Exploração da Point Cloud Library aplicada à percepção em sistemas autónomos

A navegação e a interpretação do meio envolvente por veículos autónomos em ambientes não estruturados continua a ser um grande desafio na actualidade. Sebastian Thrun, descreve em [Thr02], que o problema do mapeamento em sistemas robóticos é o da aquisição de um modelo espacial do meio envolvente do robô. Neste contexto, a integração de sistemas sensoriais em plataformas robóticas, que permitam a construção de mapas do mundo que as rodeia é de extrema importância. A informação recolhida desses dados pode ser interpretada, tendo aplicabilidade em tarefas de localização, navegação e manipulação de objectos. Até à bem pouco tempo, a generalidade dos sistemas robóticos que realizavam tarefas de mapeamento ou Simultaneous Localization And Mapping (SLAM), utilizavam dispositivos do tipo laser rangefinders e câmaras stereo. Estes equipamentos, para além de serem dispendiosos, fornecem apenas informação bidimensional, recolhidas através de cortes transversais 2D, no caso dos rangefinders. O paradigma deste tipo de tecnologia mudou consideravelmente, com o lançamento no mercado de câmaras RGB-D, como a desenvolvida pela PrimeSense TM e o subsequente lançamento da Kinect, pela Microsoft R para a Xbox 360 no final de 2010. A qualidade do sensor de profundidade, dada a natureza de baixo custo e a sua capacidade de aquisição de dados em tempo real, é incontornável, fazendo com que o sensor se tornasse instantaneamente popular entre pesquisadores e entusiastas. Este avanço tecnológico deu origem a várias ferramentas de desenvolvimento e interacção humana com este tipo de sensor, como por exemplo a Point Cloud Library [RC11] (PCL). Esta ferramenta tem como objectivo fornecer suporte para todos os blocos de construção comuns que uma aplicação 3D necessita, dando especial ênfase ao processamento de nuvens de pontos de n dimensões adquiridas a partir de câmaras RGB-D, bem como scanners laser, câmaras Time-of-Flight ou câmaras stereo. Neste contexto, é realizada nesta dissertação, a avaliação e comparação de alguns dos módulos e métodos constituintes da biblioteca PCL, para a resolução de problemas inerentes à construção e interpretação de mapas, em ambientes indoor não estruturados, utilizando os dados provenientes da Kinect. A partir desta avaliação, é proposta uma arquitectura de sistema que sistematiza o registo de nuvens de pontos, correspondentes a vistas parciais do mundo, num modelo global consistente. Os resultados da avaliação realizada à biblioteca PCL atestam a sua viabilidade, para a resolução dos problemas propostos. Prova da sua viabilidade, são os resultados práticos obtidos, da implementação da arquitectura de sistema proposta, que apresenta resultados de desempenho interessantes, como também boas perspectivas de integração deste tipo de conceitos e tecnologia em plataformas robóticas desenvolvidas no âmbito de projectos do Laboratório de Sistemas Autónomos (LSA).

Ensemble: an e-learning framework

E-Learning frameworks are conceptual tools to organize networks of elearning services. Most frameworks cover areas that go beyond the scope of e-learning, from course to financial management, and neglects the typical activities in everyday life of teachers and students at schools such as the creation, delivery, resolution and evaluation of assignments. This paper presents the Ensemble framework - an e-learning framework exclusively focused on the teaching-learning process through the coordination of pedagogical services. The framework presents an abstract data, integration and evaluation model based on content and communications specifications. These specifications must base the implementation of networks in specialized domains with complex evaluations. In this paper we specialize the framework for two domains with complex evaluation: computer programming and computer-aided design (CAD). For each domain we highlight two Ensemble hotspots: data and evaluations procedures. In the former we formally describe the exercise and present possible extensions. In the latter, we describe the automatic evaluation procedures.

Orchestration of e-learning services for automatic evaluation of programming exercises

Managing programming exercises require several heterogeneous systems such as evaluation engines, learning objects repositories and exercise resolution environments. The coordination of networks of such disparate systems is rather complex. These tools would be too specific to incorporate in an e-Learning platform. Even if they could be provided as pluggable components, the burden of maintaining them would be prohibitive to institutions with few courses in those domains. This work presents a standard based approach for the coordination of a network of e-Learning systems participating on the automatic evaluation of programming exercises. The proposed approach uses a pivot component to orchestrate the interaction among all the systems using communication standards. This approach was validated through its effective use on classroom and we present some preliminary results.

