Study on the development of an autonomous mobile robot

Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores

Cell-to cell Communication in Pectobacterium wasabiae

Dissertation presented to obtain the PhD degree in Biology

2D position system for a mobile robot in unstructured environments

Nowadays, several sensors and mechanisms are available to estimate a mobile robot trajectory and location with respect to its surroundings. Usually absolute positioning mechanisms are the most accurate, but they also are the most expensive ones, and require pre installed equipment in the environment. Therefore, a system capable of measuring its motion and location within the environment (relative positioning) has been a research goal since the beginning of autonomous vehicles. With the increasing of the computational performance, computer vision has become faster and, therefore, became possible to incorporate it in a mobile robot. In visual odometry feature based approaches, the model estimation requires absence of feature association outliers for an accurate motion. Outliers rejection is a delicate process considering there is always a trade-off between speed and reliability of the system. This dissertation proposes an indoor 2D position system using Visual Odometry. The mobile robot has a camera pointed to the ceiling, for image analysis. As requirements, the ceiling and the oor (where the robot moves) must be planes. In the literature, RANSAC is a widely used method for outlier rejection. However, it might be slow in critical circumstances. Therefore, it is proposed a new algorithm that accelerates RANSAC, maintaining its reliability. The algorithm, called FMBF, consists on comparing image texture patterns between pictures, preserving the most similar ones. There are several types of comparisons, with different computational cost and reliability. FMBF manages those comparisons in order to optimize the trade-off between speed and reliability.

Nitrogen (N) : from science to society. A science communication project

O Azoto (N): da ciência para a sociedade é um projecto de comunicação de ciência que tem por objecNvo consciencializar os jovens para as ameaças que o azoto (N) em excesso traz para a humanidade. Pode ser dividido em duas partes. Uma, de invesNgação, sobre a análise de resultados de uma consulta pública realizada entre professores, usando o método qualitaNvo do focus group, para compreender a sua sensibilidade e propostas de solução para minimizar o excesso de N no ambiente. Os resultados obNdos foram instrumentais para o desenvolvimento da segunda parte. Esta segunda parte é uma proposta de projecto a submeter ao Horizon 2020, no âm-­‐ bito da “Science with and for Society “. Nela se propõe uma abordagem educaNva trans-­‐disciplinar, conseguida através da interacção entre docentes do secundário, e do ensino superior, associação de pais e organizações cívicas não governamentais, com vista à consciencialização dos jovens para as ameaças do N em excesso no meio ambiente, fazendo o enquadramento cien@fico e fornecendo abordagens tecnológi-­‐ cas. A inovação desta proposta baseia-­‐se: (i) no acompanhamento e desenvolvimen-­‐ to profissional dos docentes do secundário, (ii) na moNvação dos estudantes a de-­‐ senvolver o seu próprio estudo e pesquisa com a tutoria dos docentes, da escola e do ensino superior, e (iii) no desenvolvimento de capacidades de comunicação dos jo-­‐ vens para exercer uma cidadania acNva em prol da minimização das ameaças do N.

Combining WLAN fingerprint-based localization with sensor data for indoor navigation using mobile devices

This project proposes an approach for supporting Indoor Navigation Systems using Pedestrian Dead Reckoning-based methods and by analyzing motion sensor data available in most modern smartphones. Processes suggested in this investigation are able to calculate the distance traveled by a user while he or she is walking. WLAN fingerprint- based navigation systems benefit from the processes followed in this research and results achieved to reduce its workload and improve its positioning estimations.

Personal advisors for business professionals: improving communication skills with online corpora

The business sphere is a multilingual world where foreign language communication skills are crucial in international relations. It makes employers look for business professionals who have a high level of linguistic competences. Language proficiency increases the chances of negotiation among partners. There are mainly two obstacles that make barriers in formal communication in a foreign language: lack of knowledge of specific linguistic structures or terminology and frequent transitions from one language to another. This paper contributes to the quest for quick access to a wide range of English, Spanish and Russian online databases that provide authentic language samples. Their application may improve communication skills and facilitate preparation for business discourse.

