This project deals with design of a mobile robot controlled by MS Kinect. The movement of the robot is driven by depth data which is processed with a suitable ARM processor. There is a module designed for serial communication between the processor and the robot chassis. For user computer and ARM processor there are developed software applications to control each part of the robot as well. Finally, this project contains form of the built robot controlled by an ARM processor software. The robot has the ability of controlled movement between obstacles. This allows the robot to not come into contact with any obstacle.

Contents of the thesis is to design and create an expansion board for the BeagleBoard computer one plate . The first and very important part was to find out all the possibilities for an extension of the computer itself . Choose the right expansion port . To study the possibility distribution of individual pins . Followed by the appropriate extension election districts that demonstrate the function of each enlargement . Test was designed PCB that contains circuits that change the voltage level of the BeagleBoard to protect a mini computer to the testing of each gusset periphery prevent damage to itself or part of the BeagleBoard . The peripherals themselves bind different parts of theoretical introduction. More specifically the extension of the LCD display is selected segment and includes two lines of 16 characters . When the possibility to add additional components were necessary to deal with the shortcomings of the output pins , this problem was solved by using an expander . He extends itself BeagleBoard by another 16 pins . On these pins are connected together on the LCD matrix keyboard . The creation of the board are two circuit temperature sensors , but have a different type of communication using I2C and one second using 1 -Wire bus . The board also contains various other bus outputs , for example, UART bus. It also contains an output pin which can be controlled PWM modulation . The remaining pins are versatile GPIO pins which can be programmed to define a function using the Linux operating system . The result is a final board of the package control programs which make it possible to verify the individual peripherals.

Prestressed concrete piles are commonly used to support over-water highway bridges in marine environments. The reinforcing steel within will ultimately be degraded via corrosion damage due to the penetration of chloride ions from sea water. The service life of these structures is, in part, dictated by the time required to diffuse chloride ions through the concrete cover and subsequently corrode the steel. Therefore, by slowing the rate of diffusion or increasing the chloride threshold of the steel (or both) an increased service life can be expected. This thesis focuses on the latter whereby stainless steel reinforcing alternatives were investigated to elevate the chloride threshold before corrosion begins. The designation "stainless" steel implies corrosion resistance. However, corrosion resistance in itself is not a sufficient condition to make it a suitable alternative for prestressed concrete applications. In this study, the corrosion susceptibility of stainless steel alloys was scrutinized with the understanding that high strength stainless steels are vulnerable to stress corrosion cracking (SCC). This investigation screened three candidate alloys that span the norms of stainless steel compositions: a common austenitic stainless steel with high nickel content (316L), a less common austenitic stainless steel with low nickel but high manganese (XM 29), and a duplex stainless steel with high chromium and an additional constituent, molybdenum (2205). Each alloy was subjected to two stress conditions imposed by varied mechanical fixtures then subjected to various forms of high chloride concentrations. The pH of these conditions was also varied and in one case simulated the high pH common to concrete pore water solutions. Elevated temperatures were used to accelerate the effects of these exposures. Results of Phase 1 showed that for exposure at 135oC (275oF) cracking of alloys 316 L and 2205 occurred after 1 hour while XM29 experience cracking after 24 hours. At 90oC (194oF) alloy 316L cracked after 4 hours; XM29 did not crack after 96 hours while 2205 did crack after 96 hours. The results were interpreted with an Arrhenius relationship between time to cracking and test temperature to extrapolate toward the anticipated service regime. Results of Phase 2 showed that SCC was less likely to initiate in high pH conditions than in low pH conditions at typical marine environment temperatures and chloride concentration. In these limited tests the SCC performance of XM29 was better relative to that of the other two alloys.

