The cyber challenge: a robotics project to enthuse

Robotics is a key theme in many of the degrees offered in Systems Engineering. The topic has proved useful in attracting students to the University, and it also provides the basis of much practical and project work throughout the degrees. This paper focuses on one aspect, a Part 2 project in which students doing various degrees work together to develop a mobile robot which is controlled remotely to navigate an environment and perform specific tasks. In addition to providing practical experience of relevant academic topics, this project helps to contribute to key teaching and learning priorities including problem based learning, motivation and important employability skills.

Estimation of visual motion parameters used for bio-inspired navigation

Visual motion cues play an important role in animal and humans locomotion without the need to extract actual ego-motion information. This paper demonstrates a method for estimating the visual motion parameters, namely the Time-To-Contact (TTC), Focus of Expansion (FOE), and image angular velocities, from a sparse optical flow estimation registered from a downward looking camera. The presented method is capable of estimating the visual motion parameters in a complicated 6 degrees of freedom motion and in real time with suitable accuracy for mobile robots visual navigation.

Estimation of magnet separation for magnetic suspension applications

This thesis describes a form of non-contact measurement using two dimensional hall effect sensing to resolve the location of a moving magnet which is part of a ‘magnetic spring’ type suspension system. This work was inspired by the field of Space Robotics, which currently relies on solid link suspension techniques for rover stability. This thesis details the design, development and testing of a novel magnetic suspension system with a possible application in space and terrestrial based robotics, especially when the robot needs to traverse rough terrain. A number of algorithms were developed, to utilize experimental data from testing, that can approximate the separation between magnets in the suspension module through observation of the magnetic fields. Experimental hardware was also developed to demonstrate how two dimensional hall effect sensor arrays could provide accurate feedback, with respects to the magnetic suspension modules operation, so that future work can include the sensor array in a real-time control system to produce dynamic ride control for space robots. The research performed has proven that two dimensional hall effect sensing with respects to magnetic suspension is accurate, effective and suitable for future testing.

Biologically-inspired robust motion segmentation using mutual information

This paper presents a neuroscience inspired information theoretic approach to motion segmentation. Robust motion segmentation represents a fundamental first stage in many surveillance tasks. As an alternative to widely adopted individual segmentation approaches, which are challenged in different ways by imagery exhibiting a wide range of environmental variation and irrelevant motion, this paper presents a new biologically-inspired approach which computes the multivariate mutual information between multiple complementary motion segmentation outputs. Performance evaluation across a range of datasets and against competing segmentation methods demonstrates robust performance.

Bio-inspired autonomous visual vertical control of a quadrotor UAV

Near ground maneuvers, such as hover, approach and landing, are key elements of autonomy in unmanned aerial vehicles. Such maneuvers have been tackled conventionally by measuring or estimating the velocity and the height above the ground often using ultrasonic or laser range finders. Near ground maneuvers are naturally mastered by flying birds and insects as objects below may be of interest for food or shelter. These animals perform such maneuvers efficiently using only the available vision and vestibular sensory information. In this paper, the time-to-contact (Tau) theory, which conceptualizes the visual strategy with which many species are believed to approach objects, is presented as a solution for Unmanned Aerial Vehicles (UAV) relative ground distance control. The paper shows how such an approach can be visually guided without knowledge of height and velocity relative to the ground. A control scheme that implements the Tau strategy is developed employing only visual information from a monocular camera and an inertial measurement unit. To achieve reliable visual information at a high rate, a novel filtering system is proposed to complement the control system. The proposed system is implemented on-board an experimental quadrotor UAV and shown not only to successfully land and approach ground, but also to enable the user to choose the dynamic characteristics of the approach. The methods presented in this paper are applicable to both aerial and space autonomous vehicles.

Simultaneous mobile sink allocation in home environments with applications in mobile consumer robotics

This paper presents a novel mobile sink area allocation scheme for consumer based mobile robotic devices with a proven application to robotic vacuum cleaners. In the home or office environment, rooms are physically separated by walls and an automated robotic cleaner cannot make a decision about which room to move to and perform the cleaning task. Likewise, state of the art cleaning robots do not move to other rooms without direct human interference. In a smart home monitoring system, sensor nodes may be deployed to monitor each separate room. In this work, a quad tree based data gathering scheme is proposed whereby the mobile sink physically moves through every room and logically links all separated sub-networks together. The proposed scheme sequentially collects data from the monitoring environment and transmits the information back to a base station. According to the sensor nodes information, the base station can command a cleaning robot to move to a specific location in the home environment. The quad tree based data gathering scheme minimizes the data gathering tour length and time through the efficient allocation of data gathering areas. A calculated shortest path data gathering tour can efficiently be allocated to the robotic cleaner to complete the cleaning task within a minimum time period. Simulation results show that the proposed scheme can effectively allocate and control the cleaning area to the robot vacuum cleaner without any direct interference from the consumer. The performance of the proposed scheme is then validated with a set of practical sequential data gathering tours in a typical office/home environment.