The consumption of media contents through mobile devices in Finland

O campo dos media na Finlândia encontra-se num processo de mudanças aparentemente imparáveis, com os dispositivos móveis, tal como os smartphones e tablets, a influenciarem cada vez mais os padrões de produção e consumo de media. Nesta dissertação é defendido que esta situação é influenciada por factores históricos, sociais e culturais: desde os livros e jornais como meio de manter a língua finlandesa até aos benefícios da Segurança Social que permitiram que até as pessoas com menos rendimentos comprassem o jornal para se manterem a par dos desenvolvimentos do país, bem como a grande tradição de leitura que é associada aos finlandeses, assim como as condições que ao longo da história fazem fizeram com que os finlandeses sejam fascinados pelas novas tecnologias. Adicionalmente, presto especial atenção às estratégias que são adoptadas pelas cada vez mais convergentes companhias de media para enfrentarem a competição de elementos como os social media.

Mobile payment

Este estudo visa perceber quais os principais determinantes da adopção e recomendação da tecnologia de pagamentos móveis. Para atingir este objectivo, foi desenvolvido um modelo de pesquisa que combinou os modelos de adopção unified theory of acceptance and use of technology 2 (UTAUT2) e diffusions on innovations (DOI), juntamente com a variável perceived technology security (PTS). Foi realizado um questionário online, tendo sido obtidas 301 respostas válidas. Os dados recolhidos foram analisados utilizando a técnica de structured equation modeling (SEM), de forma a testar empiricamente o modelo e pesquisa. As principais conclusões retiradas são que os principais factores, com efeitos directos e indirectos, para a adopção e recomendação da tecnologia de pagamentos móveis são compatibility, perceived technology security, performance expectations, innovativeness e social influence. As conclusões deste estudo fornecem informações úteis às partes interessadas na tecnologia de pagamentos móveis.

AGNI: an API for the control of automomous service robots

With the continuum growth of Internet connected devices, the scalability of the protocols used for communication between them is facing a new set of challenges. In robotics these communications protocols are an essential element, and must be able to accomplish with the desired communication. In a context of a multi-­‐‑agent platform, the main types of Internet communication protocols used in robotics, mission planning and task allocation problems will be revised. It will be defined how to represent a message and how to cope with their transport between devices in a distributed environment, reviewing all the layers of the messaging process. A review of the ROS platform is also presented with the intent of integrating the already existing communication protocols with the ServRobot, a mobile autonomous robot, and the DVA, a distributed autonomous surveillance system. This is done with the objective of assigning missions to ServRobot in a security context.

Integration of a mobile autonomous robot in a surveillance multi-agent system

This dissertation aims to guarantee the integration of a mobile autonomous robot equipped with many sensors in a multi-agent distributed and georeferenced surveillance system. The integration of a mobile autonomous robot in this system leads to new features that will be available to clients of surveillance system may use. These features may be of two types: using the robot as an agent that will act in the environment or by using the robot as a mobile set of sensors. As an agent in the system, the robot can move to certain locations when alerts are received, in order to acknowledge the underlying events or take to action in order to assist in resolving this event. As a sensor platform in the system, it is possible to access information that is read from the sensors of the robot and access complementary measurements to the ones taken by other sensors in the multi-agent system. To integrate this mobile robot in an effective way it is necessary to extend the current multi-agent system architecture to make the connection between the two systems and to integrate the functionalities provided by the robot into the multi-agent system.

Mobile image processing to support educational geometry games

The mobile IT era is here, it is still growing and expanding at a steady rate and, most of all, it is entertaining. Mobile devices are used for entertainment, whether social through the so-called social networks, or private through web browsing, video watching or gaming. Youngsters make heavy use of these devices, and even small children show impressive adaptability and skill. However not much attention is directed towards education, especially in the case of young children. Too much time is usually spent in games which only purpose is to keep children entertained, time that could be put to better use such as developing elementary geometric notions. Taking advantage of this pocket computer scenario, it is proposed an application geared towards small children in the 6 – 9 age group that allows them to consolidate knowledge regarding geometric shapes, forming a stepping stone that leads to some fundamental mathematical knowledge to be exercised later on. To achieve this goal, the application will detect simple geometric shapes like squares, circles and triangles using the device’s camera. The novelty of this application will be a core real-time detection system designed and developed from the ground up for mobile devices, taking into account their characteristic limitations such as reduced processing power, memory and battery. User feedback was be gathered, aggregated and studied to assess the educational factor of the application.

