An optical flow-based sensing system for reactive mobile robot navigation

This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.

Knowledge management framework based on brain models and human physiology

The life of humans and most living beings depend on sensation and perception for the best assessment of the surrounding world. Sensorial organs acquire a variety of stimuli that are interpreted and integrated in our brain for immediate use or stored in memory for later recall. Among the reasoning aspects, a person has to decide what to do with available information. Emotions are classifiers of collected information, assigning a personal meaning to objects, events and individuals, making part of our own identity. Emotions play a decisive role in cognitive processes as reasoning, decision and memory by assigning relevance to collected information. The access to pervasive computing devices, empowered by the ability to sense and perceive the world, provides new forms of acquiring and integrating information. But prior to data assessment on its usefulness, systems must capture and ensure that data is properly managed for diverse possible goals. Portable and wearable devices are now able to gather and store information, from the environment and from our body, using cloud based services and Internet connections. Systems limitations in handling sensorial data, compared with our sensorial capabilities constitute an identified problem. Another problem is the lack of interoperability between humans and devices, as they do not properly understand human’s emotional states and human needs. Addressing those problems is a motivation for the present research work. The mission hereby assumed is to include sensorial and physiological data into a Framework that will be able to manage collected data towards human cognitive functions, supported by a new data model. By learning from selected human functional and behavioural models and reasoning over collected data, the Framework aims at providing evaluation on a person’s emotional state, for empowering human centric applications, along with the capability of storing episodic information on a person’s life with physiologic indicators on emotional states to be used by new generation applications.

Aplicação da cromatografia por exclusão e da cromatografia gasosa de alta resolução na análise do café

The combination of high performance exclusion chromatography (HPEC) and gas chromatography (GC) was applied to the analysis of six coffee samples that were previously characterized by sensory tests as of good or poor quality. The data obtained by the two techniques were statistically evaluated by "Principal Components Analysis" (PCA) using selected peak areas. The results showed the potential of the described techniques for coffee analysis. The HPEC technique monitored with the U.V. detector at 272 nm and followed by PCA may be correlated with sensorial data, particularly if a wider group of samples is used.

Development of a Control System for a Tele Operated Mobile Robot

Mobile robots are capable of performing spatial displacement motions in different environments. This motions can be calculated based on sensorial data (autonomous robot) or given by an operator (tele operated robot). This thesis is focused on the latter providing the control architecture which bridges the tele operator and the robot’s locomotion system and end effectors. Such a task might prove overwhelming in cases where the robot comprises a wide variety of sensors and actuators hence a relatively new option was selected: Robot Operating System (ROS). The control system of a new robot will be sketched and tested in a simulation model using ROS together with Gazebo in order to determine the viability of such a system. The simulated model will be based on the projected shape and main features of the real machine. A stability analysis will be performed first theoretically and afterwards using the developed model. This thesis concluded that both the physical properties and the control architecture are feasible and stable settling up the ground for further work with the same robot.

Husserl on Geometry and Spatial Representation

Husserl left many unpublished drafts explaining (or trying to) his views on spatial representation and geometry, such as, particularly, those collected in the second part of Studien zur Arithmetik und Geometrie (Hua XXI), but no completely articulate work on the subject. In this paper, I put forward an interpretation of what those views might have been. Husserl, I claim, distinguished among different conceptions of space, the space of perception (constituted from sensorial data by intentionally motivated psychic functions), that of physical geometry (or idealized perceptual space), the space of the mathematical science of physical nature (in which science, not only raw perception has a word) and the abstract spaces of mathematics (free creations of the mathematical mind), each of them with its peculiar geometrical structure. Perceptual space is proto-Euclidean and the space of physical geometry Euclidean, but mathematical physics, Husserl allowed, may find it convenient to represent physical space with a non-Euclidean structure. Mathematical spaces, on their turn, can be endowed, he thinks, with any geometry mathematicians may find interesting. Many other related questions are addressed here, in particular those concerning the a priori or a posteriori character of the many geometric features of perceptual space (bearing in mind that there are at least two different notions of a priori in Husserl, which we may call the conceptual and the transcendental a priori). I conclude with an overview of Weyl's ideas on the matter, since his philosophical conceptions are often traceable back to his former master, Husserl.

