Multi-agent model for robotic assembly system

In this paper, a multi-agent based model for a robotic assembly system is presented. Firstly, an organization model is used to construct the multi-agent model. Secondly, a dynamic self-organizing method is then put forward for the multi-agent robotic system to bid and contract the operations. Thirdly, a real multi-agent robotic system is built and assembly experiments are carried out. Finally, the experimental results confirm that the present multi-agent robotic system has flexibility, adaptation and stability.

Toward reliable estimates of seed removal by small mammals and birds in the Neotropics

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

An adaptive system based on artificial neural networks for NPK fluid fertilizer application

The application process of fluid fertilizers through variable rates implemented by classical techniques with feedback and conventional equipments can be inefficient or unstable. This paper proposes an open-loop control system based on artificial neural network of the type multilayer perceptron for the identification and control of the fertilizer flow rate. The network training is made by the algorithm of Levenberg-Marquardt with training data obtained from measurements. Preliminary results indicate a fast, stable and low cost control system for precision fanning. Copyright (C) 2000 IFAC.

Radial basis function network applied to the linearization of a voltage controlled oscillator

An analog circuit that implements a radial basis function network is presented. The proposed circuit allows the adjustment of all shape parameters of the radial functions, i.e., amplitude, center and width. The implemented network was applied to the linearization of a nonlinear circuit, a voltage controlled oscillator (VCO). This application can be classified as an open-loop control in which the network plays the role of the controller. Experimental results have proved the linearization capability of the proposed circuit. Its performance can be improved by using a network with more basis functions. Copyright 2007 ACM.

TAO - A software platform for autonomous mobile robots

To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to system incompabilities. This paper proposes a software platform that provides means for creating reusable software modules through the standardization of software interfaces, which represent the various robot modules. © 2012 ICROS.

Manipulação remota de um braço mecânico (Scorbot ER - III) utilizando a rede mundial de computadores

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Desenvolvimento de um sistema de navegação baseado em máquina de vetores de suporte para dirigibilidade de um robô móvel por caminhos em plantações

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Mindware semiótico-comunicativo: campos conceituais no ensino de física para deficientes visuais utilizando uma interface cérebro-computador

Pós-graduação em Educação para a Ciência - FC

Comparing support vector machines and artificial neural networks in the recognition of steering angle for driving of mobile robots through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science

Desenvolvimento de um sistema para navegação de robôs móveis por caminhos em plantações

The use of mobile robots in the agriculture turns out to be interesting in tasks of cultivation and application of pesticides in minute quantities to reduce environmental pollution. In this paper we present the development of a system to control an autonomous mobile robot navigation through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features, and then submitting such characteristic features to a support vector machine to find out the most appropriate route. As the overall goal of the project to which this work is connected is the robot control in real time, the system will be embedded onto a hardware platform. However, in this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route.

Aeroelastic behavior of a wing with a magnetorheological hysteretic model to the damping

This paper shows the application of a hysteretic model for the Magnetorheological Damper (MRD) placed in the plunge degree-of-freedom of aeroelastic model of a wing. This hysteretic MRD model was developed by the researchers of the French Aerospace Lab. (ONERA) and describe, with a very good precision, the hysteretic behavior of the MRD. The aeroelastic model used in this paper do not have structural nonlinearities, the only nonlinearities showed in the model, are in the unsteady flow equations and are the same proposed by Theodorsen and Wagner in their unsteady aerodynamics theory; and the nonlinearity introduced by the hysteretic model used. The main objective of this paper is show the mathematical modeling of the problem and the equations that describes the aeroelastic response of our problem; and the gain obtained with the introduction of this hysteretic model in the equations with respect to other models that do not show the this behavior, through of pictures that represents the time response and Phase diagrams. These pictures are obtained using flow velocities before and after the flutter velocity. Finally, an open-loop control was made to show the effect of the MRD in the aeroelastic behavior.