Mixed integer non linear programming and artificial neural network based approach to ancillary services dispatch in competitive electricity markets

Ancillary services represent a good business opportunity that must be considered by market players. This paper presents a new methodology for ancillary services market dispatch. The method considers the bids submitted to the market and includes a market clearing mechanism based on deterministic optimization. An Artificial Neural Network is used for day-ahead prediction of Regulation Down, regulation-up, Spin Reserve and Non-Spin Reserve requirements. Two test cases based on California Independent System Operator data concerning dispatch of Regulation Down, Regulation Up, Spin Reserve and Non-Spin Reserve services are included in this paper to illustrate the application of the proposed method: (1) dispatch considering simple bids; (2) dispatch considering complex bids.

Position paper on time and event-triggered communication services in the context of e-manufacturing

Modern factories are complex systems where advances in networking and information technologies are opening new ways towards higher efficiency. Such move is being driven by market rules with ever-increasing competition levels, in search for faster time-to-market, improved process yield, non-stop operations, flexible manufacturing and tighter supply-chain coupling. All these aims present a common requirement, i.e. a realtime flow of information, from the plant-floor up to the management, maintenance, suppliers and clients, to support accurate monitoring and control of the factory. This stresses the importance achieved by the communication infrastructure in modern manufacturing industry. This paper presents the authors view concerning the current trends in modern factory communication systems. It addresses the problems of seamlessly integrating different information flows with diverse requirements, mainly in terms of timeliness. In this aspect, the debate between event-triggered and time-triggered communication is revisited as well as the joint support for both types of traffic. Finally, a view of where factory communication systems are moving to is also presented, showing the impact of open and widely available technologies.

QoS of IP services in a fieldbus network: on the limitations and possible improvements

This paper focuses on the problem of providing efficient scheduling mechanisms for IP packets encapsulated in the frames of a real-time fieldbus network - the PROFIBUS. The approach described consists on a dual-stack approach encompassing both the controlrelated traffic ("native" fieldbus traffic) and the IPrelated traffic. The overall goal is to maintain the hard real-time guarantees of the control-related traffic, while at the same time providing the desired quality of service (QoS) to the coexistent IP applications. We start to describe the work which have been up to now carried out in the framework of the European project RFieldbus (High Performance Wireless Fieldbus in Industrial Multimedia-Related Environments - IST-1999-11316). Then we identify its limitations and point out solutions that are now being addressed out of the framework of the above-mentioned European project.

Demo: automatic personal identification system for security in critical services: a case study

The demonstration proposal moves from the capabilities of a wireless biometric badge [4], which integrates a localization and tracking service along with an automatic personal identification mechanism, to show how a full system architecture is devised to enable the control of physical accesses to restricted areas. The system leverages on the availability of a novel IEEE 802.15.4/Zigbee Cluster Tree network model, on enhanced security levels and on the respect of all the users' privacy issues.

Performance management in primary healthcare services: evidence from a field study

Health services

Plataforma de gestão e controlo de identidade digital e implementação novos modelos de governação e utilização das TIC

As estruturas orgânicas empresariais estão cada vez mais obrigadas a garantir elevados padrões de qualidade de serviços, possibilitando ao mesmo tempo a sustentabilidade das estruturas e ainda, o alinhamento dos investimentos efetuados com as estratégias de negócio. O seu desenvolvimento obriga a que na área das tecnologias de informação e comunicação exista a necessidade de repensar estratégias em vigor, procurando novos modelos, mais ágeis e mais capazes de se enquadrar nestas novas exigências. Neste âmbito, é de esperar que as plataformas de identidade digital tenham um papel determinante no desenvolvimento destes novos modelos, pois são um instrumento único para se implementarem plataformas heterogéneas, intemperáveis, com elevados níveis de segurança e de garantia de controlo no acesso à informação. O trabalho agora apresentado tem como objectivo investigar e desenvolver uma plataforma de identidade digital e uma plataforma de testes, que permitam ao Politécnico do Porto a aquisição de um infraestrutura de Tecnologias de Informação e Comunicação que se torne um instrumento fundamental para o desenvolvimento contínuo, de garantia de qualidade e de sustentabilidade de todos os serviços prestados à sua comunidade.

Interoperability in pedagogical e-learning services

The ultimate goal of this research plan is to improve the learning experience of students through the combination of pedagogical eLearning services. Service oriented architectures are already being used in eLearning but in this work the focus is on services of pedagogical value, rather then on generic services adapted from other business systems. This approach to the architecture of eLearning platforms raises challenges addressed by this work, namely: conceptual modeling of the pedagogical eLearning services domain; interoperability and coordination of pedagogical eLearning service; conversion of existing eLearning systems to pedagogical services; adaptation of eLearning services to individual learners. An improved eLearning platform will incorporate learning tools adequate to the domains it covers and will focus on the individual learner that uses it. With this approach we expect to raise the pedagogical value of eLearning platforms.

From e-learning systems to specialised e-learning services

Learning systems are evolving from component based and centralized architectures towards service oriented and decentralized architectures. The standardization of e-learning content and interoperability is a powerful force in this evolution. In this chapter we put in perspective the evolution of e-learning systems and standards, and argue that specialized services will play an important role in future learning systems, especially in those targeted for competitive learning.

