Performance enhancement of a Neato XV-11 laser scanner applied to mobile robot localization: a stochastic modeling approach

Laser scanners are widely used in mobile robotics localization systems but, despite the enormous potential of its use, their high price tag is a major drawback, mainly for hobbyist and educational robotics practitioners that usually have a reduced budget. The Neato XV-11 Laser Scanner is a very low cost alternative, when compared with the current available laser scanners, being this fact the main motivation for its use. The modeling of a hacked Neato XV-11 Laser Scanner allows to provide valuable information that can promote the development of better designs of robot localization systems based on this sensor. This paper presents, as an example, the performance enhancement of a Neato XV-11 Laser Scanner applied to mobile robot self-localization, being used as case study the Perfect Match Algorithm applied to the Robot@Factory competition.This work has been supported by FCT - Fundação para a Ciência e Tecnologia with in the Project Scope: UIDB/05757/2020info:eu-repo/semantics/publishedVersio

State estimation of over-sensored systems applied to a low-cost robotic manipulator

There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained.info:eu-repo/semantics/publishedVersio

Desempenho agronômico e rentabilidade de sistemas de sangria em quatro clones de seringueira no estado de São Paulo

The exploitation or tapping of the rubber tree, Hevea brasiliensis (Willd. ex Adr. de Juss.) Muell. Arg. is one of the most important cultural practices in determining useful life, yield and accounts for a major part of the total production costs in rubber farming. The objective of this work was to evaluate yield performance and economic aspects of rubber tree clones submitted to diverse tapping systems. The trial was placed in Guararapes city, São Paulo State, Brazil, in a randomized block design with split-plot in time. The plots consisted of the IAN 873, PR 261, RRI M 600 and RRI M 701 clones. The tapping systems consisted the subplots, where: ½S = tapping of half spiral cut; d/2, d/3, d/4, d/5 and d/7 = tapping every 2, 3, 4, 5 and 7 days, respectively; 11 m/y = tapping during eleven months per year; ET = ethephon (stimulant); Pa = panel application; La = lace application; 8/y = eight applications per year. The five experimental years were the sub-subplots and the ½S d/2 system was used as control. The analyzed variables were girth, dry rubber yield, tapping panel dryness and economic profitability. The ½S d/3 ET 2.5% and ½S d/4 ET 2.5% tapping systems provide the highest yield and profitability per hectare per year for the RRI M 600 and PR 261 clones. For the IAN 873 and RRI M 701 clones the yield superiority occurs in high tapping frequency; however the best profitability is obtained in the ½S d/7.ET 2.5% system.A explotação ou sangria da seringueira Hevea brasiliensis (Willd. ex Adr. de Juss.) Muell. Arg. é uma das práticas culturais mais importantes que determina a vida útil, a produtividade, sendo responsável por maior parte dos custos totais do seringal. O objetivo deste trabalho foi avaliar o desempenho produtivo e aspectos econômicos de clones de seringueira, em diferentes sistemas de sangria. O experimento foi instalado no município de Guararapes, Estado de São Paulo, em delineamento de blocos ao acaso com parcelas subdivididas no tempo. As parcelas constituíram dos clones IAN 873, PR 261, RRI M 600 e RRI M 701. As subparcelas foram constituídas por nove sistemas de sangria: ½S = sangria em meio espiral; d/2, d/3, d/4, d/5 e d/7 = sangria a cada 2, 3, 4, 5 e 7 dias, respectivamente; 11 m/y = sangria durante onze meses por ano; ET = ethephon (estimulante); Pa = aplicação no painel; La = sobre a canaleta; 8/y = oito aplicações por ano. Os cinco anos experimentais foram as subparcelas e o sistema ½S d/2 foi utilizado como testemunha. As variáveis estudadas foram: perímetro do caule, produtividade de borracha seca, secamento do painel e rentabilidade econômica. Os sistemas ½S d/3.ET 2,5% e ½S d/4.ET 2,5%, proporcionam maior produtividade e rentabilidade por hectare ao ano para os clones RRI M 600 e PR 261. Para os clones IAN 873 e RRI M 701 o melhor rendimento ocorre em sistemas de alta frequência de sangria, mas a melhor rentabilidade é obtida no sistema ½S d/7.ET 2,5%.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP

