A mobile robot platform for open learning based on serious games and remote laboratories

Within the pedagogical community, Serious Games have arisen as a viable alternative to traditional course-based learning materials. Until now, they have been based strictly on software solutions. Meanwhile, research into Remote Laboratories has shown that they are a viable, low-cost solution for experimentation in an engineering context, providing uninterrupted access, low-maintenance requirements, and a heightened sense of reality when compared to simulations. This paper will propose a solution where both approaches are combined to deliver a Remote Laboratory-based Serious Game for use in engineering and school education. The platform for this system is the WebLab-Deusto Framework, already well-tested within the remote laboratory context, and based on open standards. The laboratory allows users to control a mobile robot in a labyrinth environment and take part in an interactive game where they must locate and correctly answer several questions, the subject of which can be adapted to educators' needs. It also integrates the Google Blockly graphical programming language, allowing students to learn basic programming and logic principles without needing to understand complex syntax.

Navegação de um robô autónomo semi-industrial usando diferentes técnicas sensoriais

Mestrado em Engenharia Electrotécnica e de Computadores

Combining sparse and dense methods in 6D Visual Odometry

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

On the hardware and software architecture of the robuter mobile platform: a hands-on approach

The Robuter is a robotic mobile platform that is located in the “Hands-On” Laboratory of the IPP-Hurray! Research Group, at the School of Engineering of the Polytechnic Institute of Porto. Recently, the Robuter was subject of an upgrading process addressing two essential areas: the Hardware Architecture and the Software Architecture. This upgrade in process was triggered due to technical problems on-board of the robot and also to the fact that the hardware/software architecture has become obsolete. This Technical Report overviews the most important aspects of the new Hardware and Software Architectures of the Robuter. This document also presents a first approach on the first steps towards the use of the Robuter platform, and provides some hints on future work that may be carried out using this mobile platform.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Using attractor dynamics to generate decentralized motion control of two mobile robots transporting a long object in coordination

Dynamical systems theory is used here as a theoretical language and tool to design a distributed control architecture for a team of two mobile robots that must transport a long object and simultaneously avoid obstacles. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space of behavioral variables (heading direction and path velocity). The environment is also modeled in these terms by representing task constraints as attractors (i.e. asymptotically stable states) or reppelers (i.e. unstable states) of behavioral dynamics. For each robot attractors and repellers are combined into a vector field that governs the behavior. The resulting dynamical systems that generate the behavior of the robots may be nonlinear. By design the systems are tuned so that the behavioral variables are always very close to one attractor. Thus the behavior of each robot is controled by a time series of asymptotically stable states. Computer simulations support the validity of our dynamic model architectures.

Cascade Control of a Hexapod Robot

6th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, Italy, 17-19 September

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.

Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

Personalized sightseeing tours support using mobile devices

In this paper, we present PSiS (Personalized Sightseeing Tours Recommendation System) Mobile. PSiS Mobile is our proposal to a mobile recommendation and planning support system, which is designed to provide effective support during the tourist visit with context-aware information and recommendations about places of interest (POI), exploiting tourist preferences and context.

Tourism mobile and recommendation systems - a state of the art

Recommendation systems have been growing in number for the last fifteen years. To evolve and adapt to the demands of the actual society, many paradigms emerged giving birth to even more paradigms and hybrid approaches. Mobile devices have also been under an incredible growth rate in every business area, and there are already lots of mobile based systems to assist tourists. This explosive growth gave birth to different mobile applications, each having their own advantages and disadvantages. Since recommendation and mobile systems might as well be integrated, this work intends to present the current state of the art in tourism mobile and recommendation systems, as well as to state their advantages and disadvantages.

Recommendation & mobile systems - a state of the art for tourism

Recommendation systems have been growing in number over the last fifteen years. To evolve and adapt to the demands of the actual society, many paradigms emerged giving birth to even more paradigms and hybrid approaches. These approaches contain strengths and weaknesses that need to be evaluated according to the knowledge area in which the system is going to be implemented. Mobile devices have also been under an incredible growth rate in every business area, and there are already lots of mobile based systems to assist tourists. This explosive growth gave birth to different mobile applications, each having their own advantages and disadvantages. Since recommendation and mobile systems might as well be integrated, this work intends to present the current state of the art in tourism mobile and recommendation systems, as well as to state their advantages and disadvantages.

PSiS Mobile

In this paper, we present a state of the art on applications of mobile devices to support decision of a tourist running on a trip. We focus on two types of applications, tourism recommendation and tourism guide, making a brief description of the main characteristics of each one of them. We also refer the main problems encountered on the development of applications for mobile devices, and present PSiS (Personalized Sightseeing Tours Recommendation System) Mobile, our proposal to a mobile recommendation and planning support system, which is designed to provide an effective support during the tourist visit, providing contextaware information and recommendations about places of interest (POI) to visit, based on tourist preferences and his current context.

Recommendation and planning through mobile devices in tourism context

In this paper we present a mobile recommendation and planning system, named PSiS Mobile. It is designed to provide effective support during a tourist visit through context-aware information and recommendations about points of interest, exploiting tourist preferences and context. Designing a tool like this brings several challenges that must be addressed. We discuss how these challenges have been overcame, present the overall system architecture, since this mobile application extends the PSiS project website, and the mobile application architecture.

Vantagens e desvantagens no desenvolvimento de recursos educativos para dispositivos móveis. CV Learning Mobile - Software educativo sobre “Organização Administrativa de Cabo Verde”

Não é recente a contribuição das tecnologias de informação e comunicação em processos de ensino/aprendizagem, no sentido da proliferação de conhecimento, de forma fácil e rápida. Com a contínua evolução tecnológica, surgem novos conceitos relativamente a processos de ensino/aprendizagem assentes nessas tecnologias. A aprendizagem por meio de dispositivos móveis, o m-Learning, é um exemplo, sendo um campo de investigação educacional em franca evolução, que explora essencialmente a mobilidade e a interactividade. No âmbito desta dissertação, pretende-se analisar a tecnologia m-Learning, fazendo referência as principais vantagens e desvantagens desta tecnologia. Neste sentido, e por pretendermos dar o nosso contributo ao ensino cabo-verdiano, onde a utilização de tal tecnologia é ainda inexistente, desenvolveu-se a aplicação CV Learning Mobile, um software educativo sobre a “Organização Administrativa de Cabo Verde”, como resultado do estudo efectuado.