Counterexample Guided Inductive Optimization Applied to Mobile Robots Path Planning (Extended Version)

We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper marks the first application of CEGIO for planning mobile robot path. In particular, CEGIO has been successfully applied to obtain optimal two-dimensional paths for autonomous mobile robots using off-the-shelf SAT and SMT solvers.Comment: 7 pages, 14rd Latin American Robotics Symposium (LARS'2017

Spatio-temporal variations in the urban rhythm: the travelling waves of crime

This is the final version. Available from EDP Sciences via the DOI in this record.In the last decades, the notion that cities are in a state of equilibrium with a centralised organisation has given place to the viewpoint of cities in disequilibrium and organised from bottom to up. In this perspective, cities are evolving systems that exhibit emergent phenomena built from local decisions. While urban evolution promotes the emergence of positive social phenomena such as the formation of innovation hubs and the increase in cultural diversity, it also yields negative phenomena such as increases in criminal activity. Yet, we are still far from understanding the driving mechanisms of these phenomena. In particular, approaches to analyse urban phenomena are limited in scope by neglecting both temporal non-stationarity and spatial heterogeneity. In the case of criminal activity, we know for more than one century that crime peaks during specific times of the year, but the literature still fails to characterise the mobility of crime. Here we develop an approach to describe the spatial, temporal, and periodic variations in urban quantities. With crime data from 12 cities, we characterise how the periodicity of crime varies spatially across the city over time. We confirm one-year criminal cycles and show that this periodicity occurs unevenly across the city. These ‘waves of crime’ keep travelling across the city: while cities have a stable number of regions with a circannual period, the regions exhibit non-stationary series. Our findings support the concept of cities in a constant change, influencing urban phenomena—in agreement with the notion of cities not in equilibrium.Leibniz AssociationArmy Research OfficeScience Without Borders program (CAPES, Brazil

Production, breeding and potential of cowpea crop in Brazil.

About 50 years ago cowpea was reported as a relatively minor tropical legume. However, in the last years, it has been emerging as one of the most important food legume of the 21st century (SINGH, 2010). Brazil is not out of this panorama. Brazilian agriculture is undergoing major technological changes and, in addition, globalization in agribusiness has caused impacts on the production chain of several crops, particularly those heavily dependent on the use of a large volume of agricultural inputs, mainly fertilizers and pesticides. Such crops have had a higher production cost each year. On the other hand, this situation has brought new opportunities. Business farmers have sought new alternatives for their production arrangements. In this context cowpea constitutes one of the best options.bitstream/item/85620/1/Doc-216-Production.pd

Generalized Ladder Operators for Shape-invariant Potentials

A general form for ladder operators is used to construct a method to solve bound-state Schr\"odinger equations. The characteristics of supersymmetry and shape invariance of the system are the start point of the approach. To show the elegance and the utility of the method we use it to obtain energy spectra and eigenfunctions for the one-dimensional harmonic oscillator and Morse potentials and for the radial harmonic oscillator and Coulomb potentials.Comment: in Revte

Alguns aspectos relacionados a resposta ovariana de vacas superovuladas dos grupos genéticos Canchim e Nelore (resultados preliminares).

Estudou-se a resposta a superovulação com diferentes dosagens de FSH-Pe prostaglandina em doadoras dos grupos geneticos Canchim e Nelore

Distribuição espacial de formigueiros de Acromyrmex crassispinus (Forel) (Hymenoptera: Formicidae) em plantios de Pinus taeda.

The spatial distribution of insects is essential to perform control strategies, to improve sample techniques and to estimate economic losses. We aimed to determine the spatial distribution of nests of Acromyrmex crassispinus (Forel) in Pinus taeda plantations. The experiments were carried out in P. taeda plantations with different ages (treatments: recently-planted, three and six-year old plants). The study took place in Rio Negrinho and in Três Barras, SC. Three plots of one hectare were delimited in each treatment, and plots were divided in 64 sample units. The analysis of the dispersion index [variance/mean relationship (I), index of Morisita (I?) and k exponent of negative binomial distribution] showed that the majority of the samplings presented random distribution. Among the three distributions of probabilities studied: Poisson, positive binomial and negative binomial, the Poisson distribution was the best model to fi t the spatial distribution of A. crassispinus nests in all samplings. The result was a random distribution in the plantings of different ages

Crescimento e qualidade química de frutos de Mangueira kent sob secamento parcial de raiz.

O objetivo deste trabalho foi avaliar o crescimento e a qualidade de frutos da mangueira ?Kent? sob secamento parcial de raiz (PRD) em condições do semiárido baiano. O estudo foi conduzido na área experimental em 0,48 ha da fazenda Boa Vista, no município de Iaçu, BA entre agosto e novembro de 2009 com 144 plantas. Os tratamentos com PRD foram baseados no percentual da lâmina bruta aplicada (LBA) pela fazenda, estimada pela evapotranspiração da cultura para irrigação localizada (ETc). O gotejamento foi o sistema de irrigação utilizado, com duas linhas laterais por fileira de plantas, entretanto, para a aplicação do PRD foi utilizada uma linha alternadamente com três emissores. O delineamento foi em blocos casualizados com três repetições, sendo oito tratamentos: T1, T2 e T3 (PRD 50% com alternância aos 7, 14 e 21 dias); T4, T5 e T6 (100% na fase de floração e 50% nas fases frutificação e estabilidade de frutos, com mesma ordem de alternância); T7 (50% fixo) e T8-testemunha (100% da LBA nos dois lados). Foram avaliados parâmetros físicos (taxa de pegamento e crescimento dos frutos) que não sofreram influência do PRD e químicos (sólidos solúveis e acidez total) que sob lâminas menores tiveram aumentos significantes