An efficient omnidirectional vision system for soccer robots: From calibration to object detection

Robotic soccer is nowadays a popular research domain in the area of multi-robot systems. In the context of RoboCup, the Middle Size League is one of the most challenging. This paper presents an efficient omnidirectional vision system for real-time object detection, developed for the robotic soccer team of the University of Aveiro, CAMBADA. The vision system is used to find the ball and white lines, which are used for self-localization, as well as to find the presence of obstacles. Algorithms for detecting these objects and also for calibrating most of the parameters of the vision system are presented in this paper. We also propose an efficient approach for detecting arbitrary FIFA balls, which is an important topic of research in the Middle Size League. The experimental results that we present show the effectiveness of our algorithms, both in terms of accuracy and processing time, as well as the results that the team has been achieving: 1st place in RoboCup 2008, 3rd place in 2009 and 1st place in the mandatory technical challenge in RoboCup 2009, where the robots have to play with an arbitrary standard FIFA ball.     

Electrical and rheological percolation in poly(vinylidene fluoride)/multi‐walled carbon nanotube nanocomposites

Nanocomposites of poly(vinylidene fluoride) (PVDF) and multi‐walled carbon nanotubes (MWCNTs) were prepared through melt blending in a batch mixer (torque rheometer equipped with a mixing chamber). The morphology, rheological behavior and electrical conductivity were investigated through transmission electron microscopy, dynamic oscillatory rheometry and the two‐probe method. The nanocomposite with 0.5 wt% MWCNT content presented a uniform dispersion through the PVDF matrix, whereas that with 1 wt% started to present a percolated network. For the nanocomposites with 2 and 5 wt% MWCNTs the formation of this nanotube network was clearly evident. The electrical percolation threshold at room temperature found for this system was about 1.2 wt% MWCNTs. The rheological percolation threshold fitted from viscosity was about 1 wt%, while the threshold fitted from storage modulus was 0.9 wt%. Thus fewer nanotubes are needed to approach the rheological percolation threshold than the electrical percolation threshold. Copyright © 2010 Society of Chemical Industry     

Fabrication of small size seamless reservoirs by tube forming

The purpose of this paper is to introduce an innovative manufacturing process that is capable of shaping industrial tubes into small size, seamless, reservoirs made from a variety of materials and available in many shapes. The process is carried out by axial pressing the open ends of a tube against two shaped dies, while providing internal support by means of a low melting point (recyclable) mandrel, until achieving the desired shape of the reservoir. The elimination of weld seams leads to major improvements in economy and reliability and offers potential for fabricating reservoirs in medium to large batches for a wide variety of industrial and commercial applications.Special emphasis is given to practical aspects related to the tools and techniques that were utilized for fabricating spherical reservoirs and cylindrical reservoirs with semi-ellipsoidal ends.The presentation is supported by experimentation and numerical modelling based on independently determined mechanical properties of the materials with the purpose of understanding the deformation mechanics, identifying the formability limits and demonstrating the overall performance and feasibility of the proposed manufacturing process.     

Nonlinear control of the doubly-fed induction generator in wind power systems

This paper describes the models of a wind power system, such as the turbine, generator, power electronics converters and controllers, with the aim to control the generation of wind power in order to maximize the generated power with the lowest possible impact in the grid voltage and frequency during normal operation and under the occurrence of faults. The presented work considers a wind power system equipped with the doubly-fed induction generator and a vector-controlled converter connected between the rotor and the grid. The paper presents comparative results between proportional-integral controllers and neural networks based controllers, showing that better dynamic characteristics can be obtained using neural networks based controllers.     

Influence of electric fields on the structure of chitosan edible coatings

The aim of this work was to evaluate the effect of electric fields applied at different field strength values on mechanical and thermal properties of chitosan films/coatings (obtained from lobster of the Cuban coasts). XRD analyses indicated that electrically treated chitosan films exhibited a more ordered structure and a clearly higher crystallinity when compared with non-treated films, thus displaying significant effects on the value of the crystallinity index (CI). SEM micrographs evidenced that the surface morphology of chitosan films was influenced by the electric field. In fact, the electric field treatment led to a structure with more regular layers as can be seen in the cross-sections of the films observed under SEM. The application of the electric field to chitosan film-forming solutions resulted in an increase of the tensile strength (c.a. 9%) and elongation-at-break (c.a. 18%) of the corresponding chitosan films. The reported results demonstrate that the application of an electric field to film-forming solutions of chitosan is an interesting instrument to taylor relevant properties of the films or coatings produced from them.     

