Goal detection using laser range finder for goalkeeper and striker from CAMBADA team

For a robot be autonomous and mobile, it requires being attached with a set of sensors that helps it to have a better perception of the surrounding world, to manage to localize itself and the surrounding objects. CAMBADA is the robotic soccer team of the IRIS research group, from IEETA, University of Aveiro, that competes in the Middle-Size League of RoboCup. In competition, in order to win, the main objective of the game it's to score more goals than the conceded, so not conceding goals, and score as much as possible it's desirable, thus, this thesis focus on adapt an agent with a better localization capacity in defensive and offensive moments. It was introduced a laser range finder to the CAMBADA robots, making them capable of detecting their own and the opponent goal, and to detect the opponents in specific game situations. With the new information and adapting the Goalie and Penalty behaviors, the CAMBADA goalkeeper is now able to detect and track its own goal and the CAMBADA striker has a better performance in a penalty situation. The developed work was incorporated within the competition software of the robots, which allows the presentation, in this thesis, of the experimental results obtained with physical robots on the laboratory field.

Change-point detection in environmental time series based on the informational approach

In this study, the Schwarz Information Criterion (SIC) is applied in order to detect change-points in the time series of surface water quality variables. The application of change-point analysis allowed detecting change-points in both the mean and the variance in series under study. Time variations in environmental data are complex and they can hinder the identification of the so-called change-points when traditional models are applied to this type of problems. The assumptions of normality and uncorrelation are not present in some time series, and so, a simulation study is carried out in order to evaluate the methodology’s performance when applied to non-normal data and/or with time correlation.