Modulação quantizada para sistemas com codificação wavelet sujeitos ao desvanecimento rayleigh

Wavelet coding is an efficient technique to overcome the multipath fading effects, which are characterized by fluctuations in the intensity of the transmitted signals over wireless channels. Since the wavelet symbols are non-equiprobable, modulation schemes play a significant role in the overall performance of wavelet systems. Thus the development of an efficient design method is crucial to obtain modulation schemes suitable for wavelet systems, principally when these systems employ wavelet encoding matrixes of great dimensions. In this work, it is proposed a design methodology to obtain sub-optimum modulation schemes for wavelet systems over Rayleigh fading channels. In this context, novels signal constellations and quantization schemes are obtained via genetic algorithm and mathematical tools. Numerical results obtained from simulations show that the wavelet-coded systems derived here have very good performance characteristics over fading channels

Enumeração de espectro de distâncias de esquemas de modulação codificada em treliça empregando codificação turbo

In this work, a performance analysis of transmission schemes employing turbo trellis coded modulation. In general, the performance analysis of such schemes is guided by evaluating the error probability of these schemes. The exact evaluation of this probability is very complex and inefficient from the computational point of view, a widely used alternative is the use of union bound of error probability, because of its easy implementation and computational produce bounds that converge quickly. Since it is the union bound, it should use to expurge some elements of distance spectrum to obtain a tight bound. The main contribution of this work is that the listing proposal is carried out from the puncturing at the level of symbol rather than bit-level as in most works of literature. The main reason for using the symbol level puncturing lies in the fact that the enummerating function of the turbo scheme is obtained directly from complex sequences of signals through the trellis and not indirectly from the binary sequences that require further binary to complex mapping, as proposed by previous works. Thus, algorithms can be applied through matrix from the adjacency matrix, which is obtained by calculating the distances of the complex sequences of the trellis. This work also presents two matrix algorithms for state reduction and the evaluation of the transfer function of this. The results presented in comparisons of the bounds obtained using the proposed technique with some turbo codes of the literature corroborate the proposition of this paper that the expurgated bounds obtained are quite tight and matrix algorithms are easily implemented in any programming software language

Uma proposição para o cálculo de mapas de disparidade de imagens estéreo usando um interpolador neural baseado em funções de base radial

This study aims to seek a more viable alternative for the calculation of differences in images of stereo vision, using a factor that reduces heel the amount of points that are considered on the captured image, and a network neural-based radial basis functions to interpolate the results. The objective to be achieved is to produce an approximate picture of disparities using algorithms with low computational cost, unlike the classical algorithms

Técnicas inteligentes hídridas para o controle de sistemas não lineares

A neuro-fuzzy system consists of two or more control techniques in only one structure. The main characteristic of this structure is joining one or more good aspects from each technique to make a hybrid controller. This controller can be based in Fuzzy systems, artificial Neural Networks, Genetics Algorithms or rein forced learning techniques. Neuro-fuzzy systems have been shown as a promising technique in industrial applications. Two models of neuro-fuzzy systems were developed, an ANFIS model and a NEFCON model. Both models were applied to control a ball and beam system and they had their results and needed changes commented. Choose of inputs to controllers and the algorithms used to learning, among other information about the hybrid systems, were commented. The results show the changes in structure after learning and the conditions to use each one controller based on theirs characteristics

Um método para localização facial Invariante a rotação

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Separação cega de fontes lineares e não lineares usando algoritmo genético, redes neurais artificiais RBF e negentropia de Rényi como medida de independência

Conventional methods to solve the problem of blind source separation nonlinear, in general, using series of restrictions to obtain the solution, often leading to an imperfect separation of the original sources and high computational cost. In this paper, we propose an alternative measure of independence based on information theory and uses the tools of artificial intelligence to solve problems of blind source separation linear and nonlinear later. In the linear model applies genetic algorithms and Rényi of negentropy as a measure of independence to find a separation matrix from linear mixtures of signals using linear form of waves, audio and images. A comparison with two types of algorithms for Independent Component Analysis widespread in the literature. Subsequently, we use the same measure of independence, as the cost function in the genetic algorithm to recover source signals were mixed by nonlinear functions from an artificial neural network of radial base type. Genetic algorithms are powerful tools for global search, and therefore well suited for use in problems of blind source separation. Tests and analysis are through computer simulations