Bio-inspired ant colony optimization based clustering algorithm with mobile sinks for applications in consumer home automation networks

With the fast development of wireless communications, ZigBee and semiconductor devices, home automation networks have recently become very popular. Since typical consumer products deployed in home automation networks are often powered by tiny and limited batteries, one of the most challenging research issues is concerning energy reduction and the balancing of energy consumption across the network in order to prolong the home network lifetime for consumer devices. The introduction of clustering and sink mobility techniques into home automation networks have been shown to be an efficient way to improve the network performance and have received significant research attention. Taking inspiration from nature, this paper proposes an Ant Colony Optimization (ACO) based clustering algorithm specifically with mobile sink support for home automation networks. In this work, the network is divided into several clusters and cluster heads are selected within each cluster. Then, a mobile sink communicates with each cluster head to collect data directly through short range communications. The ACO algorithm has been utilized in this work in order to find the optimal mobility trajectory for the mobile sink. Extensive simulation results from this research show that the proposed algorithm significantly improves home network performance when using mobile sinks in terms of energy consumption and network lifetime as compared to other routing algorithms currently deployed for home automation networks.

Developing Box-Pushing Behaviours Using Evolutionary Robotics

The context of this report and the IRIDIA laboratory are described in the preface. Evolutionary Robotics and the box-pushing task are presented in the introduction.The building of a test system supporting Evolutionary Robotics experiments is then detailed. This system is made of a robot simulator and a Genetic Algorithm. It is used to explore the possibility of evolving box-pushing behaviours. The bootstrapping problem is explained, and a novel approach for dealing with it is proposed, with results presented.Finally, ideas for extending this approach are presented in the conclusion.

A multicentre randomized controlled trial of an empowerment-inspired intervention for adolescents starting continuous subcutaneous insulin infusion : a study protocol

Background. Continuous subcutaneous insulin infusion (CSII) treatment among children with type 1 diabetes is increasing in Sweden. However, studies evaluating glycaemic control in children using CSII show inconsistent results. Omitting bolus insulin doses using CSII may cause reduced glycaemic control among adolescents. The distribution of responsibility for diabetes self-management between children and parents is often unclear and needs clarification. There is much published support for continued parental involvement and shared diabetes management during adolescence. Guided Self-Determination (GSD) is an empowerment-based, person-centred, reflection and problem solving method intended to guide the patient to become self-sufficient and develop life skills for managing difficulties in diabetes self-management. This method has been adapted for adolescents and parents as Guided Self-Determination-Young (GSD-Y). This study aims to evaluate the effect of an intervention with GSD-Y in groups of adolescents starting on insulin pumps and their parents on diabetes-related family conflicts, perceived health and quality of life (QoL), and metabolic control. Here, we describe the protocol and plans for study enrolment. Methods. This study is designed as a randomized, controlled, prospective, multicentre study. Eighty patients between 12-18 years of age who are planning to start CSII will be included. All adolescents and their parents will receive standard insulin pump training. The education intervention will be conducted when CSII is to be started and at four appointments in the first 4 months after starting CSII. The primary outcome is haemoglobin A1c levels. Secondary outcomes are perceived health and QoL, frequency of blood glucose self-monitoring and bolus doses, and usage of carbohydrate counting. The following instruments will be used to evaluate perceived health and QoL: Disabkids, 'Check your health', the Diabetes Family Conflict Scale and the Swedish Diabetes Empowerment Scale. Outcomes will be evaluated within and between groups by comparing data at baseline, and at 6 and 12 months after starting treatment. Results and discussion. In this study, we will assess the effect of starting an insulin pump together with the model of Guided Self-Determination to determine whether this approach leads to retention of improved glycaemic control, QoL, responsibility distribution and reduced diabetes-related conflicts in the family. Trial registration: Current controlled trials: ISRCTN22444034

A "Wall" By Any Other Name Remains Equally Inspired?

Is social networking for libraries? can social media lose its hebetude?

Razão ótima de hedge em função do horizonte de hedge e da periodicicidade dos dados : uma aplicação no mercado de boi gordo brasileiro

