Field experiments for marine casualty detection with autonomous surface vehicles

In this paper we present a set of field tests for detection of human in the water with an unmanned surface vehicle using infrared and color cameras. These experiments aimed to contribute in the development of victim target tracking and obstacle avoidance for unmanned surface vehicles operating in marine search and rescue missions. This research is integrated in the work conducted in the European FP7 research project Icarus aiming to develop robotic tools for large scale rescue operations. The tests consisted in the use of the ROAZ unmanned surface vehicle equipped with a precision GPS system for localization and both visible spectrum and IR cameras to detect the target. In the experimental setup, the test human target was deployed in the water wearing a life vest and a diver suit (thus having lower temperature signature in the body except hands and head) and was equipped with a GPS logger. Multiple target approaches were performed in order to test the system with different sun incidence relative angles. The experimental setup, detection method and preliminary results from the field trials performed in the summer of 2013 in Sesimbra, Portugal and in La Spezia, Italy are also presented in this work.

Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.

Simulation Environment for Multi-Robot Cooperative 3D Target Perception

4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014

Effects of Soil Compaction and Organic Carbon Content on Preferential Flow in Loamy Field Soils

Abstract: Preferential flow and transport through macropores affect plant water use efficiency and enhance leaching of agrochemicals and the transport of colloids, thereby increasing the risk for contamination of groundwater resources. The effects of soil compaction, expressed in terms of bulk density (BD), and organic carbon (OC) content on preferential flow and transport were investigated using 150 undisturbed soil cores sampled from 15 × 15–m grids on two field sites. Both fields had loamy textures, but one site had significantly higher OC content. Leaching experiments were conducted in each core by applying a constant irrigation rate of 10 mm h−1 with a pulse application of tritium tracer. Five percent tritium mass arrival times and apparent dispersivities were derived from each of the tracer breakthrough curves and correlated with texture, OC content, and BD to assess the spatial distribution of preferential flow and transport across the investigated fields. Soils from both fields showed strong positive correlations between BD and preferential flow. Interestingly, the relationships between BD and tracer transport characteristics were markedly different for the two fields, although the relationship between BD and macroporosity was nearly identical. The difference was likely caused by the higher contents of fines and OC at one of the fields leading to stronger aggregation, smaller matrix permeability, and a more pronounced pipe-like pore system with well-aligned macropores.

Performance management in health centres: evidence from a field study

There has been a growing interest in research on performance measurement and management practices, which seems to reflect researchers’ response to calls for the need to increase the relevance of management accounting research. However, despite the development of the new public management literature, studies involving public sector organizations are relatively small compared to those involving business organizations and extremely limited when it comes to public primary health care organizations. Yet, the economic significance of public health care organizations in the economy of developed countries and the criticisms these organizations regularly face from the public suggests there is a need for research. This is particularly true in the case of research that may lead to improvement in performance measurement and management practices and ultimately to improvements in the way health care organizations use their limited resources in the provision of services to the communities. This study reports on a field study involving three public primary health care organisations. The evidence obtained from interviews and archival data suggests a performance management practices in these institutions lacked consistency and coherence, potentially leading to decreased performance. Hierarchical controls seemed to be very weak and accountability limited, leading to a lack of direction, low motivation and, in some circumstances to insufficient managerial abilities and skills. Also, the performance management systems revealed a number of weaknesses, which suggests that there are various opportunities for improvement in performance in the studied organisations.

Numerical optimization experiments using the hyperbolic smoothing strategy to solve MPCC

In this work we solve Mathematical Programs with Complementarity Constraints using the hyperbolic smoothing strategy. Under this approach, the complementarity condition is relaxed through the use of the hyperbolic smoothing function, involving a positive parameter that can be decreased to zero. An iterative algorithm is implemented in MATLAB language and a set of AMPL problems from MacMPEC database were tested.

Numerical experiments with a modified regularization scheme for mathematical programs with complementarity constraints

On this paper we present a modified regularization scheme for Mathematical Programs with Complementarity Constraints. In the regularized formulations the complementarity condition is replaced by a constraint involving a positive parameter that can be decreased to zero. In our approach both the complementarity condition and the nonnegativity constraints are relaxed. An iterative algorithm is implemented in MATLAB language and a set of AMPL problems from MacMPEC database were tested.

Preparatory and field work phases in the qualitative empirical research process in management: the case studies approach

Purpose: The aim of this paper is to promote qualitative methodology within the scientific community of management. The specific objective is oriented to propose an empirical research process based on case study method. This is to ensure rigor in the empirical research process, that future research may follow a similar procedure to that is proposed. Design/methodology/approach: Following a qualitative methodological approach, we propose a research process that develops according to four phases, each with several stages. This study analyses the preparatory and field work phases and their stages. Findings: The paper shows the influence that case studies have on qualitative empirical research process in management. Originality/value:. Case study method assumes an important role within qualitative research by allowing for the study and analysis of certain types of phenomena that occur inside organisations, and in respect of which quantitative studies cannot provide an answer.