Perfil sensorial de ovos de Páscoa

Easter egg is a popular chocolate-candy in egg form commercialized in Brazil during Easter time. In this research, Quantitative Descriptive Analysis was applied to select sensory attributes which best define the modifications in appearance, aroma, flavor and texture when cocoa butter equivalent (CBE) is added to Easter eggs. Samples with and without CBE were evaluated by a selected panel and fourteen attributes best describing similarities and differences between them, were defined. Terms definition, reference materials and a consensus ballot were developed. After a training period, panelists evaluated the samples in a Complete Block Design using a 9 cm unstructured scale. Principal Component Analysis, ANOVA and Tukey test (p<0.05) were applied to the data in order to select attributes which best discriminated and characterized the samples. Samples showed significant differences (p<0.05) in all attributes. Easter egg without CBE showed higher intensities (p<0.05) in relation to the following descriptors: brown color, characteristic aroma, cocoa mass aroma, cocoa butter aroma, characteristic flavor, cocoa mass flavor, hardness and brittleness.

Perfil sensorial de vinhos brancos varietais brasileiros através de análise descritiva quantitativa

Descriptive terminology and sensory profile of three varieties of brazilian varietal white wines (cultivars Riesling, Gewürztraminer and Chardonnay) were developed by a methodology based on the Quantitative Descriptive Analysis (QDA). The sensory panel consensually defined the sensory descriptors, their respective reference materials and the descriptive evaluation ballot. Ten individuals were selected as judges based on their discrimination, reproducibility and individual consensus with the sensory panel. Twelve descriptors were generated showing similarities and differences among the wine samples. Each descriptor was evaluated using a nine-centimeters non-structured scale with the intensity terms anchored at its ends. The collected data were analysed by ANOVA, Tukey test and Principal Component Analysis (PCA). The results showed a great difference within the sensory profile of Riesling and Gewürztraminer wines, whereas Chardonnay wines showed a lesser variation. PCA separated samples into two groups: a first group formed by wines higher in sweetness and fruitty flavor and aroma; and a second group of wines higher in sourness, adstringency, bitterness, alcoholic and fermented flavors.

Caracterização físico química, perfil sensorial e aceitação de morangos submetidos à irradiação