A FIREWALL MODEL OF FILE SYSTEM SECURITY

File system security is fundamental to the security of UNIX and Linux systems since in these systems almost everything is in the form of a file. To protect the system files and other sensitive user files from unauthorized accesses, certain security schemes are chosen and used by different organizations in their computer systems. A file system security model provides a formal description of a protection system. Each security model is associated with specified security policies which focus on one or more of the security principles: confidentiality, integrity and availability. The security policy is not only about “who” can access an object, but also about “how” a subject can access an object. To enforce the security policies, each access request is checked against the specified policies to decide whether it is allowed or rejected. The current protection schemes in UNIX/Linux systems focus on the access control. Besides the basic access control scheme of the system itself, which includes permission bits, setuid and seteuid mechanism and the root, there are other protection models, such as Capabilities, Domain Type Enforcement (DTE) and Role-Based Access Control (RBAC), supported and used in certain organizations. These models protect the confidentiality of the data directly. The integrity of the data is protected indirectly by only allowing trusted users to operate on the objects. The access control decisions of these models depend on either the identity of the user or the attributes of the process the user can execute, and the attributes of the objects. Adoption of these sophisticated models has been slow; this is likely due to the enormous complexity of specifying controls over a large file system and the need for system administrators to learn a new paradigm for file protection. We propose a new security model: file system firewall. It is an adoption of the familiar network firewall protection model, used to control the data that flows between networked computers, toward file system protection. This model can support decisions of access control based on any system generated attributes about the access requests, e.g., time of day. The access control decisions are not on one entity, such as the account in traditional discretionary access control or the domain name in DTE. In file system firewall, the access decisions are made upon situations on multiple entities. A situation is programmable with predicates on the attributes of subject, object and the system. File system firewall specifies the appropriate actions on these situations. We implemented the prototype of file system firewall on SUSE Linux. Preliminary results of performance tests on the prototype indicate that the runtime overhead is acceptable. We compared file system firewall with TE in SELinux to show that firewall model can accommodate many other access control models. Finally, we show the ease of use of firewall model. When firewall system is restricted to specified part of the system, all the other resources are not affected. This enables a relatively smooth adoption. This fact and that it is a familiar model to system administrators will facilitate adoption and correct use. The user study we conducted on traditional UNIX access control, SELinux and file system firewall confirmed that. The beginner users found it easier to use and faster to learn then traditional UNIX access control scheme and SELinux.

Intracoronary injection of bone marrow-derived mononuclear cells early or late after acute myocardial infarction: effects on global left ventricular function

BACKGROUND Intracoronary administration of autologous bone marrow-derived mononuclear cells (BM-MNC) may improve remodeling of the left ventricle (LV) after acute myocardial infarction. The optimal time point of administration of BM-MNC is still uncertain and has rarely been addressed prospectively in randomized clinical trials. METHODS AND RESULTS In a multicenter study, we randomized 200 patients with large, successfully reperfused ST-segment elevation myocardial infarction in a 1:1:1 pattern into an open-labeled control and 2 BM-MNC treatment groups. In the BM-MNC groups, cells were administered either early (i.e., 5 to 7 days) or late (i.e., 3 to 4 weeks) after acute myocardial infarction. Cardiac magnetic resonance imaging was performed at baseline and after 4 months. The primary end point was the change from baseline to 4 months in global LV ejection fraction between the 2 treatment groups and the control group. The absolute change in LV ejection fraction from baseline to 4 months was -0.4±8.8% (mean±SD; P=0.74 versus baseline) in the control group, 1.8±8.4% (P=0.12 versus baseline) in the early group, and 0.8±7.6% (P=0.45 versus baseline) in the late group. The treatment effect of BM-MNC as estimated by ANCOVA was 1.25 (95% confidence interval, -1.83 to 4.32; P=0.42) for the early therapy group and 0.55 (95% confidence interval, -2.61 to 3.71; P=0.73) for the late therapy group. CONCLUSIONS Among patients with ST-segment elevation myocardial infarction and LV dysfunction after successful reperfusion, intracoronary infusion of BM-MNC at either 5 to 7 days or 3 to 4 weeks after acute myocardial infarction did not improve LV function at 4-month follow-up.

Habitat management for conservation of pollinators in agro-ecosystems of Central Spain