Correcção automática de respostas de texto livre para a aplicação UNI_NET-Classroom

Ao longo dos tempos foi possível constatar que uma grande parte do tempo dos professores é gasta na componente de avaliação. Por esse facto, há já algumas décadas que a correcção automática de texto livre é alvo de investigação. Sendo a correcção de exercícios efectuada pelo computador permite que o professor dedique o seu tempo em tarefas que melhorem a aprendizagem dos alunos. Para além disso, cada vez mais as novas tecnologias permitem o uso de ferramentas com bastante utilidade no ensino, pois para além de facilitarem a exposição do conhecimento também permitem uma maior retenção da informação. Logo, associar ferramentas de gestão de sala de aula à correcção automática de respostas de texto livre é um desafio bastante interessante. O objectivo desta dissertação foi a realização de um estudo relativamente à área de avaliação assistida por computador em que este trabalho se insere. Inicialmente, foram analisados alguns correctores ortográficos para seleccionar aquele que seria integrado no módulo proposto. De seguida, foram estudadas as técnicas mais relevantes e as ferramentas que mais se enquadram no âmbito deste trabalho. Neste contexto, a ideia foi partir da existência de uma ferramenta de gestão de sala de aula e desenvolver um módulo para a correcção de exercícios. A aplicação UNI_NET-Classroom, que foi a ferramenta para a qual o módulo foi desenvolvido, já continha um componente de gestão de exercícios que apenas efectuava a correcção para as respostas de escolha múltipla. Com este trabalho pretendeu-se acrescentar mais uma funcionalidade a esse componente, cujo intuito é dar apoio ao professor através da correcção de exercícios e sugestão da cotação a atribuir. Por último, foram realizadas várias experiências sobre o módulo desenvolvido, de forma a ser possível retirar algumas conclusões para o presente trabalho. A conclusão mais importante foi que as ferramentas de correcção automática são uma mais-valia para os professores e escolas.

Integração da tecnologia Near Field Communications nas telecomunicações móveis

O telemóvel tem-se transformado numa ferramenta essencial no nosso dia-a-dia, constantemente são lançadas novas tecnologias que potenciam o uso do telemóvel nas tarefas do nosso quotidiano. Atualmente a grande tendência passa por fazer o download de aplicações com o objetivo de obter mais e diferentes tipos de informação, existe o desejo de ler de forma simples e intuitiva o mundo que nos rodeia, como se cada elemento fosse um objeto sobre o qual conseguiremos obter informação através do telemóvel. A tecnologia Near Field Communication (NFC) ajuda a transformar este desejo ou necessidade numa realidade de simples alcance. Podemos anexar “identificadores” nos objetos e “ver” estes identificadores através do telemóvel recorrendo a aplicações que fazem a ponte com os sistemas que nos permitem obter mais informação, por exemplo, internet. O NFC especifica um padrão de comunicação de redes sem fios, que permite a transferência de dados entre dois dispositivos separados por uma distância máxima de 10cm. NFC foi desenhado para ser integrado em telemóveis, que podem comunicar com outros telemóveis equipados com NFC ou ler informação de cartões ou tags. A dissertação avalia as oportunidades que a tecnologia NFC oferece ao mundo das telecomunicações móveis, nomeadamente na realidade do operador Vodafone Portugal, principalmente numa relação Empresa - Cliente. Esta tecnologia reúne o interesse dos fabricantes dos telemóveis, dos operadores e de parceiros críticos que vão ajudar a potenciar o negócio, nomeadamente entidades bancárias e interbancárias. A tecnologia NFC permite utilizar o telemóvel como um cartão de crédito/debito, ticketing, ler informação de posters (Smart Poster) que despoletem navegação contextualizada para outras aplicações ou para a internet para obter mais informação ou concretizar compras, estes são alguns cenários identificados que mais valor o NFC consegue oferecer. A dissertação foca-se na avaliação técnica do NFC na área de Smart Posters e resulta na identificação num conjunto de novos cenários de utilização, que são especificados e complementados com o desenvolvimento de um protótipo.

Flexible manufacturing field trial

Within the European project R-Fieldbus (http://www.hurray.isep.ipp.pt/activities/rfieldbus/), an industrial manufacturing field trial was developed. This field trial was conceived as a demonstration test bed for the technologies developed during the project. Because the R-Fieldbus field trial included prototype hardware devices, the purpose of this equipment changed and since the conclusion of the project, several new technologies also emerged, therefore an update of the field trial was required. This document describes an update of the manufacturing field trial. The purpose of this update, the changes and improvements introduced are described in the document. Additionally, this document also provides a reliable source of documentation for the equipment, configuration and software components of the manufacturing field trial.