The BeagleBoard-xM, manufactured by Texas Instruments, is a small, low cost, open source development platform for the ARM® Cortex-A8 processor. This paper implements a hardware and software combination to connect to the ARM® processor via a JTAG connection for debugging. A FlySwatter interface board is utilized to connect the JTAG port to a host computer and a combination of software tools are implemented to demonstrate the capability for debugging the Linux kernel. The necessary files for booting the Linux 3.0 kernel were compiled and loaded on the BeagleBoard-xM and the host computer. Installation and selection of the components that make up the software tool chain are described. All the hardware and software used for this project are open source designs. / text

Cette thèse présente l'étude de l'utilisation du signal XM comme source d'opportunité d'un système radar de détection passive cohérente. Par la réception simultanée d'un écho radar et du signal direct, une mesure de la corrélation est possible afin d'extraire de la détection les paramètres de la cible. Tout d'abord, une étude de la résolution qu'offre le signal employé et un bilan de puissance sont réalisés desquels deux principaux problèmes sont identifiés : l'effet hautement interféreur du signal direct sur un écho potentiel et la faiblesse de la puissance de cet écho provenant de la réflexion du signal sur une cible caractéristique. La méthode des sous-espaces, en utilisant une antenne-réseau à la réception, est proposée pour supprimer le signal direct par la projection dans son sous-espace orthogonal. Pour pallier le problème de la faiblesse de la puissance de l'écho, un gain directif est aussi proposé par l'utilisation d'un réseau à chevauchement d'éléments permettant d'obtenir ce gain tout en gardant une résolution nécessaire à la méthode des sous-espaces. Le choix du nombre de sous-réseaux employé est ensuite optimisé pour un gain maximal tout en évitant la présence de points nuls pour certaines valeurs de sous-réseaux engendrant la présence du signal direct malgré l'opération visant sa suppression. L'impact de l'estimation de la soustraction de la matrice de covariance du bruit est aussi étudié. Le système de détection intégré est ensuite présenté pour la détection de la cible caractéristique afin d:en vérifier l'efficacité.

REIN JR., O. UM MODELO DE INTEGRAÇÃO ENTRE OS PADRÕES IEC 61850 E IEC 61970 (CIM/XML). 2006. 98 p. Dissertação Mestrado – Escola Politécnica, Universidade de São Paulo, São Paulo. A troca de informação entre os vários sistemas de gerenciamento e outros sistemas de informação de uma empresa do setor elétrico não é apenas desejada, mas, na maioria dos casos, necessária. Dois padrões internacionais surgiram, um relacionado à troca de dados nas subestações (IEC 61850) e outro relacionado à troca de informações entre os centros de controle (IEC 61970), sendo ambos publicados pelo comitê técnico 57 (TC57) do IEC, cujo tema é o gerenciamento e a troca de informação associados aos sistemas de potência. Contudo, apesar da similaridade em seu domínio de aplicação, cada um tem seu próprio modelo de objetos. O presente trabalho tem por objetivo investigar como a integração dos dados pertencentes aos sistemas de controle da subestação e do centro de controle pode ser alcançada, de maneira a permitir que a topologia de uma determinada subestação possa ser conhecida pelo EMS/SCADA. Vale, ainda, ter em conta que a verificação de tal análise demanda a implementação de um protótipo simulando a arquitetura de integração proposta. Logo, o estudo contempla as anotações que refletem os passos dessa implementação, bem como o registro dos testes exigidos pelos trabalhos, os quais compreenderam informações sobre a configuração de uma subestação contidos num arquivo SCL, informações de tempo real obtidas a partir de dispositivos eletrônicos inteligentes (IEDs), e a gravação desses dados em uma base de dados relacional modelada de acordo com o Common Information Model (CIM) contido na IEC 61970-301. / REIN JR., O An integration model between the IEC 61850 and IEC 61970 standards. 2006. 98 p. Dissertação Mestrado – Escola Politécnica, Universidade de São Paulo, São Paulo. The exchange of information among several management systems and other information systems of an electric utility company is not only desired but in most cases needed. Two international standards have emerged, one related to the data exchange of substations (IEC 61850) and another related to the exchange of information among control centers (IEC 61970), both published by the IEC technical committee 57 (TC57) that deals with the management and exchange of information on power systems. Nevertheless, in spite of the similarity in its application domain, each standard has its own object model. This work intends to investigate how to achieve the integration of data belonging to the substation control and control center systems, thus allowing a specific substation topology to be known by the EMS/SCADA. It is important to emphasize that the verification of such analysis required the implementation of a prototype to simulate the proposed integration architecture. Therefore, this work includes notes describing the implementation steps, as well as the record of the tests that have been done, encompassing substation configuration information within a SCL file, real-time information obtained from intelligent electronic devices (IEDs) and data recording in a relational database modeled according to the Common Information Mode (CIM) comprised in the IEC 61970-301.