ANÁLISE PROCEDIMENTAL COMPARATIVA DO ACESSO AO SISTEMA DE PROTEÇÃO EUROPEU E INTERAMERICANO DE DIREITOS HUMANOS

O presente artigo tem como propósito apresentar um estudo analítico acerca do procedimento de acesso aos sistemas regionais de proteção dos Direitos Humanos, com especial ênfase, aos sistemas europeu e interamericano. Busca-se, ainda, examinar comparativamente os pontos de convergência e identificar as deficiências e as fragilidades estruturais capazes de comprometer os mecanismos de proteção e o acesso à tutela dos Direitos Humanos. Aplica-se como metodologia da pesquisa o método dialético, efetivando-se a investigação através da técnica de coleta de dados obtida por meio do levantamento bibliográfico de documentos, com enfoque nos instrumentos jurídicos internacionais, como as Declarações e Convenções internacionais

Methods of estimation of coefficient of repeatability in rubber tree breeding

O presente estudo foi conduzido com o objetivo de testar vários métodos de estimação dos coeficientes de repetibilidade, bem como determinar o número adequado de ministestes de produção na seleção de plântulas em viveiro de seringueira (Hevea sp). Foram utilizados três ministestes em plântulas oriundas de polinização aberta do clone RRIM 600 e estimados os coeficientes de repetibilidade, considerando os métodos da análise de variância e componentes principais, segundo metodologia apresentada por Mansour et al. (1981). A equação que relaciona os três minitestes de produção explicou cerca de 87% da variação existente entre os testes. Não foram detectadas grandes diferenças nas estimativas do coeficiente de repetibilidade entre os processos testados, optando-se, assim, pelo ANOVA, por ser de mais fácil utilização.This study was undertaken to test various repeatability coefficient estimation procedures, as well as to determine the adequate number of minitest of production in the selection of seedlings in rubber tree nursery. Three minitests were run on open-pollinated progeny seedlings of the RRIM 600 clones and the coefficient of repeatability estimated by using both the analysis of variance and principal components techniques, described by Mansour and co-workers. The equation that relates all three minitests of production explained about 87% of the existing variations among test. Since no marked differences among tests procedures were found in the estimation of the coefficient of repeatability, the ANOVA technique is recommended, due to its simplicity

Relationship between ortets-ramets and its efficiency in microtest tapping for early rubber plant selection

Foi estudado o relacionamento do miniteste de produção entre ortetes e seus respectivos rametes. Objetivou-se determinar as magnitudes das correlações que possam existir entre estes na seleção precoce de plântulas com alta capacidade de produção. O estudo realizado constou da utilização dos testes em dois ensaios interrelacionados: um, no viveiro de plântulas de polinização controlada para seleção de ortetes e outro com clones (rametes) originados dos ortetes. Os resultados alcançados mostraram numericamente baixa correlação simples para os dois primeiros ciclos de teste dos ortetes quando correlacionados com os três ciclos de teste dos rametes. Entretanto, o terceiro ciclo de miniteste de ortetes correlacionados com os três ciclos de teste dos rametes mostraram numericamente alta e significativa correlação simples, indicando maior validade para o terceiro teste do ortete na seleção de ortetes superiores.The relationship of the microtest tapping between ortets and its respective ramets was studied, aiming to evaluate the magnitude of the correlations that exist among them in the early high yielding ortet selection. Three rounds microtest tappings were used on each one-year old ortet and its respective ramets. The results achieved showed low relationship for the first and second rounds ortet microtest tappings when correlated with the three round microtest tappings. However, the third round of the ortet microtest correlated with the three rounds of ramets microtest tapping individually showed high and significant simple correlation, which indicates high value for the third ortet microtest tapping in the selection of superior ortets

Design of innovative clothing for pressure injury prevention: end-user evaluation in a mixed-methods study

The global relevance of pressure injury (PI) prevention technologies arise from their impact on the quality of life of people with limited mobility and the costs associated with treating these preventable injuries. The purpose of this mixed methods study is to evaluate the design of a prototype integrating Smart Health Textiles for PI prevention based on feedback from specialist nurses who care for individuals who are prone to or have PIs. This is a mixed methods study. A structured questionnaire was conducted as part of an evaluation of a prototype garment for the prevention of PIs. This questionnaire was applied during the evaluation of the prototype and afterwards focus group discussions were held with experts. Descriptive statistics techniques were used to analyze the data and thematic and integrated content analysis was conducted through concomitant triangulation. Nineteen nurses took part, aged 30 to 39 years (52.6%) and with 12.31 ± 8.96 years of experience. Participants showed that the prototype required more manipulation and physical effort, which interfered its usefulness, in addition to presenting difficulties with the openings and the material of the closure system, which interfered with the ease of use and learning. Overall satisfaction with the product was moderate, with some areas for improvement found, such as satisfaction, recommendations to colleagues, and pleasantness of use. It is concluded that areas for improvement have been found in all dimensions, including in the design of openings and the choice of materials. These findings supply significant insights for improving clothing to meet the needs of healthcare professionals and patients.The 4NoPressure project was co-financed by the Operational Program for Competitiveness and Internationalization (COMPETE 2020) under the PORTUGAL 2020 Partnership Agreement, with support from the European Regional Development Fund (ERDF), reference number POCI-01-0247- FEDER-039869

