Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

O treino da perceção visual e da consciência fonológica como promotor da fluência da leitura num aluno do 2º ciclo do ensino básico

Aprender a ler é um dos maiores desafios que as crianças enfrentam quando entram para a escola. A dificuldade no domínio do código alfabético, nos níveis da consciência fonológica e a falta de fluência na leitura são fatores que interferem em larga escala na aprendizagem global dos alunos. Habilitar um aluno para a prática da leitura é um estímulo que tem vindo a dar origem a várias investigações e intervenções no campo da educação. Este projeto descreve dois programas de treino: “Programa de treino da percepção Visual” e “Programa de promoção do desenvolvimento da consciência fonológica”, num aluno do 2º ciclo do ensino básico com dificuldade de fluência na leitura, ao longo de quinze aulas de 90 minutos. No que respeita aos resultados do primeiro estudo, que teve por base o “Programa de treino da percepção visual”, não foram encontradas diferenças relevantes quanto ao seu efeito na fluência da leitura do aluno. No entanto, no segundo estudo, que se centrou na aplicação do “Programa de promoção do desenvolvimento da consciência fonológica” em complemento com o “Programa de treino da percepção visual”, mostrou que o aluno ficou mais fluente na leitura diminuindo o número de erros de precisão (substituições, omissões, inversões, adições e erros complexos). Assim, sugere-se uma monotorização sistemática das aprendizagens dos alunos para que as intervenções possam ser cada vez mais precoces e direcionadas para as suas necessidades.

Students’ reading behavior: digital vs. print preferences in portuguese context

The aim of this paper is to present the main Portuguese results from a multi-national study on reading format preferences and behaviors from undergraduate students from Polytechnic Institute of Porto (Portugal). For this purpose we apply an adaptation of the Academic Reading Questionnaire previously created by Mizrachi (2014). This survey instrument has 14 Likert-style statements regarding the format influence in the students reading behavior, including aspects such as ability to remember, feelings about access convenience, active engagement with the text by highlighting and annotating, and ability to review and concentrate on the text. The importance of the language and dimension of the text to determine the preference format is also inquired. Students are also asked about the electronic device they use to read digital documents. Finally, some demographic and academic data were gathered. The analysis of the results will be contextualized on a review of the literature concerning youngsters reading format preferences. The format (digital or print) in which a text is displayed and read can impact comprehension, which is an important information literacy skill. This is a quite relevant issue for class readings in academic context because it impacts learning. On the other hand, students preferences on reading formats will influence the use of library services. However, literature is not unanimous on this subject. Woody, Daniel and Baker (2010) concluded that the experience of reading is not the same in electronic or print context and that students prefer print books than e-books. This thesis is reinforced by Ji, Michaels and Waterman (2014) which report that among 101 undergraduates the large majority self-reported to read and learn more when they use printed format despite the fact that they prefer electronically supplied readings instead of those supplied in printed form. On the other side, Rockinson-Szapkiw, et al (2013) conducted a study were they demonstrate that e-textbook is as effective for learning as the traditional textbook and that students who choose e-textbook had significantly higher perceived learning than students who chose to use print textbooks.

Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as is the case of road and train tunnels. To achieve that, we combine some state of the art techniques from mobile robotics, and propose a method for 6DOF platform positioning in such scenarios, that is latter used for the environment modelling. A visual monocular Simultaneous Localization and Mapping (MonoSLAM) approach based on the Extended Kalman Filter (EKF), complemented by the introduction of inertial measurements in the prediction step, allows our system to localize himself over long distances, using exclusively sensors carried on board a mobile platform. By feeding the Extended Kalman Filter with inertial data we were able to overcome the major problem related with MonoSLAM implementations, known as scale factor ambiguity. Despite extreme lighting variations, reliable visual features were extracted through the SIFT algorithm, and inserted directly in the EKF mechanism according to the Inverse Depth Parametrization. Through the 1-Point RANSAC (Random Sample Consensus) wrong frame-to-frame feature matches were rejected. The developed method was tested based on a dataset acquired inside a road tunnel and the navigation results compared with a ground truth obtained by post-processing a high grade Inertial Navigation System and L1/L2 RTK-GPS measurements acquired outside the tunnel. Results from the localization strategy are presented and analyzed.

Ex-ante evaluation by the media of the Guimarães 2012 European Capital of Culture

The nomination of Guimarães to host the 2012 European Capital of Culture (ECC) has put on the agenda of the city the need of measuring the effects that the implementation of this mega event could have in it and in the municipality a whole. The balance of the benefits and costs and an extended community involvement tend to reduce negative impacts and enhance positive ones. This chapter analyzes the involvement of population and local associations in the planning and organization of the 2012 Guimarães European Capital of Culture, using the coverage made during 2011 by local and national press of the mega event. A content analysis of the news published covering the period between January and December 2011 and using three newspapers was conducted. From those, two were local and weekly newspapers and one was a national daily one. Looking to data results, it can be concluded that it was poor the community involvement and, also, the one of the cultural associations in the organizations of the 2012 ECC. A strong negative reaction to the model choose to plan the mega event conducted by official organizers was found, which has cast doubts on the desirable participation of the residents and, consequently, on the success of the mega event, especially in a perspective of a medium and long term effects.