A irradiação de alimentos é um método de conservação não térmico utilizado em diferentes alimentos e em diferentes doses. Sabe-se que, dependendo da dose aplicada, esse método pode ocasionar alterações nas características físico-químicas e sensoriais, que afetam a qualidade do produto. Portanto, um dos objetivos deste estudo foi analisar o efeito da irradiação nas características físico-químicas e sensoriais de morangos irradiados. A irradiação das amostras de morango ocorreu um dia após a colheita e foi realizada no Laboratório de Radiação Gama do Centro de Desenvolvimento da Tecnologia Nuclear (CDTN), em Belo Horizonte-MG. As doses utilizadas foram 1 kGy, 2 kGy, 3 kGy e 4 kGy e a amostra controle (0 kGy). Foram avaliados pH, acidez total titulável, sólidos solúveis, ratio (relação entre teor de sólidos solúveis e acidez total titulável), açúcares redutores, totais e não redutores, pectina, ácido ascórbico, firmeza, cor, antocianinas, compostos fenólicos e capacidade antioxidante. Para a caracterização sensorial das amostras, foi utilizado o método Perfil Descritivo Otimizado (PDO), sendo avaliados os atributos sensoriais cor, sabor adocicado, gosto ácido, firmeza e suculência, por 15 julgadores previamente selecionados. Além da caracterização sensorial, foi realizada a análise de aceitação sensorial por 60 consumidores de morango em duas sessões. A irradiação não alterou significativamente a maioria das características físico-químicas analisadas, ao comparar todas as doses empregadas, incluindo o morango controle (não irradiado); apenas a firmeza apresentou valores diferentes estatisticamente: com o aumento da dose, houve diminuição da firmeza do fruto. No PDO, as amostras diferiram quanto à cor, sabor adocicado, firmeza e suculência, sendo que a amostra controle e a amostra irradiada com 1 kGy tiveram maiores valores de firmeza e menores de suculência e sabor adocicado. Em relação à aceitação, a amostra controle e a amostra irradiada com 1 kGy não diferiram estatisticamente pelo teste Tukey a 5%, mas diferiram das amostras irradiadas com doses de 3 kGy e de 4 kGy; no entanto, a amostra irradiada a 2 kGy não diferiu de nenhuma outra dose. Foram realizados estudos de correlações entre os dados físico-químicos de pH, acidez total titulável (ATT), sólidos solúveis (SS), açúcares totais e açúcares não redutores, antocianina (método pH diferencial), pectina, firmeza instrumental, relação entre SS/ATT (ratio) e alguns parâmetros de cor (a*, b*, c* e L), e os dados do teste sensorial descritivo, ou seja, os atributos de firmeza, suculência, sabor adocicado e gosto ácido. Os resultados obtidos foram correlações significativamente positivas entre pH e ratio, sólidos solúveis e pectina, antocianinas e parâmetros de cor (a* e c*), açúcares e parâmetros de cor (b* e c*), firmeza sensorial e firmeza instrumental, suculência e sabor xvi adocicado e firmeza sensorial e gosto ácido. Já as correlações negativas foram entre acidez e ratio, sólidos solúveis e firmeza, antocianina e L*, firmeza sensorial e sabor adocicado e suculência com: firmeza instrumental, firmeza sensorial e gosto ácido. Neste trabalho, também foi realizada a caracterização físico-química e sensorial de morangos irradiados nas doses determinadas por Lima Filho et al. (2014) como sendo correspondentes ao limiar de detecção (LD) sensorial (0,405 kGy) e ao limiar de rejeição (LR) sensorial (3,6 kGy) para morangos irradiados. Além disso, foi verificada a influência da embalagem na aceitação sensorial de morangos irradiados na dose 3,6 kGy. Todas as medidas físico-químicas apresentaram pequena variação entre as amostras controle (0 kGy) e o LD e o LR. Não houve diferença significativa em relação à aceitação da amostra irradiada na ausência e na presença da embalagem, provavelmente devido ao grau de conhecimento do painel de consumidores em relação ao processo de irradiação de alimentos. Conclui-se que a irradiação é um método de conservação que pode ser utilizado em morangos, uma vez que exerce pouca influência, no período de tempo estudado, nas suas características físico-químicas e sensoriais.

Implementação da estratégia de marketing sensorial: uma abordagem empírica

Dissertação de Mestrado, Ciências Económicas e Empresariais, 16 de Dezembro 2013, Universidade dos Açores.

Biological and Physiological Markers of Tactile Sensorial Processing in Healthy Newborns

The main objective of this review is to provide a descriptive analysis of the biological and physiological markers of tactile sensorial processing in healthy, full-term newborns. Research articles were selected according to the following study design criteria: (a) tactile stimulation for touch sense as an independent variable; (b) having at least one biological or physiological variable as a dependent variable; and (c) the group of participants were characterized as full-term and healthy newborns; a mixed group of full-term newborns and preterm newborns; or premature newborns with appropriate-weight-for-gestational age and without clinical differences or considered to have a normal, healthy somatosensory system. Studies were then grouped according to the dependent variable type, and only those that met the aforementioned three major criteria were described. Cortisol level, growth measures, and urinary catecholamine, serotonin, and melatonin levels were reported as biological-marker candidates for tactile sensorial processing. Heart rate, body temperature, skin-conductance activity, and vagal reactivity were described as neurovegetative-marker candidates. Somatosensory evoked potentials, somatosensory evoked magnetic fields, and functional neuroimaging data also were included.