REIN JR., O. UM MODELO DE INTEGRAÇÃO ENTRE OS PADRÕES IEC 61850 E IEC 61970 (CIM/XML). 2006. 98 p. Dissertação Mestrado – Escola Politécnica, Universidade de São Paulo, São Paulo. A troca de informação entre os vários sistemas de gerenciamento e outros sistemas de informação de uma empresa do setor elétrico não é apenas desejada, mas, na maioria dos casos, necessária. Dois padrões internacionais surgiram, um relacionado à troca de dados nas subestações (IEC 61850) e outro relacionado à troca de informações entre os centros de controle (IEC 61970), sendo ambos publicados pelo comitê técnico 57 (TC57) do IEC, cujo tema é o gerenciamento e a troca de informação associados aos sistemas de potência. Contudo, apesar da similaridade em seu domínio de aplicação, cada um tem seu próprio modelo de objetos. O presente trabalho tem por objetivo investigar como a integração dos dados pertencentes aos sistemas de controle da subestação e do centro de controle pode ser alcançada, de maneira a permitir que a topologia de uma determinada subestação possa ser conhecida pelo EMS/SCADA. Vale, ainda, ter em conta que a verificação de tal análise demanda a implementação de um protótipo simulando a arquitetura de integração proposta. Logo, o estudo contempla as anotações que refletem os passos dessa implementação, bem como o registro dos testes exigidos pelos trabalhos, os quais compreenderam informações sobre a configuração de uma subestação contidos num arquivo SCL, informações de tempo real obtidas a partir de dispositivos eletrônicos inteligentes (IEDs), e a gravação desses dados em uma base de dados relacional modelada de acordo com o Common Information Model (CIM) contido na IEC 61970-301. / REIN JR., O An integration model between the IEC 61850 and IEC 61970 standards. 2006. 98 p. Dissertação Mestrado – Escola Politécnica, Universidade de São Paulo, São Paulo. The exchange of information among several management systems and other information systems of an electric utility company is not only desired but in most cases needed. Two international standards have emerged, one related to the data exchange of substations (IEC 61850) and another related to the exchange of information among control centers (IEC 61970), both published by the IEC technical committee 57 (TC57) that deals with the management and exchange of information on power systems. Nevertheless, in spite of the similarity in its application domain, each standard has its own object model. This work intends to investigate how to achieve the integration of data belonging to the substation control and control center systems, thus allowing a specific substation topology to be known by the EMS/SCADA. It is important to emphasize that the verification of such analysis required the implementation of a prototype to simulate the proposed integration architecture. Therefore, this work includes notes describing the implementation steps, as well as the record of the tests that have been done, encompassing substation configuration information within a SCL file, real-time information obtained from intelligent electronic devices (IEDs) and data recording in a relational database modeled according to the Common Information Mode (CIM) comprised in the IEC 61970-301.

A wide range of additional forward chaining applications could be realized with deductive databases, if their rule formalism, their immediate consequence operator, and their fixpoint iteration process would be more flexible. Deductive databases normally represent knowledge using stratified Datalog programs with default negation. But many practical applications of forward chaining require an extensible set of user–defined built–in predicates. Moreover, they often need function symbols for building complex data structures, and the stratified fixpoint iteration has to be extended by aggregation operations. We present an new language Datalog*, which extends Datalog by stratified meta–predicates (including default negation), function symbols, and user–defined built–in predicates, which are implemented and evaluated top–down in Prolog. All predicates are subject to the same backtracking mechanism. The bottom–up fixpoint iteration can aggregate the derived facts after each iteration based on user–defined Prolog predicates.