Alicyclobacillus acidoterrestris spores as a target for Cupuaçu (Theobroma grandiflorum) nectar thermal processing: kinetic parameters and experimental methods

The kinetic parameters of thermal inactivation of a spore former, Alicyclobacillus acidoterrestris, in a tropical fruit nectar [25% of Cupua?u (Theobroma grandiflorum) pulp and 15% sugar] were determined by the isothermal method (IM), under batch heating, and by the paired equivalent isothermal exposures (PEIE) method, under non-isothermal continuous conditions. The isothermal experiments were repeated three times, every 4 months, with the same spore suspension kept frozen between experiments. The aging of spores, under frozen storage, seemed to produce a notorious increase in the z-value from experiment to experiment: Experiment 1 (z = 7.8 +/- 2.6 degrees C, D(95 degrees C) = 5.29 +/- 0.96 min), Experiment 2 (z = 22 +/- 5 degrees C, D(95 degrees C) = 5.99 +/- 0.63 min), and Experiment 3 (z =29 +/- 10 degrees C, D(95 degrees C) = 3.82 +/- 0.48 min). The evaluation of the kinetic parameters by the PEIE method was carried out in parallel with Experiment 3, with the same aged spores, and the results (z = 31 +/- 6 degrees C, D(95 degrees C) = 5.5 +/- 1.2 min) were close to the ones obtained in this experiment. From this work, it seems that the PEIE method can also be applied to evaluate the reduction parameters of a spore-forming microorganism, and in a more realistic way, since the continuous system eliminates the errors caused by come-up and cool-down times (CUT and CDT) that are unavoidable in isothermal experiments. Therefore, when designing a thermal process for a continuous system, the PEIE method should be used, or the chances are that the process would be underdesigned, risking that the desired level of spore inactivation would not be achieved. An optimization of the thermal processing conditions was next performed for Cupua?u nectar, considering a 5D reduction in A. acidoterrestris spores. If a pasteurization process is considered, the conditions that ensure safety (9 min at 98 degrees C) only allow a 55% retention of ascorbic acid (AA). If sterilization is considered, 8 s at 115 degrees C will ensure a safe product and retain 98.5% of the original ascorbic acid. Therefore, if A. acidoterrestris is considered as the target microorganism, the nectar should undergo an aseptic high temperature short time principle (HTST) process to achieve a 5D reduction in this acidophilus spore former. However, if the hot-fill-and-hold pasteurization process is preferred, the product should be fortified with ascorbic acid.     

Chemical Defenses Against Fish Predation in Three Brazilian Octocorals: 11β,12β-Epoxypukalide as a Feeding Deterrent in Phyllogorgia dilatata

The feeding-deterrence properties of crude extracts of three Brazilian octocoral species, Neospongodes atlantica Kükenthal (Alcyonacea, Nephtheidae), Plexaurella regia Castro (Gorgonacea, Plexauridae), and Phyllogorgia dilatata Esper (Gorgonacea, Gorgoniidae), were investigated. All the extracts were incorporated into food strips at the concentrations occurring in the living organisms. Crude extract and its ethyl acetate fraction obtained from P. dilatata collected in Armação dos Búzios (Rio de Janeiro State), when incorporated into artificial diets and tested in the habitat of origin, reduced consumption of food strips by fishes, relative to controls. Crude extracts from two octocoral species collected at the National Marine Park of Abrolhos (Bahia State), N. atlantica and P. regia, had no apparent feeding-deterrence properties; in fact, they seemed to stimulate feeding. Bioassay-guided fractionation of the bioactive P. dilatata crude extract revealed that the deterrent property was restricted to a medium polarity fraction. Field palatability experiments with two pure compounds isolated from this fraction revealed that the furanocembranolide 11,12-epoxypukalide is a potent feeding deterrent produced by P. dilatata against fish. Apparently, furanocembranolides are a particular class of compounds with feeding deterrent properties, protecting some octocorals from potential fish predator species in both tropical and temperate environments.     

Three-Phase Low-Frequency Commutation Inverter for Renewable Energy Systems

The connection of distributed power sources with the utility grid generally needs an electronic power converter for processing the locally generated power and injecting current into the system. If the source provides a dc voltage, the converter must be able to produce a low-distortion high-power-factor ac current. The same aspects related with the voltage and current distortion produced by nonlinear loads can be considered for the injection of power into the grid. In the absence of a specific standard, this paper takes as a reference the limits for current harmonics given by international standards. The justification for this approach is that, from the resulting line voltage degradation, there is no difference between injected and absorbed currents. This paper presents a three-phase inverter using low-frequency commutation. An auxiliary circuit is added to the inverter topology to reduce the output voltage distortion, thus improving the current waveform. The main advantages of this approach are the minimization of the switching losses and the elimination of the electromagnetic interference, which avoids high-frequency filters necessary in high-frequency commutation inverters