RESUMO
In this paper, we address the challenge of ensuring stability in bipedal walking robots and exoskeletons. We explore the feasibility of real-time implementation for the Predicted Step Viability algorithm (PSV), a complex multi-step optimization criterion for planning future steps in bipedal gait. To overcome the high computational cost of the PSV algorithm, we performed an analysis using 11 classification algorithms and a stacking strategy to predict if a step will be stable or not. We generated three datasets of increasing complexity through PSV simulations to evaluate the classification performance. Among the classifiers, k Nearest Neighbors, Support Vector Machine with Radial Basis Function Kernel, Decision Tree, and Random Forest exhibited superior performance. Multi-Layer Perceptron also consistently performed well, while linear-based algorithms showed lower performance. Importantly, the use of stacking did not significantly improve performance. Our results suggest that the feature vector applied with this approach is applicable across various robotic models and datasets, provided that training data is balanced and sufficient points are used. Notably, by leveraging classifiers, we achieved rapid computation of results in less than 1 ms, with minimal computational cost.
RESUMO
This research has the purpose to value the action of the gibberellic acid (GA3) in cut chrysanthemum 'Viking' as for fenometric parameters, the best time, the frequency and the concentration of the AG3 application to obtain brunches of the best quality in different time of thecultivation. In cultivation during the Summer/Fall, valued the effect of five times the application (2nd, 4th, 8th and 10th week after the plantation) and four concentrations (0, 100, 200 and 300 mg.L-1) in which it was observed that the tallest branches were obtained with applications done during the 2nd and 4th week 200 and 300 mg.L-1, the biggest brunch diameter of the floral peduncle are results of the GA3 of the 100 or 200 mg.L-1 application done on the 4th week. The AG3 200 mg.L-1 concentration independent of the application, the time caused the anticipation of the blossom in a period five days, all the concentration applied from the 8th week on result whiten floral disc.
Este trabalho tem como objetivo avaliar a ação do ácido giberélico (AG3) em plantas crisântemo de corte 'Viking' quanto a parâmetros fenométricos, melhor época e concentração da aplicação para obter-se hastes de melhor qualidade no cultivo de verão/outono. Avaliou-se o efeito de cinco épocas de aplicação (sem aplicação, aplicação na segunda, quarta, oitava e décima semana após o plantio) e quatro concentrações (0, 100, 200 e 300 mg.L-1 de GA3). Verificou-se que as maiores alturas foram obtidas com as aplicações na segunda e quarta semanas de cultivo e nas concentrações entre 200 a 300 mg.L-1. O maior diâmetro de haste e pedúnculo floral foram obtidos com a aplicação de 100 a 200 mg.L-1 GA3 na quarta semana. A concentração de 200 mg.L-1 de GA3, independente da época de aplicação proporcionou a antecipação do florescimento em cinco dias, todas as concentrações aplicadas a partir da oitava semana provocaram o clareamento do disco floral.
RESUMO
This research has the purpose to value the action of the gibberellic acid (GA3) in cut chrysanthemum 'Viking' as for fenometric parameters, the best time, the frequency and the concentration of the AG3 application to obtain brunches of the best quality in different time of thecultivation. In cultivation during the Summer/Fall, valued the effect of five times the application (2nd, 4th, 8th and 10th week after the plantation) and four concentrations (0, 100, 200 and 300 mg.L-1) in which it was observed that the tallest branches were obtained with applications done during the 2nd and 4th week 200 and 300 mg.L-1, the biggest brunch diameter of the floral peduncle are results of the GA3 of the 100 or 200 mg.L-1 application done on the 4th week. The AG3 200 mg.L-1 concentration independent of the application, the time caused the anticipation of the blossom in a period five days, all the concentration applied from the 8th week on result whiten floral disc.
Este trabalho tem como objetivo avaliar a ação do ácido giberélico (AG3) em plantas crisântemo de corte 'Viking' quanto a parâmetros fenométricos, melhor época e concentração da aplicação para obter-se hastes de melhor qualidade no cultivo de verão/outono. Avaliou-se o efeito de cinco épocas de aplicação (sem aplicação, aplicação na segunda, quarta, oitava e décima semana após o plantio) e quatro concentrações (0, 100, 200 e 300 mg.L-1 de GA3). Verificou-se que as maiores alturas foram obtidas com as aplicações na segunda e quarta semanas de cultivo e nas concentrações entre 200 a 300 mg.L-1. O maior diâmetro de haste e pedúnculo floral foram obtidos com a aplicação de 100 a 200 mg.L-1 GA3 na quarta semana. A concentração de 200 mg.L-1 de GA3, independente da época de aplicação proporcionou a antecipação do florescimento em cinco dias, todas as concentrações aplicadas a partir da oitava semana provocaram o clareamento do disco floral.