Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

A integração curricular da intercompreensão numa turma de ELE

O presente Relatório Final de estágio tem como principal intento fazer o relato de uma experiência de integração curricular da intercompreensão (IC) numa turma de Espanhol Língua Estrangeira (ELE) do Ensino Secundário, decorrente do desenvolvimento de uma sessão na plataforma Galanet, procurando verificar de que forma esta experiência concorrre para o desenvolvimento curricular da disciplina. Após uma breve incursão pela paisagem didatológica que enforma este trabalho e pelos documentos reguladores do ensino de ELE em Portugal, prossegue-se com uma apresentação do contexto em que a intervenção foi realizada e da intervenção em si mesma (objetivos, estratégias, materiais, etc.). Posteriormente, procede-se a uma análise qualitativa e quantitativa dos dados, recolhidos ao longo das diversas intervenções didáticas: notas de campo elaboradas pela própria professora, artefactos escritos e orais elaborados pelos alunos; inquérito final. Propõe-se uma análise dos dados a partir do referencial aprendente, elaborado no âmbito do projeto Miriadi (Mutualização e Inovação por uma Rede de Intercompreensão à Distância), e do CARAP (Cadre de Référence pour les Approches Plurielles), orientado para as abordagens plurais do ensino-aprendizagem de línguas. Em concomitância, descreve-se de que forma a presente proposta de integração curricular da IC no ensino de ELE concorre para atingir os objetivos propostos pelo Programa de Espanhol para o Ensino Secundário, 10º ano iniciação. Os resultados evidenciam que a integração curricular da IC no ensino de ELE induz dinâmicas de ensino-aprendizagem que, ao colocarem os sujeitos em situações de comunicação plural, envolvem-nos nas suas dimensões afetiva e inteletual, originando significativas aprendizagens, tanto no que concerne a aspetos linguísticos comuns às diversas línguas românicas como a particularidades da língua espanhola.