Risco de deficiência hídrica na cultura do milho no Estado do Paraná

The goal of this work was to determine soil water deficit risk and the best sowing periods for maize (Zea mays L.) in the State of Paraná, Southern Brazil. A climatological soil water balance model adapted for maize was simulated, using historical series of daily values of maximum evapotranspiration and precipitation from 32 weather stations. Soil water holding capacity was calculated using an initial soil depth of 20 cm at plant emergence, which increased exponencially up to 80 cm depth at the beginning of plant flowering, and remained constant until harvest. Ten sowing dates spaced at 10 days interval were simulated between August 20 and November 20, and the frequency of soil water deficit during the flowering period (800 degree-days after emergence) was estimated. Using cluster analysis, Paraná State was classified in five homogeneous zones for soil water deficit risk. Results have shown that the North and Northwest regions have very high risk. Appropriate sowing periods with lower risks were identified for all zones.O objetivo deste trabalho foi determinar a disponibilidade hídrica para o milho (Zea mays L.) no Estado do Paraná, identificando as regiões de menor risco e contribuindo para definição das melhores épocas de semeadura. A partir de valores diários de evapotranspiração máxima e precipitação pluvial provenientes de 32 estações meteorológicas do Instituto Agronômico do Paraná (IAPAR), calculou-se o balanço hídrico utilizando um modelo climatológico adaptado para a cultura. A capacidade de água disponível no solo foi calculada considerando-se 20 cm de profundidade efetiva do sistema radicular na emergência, aumentando-se exponencialmente até 80 cm no início do florescimento e assim permanecendo até o final do ciclo. Foram simuladas dez épocas de semeadura espaçadas a cada 10 dias, entre 20/08 e 20/11, calculando-se a probabilidade de deficiência hídrica no período de florescimento (800 graus-dia após a emergência). Pela análise de agrupamento, o Estado foi classificado em cinco zonas diferenciadas em relação ao nível de risco. Os resultados mostram que, do ponto de vista hídrico, nas regiões norte e noroeste o risco é maior, tornando-se necessária a adoção de práticas de manejo do solo que visem aumentar a capacidade de retenção de água. Em todas as regiões foram identificadas épocas de semeadura que oferecem menor risco de perdas por deficiência hídrica

Copper complex-DNA lnteractions: molecular simulations studies.

Previous studies on [Cu(isaepy)]+ have shown its potential antitumor activity\ud through preferential attack to DNA. The main target of this work is to build\ud molecular models of DNA-[Cu(isaepy)]+ and analyze it through state of the art\ud computational methodologies in order to obtain detailed structural and\ud dynamic information of these Cu complexes with potential pharmaceutical\ud and medicinal application. We are developing studies on the detection and\ud characterization of some Cu-oxindolimine complexes interactions with\ud biomolecules as DNA

Impacts of experimentally imposed drought on leaf respiration and morphology in an Amazon rain forest

1. The Amazon region may experience increasing moisture limitation over this century. Leaf dark respiration (R) is a key component of the Amazon rain forest carbon (C) cycle, but relatively little is known about its sensitivity to drought. 2. Here, we present measurements of R standardized to 25 C and leaf morphology from different canopy heights over 5 years at a rain forest subject to a large-scale through-fall reduction (TFR) experiment, and nearby, unmodified Control forest, at the Caxiuana˜ reserve in the eastern Amazon. 3. In all five post-treatment measurement campaigns, mean R at 25 C was elevated in the TFR forest compared to the Control forest experiencing normal rainfall. After 5 years of the TFR treatment, R per unit leaf area and mass had increased by 65% and 42%, respectively, relative to pre-treatment means. In contrast, leaf area index (L) in the TFR forest was consistently lower than the Control, falling by 23% compared to the pre-treatment mean, largely because of a decline in specific leaf area (S). 4. The consistent and significant effects of the TFR treatment on R, L and S suggest that severe drought events in the Amazon, of the kind that may occur more frequently in future, could cause a substantial increase in canopy carbon dioxide emissions from this ecosystem to the atmosphere