La gestión de hábitat orientada a la conservación de polinizadores en los agro-ecosistemas requiere una selección de especies vegetales atendiendo fundamentalmente a dos criterios: i) el potencial atractivo de sus flores a los polinizadores; y ii) la simplicidad en su manejo agronómico. Además de estas premisas, es necesario considerar la capacidad invasora de estas especies vegetales, debido a que algunas de las más atractivas pueden resultar invasoras en determinados agro-ecosistemas. Por lo tanto, es preciso determinar qué especies vegetales son las más indicadas para ser implementadas en cada agro-ecosistema. En la presente tesis doctoral se plantea la búsqueda de las especies vegetales adecuadas para atraer polinizadores en los agro-ecosistemas del centro de España. En una primera aproximación, se ha evaluado la atracción y expansión espacial (potencial invasivo) de seis plantas perennes de la familia Lamiaceae (aromáticas), elegidas por ser nativas de la región mediterránea. La elección de las especies vegetales se ha llevado a cabo con el fin de crear márgenes funcionales basados en la mezcla de especies vegetales con distintos periodos de floración, de modo que prolonguen la disponibilidad de recursos florales en el tiempo. Tras un primer año dedicado al establecimiento de las especies aromáticas, en los dos años siguientes se ha estudiado la atracción individual y combinada de las especies vegetales sobre los polinizadores, y como ésta se ve afectada por la densidad y la morfología floral, utilizando para ello un diseño experimental en bloques al azar. Los resultados de este estudio han puesto de manifiesto que la morfología floral no tuvo influencia sobre la atracción de las especies vegetales, pero si la densidad floral, puesto que las especies vegetales con mayor densidad de flores (Nepeta tuberosa e Hyssopus officinalis) han mostrado mayor atracción a polinizadores. Cabe destacar que de las seis especies consideradas, dos especies de verano (Melissa officinalis y Thymbra capitata) no han contribuido de forma efectiva a la atracción de la mezcla hacia los polinizadores, mostrando una reducción significativa de este parámetro respecto a las otras especies aromáticas a lo largo del verano. Se ha observado que ninguna de las especies aromáticas evaluadas ha mostrado tendencia invasora a lo largo del estudio. En base a estos resultados, se puede concluir que entre las especies aromáticas estudiadas, N. tuberosa, H. officinalis y Salvia verbenaca son las que ofrecen mayor potencial para ser utilizadas en la conservación de polinizadores. De forma similar al caso de las plantas aromáticas, se ha llevado a cabo una segunda experimentación que incluía doce plantas anuales con floración de primavera, en la que se evaluó la atracción a polinizadores y su comportamiento agronómico. Este estudio con especies herbáceas se ha prolongado durante dos años, utilizando un diseño experimental de bloques aleatorios. Las variables analizadas fueron: el atractivo de las distintas especies vegetales a los polinizadores, su eficiencia de atracción (calculada como una combinación de la duración de la floración y las visitas de insectos), su respuesta a dos tipos de manejo agronómico (cultivo en mezcla frente a monocultivo; laboreo frente a no-laboreo) y su potencial invasivo. Los resultados de esta segunda experimentación han mostrado que las flores de Borago officinalis, Echium plantagineum, Phacelia tanacetifolia y Diplotaxis tenuifolia son atractivas a las abejas, mientras que las flores de Calendula arvensis, Coriandrum sativum, D. tenuifolia y Lobularia maritima son atractivas a los sírfidos. Con independencia del tipo de polinizadores atraídos por cada especie vegetal, se ha observado una mayor eficiencia de atracción en parcelas con monocultivo de D. tenuifolia respecto a las parcelas donde se cultivó una mezcla de especies herbáceas, si bien en estas últimas se observó mayor eficiencia de atracción que en la mayoría de parcelas mono-específicas. Respecto al potencial invasivo de las especies herbáceas, a pesar de que algunas de las más atractivas a polinizadores (P. tanacetifolia and C. arvensis) mostraron tendencia a un comportamiento invasor, su capacidad de auto-reproducción se vio reducida con el laboreo. En resumen, D. tenuifolia es la única especie que presentó una alta eficiencia de atracción a distintos tipos de polinizadores, conjuntamente con una alta capacidad de auto-reproducción pero sin mostrar carácter invasor. Comparando el atractivo de las especies vegetales utilizadas en este estudio sobre los polinizadores, D. tenuifolia es la especie más recomendable para su cultivo orientado a la atracción de polinizadores en agro-ecosistemas en el centro de España. Esta especie herbácea, conocida como rúcula, tiene la ventaja añadida de ser una especie comercializada para el consumo humano. Además de su atractivo a polinizadores, deben considerarse otros aspectos relacionados con la fisiología y el comportamiento de esta especie vegetal en los agro-ecosistemas antes de recomendar su cultivo. Dado que el cultivo en un campo agrícola de una nueva especie vegetal implica unos costes de producción, por ejemplo debidos a la utilización de agua de riego, es necesario evaluar el incremento en dichos costes en función de demanda hídrica específica de esa especie vegetal. Esta variable es especialmente importante en zonas dónde se presentan sequías recurrentes como es el caso del centro y sur-este de la península Ibérica. Este razonamiento ha motivado un estudio sobre los efectos del estrés hídrico por sequía y el estrés por déficit moderado y severo de riego sobre el crecimiento y floración de la especie D. tenuifolia, así como sobre la atracción a polinizadores. Los resultados muestran que tanto el crecimiento y floración de D. tenuifolia como su atracción a polinizadores