No abstract

The unstructured scenario, the extraction of significant features, the imprecision of sensors along with the impossibility of using GPS signals are some of the challenges encountered in underwater environments. Given this adverse context, the Simultaneous Localization and Mapping techniques (SLAM) attempt to localize the robot in an efficient way in an unknown underwater environment while, at the same time, generate a representative model of the environment. In this paper, we focus on key topics related to SLAM applications in underwater environments. Moreover, a review of major studies in the literature and proposed solutions for addressing the problem are presented. Given the limitations of probabilistic approaches, a new alternative based on a bio-inspired model is highlighted.

Mapping a 3D environment is a big challenge for roboticists, expecially in underwater environments. Nowadays, the most applied solution to this problem relies in Probabilistic Filters, but with the discovery of neurons in the mammalian brain associated with navigation tasks, biological approaches has been take place. This paper presents a system inspired in mammalian brain to solve the problem of mapping and localization of robots. Preliminaries results in simulated environments shows the relevance of the proposed method, which is highly parallelizable and capable of running in real time applications.

No abstract

No abstract

The study had as objective to evaluate occupational hazards on grain storage unit to define a conceptual model, implemented in an algorithm to manage the grains storage facilities safety standards compliance. Sampling points location were defined for static quantification of noise, dust and heat stress hazards in grains pre-processing operations to indicate the effectiveness of the control measures implemented. Safety standards applied to grain handling and storage facilities were identified and selected. Chart flows were elaborated to the algorithm logics and conceptual modeling. The highest level of noise was present in the grain cleaning operation (99.1 dB), while the expedition operation has the highest level of dust (20.27%). The heat stress was present in the grain drying operation (43.64 WBGT). Noise analysis did not show a difference between grains, only between operations. The flow of corn grain mass caused higher dust concentrations in the expedition operation. The method applied to characterize and quantify the hazards in grain storage units was satisfactory, and it is recommended as standard, for use in corn and soybean grains handling and storage units. The algorithm to manage occupational safety at storage facilities collaborates to monitor the safety compliance on postharvest operations.

No abstract

No abstract