As observações relatadas por Myers e Thompson, em seu artigo “Generalized Optimal Hedge Ratio Estimation” de 1989, foram analisadas neste estudo utilizando o boi gordo como a commodity de interesse. Myers e Thompson, demonstraram teórica e empiricamente, ser inapropriado o uso do coeficiente angular da regressão simples, dos preços à vista sobre os preços futuros como forma de estimar a razão ótima de hedge. Porém, sob condições especiais, a regressão simples com a mudança dos preços resultou em valores plausíveis, próximos àqueles determinados por um modelo geral. Este modelo geral, foi desenvolvido com o intuito de estabelecer os parâmetros para comparar as diferentes abordagens na estimativa da razão ótima de hedge. O coeficiente angular da reta da regressão simples e a razão ótima de hedge tem definições similares, pois ambos são o resultado da divisão entre a matriz de covariância dos preços, à vista e futuros e a variância dos preços futuros. No entanto, na razão ótima de hedge estes valores refletem o momento condicional, enquanto que na regressão simples são valores não condicionais. O problema portanto, está em poder estimar a matriz condicional de covariância, entre os preços à vista e futuros e a variância condicional dos preços futuros, com as informações relevantes no momento da tomada de decisão do hedge. Neste estudo utilizou-se o modelo de cointegração com o termo de correção de erros, para simular o modelo geral. O Indicador ESALQ/BM&F foi utilizado como a série representativa dos preços à vista, enquanto que para os preços futuros, foram utilizados os valores do ajuste diário dos contratos de boi gordo, referentes ao primeiro e quarto vencimentos, negociados na Bolsa Mercantil e de Futuros - BM&F. Os objetivos do presente estudo foram: investigar se as observações feitas por Myers e Thompson eram válidas para o caso do boi gordo brasileiro, observar o efeito do horizonte de hedge sobre a razão ótima de hedge e o efeito da utilização das séries diárias e das séries semanais sobre a estimativa da razão ótima de hedge. Trabalhos anteriores realizados com as séries históricas dos preços do boi gordo, consideraram apenas os contratos referentes ao primeiro vencimento. Ampliar o horizonte de hedge é importante, uma vez que as atividades realizadas pelos agentes tomam mais do que 30 dias. Exemplo disto é a atividade de engorda do boi, que pode levar até 120 dias entre a compra do boi magro e a venda do boi gordo. Demonstrou-se neste estudo, que o uso das séries semanais, é o mais apropriado, dado a diminuição substancial da autocorrelação serial. Demonstrou-se também, que as regressões com as mudanças dos preços, resultaram em estimativas da razão de hedge próximas daquelas obtidas com o modelo geral e que estas diminuem com o aumento do horizonte de hedge.

A taxa ótima de hedge no mercado brasileiro do boi gordo: uma abordagem com BEKK, DCC e BEKK com dummies de safra e entressafra

Esta dissertação tem três objetivos. O primeiro é encontrar o melhor método para se calcular a taxa ótima de “hedge” no mercado brasileiro do boi gordo. Para isso, foram testados cinco modelos: BEKK, DCC de Tse e Tsui (2002), DCC de Engle e Sheppard (2001), BEKK com dummy de safra e BEKK com dummy de entressafra. O segundo é calcular o diferencial de razões de “hedge” entre a safra e entressafra, pois a taxa de “hedge” na entressafra deve ser maior devido a uma maior incerteza sobre um possível choque de oferta, o que afetaria negativamente os custos dos frigoríficos. O terceiro e último objetivo é desvendar o porquê da literatura brasileira de taxa ótima de “hedge” estar encontrando estimativas muito pequenas das taxas quando comparadas às realizadas no mercado. Conclui-se que os modelos DCC’s são os que, no geral, obtém um desempenho melhor pelo critério de redução de variância e aumento do índice de Sharpe e que a taxa de “hedge” na entressafra não deve ser maior que na safra. Nota-se também que a quebra da expectativa intertemporal com a mudança de contratos faz com que a variância da série dos retornos futuros aumente muito, diminuindo assim a taxa de “hedge”.

Efetividade do cross hedging dos novilhos argentinos e uruguaios no mercado futuro do boi gordo brasileiro

Na Argentina e no Uruguai, diversas tentativas de negociação de contratos futuros e de índice de preços de carne bovina foram frustradas ao longo dos anos, tendo os derivativos lançados fracassado, em um curto espaço de tempo, por falta de liquidez. Esse cenário, somado a outras particularidades do mercado físico da carne bovina, torna o gerenciamento de risco de preços um problema para os agentes econômicos que atuam nessa cadeia produtiva. Nesse contexto, emergiu a seguinte questão: a proteção cruzada com contratos futuros de boi gordo brasileiro da Bolsa de Valores, Mercadorias e Futuros de São Paulo (BM&FBovespa) é efetiva para a administração do risco de preços dos novilhos de corte no mercado a vista argentino e uruguaio? Com a finalidade de responder a essa questão, propôs-se a verificar se é possível mitigar o risco da volatilidade de preços no mercado a vista dos novilhos de corte argentinos e uruguaios por meio do cross hedging no mercado futuro do boi gordo brasileiro na BM&FBovespa. Para tanto, foram utilizados modelos estáticos e dinâmicos de estimação da razão de cross hedge ótima e efetividade em mitigação do risco. Os resultados do teste de hipóteses de mitigação do risco permitiram assegurar que são fortes as evidências de efetividade do mercado futuro do boi gordo brasileiro na proteção contra o risco de preços do mercado a vista dos novilhos argentinos e uruguaios. Complementarmente, verificou-se a hipótese de eficiência do mercado futuro. Os resultados apresentaram evidências de um relacionamento estocástico comum no longo prazo entre os preços a vista e futuros, e de eficiência na predição dos preços no curto prazo, o que sugere que os contratos futuros de boi gordo brasileiro da BM&FBovespa permitem uma trava adequada de cotação-preço para os novilhos argentinos e uruguaios no mercado a vista.