Can location-based mobile marketing enhance the customer experience and increase customer satisfaction and loyalty?

This study intends to explore the impact of customer experience on customer satisfaction and loyalty by trying to understand how location-based mobile marketing might enhance the customer experience. Primary data was collected from 201 smartphone users in 24 countries. Results have indicated that targeted location-based marketing positively influences customers’ experiences. Besides, the analysis has also shown a favorable impact on customers’ satisfaction and self-perceived loyalty. This suggests that location-based mobile marketing has the potential to positively add value to a customer’s experience and should therefore be considered an important tool in marketing communications.

Evaluation of the welfare impact of regulating mobile termination rates in Portugal

Following the European Commission’s 2009 Recommendation on the Regulatory Treatment of Fixed and Mobile Termination Rates in the EU, the Portuguese regulatory authority (ANACOM) decided to reduce termination prices in mobile networks to their long-run incremental cost (LRIC). Nevertheless, no serious quantitative assessment of the potential effects of this decision was carried out. In this paper, we adapt and calibrate the Harbord and Hoernig (2014) model of the UK mobile telephony market to the Portuguese reality, and simulate the likely impact on consumer surplus, profits and welfare of four different regulatory approaches: pure LRIC, reciprocal termination charges with fixed networks, “bill & keep”, and asymmetric termination rates. Our results show that reducing MTRs does increase social welfare, profits and consumer surplus in the fixed market, but mobile subscribers are seriously harmed by this decision.

Um lugar para se estar. Estratégias de comunicação que estimulem a participação de jovens na vida dos museus

Em 2004 Gail Anderson afirmava haver uma clara necessidade de os museus conquistarem novas audiências, especialmente os jovens. Onze anos depois, os especialistas de estudos culturais identificam o mesmo problema. No entanto, com o desenvolvimento constante das tecnologias digitais móveis e, em particular, as redes sociais, as instituições museológicas devem adaptar os seus recursos e aproveitar esta oportunidade (Drotner e Schodner, 2003), de modo a criar uma relação mais próxima com os jovens, a faixa étaria mais ligada a estes novos media. A Fundação Calouste Gulbenkian, em particular o Museu Gulbenkian, para além da importância visível que tem no mundo cultural em Portugal, é uma das instituições culturais que mais aposta na divulgação digital, nomeadamente nas redes sociais onde está presente. Através de um questionário online realizado a 160 jovens entre os 13 e os 25 anos foi possível identificar que os inquiridos vão a museus com pouca frequência; que gostariam de ver os museus como espaços interativos que incentivem à participação e ao diálogo; que estão presentes nas redes sociais e que, através dos conteúdos certos, apesar de mais de metade afirmar visitar o Museu Gulbenkian menos de uma vez por ano, tivessem vontade de o fazer mais frequentemente. Através da opinião de um conservador do Museu Gulbenkian e da responsável pela comunicação digital da Fundação Calouste Gulbenkian, foi possível concluir que ambos acham que o Museu Gulbenkian não é um espaço desenhado para os jovens e que as redes sociais são um meio fundamental para alcançar esta faixa etária. Com os resultados dos inquéritos realizados aos jovens e as propostas de solução para este problema dadas pelos entrevistados, é possível sugerir quatro estratégias de comunicação que tornem os museus “um lugar para se estar”, do ponto de vista dos jovens: apostar e desenvolver a aplicação mobile; fazer um passe que combine uma entrada no museu e um menu numa das cafeterias; realizar através das redes sociais passatempos para ganhar bilhetes para as exposições; apostar em eventos noturnos inseridos no Museu.

How to design and develop There App: A mobile app focused on live video streaming, promoting new social interactions

This work project aims to demonstrate how to design and develop an innovative concept of video streaming app. The project combines technology push and market pull theories into developing a product that is more suitable for the customer needs, with the particularity that there is no other way of seeing any place in the world, live and ondemand. An analysis on the bigger influencers in terms of design-thinking and new product development, as Tim Brown or Paul Trott, lead to a better understanding on how There App should evolve, keeping in mind the customer desires and technical features.