Combining sparse and dense methods in 6D Visual Odometry

13th International Conference on Autonomous Robot Systems (Robotica), 2013, Lisboa

6D Visual Odometry with Dense Probabilistic Egomotion Estimation

Proceedings of the International Conference on Computer Vision Theory and Applications, 361-365, 2013, Barcelona, Spain

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Probabilistic Egomotion for Stereo Visual Odometry

We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.

Teorias e modelos organizacionais

Este trabalho propõe-se a investigar as teorias e modelos organizacionais e a respetiva aplicabilidade nas organizações portuguesas. Após a revisão da literatura sobre modelos organizacionais, foi efetuada uma investigação quantitativa através de um questionário online com a finalidade de avaliar quais os modelos organizacionais predominantemente utilizados e quais as características organizacionais que levam à utilização de determinado modelo. Através de métodos estatísticos analisaram-se os resultados do inquérito com o objetivo de verificar a existência de possíveis relações entre diversas características das organizações e o modelo organizacional usado. Foi possível concluir que o modelo organizacional Burocrático é o modelo predominantemente utilizado pelos respondentes e que as organizações que adotam o modelo burocrático parecem conseguir implementar processos sistemáticos de inovação compatibilizando as regras e procedimentos com a capacidade para aprender e se adaptar. O setor de atividade e a dimensão das organizações são as variáveis que mais influenciam a adoção do modelo organizacional. A investigação contribui para o conhecimento teórico e pratico sobre modelos organizacionais e sobre a sua aplicação em diferentes tipos de organizações portuguesas e para a compreensão e capacitação dos engenheiros do tema da cultura organizacional, de modo a poderem trabalhar de forma efetiva em grupos multidisciplinares que criem valor para as respetivas organizações, inovando e aplicando a engenharia e tecnologia para lidar com as questões e desafios atuais referidos pelo relatório da UNESCO (1).

Determining the receptivity to the bluetooth marketing by the portuguese consumer

With increasing technological innovation, the concept of marketing and its applications become more functional and wide. Today, we witness a steady growth in the development of mobile marketing campaigns, i.e., marketing campaigns targeting mobile devices (mobile phones, Smartphones, PDAs, tablets). Among the several mobile technologies available (Bluetooth networks, Wi-Fi, WAP, SMS service, MMS), Bluetooth seems to have the biggest potential for the least invasive consumer mobile marketing strategy. This study seeks to answer the question "what factors may motivate the Portuguese consumer to accept Bluetooth marketing?.“ We propose a conceptual model capable of investigating the relationships between the several responsiveness factors to Bluetooth marketing. The development of a set of hypotheses supported by an online questionnaire to a valid sample of 755 participants, demonstrates that there is a relationship between factors such as expanded knowledge of the technology, and Bluetooth marketing receptivity. Additionally, we find that the information value of mobile advertising messages, such as entertainment value and personalization, relates well to responsiveness. The ability to accept/dismiss promotional messages sent to mobile phones and other safety features also correlated well with Bluetooth marketing receptivity.

Bioelectrochemically-assisted reductive dechlorination of 1,2-dichloroethane by a Dehalococcoides-enriched microbial culture

The aim of this study was to verify the possibility to use a polarized graphite electrode as an electron donor for the reductive dechlorination of 1,2-dichloroethane, an ubiquitous groundwater contaminant. The rate of 1,2-DCA dechlorination almost linearly increased by decreasing the set cathode potential over a broad range of set cathode potentials (i.e., from −300 mV to −900 mV vs. the standard hydrogen electrode). This process was primarily dependent on electrolytic H2 generation. On the other hand, reductive dechlorination proceeded (although quite slowly) with a very high Coulombic efficiency (near 70%) at a set cathode potential of −300 mV, where no H2 production occurred. Under this condition, reductive dechlorination was likely driven by direct electron uptake from the surface of the polarized electrode. Taken as a whole, this study further extends the range of chlorinated contaminants which can be treated with bioelectrochemical systems.

ISO 9001 Quality Management Systems through the Lens of Organizational Culture

Both managers and scholars have convictions about the organizational approaches that best support organizational performance of the respective organizations and its Quality Management Systems. After a literature review of ISO 9001 Quality Management Systems (including the changes introduced by the 2015 edition), Organizational Culture theories are addressed and input from a CEO´s focus group was gathered. The importance of organizational culture for the success of Quality Management Systems and the achievement of the organizational desired results is highlighted. The article advances a proposal to analyze ISO 9001 International Standard through the lens of organizational culture theories identifying a stronger open systems approach (influence of the environment, dynamic perspective, need for survival) of the 2015 ISO 9001 edition when compared with the 2008 one. This provides additional knowledge both to scholars and practitioners for a better understanding of the culture issues that can maximize ISO 9001 Quality Management Systems 2015 edition contributions to organizational enduring success.