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

Utilização de sistemas dedicados a protocolos de rede aplicados à eficiência energética da iluminação pública

The public illumination system of Natal/RN city presents some recurring problems in the aspect of monitoring, since currently is not possible to detect in real time the light bulbs which are on throughout the day, or those which are off or burned out, at night. These factors depreciate the efficiency of the services provided, as well as, the use of energetic resources, because there is energetic waste and, consequently, financial resources that could be applied at the own public system illumination. The purpose of the work is create a prototype in substitution to the currently photoelectric relays used at public illumination, that have the same function, as well others: turn on or off the light bulbs remotely (control flexibility by the use of specifics algorithms supervisory), checking the light bulbs status (on or off) and wireless communication with the system through the ZigBee® protocol. The development steps of this product and the tests carried out are related as a way to validate and justify its use at the public illumination

Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Modelos de dispositivos de microondas e ópticos através de redes neurais artificiais de alimentação direta

This dissertation contributes for the development of methodologies through feed forward artificial neural networks for microwave and optical devices modeling. A bibliographical revision on the applications of neuro-computational techniques in the areas of microwave/optical engineering was carried through. Characteristics of networks MLP, RBF and SFNN, as well as the strategies of supervised learning had been presented. Adjustment expressions of the networks free parameters above cited had been deduced from the gradient method. Conventional method EM-ANN was applied in the modeling of microwave passive devices and optical amplifiers. For this, they had been proposals modular configurations based in networks SFNN and RBF/MLP objectifying a bigger capacity of models generalization. As for the training of the used networks, the Rprop algorithm was applied. All the algorithms used in the attainment of the models of this dissertation had been implemented in Matlab

Análise espectral de reflectarrays com substratos de duas camadas dielétricas anisotrópicas uniaxiais

Recently, an amazing development has been observed in telecommunication systems. Two good examples of this development are observed in mobile communication and aerospace systems. This impressive development is related to the increasing need for receiving and transmitting communication signals. Particularly, this development has required the study of new antennas and filters. This work presents a fullwave analysis of reflectarrays. The considered structures are composed by arrays of rectangular conducting patches printed on multilayer dieletric substrates, that are mounted on a ground plane. The analysis is developed in the spectral domain, using an equivalent transmission line method in combination with Galerkin method. Results for the reflection coefficient of these structures are presented and compared to those available in the literature. A good agreement was observed. Particularly, the developed analysis uses the transmission lines theory in combination with the incident potentials and the field continuity equations, at the structures interfaces, for obtaining the scattered field components expressions as function of the patch surface currents and of the incident field. Galerkin method is used to determine the unknown coefficients in the boundary value problem. Curves for the reflection coefficient of several reflectarray geometries are presented as function of frequency and of the structural parameters

Estudos e projetos de filtro interdigital em microfita para aplicação prática ao transponder do satélite ITASAT

This work shows a theoretical analysis together with numerical and experimental results of transmission characteristics from the microstrip bandpass filters with different geometries. These filters are built over isotropic dielectric substrates. The numerical analysis is made by specifical commercial softwares, like Ansoft Designer and Agilent Advanced Design System (ADS). In addition to these tools, a Matlab Script was built to analyze the filters through the Finite-Difference Time-Domain (FDTD) method. The filters project focused the development of the first stage of filtering in the ITASAT s Transponder receptor, and its integration with the others systems. Some microstrip filters architectures have been studied, aiming the viability of implementation and suitable practical application for the purposes of the ITASAT Project due to its lowspace occupation in the lower UHF frequencies. The ITASAT project is a Universityexperimental project which will build a satellite to integrate the Brazilian Data Collect System s satellite constellation, with efforts of many Brazilian institutes, like for example AEB (Brazilian Spatial Agency), ITA (Technological Institute of Aeronautics), INPE/CRN (National Institute of Spatial Researches/Northeastern Regional Center) and UFRN (Federal University of Rio Grande do Norte). Comparisons were made between numerical and experimental results of all filters, where good agreements could be noticed, reaching the most of the objectives. Also, post-work improvements were suggested.