Meios de partilha de recursos educativos digitais: LMS, CMS e Cloud Computing

Para muitos, o ato de ensinar, era e continua a ser uma “arte”, em que os professores e os grandes mestres mais eficientes são aqueles que têm a capacidade e a arte de fazer passar as suas mensagens e conhecimentos, de forma simples e apelativa, independentemente da área de estudo. A informação relacionada com a aula, é cada vez mais digital, sendo importante, por parte dos docentes, o domínio de tecnologias de criação, organização e disponibilização de conteúdos. Essa partilha foi inicialmente possível pelas páginas Web e mais tarde pelas plataformas LMS (Learning Management System). Criar um Website era uma tarefa complicada quer ao nível do seu custo quer ao nível do domínio da tecnologia Web e era por vezes necessário contratar profissionais para o efeito. Surgiram então as CMS (Content Management System) que são tecnologias Open Source, que permitem a gestão de conteúdos. Neste sentido foi realizado um estudo com o objetivo de aferir sobre as competências dos professores no domínio da partilha de Gestão de Conteúdos Digitais. O presente estudo permitiu retirar conclusões sobre o potencial e aplicabilidade das CMS no ensino. O principal objetivo do presente estudo incidiu no potencial de distribuição e partilha de Recursos Educativos Digitais organizados sobre o ponto de vista pedagógico aos alunos. Foi ainda analisado e estudado o papel do Cloud Computing no processo de partilha colaborativa de documentos. Foi delineado como suporte à presente investigação um curso modelo que por sua vez foi implementado nas três principais CMS da atualidade e avaliado o potencial de cada uma neste contexto. Finalmente foram apresentadas as conclusões retiradas do presente estudo.

Towards high-available and energy-efficient virtual computing environments in the cloud

Empowered by virtualisation technology, cloud infrastructures enable the construction of flexi- ble and elastic computing environments, providing an opportunity for energy and resource cost optimisation while enhancing system availability and achieving high performance. A crucial re- quirement for effective consolidation is the ability to efficiently utilise system resources for high- availability computing and energy-efficiency optimisation to reduce operational costs and carbon footprints in the environment. Additionally, failures in highly networked computing systems can negatively impact system performance substantially, prohibiting the system from achieving its initial objectives. In this paper, we propose algorithms to dynamically construct and readjust vir- tual clusters to enable the execution of users’ jobs. Allied with an energy optimising mechanism to detect and mitigate energy inefficiencies, our decision-making algorithms leverage virtuali- sation tools to provide proactive fault-tolerance and energy-efficiency to virtual clusters. We conducted simulations by injecting random synthetic jobs and jobs using the latest version of the Google cloud tracelogs. The results indicate that our strategy improves the work per Joule ratio by approximately 12.9% and the working efficiency by almost 15.9% compared with other state-of-the-art algorithms.

Multi-agent system for personalization of location-based services

The current ubiquitous network access and increase in network bandwidth are driving the sales of mobile location-aware user devices and, consequently, the development of context-aware applications, namely location-based services. The goal of this project is to provide consumers of location-based services with a richer end-user experience by means of service composition, personalization, device adaptation and continuity of service. Our approach relies on a multi-agent system composed of proxy agents that act as mediators and providers of personalization meta-services, device adaptation and continuity of service for consumers of pre-existing location-based services. These proxy agents, which have Web services interfaces to ensure a high level of interoperability, perform service composition and take in consideration the preferences of the users, the limitations of the user devices, making the usage of different types of devices seamless for the end-user. To validate and evaluate the performance of this approach, use cases were defined, tests were conducted and results gathered which demonstrated that the initial goals were successfully fulfilled.

TV Recommendation and Personalization Systems: Integrating Broadcast and Video On-demand Services

he expansion of Digital Television and the convergence between conventional broadcasting and television over IP contributed to the gradual increase of the number of available channels and on demand video content. Moreover, the dissemination of the use of mobile devices like laptops, smartphones and tablets on everyday activities resulted in a shift of the traditional television viewing paradigm from the couch to everywhere, anytime from any device. Although this new scenario enables a great improvement in viewing experiences, it also brings new challenges given the overload of information that the viewer faces. Recommendation systems stand out as a possible solution to help a watcher on the selection of the content that best fits his/her preferences. This paper describes a web based system that helps the user navigating on broadcasted and online television content by implementing recommendations based on collaborative and content based filtering. The algorithms developed estimate the similarity between items and users and predict the rating that a user would assign to a particular item (television program, movie, etc.). To enable interoperability between different systems, programs characteristics (title, genre, actors, etc.) are stored according to the TV-Anytime standard. The set of recommendations produced are presented through a Web Application that allows the user to interact with the system based on the obtained recommendations.