Preliminary data on Brazilian monofloral honey from the northeast region using FT-IR ATR spectroscopic, palynological, and color analysis

Fourier transform infrared attenuated total reflectance (FT-IR ATR) spectroscopy was used to determine 14 different measurands in northeast Brazilian honey samples. Nine different honey samples (six monofloral and three polyfloral) from 2009 obtained from the company CEARAPI underwent FT-IR ATR, palynological, color, and sensorial analysis to obtain preliminary results for these types of honey. The results showed that there are five monofloral, three bifloral, and one extrafloral honey, and also that mid-infrared spectrometry can be used as a screening method for the routine analysis of Brazilian honey, with the advantages of being rapid, nondestructive, and accurate.

Atividade multimodal no córtex sensorial primário de ratos.

The currently accepted model of sensory processing states that different senses are processed in parallel, and that the activity of specific cortical regions define the sensorial modality perceived by the subject. In this work we used chronic multielectrode extracellular recordings to investigate to which extent neurons in the visual and tactile primary cortices (V1 and S1) of anesthetized rats would respond to sensory modalities not traditionaly associated with these cortices. Visual stimulation yielded 87% of responsive neurons in V1, while 82% of S1 neurons responded to tactile stimulation. In the same stimulation sessions, we found 23% of V1 neurons responding to tactile stimuli and 22% of S1 neurons responding to visual stimuli. Our data supports an increasing body of evidence that indicates the existence multimodal processing in primary sensory cortices. Our data challenge the unimodal sensory processing paradigm, and suggest the need of a reinterpretation of the currently accepted model of cortical hierarchy.

TEOR DE VITAMINA C, ATIVIDADE DE ASCORBATO OXIDASE E PERFIL SENSORIAL DE MANGA (Mangífera índica L.) VAR. HADEN, DURANTE O AMADURECIMENTO

The chemical and biochemical composition of mango, varies according to the cultivation conditions, variety and maturation state, generally containing a high level of ascorbic acid. In order to establish the correlation between the activity of the ascorbate oxidase [E.C.1.10.3.3], and ascorbic acid level in the ripening process of the Haden mango (Mangífera índica L.), sample of the fruits related to hard green stage (zero), 2, 4, 6, 8, 10, 12 and 14 days stored at 20 ± 2oC, were tested. The samples were obtained by cutting small cubes of 8 cm3 from pulps of 8 mangoes with texture without significant difference (p£0.05) at Magness-Taylor pressure tester scale. In each sample the activity of ascorbate oxidase was followed, in order to check its participation in possible substrate losses during the ripening fruits. The ascorbic acid level and sensory profile also was determined periodically during the ripening period. The enzymatic activity was spectrophotometrically determined at 245 nm and 30oC. The ascorbic acid was analyzed according modified AOAC methodology, and sensory analysis by descriptive quantitative analysis. Data were analyzed using correlation analysis, analysis of variance (ANOVA), Tukey's test, principal component analysis and stepwise discriminant analysis. During the ripening, the ascorbate oxidase activity increased (from 0 to 5.0 x 10-1 U/ml) and the ascorbic acid level decreased (from 209.3 mg to 110.0 mg per 100g of pulp), showing a significant (p£0.05) inverse linear correlation (r=-0.98). The descriptors terms for mangoes were: characteristic flavor, characteristic aroma, sourness, astringency, yellow coloration of pulp, sweetness and succulence. The sensory profile presented significant improvement during ripening. All sensory attributes increased significantly (p£0.05) except sourness and astringency, wich decreased during the ripening of mangoes.

Farinha de peixe e rações com proteína de origem vegetal formuladas com base na proteína ideal: desempenho, rendimento de carcaça e análise sensorial de carne de frangos de corte

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Determinação do perfil sensorial de amostras comerciais de cachaça

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