Die Entwicklung neuer Medikamente und Therapieverfahren wie die Hochdosischemotherapie und die Möglichkeit der Stammzelletransplantation haben die Heilungschance krebskranker Kinder in den letzen Jahrzehnten enorm verbessert. Aus diesem Grund erlangt die Berücksichtigung der Spätfolgen der Therapie eine größere Bedeutung. Es wurden die Zytostatika Cyclophosphamid und Thiotepa auf ihre Neurotoxizität im infantilen Rattengehirn untersucht. Dazu wurde Ratten im Alter von 7, 14, 21 oder 28 Tagen Cyclophosphamid (200-600mg/kg) oder Thiotepa (15-45 mg/kg) intraperitoneal injiziert. Nach einer Überlebenszeit von 4-24 Stunden wurden die Tiere getötet. Die Dichte degenerierter Zellen wurde lichtmikroskopisch in den nach De Olmos gefärbten Hirnschnitten mit Hilfe des stereologischen Dissektors ermittelt. Weiterhin wurden eine TUNEL-Färbung, elektronenmikroskopische sowie eine immunhistochemische Untersuchung für Caspase 3 und den Fas Rezeptor durchgeführt. Die Unterschiede zwischen den einzelnen Versuchsgruppen wurde mit Hilfe des Student`s t-Test auf ihre Signifikanz hin überprüft. Die Untersuchungen zur Zeit und Dosisabhängigkeit wurde mit Hilfe der ermittelten Gesamtscores und der Varianzanalyse (ANOVA) überprüft. Diese Untersuchung zeigte, dass eine Exposition mit den Zytostatika Cyclophosphamid und Thiotepa altersabhängig zu ausgeprägten Zellschädigungen im Gehirn führt. Besonders ausgeprägte Zelluntergänge fanden sich im Cortex, den thalamischen Kerngebieten, und dem Hippocampus. Ultrastrukturell ließen sich bereits kurz nach der Applikation des Zytostatikums anschwellende Dendriten als Hinweis auf einen exzitotoxischen Zelltodmechanismus nachweisen. Im Gegensatz dazu zeigten sich bei Tieren mit längerer Lebensdauer nach Exposition gegenüber dem Zytostatikum typische ultrastrukturelle Veränderungen wie man sie bei apoptotischem Zelltod finden kann. Mit dieser Untersuchung konnte gezeigt werden, dass die neurotoxische Wirkung der Zytostatika Cyclophosphamid und Thiotepa eine exzitotoxische und eine apoptotische Komponente aufweist. / Survival rates for children with cancer have increased dramatically over the past few decades. The expanded use of older agents, the development of new chemotherapeutic agents, the introduction of high dose chemotherapy and stem cell transplantation regimen have had a major impact on this improvement. These positive results have also focused increased attention on post-therapeutic effects of anticancer drugs. To investigate whether common cytotoxic drugs cause neurotoxic effects in the developing rat brain the following alkylated agents were administered to 7-day-old rats: cyclophosphamide (200–600mg/kg IP) and thiotepa (15– 45mg/kg IP). The brains were analysed at 4 to 24 hours. Quantitation of brain damage was performed in De Olmos cupric silver-stained sections using the stereological dissector method. Furthermore electron microscopy on plastic sections, TUNEL staining and immunohistochemistry for activated caspase 3 and Fas receptor was performed. Statistical analysis was performed by means of Student´s t test or one-way analysis of variance with subsequent pairwise comparison (Scheffé-test). Cytotoxic drugs produced widespread lesions within cortex, thalamus, hippocampal dentate gyrus, and caudate nucleus in a dose-dependent fashion. Early histological analysis demonstrated dendritic swelling and relative preservation of axonal terminals, which are morphological features indicating excitotoxicity. After longer survival periods, degenerating neurons displayed morphological features consistent with active cell death. These results demonstrate that anticancer drugs are potent neurotoxins in vivo; they activate excitotoxic mechanisms but also trigger active neuronal death.

