Fast line, arc/circle and leg detection from laser scan data in a player driver

A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method sutable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method.

IP/optical integration in access network infrastructures: key issues on resource provisioning

This thesis contributes to the advancement of Fiber-Wireless (FiWi) access technologies, through the development of algorithms for resource allocation and energy efficient routing. FiWi access networks use both optical and wireless/cellular technologies to provide high bandwidth and ubiquity, required by users and current high demanding services. FiWi access technologies are divided in two parts. In one of the parts, fiber is brought from the central office to near the users, while in the other part wireless routers or base stations take over and provide Internet access to users. Many technologies can be used at both the optical and wireless parts, which lead to different integration and optimization problems to be solved. In this thesis, the focus will be on FiWi access networks that use a passive optical network at the optical section and a wireless mesh network at the wireless section. In such networks, two important aspects that influence network performance are: allocation of resources and traffic routing throughout the mesh section. In this thesis, both problems are addressed. A fair bandwidth allocation algorithm is developed, which provides fairness in terms of bandwidth and in terms of experienced delays among all users. As for routing, an energy efficient routing algorithm is proposed that optimizes sleeping and productive periods throughout the wireless and optical sections. To develop the stated algorithms, game theory and networks formation theory were used. These are powerful mathematical tools that can be used to solve problems involving agents with conflicting interests. Since, usually, these tools are not common knowledge, a brief survey on game theory and network formation theory is provided to explain the concepts that are used throughout the thesis. As such, this thesis also serves as a showcase on the use of game theory and network formation theory to develop new algorithms.

Effects of hook and bait on targeted and bycatch fishes in an equatorial atlantic pelagic longline fishery

We examined the effects of different hook style and bait type combinations on the catches of targeted, bycatch, and discarded fishes in equatorial Atlantic waters. In total, 221 longline sets (>305,000 hooks) were deployed from Portuguese pelagic longline vessels (SELECT -PAL Project) during the February–October fishing season. Three different hook styles and two bait types were tested: the traditional J-hook was compared to two circle hooks (one non-offset and one with 10° offset), and squid bait was compared to mackerel. Catch per unit effort (CPU Es) were calculated and compared between the different hook style and bait type combinations, which indicated that the effects of hook style and bait on the CPU Es were species-specific. For example, swordfish CPU Es were higher with J-hooks baited with squid, while for targeted tunas and blue shark only the bait effect was significant, but with opposite effect (i.e., higher catches of tuna with squid bait and higher catches of blue shark with mackerel bait). For the discarded species, at-haulback mortality was also species-specific. Proportions of alive vs dead specimens at time of fishing gear retrieval did not vary significantly by hook style or bait type combinations. The total retained catch was analyzed in value per unit effort (VPU E), and indicated losses in fishery revenue when mackerel was used instead of squid, but not when circle hooks were used instead of J-hooks.