Special issue on the 6th Portuguese Conference on Automatic Control (Controlo 2004)

The Portuguese Association of Automatic Control (APCA) organizes, every two years, the Portuguese Conference on Automatic Control. Its 6th edition (Controlo 2004) was held from 7 to 9 June, 2004 at the University of Algarve, Faro, Portugal, by its Centre for Intelligent Systems (CSI). CONTROLO 2004 International Program Committee (IPC) has decided, from the very start, to ask for submission of full draft papers, to encourage special sessions with well-defined themes, and for student papers. All papers have been reviewed by three separate reviewers. From the 122 contributions submitted, the IPC selected 89 oral papers, 20 special session papers, and 5 student posters. CONTROLO 2004 Technical Programme consists of 33 oral sessions (5 being special sessions) and 1 poster session, covering a broad range of control topics, both from theory and applications. The programme also includes three plenary lectures, given by leading experts in the field, Professors Ricardo Sanz, João Miranda Lemos and Rolf Isermann.

Face normalization using multi-scale cortical keypoints

Empirical studies concerning face recognition suggest that faces may be stored in memory by a few canonical representations. Models of visual perception are based on image representations in cortical area V1 and beyond, which contain many cell layers for feature extractions. Simple, complex and end-stopped cells tuned to different spatial frequencies (scales) and/or orientations provide input for line, edge and keypoint detection. This yields a rich, multi-scale object representation that can be stored in memory in order to identify objects. The multi-scale, keypoint-based saliency maps for Focus-of-Attention can be explored to obtain face detection and normalization, after which face recognition can be achieved using the line/edge representation. In this paper, we focus only on face normalization, showing that multi-scale keypoints can be used to construct canonical representations of faces in memory.

Fast segmentation of 3D data using an octree

The algorithm developed uses an octree pyramid in which noise is reduced at the expense of the spatial resolution. At a certain level an unsupervised clustering without spatial connectivity constraints is applied. After the classification, isolated voxels and insignificant regions are removed by assigning them to their neighbours. The spatial resolution is then increased by the downprojection of the regions, level by level. At each level the uncertainty of the boundary voxels is minimised by a dynamic selection and classification of these, using an adaptive 3D filtering. The algorithm is tested using different data sets, including NMR data.

Region segregation and saliency using colour information

Saliency maps determine the likelihood that we focus on interesting areas of scenes or images. These maps can be built using several low-level image features, one of which having a particular relevance: colour. In this paper we present a new computational model, based only on colour features, which provides a sound basis for saliency maps for static images and video, plus region segregation and cues for local gist vision.

Multi-scale keypoint annotation: a biological approach

The primary visual cortex employs simple, complex and end-stopped cells to create a scale space of 1D singularities (lines and edges) and of 2D singularities (line and edge junctions and crossings called keypoints). In this paper we show first results of a biological model which attributes information of the local image structure to keypoints at all scales, ie junction type (L, T, +) and main line/edge orientations. Keypoint annotation in combination with coarse to fine scale processing facilitates various processes, such as image matching (stereo and optical flow), object segregation and object tracking.

Cognitive robotics: a new approach to simultaneous localisation and mapping

Most simultaneous localisation and mapping (SLAM) solutions were developed for navigation of non-cognitive robots. By using a variety of sensors, the distances to walls and other objects are determined, which are then used to generate a map of the environment and to update the robot’s position. When developing a cognitive robot, such a solution is not appropriate since it requires accurate sensors and precise odometry, also lacking fundamental features of cognition such as time and memory. In this paper we present a SLAM solution in which such features are taken into account and integrated. Moreover, this method does not require precise odometry nor accurate ranging sensors.

Disparity energy model with keypoint disparity validation

A biological disparity energy model can estimate local depth information by using a population of V1 complex cells. Instead of applying an analytical model which explicitly involves cell parameters like spatial frequency, orientation, binocular phase and position difference, we developed a model which only involves the cells’ responses, such that disparity can be extracted from a population code, using only a set of previously trained cells with random-dot stereograms of uniform disparity. Despite good results in smooth regions, the model needs complementary processing, notably at depth transitions. We therefore introduce a new model to extract disparity at keypoints such as edge junctions, line endings and points with large curvature. Responses of end-stopped cells serve to detect keypoints, and those of simple cells are used to detect orientations of their underlying line and edge structures. Annotated keypoints are then used in the leftright matching process, with a hierarchical, multi-scale tree structure and a saliency map to segregate disparity. By combining both models we can (re)define depth transitions and regions where the disparity energy model is less accurate.

Remote data acquisition system of environmental data

The implementation of an accurate and reliable data acquisition system is the first step to develope a good control system. This data acquisition should provide valuable data readings, not only for control purposes but also for applications in different research areas.

Temperature, pH, and conductivity control of the nutrient solution of an hydroponic greenhouse

One of the aspects of modern agriculture is characterised by a culture without soil (hydroponic cultures). These culture techniques are identified by possessing automatic control systems to control the nutrient solution. In first hydroponic cultures this control was accomplished by “on- off” analog controllers that applied a single control law implemented in hardware. Therefore, the changes of the control law resulted in the change of all interface electronics. In digital control implemented by micro-controllers the alteration of such control law is easily performed by changing only a computer program, leaving untouched all the interface hardware. In this way, the use and substitution of the control strategy is improved, as well, the use of advanced control strategies.

Effects of environmental conditions on planktonic abundances, benthic recruitment and growth rates of the bivalve mollusc Ruditapes decussatus in a Portuguese coastal lagoon

Controlling environmental parameters for the early stages of marine invertebrates have received little attention, particularly in field studies. This study involves measurement of abundances and growth rates of the bivalve Ruditapes decussatus Linnaeus 1758 during its planktonic larval and early benthic life stages in a coastal lagoon: Ria Formosa, Portugal. Measured abundances were compared with tidal amplitude, water temperature, salinity, wind velocity and direction, and a food availability indicator 2chlorophyll a). Data were obtained on abundance and prodissoconch length of the larvae, measured two tothreetimes perweek,and ofpost-larval stagesindividuals thathadsettled inartificial collectors over10months.Larval and juvenile cohorts were identified using size-frequency distributions and larval ages estimated by larval shell growth lines.

Structural issues on the portuguese fig production: recent developments

Fig production evolution registered an enormous decrease in Portugal on the last decades. In what concerns any agricultural production and its evolution we have to look to the structural issues affecting the culture trying to understand what is going on and where to act. This paper will begin to show the decrease on Portuguese fig production, according to FAO statistics. Then, we will look to this evolution in parallel with the evolution of farm structure on the last decades that has been quite strong, in Portugal, even if in what concerns farm area and the distribution of farms among area classes there has been only slight modifications. The population evolution is also a matter of importance and we will try to characterize the Portuguese agricultural population, in what concerns educational level and age and then move to fig producers, trying to understand what is the age and educational level of those who produce rig in Portugal. Finally, we will briefly focus on the economics of production. As a conclusion, there will be some appointments on the fig production future in Portugal.

The perception of woman on the example of the Odyssey of Homer and its english translation by James Huddleston and portuguese translation by Frederico Lourenço

Dissertação de mestrado, Estudos Literários e Artísticos, Faculdade de Ciências Humanas e Sociais, Universidade do Algarve, 2015