica, FTIR, UV-vis-NIR, DSC e difração de raios X. Compósito com condutividade elétrica cerca de 14 ordens de grandeza maior que a BN foi obtido. Este alto valor de condutividade é atribuído à formação da PANI no estado dopado no compósito, que foi verificado através das técnicas de UV-vis-NIR e FTIR. Os resultados obtidos com a técnica de DSC e difratometria de raios X indicaram que os polímeros são imiscíveis e que a presença da borracha não altera significantemente a fase cristalina da PANI-DBSA no compósito.