no se ven afectados si la falta de riego se produce durante un máximo de 4 días. Sin embargo, si la falta de riego se extiende a lo largo de 8 días o más, se observa una reducción significativa en el crecimiento vegetativo, el número de flores abiertas, el área total y el diámetro de dichas flores, así como en el diámetro y longitud del tubo de la corola. Por otro lado, el estudio pone de manifiesto que un déficit hídrico regulado permite una gestión eficiente del agua, la cual, dependiendo del objetivo final del cultivo de D. tenuifolia (para consumo o solo para atracción de polinizadores), puede reducir su consumo entre un 40 y un 70% sin afectar al crecimiento vegetativo y desarrollo floral, y sin reducir significativamente el atractivo a los polinizadores. Finalmente, esta tesis aborda un estudio para determinar cómo afecta el manejo de hábitat a la producción de los cultivos. En concreto, se ha planteado una experimentación que incluye márgenes mono-específicos y márgenes con una mezcla de especies atractivas a polinizadores, con el fin de determinar su efecto sobre la producción del cultivo de cilantro (C. sativum). La elección del cultivo de cilantro se debe a que requiere la polinización de insectos para su reproducción (aunque, en menor medida, puede polinizarse también por el viento), además de la facilidad para estimar su producción en condiciones semi-controladas de campo. El diseño experimental consistía en la siembra de márgenes mono-específicos de D. tenuifolia y márgenes con mezcla de seis especies anuales situados junto al cultivo de cilantro. Estos cultivos con márgenes florales fueron comparados con controles sin margen floral. Además, un segundo grupo de plantas de cilantro situadas junto a todos los tratamientos, cuyas flores fueron cubiertas para evitar su polinización, sirvió como control para evaluar la influencia de los polinizadores en la producción del cultivo. Los resultados muestran que la presencia de cualquiera de los dos tipos de margen floral mejora el peso y el porcentaje de germinación de las semillas de cilantro frente al control sin margen. Si se comparan los dos tipos de margen, se ha observado un mayor número de semillas de cilantro junto al margen con mezcla de especies florales respecto al margen mono-específico, probablemente debido al mayor número visitas de polinizadores. Puesto que el experimento se realizó en condiciones de campo semi-controladas, esto sugiere que las visitas de polinizadores fueron el factor determinante en los resultados. Por otro lado, los resultados apuntan a que la presencia de un margen floral (ya sea mono-especifico o de mezcla) en cultivos de pequeña escala puede aumentar la producción de cilantro en más de un 200%, al tiempo que contribuyen a la conservación de los polinizadores. ABSTRACT Habitat management, aimed to conserve pollinators in agro-ecosystems, requires selection of the most suitable plant species in terms of their attractiveness to pollinators and simplicity of agronomic management. However, since all flowers are not equally attractive to pollinators and many plant species can be weedy or invasive in the particular habitat, it is important to test which plant species are the most appropriate to be implemented in specific agro-ecosystems. For that reason, this PhD dissertation has been focused on determination of the most appropriate aromatic and herbaceous plants for conservation of pollinators in agro-ecosystems of Central Spain. Therefore, in a first approximation, spatial expansion (i.e. potential weediness) and attractiveness to pollinators of six aromatic perennial plants from the Lamiaceae family, native and frequent in the Mediterranean region, were evaluated. Preliminary plant selection was based on designing a functional mixed margins consisting of plants attractive to pollinators and with different blooming periods, in order to extend the availability of floral resources in the field. After a year of vegetative growth, the next two years the plant species were studied in a randomized block design experiment in order to estimate their attractiveness to pollinators in Central Spain and to investigate whether floral morphology and density affect attractiveness to pollinators. The final aim of the study was to evaluate how their phenology and attractiveness to pollinators can affect the functionality of a flowering mixture of these plants. In addition, the spatial expansion, i.e. potential weediness, of the selected plant species was estimated under field conditions, as the final purpose of the studied plants is to be implemented within agro-ecosystems. The results of the experiment showed that floral morphology did not affect the attractiveness of plants to pollinators, but floral density did, as plant species with higher floral density (i.e. Nepeta tuberosa and Hyssopus officinalis) showed significantly higher attractiveness to pollinators. In addition, of six plant species, two summer species (Melissa officinalis and Thymbra capitata) did not efficiently contribute to the attractiveness of the mixture to pollinators, which reduced its attractiveness during the summer period. Finally, as none of the plants showed weedy behaviour under field conditions, the attractive plant species, i.e. N. tuberosa, H. officinalis and the early spring flowering Salvia verbenaca, showed good potential to conserve the pollinators. Similarly, in a second approximation, the attractiveness to pollinators and agronomic behaviour of twelve herbaceous plants blooming in spring were studied. This experiment was conducted over two years in a randomized block design in order to evaluate attractiveness of preselected plant species to pollinators, as well as their attractiveness efficiency (a combination of duration of flowering and insect visitation), their response to two different agronomic management