Implementação de um sistema embarcado aplicado ao controle de pressão arterial

Hypertension is a dangerous disease that can cause serious harm to a patient health. In some situations the necessity to control this pressure is even greater, as in surgical procedures and post-surgical patients. To decrease the chances of a complication, it is necessary to reduce blood pressure as soon as possible. Continuous infusion of vasodilators drugs, such as sodium nitroprusside (SNP), rapidly decreased blood pressure in most patients, avoiding major problems. Maintaining the desired blood pressure requires constant monitoring of arterial blood pressure and frequently adjusting the drug infusion rate. Manual control of arterial blood pressure by clinical personnel is very demanding, time consuming and, as a result, sometimes of poor quality. Thus, the aim of this work is the design and implementation of a database of tuned controllers based on patients models, in order to find a suitable PID to be embedded in a Programmable Integrated Circuit (PIC), which has a smaller cost, smaller size and lower power consumption. For best results in controlling the blood pressure and choosing the adequate controller, tuning algorithms, system identification techniques and Smith predictor are used. This work also introduces a monitoring system to assist in detecting anomalies and optimize the process of patient care.

Uma contribuição à solução do problema dos k-servos usando aprendizagem por reforço

Neste trabalho é proposto um novo algoritmo online para o resolver o Problema dos k-Servos (PKS). O desempenho desta solução é comparado com o de outros algoritmos existentes na literatura, a saber, os algoritmos Harmonic e Work Function, que mostraram ser competitivos, tornando-os parâmetros de comparação significativos. Um algoritmo que apresente desempenho eficiente em relação aos mesmos tende a ser competitivo também, devendo, obviamente, se provar o referido fato. Tal prova, entretanto, foge aos objetivos do presente trabalho. O algoritmo apresentado para a solução do PKS é baseado em técnicas de aprendizagem por reforço. Para tanto, o problema foi modelado como um processo de decisão em múltiplas etapas, ao qual é aplicado o algoritmo Q-Learning, um dos métodos de solução mais populares para o estabelecimento de políticas ótimas neste tipo de problema de decisão. Entretanto, deve-se observar que a dimensão da estrutura de armazenamento utilizada pela aprendizagem por reforço para se obter a política ótima cresce em função do número de estados e de ações, que por sua vez é proporcional ao número n de nós e k de servos. Ao se analisar esse crescimento (matematicamente, ) percebe-se que o mesmo ocorre de maneira exponencial, limitando a aplicação do método a problemas de menor porte, onde o número de nós e de servos é reduzido. Este problema, denominado maldição da dimensionalidade, foi introduzido por Belmann e implica na impossibilidade de execução de um algoritmo para certas instâncias de um problema pelo esgotamento de recursos computacionais para obtenção de sua saída. De modo a evitar que a solução proposta, baseada exclusivamente na aprendizagem por reforço, seja restrita a aplicações de menor porte, propõe-se uma solução alternativa para problemas mais realistas, que envolvam um número maior de nós e de servos. Esta solução alternativa é hierarquizada e utiliza dois métodos de solução do PKS: a aprendizagem por reforço, aplicada a um número reduzido de nós obtidos a partir de um processo de agregação, e um método guloso, aplicado aos subconjuntos de nós resultantes do processo de agregação, onde o critério de escolha do agendamento dos servos é baseado na menor distância ao local de demanda

Redes neurais artificiais no ambiente de redes industriais foundation fieldbus usando blocos funcionais padrões

Industrial automation networks is in focus and is gradually replacing older architectures of systems used in automation world. Among existing automation networks, most prominent standard is the Foundation Fieldbus (FF). This particular standard was chosen for the development of this work thanks to its complete application layer specification and its user interface, organized as function blocks and that allows interoperability among different vendors' devices. Nowadays, one of most seeked solutions on industrial automation are the indirect measurements, that consist in infering a value from measures of other sensors. This can be made through implementation of the so-called software sensors. One of the most used tools in this project and in sensor implementation are artificial neural networks. The absence of a standard solution to implement neural networks in FF environment makes impossible the development of a field-indirect-measurement project, besides other projects involving neural networks, unless a closed proprietary solution is used, which dos not guarantee interoperability among network devices, specially if those are from different vendors. In order to keep the interoperability, this work's goal is develop a solution that implements artificial neural networks in Foundation Fieldbus industrial network environment, based on standard function blocks. Along the work, some results of the solution's implementation are also presented