Localização e mapeamento simultâneos de ambientes planos usando visão monocular e representação híbrida do ambiente

The goal of this work is to propose a SLAM (Simultaneous Localization and Mapping) solution based on Extended Kalman Filter (EKF) in order to make possible a robot navigates along the environment using information from odometry and pre-existing lines on the floor. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor . Then the image processing identifies floor lines and the parameters of these lines are mapped to world using a homography matrix. Finally, the identified lines are used in SLAM as landmarks in order to build a feature map. In parallel, using the corrected robot pose, the uncertainty about the pose and also the part non floor of the image, it is possible to build an occupancy grid map and generate a metric map with the obstacle s description. A greater autonomy for the robot is attained by using the two types of obtained map (the metric map and the features map). Thus, it is possible to run path planning tasks in parallel with localization and mapping. Practical results are presented to validate the proposal

Uma implementação paralela híbrida para o problema do caixeiro viajante usando algoritmos genéticos, GRASP e aprendizagem por reforço

The metaheuristics techiniques are known to solve optimization problems classified as NP-complete and are successful in obtaining good quality solutions. They use non-deterministic approaches to generate solutions that are close to the optimal, without the guarantee of finding the global optimum. Motivated by the difficulties in the resolution of these problems, this work proposes the development of parallel hybrid methods using the reinforcement learning, the metaheuristics GRASP and Genetic Algorithms. With the use of these techniques, we aim to contribute to improved efficiency in obtaining efficient solutions. In this case, instead of using the Q-learning algorithm by reinforcement learning, just as a technique for generating the initial solutions of metaheuristics, we use it in a cooperative and competitive approach with the Genetic Algorithm and GRASP, in an parallel implementation. In this context, was possible to verify that the implementations in this study showed satisfactory results, in both strategies, that is, in cooperation and competition between them and the cooperation and competition between groups. In some instances were found the global optimum, in others theses implementations reach close to it. In this sense was an analyze of the performance for this proposed approach was done and it shows a good performance on the requeriments that prove the efficiency and speedup (gain in speed with the parallel processing) of the implementations performed

Estudo da viabilização do uso da mistura híbrida ferrocarbonila / ferrita de NI0,5Zn0,5Fe2o4 como material absorvedor de radiação eletromagnética

Were synthesized ferrites of NiZn on systems Ni0,5Zn0,5Fe2O4, the precursors citrate method. The decomposition of the precursors was studied by thermogravimetric analysis and spectroscopy in the infrared region, the temperature of 350°C/3h. The evolution of the phases formed after calcinations at 350ºC/3h, 600, 1000 and 1100ºC/2h was accompanied by X-ray diffraction using the Rietveld refinement method for better identification os structures formed. Was observed for samples calcined at different temperatures increased crystallinity with increasing calcination temperature, being observed for the samples calcined at 900 and 1100 º C/2h was the precipitation of a secondary phase, the phase hematite. The ferrocarbonila of industrial origin was analyzed by X-ray diffraction and Rietveld for the identification of its structure. The carbonyl iron was added NiZn ferrite calcined at 350ºC/3h, 600, 900, 1000 and 1100ºC/2h to the formation of hybrid mixtures. They were then analyzed by Xray diffraction and Rietveld. The NiZn ferrite and ferrocarbonila as well as the hybrid mixtures were subjected to analysis of scanning electron microscopy, magnetic measurements and reflectivity. The magnetic measurements indicated that the ferrite, the ferrocarbonila, as well as hybrid mixtures showed characteristics of soft magnetic material. The addition of ferrocarbonila in all compositions showed an increase in the results of magnetic measurements and reflectivity. Best result was observed in the increase of the magnetization for the hybrid mixture of Ferrocarbonila / ferrite of NiZn calcined at 600ºC/2h. The mixture Ferrocarbonila / ferrite calcined 1000°C/2h presented better absorption of electromagnetic radiation in the microwave

Proposta e implementação de uma arquitetura reconfigurável híbrida para aplicações baseadas em fluxo de dados

The increase of applications complexity has demanded hardware even more flexible and able to achieve higher performance. Traditional hardware solutions have not been successful in providing these applications constraints. General purpose processors have inherent flexibility, since they perform several tasks, however, they can not reach high performance when compared to application-specific devices. Moreover, since application-specific devices perform only few tasks, they achieve high performance, although they have less flexibility. Reconfigurable architectures emerged as an alternative to traditional approaches and have become an area of rising interest over the last decades. The purpose of this new paradigm is to modify the device s behavior according to the application. Thus, it is possible to balance flexibility and performance and also to attend the applications constraints. This work presents the design and implementation of a coarse grained hybrid reconfigurable architecture to stream-based applications. The architecture, named RoSA, consists of a reconfigurable logic attached to a processor. Its goal is to exploit the instruction level parallelism from intensive data-flow applications to accelerate the application s execution on the reconfigurable logic. The instruction level parallelism extraction is done at compile time, thus, this work also presents an optimization phase to the RoSA architecture to be included in the GCC compiler. To design the architecture, this work also presents a methodology based on hardware reuse of datapaths, named RoSE. RoSE aims to visualize the reconfigurable units through reusability levels, which provides area saving and datapath simplification. The architecture presented was implemented in hardware description language (VHDL). It was validated through simulations and prototyping. To characterize performance analysis some benchmarks were used and they demonstrated a speedup of 11x on the execution of some applications

Tendencias, escenarios y fenómenos emergentes en la configuración del sector salud en la Argentina

Incluye Bibliografía

Tendencias, escenarios y fenómenos emergentes en la configuración del sector salud en la Argentina

Incluye Bibliografía

Aproximaciones y desencuentros en la configuración de una autoridad social en Costa Rica: relato e interpretación de una reforma inconclusa

Incluye Bibliografía

Uma possível arte afro-brasileira: corporeidade e ancestralidade em quatro poéticas

Pós-graduação em Artes - IA

Paisagem híbrida: a reprodutibilidade da imagem na arte contemporânea

Pós-graduação em Artes - IA

Previsão de cargas elétricas através de uma Rede Neural Híbrida Back-ART Fuzzy

Pós-graduação em Engenharia Elétrica - FEIS

Desempenho ecofisiológico de Styrax ferrugineus, S. camporum E. S. pohlii (Styraceae), submetidos à deficiência híbrida em sistema semi controlado

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

Transdução e realidade híbrida em Avatar: uma experiência media assemblage

Pós-graduação em Comunicação - FAAC

Inter-relação do comprimento dos prolongamentos resinosos (tags) e da espessura da camada híbrida de adesão, com a resistência de união de sistemas adesivos ao tecido dentinário

Pós-graduação em Odontologia - FOA

Programas para el cuidado y el desarrollo infantil temprano en los países del Sistema de la Integración Centroamericana (SICA). De su configuración actual a su implementación óptima

Incluye Bibliografía

Centralización y concentración en la configuración espacial argentina

Presentado anteriormente en el Seminario sobre Estrategia Regional en la Argentina, marzo 1971