practices (growing in mixed vs. mono-specific plots; tillage vs. no-tillage), and their potential weediness. The results of this experiment showed that the flowers of Borago officinalis, Echium plantagineum, Phacelia tanacetifolia and Diplotaxis tenuifolia were attractive to bees, while Calendula arvensis, Coriandrum sativum, D. tenuifolia and Lobularia maritima were attractive to hoverflies. In addition, floral mixture resulted in lower attractiveness efficiency to pollinators than mono-specific D. tenuifolia, but higher than most of the mono-specific stands. On the other hand, although some of the most attractive plant species (e.g. P. tanacetifolia and C. arvensis) showed potential weediness, their self-seeding was reduced by tillage. After comparing attractiveness efficiency of various herbaceous species to pollinators and their potential weediness, the results indicated that D. tenuifolia showed the highest attractiveness efficiency to pollinators and efficient self-reproduction, making it highly recommended to attract bees and hoverflies in agro-ecosystems of Central Spain. In addition, this plant, commonly known as wild rocket, has a supplementary economic value as a commercialized crop. The implementation of a new floral margin in agro-ecosystems means increased production costs, especially in regions with frequent and long droughts (as it is Central and South-East area of Iberian Peninsula), where the principal agricultural cost is irrigation. Therefore, before recommending D. tenuifolia for sustainable habitat management within agro-ecosystems, it is necessary to study the effect of drought stress and moderate and severe deficit irrigation on its growth, flower development and attractiveness to pollinators. The results of this experiment showed that in greenhouse conditions, potted D. tenuifolia could be without irrigation for 4 days without affecting its growth, flowering and attractiveness to pollinators. However, lack of irrigation for 8 days or longer significantly reduced the vegetative growth, number of open flowers, total floral area, flower diameter, corolla tube diameter and corolla tube length of D. tenuifolia. This study showed that regulated deficit irrigation can improve water use efficiency, and depending on the purpose of growing D. tenuifolia, as a crop or as a beneficial plant to attract pollinators, it can reduce water consumption by 40% to 70% without affecting its vegetative and floral development and without reducing its attractiveness to pollinators. Finally, the following experiment was developed in order to understand how habitat management can influence on the agricultural production. For this purpose, it was evaluated if the vicinity of mixed and mono-specific field margins, preselected to conserve pollinators within agro-ecosystems, can improve seed production in coriander (C. sativum). The selection of this plant species for the experiment was based on its necessity for insect pollination for production of seeds (even though some pollen can be transmitted from one flower to another by wind) and the fact that under semi-controlled field conditions established in the field it is possible to estimate its total seed production. Since D. tenuifolia is attractive for both bees and hoverflies in Central Spain, the main objective of this experiment was to estimate the impact of two different types of field margins, i.e. mono-specific margin with D. tenuifolia and mixed margin with six herbaceous species, on the seed production of potted coriander. For that reason, it was tested: i) if open pollination (control without proximate field margin and treatments with nearby mono-specific and mixed margin) increases the seed production of coriander when compared with no-pollination (covered inflorescences of coriander) under field conditions; ii) if frequency of pollinator visitation to the flowers of coriander was higher in the presence of field margins than in the control without field margin; and iii) if seed production was higher in the presence of field margins than in control plants of coriander without field margin. The results showed that the proximity of both types of floral margins (mixed and mono-specific) improved the seed quality of coriander plants, as seed weight and germination rate were higher than in control plants without field margin. Furthermore, the number of seeds produced was significantly higher in coriander plants grown near mixed margins than near mono-specific margin, probably due to an increase in pollinator visits. Since the experiment was conducted under semi-controlled field conditions, it can be concluded that pollinator visits was the main factor that biased the results, and that presence of both mixed or mono-specific (D. tenuifolia) margins can improve the production of coriander for more than 200% in small-scale gardens and, in addition, conserve the local pollinators.

Event-based visual servoing

Traditional visual servoing systems have been widely studied in the last years. These systems control the position of the camera attached to the robot end-effector guiding it from any position to the desired one. These controllers can be improved by using the event-based control paradigm. The system proposed in this paper is based on the idea of activating the visual controller only when something significant has occurred in the system (e.g. when any visual feature can be loosen because it is going outside the frame). Different event triggers have been defined in the image space in order to activate or deactivate the visual controller. The tests implemented to validate the proposal have proved that this new scheme avoids visual features to go out of the image whereas the system complexity is reduced considerably. Events can be used in the future to change different parameters of the visual servoing systems.