Devido à mudança de paradigma originada pela evolução das redes elétricas inteligentes (Smart Grid), surgiram novos requisitos em automação de subestações de distribuição, sobretudo envolvendo operação, monitoramento, controle e proteção. Um nível mais avançado de automação é esperado na rede de distribuição com implementações do conceito de Smart Grid. O objetivo dos próximos sistemas de automação da distribuição é aperfeiçoar o uso dos recursos computacionais disponíveis, objetivando aumentar a disponibilidade do sistema elétrico, a qualidade da energia e a eficiência das concessionárias. E nessa nova realidade, a troca de informação entre os vários sistemas de informação de uma empresa do setor elétrico não é apenas desejada, mas, na maioria dos casos, necessária. Nesse contexto, se propõe uma arquitetura computacional capaz de transferir todas as informações geradas a partir da implementação de funcionalidades \"inteligentes\" na subestação, envolvendo as funções de supervisão, controle, monitoramento e proteção das subestações de distribuição, para o centro de controle da concessionária (COS), o que não está previsto nos protocolos normalmente utilizados, como DNP, ICCP, e IEC 61850. Para atingir esse objetivo é feita a investigação sobre o uso dos padrões internacionais propostos na arquitetura de referência do IEC para realizar tal integração, mostrando a necessidade de modificação nos objetos de dados definidos. Com o intuito de avaliar a viabilidade da arquitetura proposta foi desenvolvido um protótipo dentro do programa de Pesquisa e Desenvolvimento (P&D) regulado pela ANEEL (Agência Nacional de Energia Elétrica), em parceria com a CPFL (Companhia Paulista de Força e Luz). Nesse protótipo foram desenvolvidos módulos com funcionalidades \"inteligentes\" que promovem a migração de funções do centro de controle para a subestação. Além disso, o protótipo também implementa serviços web (Web Services) que são responsáveis pela integração da informação, tornando a troca de informação independentemente da plataforma onde os serviços são implementados. O texto contempla as anotações que refletem os passos dessa implementação do protótipo, bem como o registro dos testes exigidos pelos trabalhos, os quais compreenderam a implementação das novas funcionalidades, com a obtenção e tratamento dos dados, e seu posterior envio ao centro de controle. / Due to the paradigm shift caused by the evolution of the power grids, resulting in a new concept of Smart Grid, new requirements in automation of distribution substations emerged, especially those involving the operation, monitoring, control and protection. A more advanced level of automation is expected in the distribution network with implementations of the concepts related to Smart Grid. The goal of the next distribution automation systems is to optimize the use of available resources, intending to increase the availability of the power system, the power quality and the efficiency of the utilities. In this new context, the exchange of information between the various information systems of an electrical utility is not only desired, but in most cases, necessary. In this context, it is proposed a computational architecture capable of transferring all the information generated from the implementation of \"smart\" functions in the substation, involving supervisory, control, monitoring and protection of distribution substations, to the utility control center (COS), which is not provided for in the protocols commonly used by the utility, such as DNP, ICCP, and IEC 61850. Research on the use of international standards proposed in the IEC reference architecture to achieve such integration is also performed, revealing the necessity of modifying the defined data model. A prototype was developed in a partnership with CPFL (Companhia Paulista de Força e Luz), in order to assess the feasibility of the proposed architecture, within the R&D program regulated by ANEEL (Brazilian Electric Power Agency). Modules have been developed with the \"smart\" features that promote migration of some control center functions to the substation. In addition, the prototype also implements web services that are responsible for the data integration, with the information being exchanged regardless of the platform where the services are implemented. The text includes notes reflecting the steps of this prototype implementation, as well as the tests required to validate the model, which comprised the implementation of those new features, obtaining and processing the data, and subsequent sending to the utility control center (DMS).