Sistema de percepção visual para veículos autónomos aéreos

Esta dissertação aborda o problema de detecção e desvio de obstáculos "SAA- Sense And Avoid" em movimento para veículos aéreos. Em particular apresenta contribuições tendo em vista a obtenção de soluções para permitir a utilização de aeronaves não tripuladas em espaço aéreo não segregado e para aplicações civis. Estas contribuições caracterizam-se por: uma análise do problema de SAA em \UAV's - Unmmaned Aerial Vehicles\ civis; a definição do conceito e metodologia para o projecto deste tipo de sistemas; uma proposta de \ben- chmarking\ para o sistema SAA caracterizando um conjunto de "datasets\ adequados para a validação de métodos de detecção; respectiva validação experimental do processo e obtenção de "datasets"; a análise do estado da arte para a detecção de \Dim point features\ ; o projecto de uma arquitectura para uma solução de SAA incorporando a integração de compensação de \ego motion" e respectiva validação para um "dataset" recolhido. Tendo em vista a análise comparativa de diferentes métodos bem como a validação de soluções foi proposta a recolha de um conjunto de \datasets" de informação sensorial e de navegação. Para os mesmos foram definidos um conjunto de experiências e cenários experimentais. Foi projectado e implementado um setup experimental para a recolha dos \datasets" e realizadas experiências de recolha recorrendo a aeronaves tripuladas. O setup desenvolvido incorpora um sistema inercial de alta precisão, duas câmaras digitais sincronizadas (possibilitando análise de informa formação stereo) e um receptor GPS. As aeronaves alvo transportam um receptor GPS com logger incorporado permitindo a correlação espacial dos resultados de detecção. Com este sistema foram recolhidos dados referentes a cenários de aproximação com diferentes trajectórias e condições ambientais bem como incorporando movimento do dispositivo detector. O método proposto foi validado para os datasets recolhidos tendo-se verificado, numa análise preliminar, a detecção do obstáculo (avião ultraleve) em todas as frames para uma distância inferior a 3 km com taxas de sucesso na ordem dos 95% para distâncias entre os 3 e os 4 km. Os resultados apresentados permitem validar a arquitectura proposta para a solução do problema de SAA em veículos aéreos autónomos e abrem perspectivas muito promissoras para desenvolvimento futuro com forte impacto técnico-científico bem como sócio-economico. A incorporação de informa formação de \ego motion" permite fornecer um forte incremento em termos de desempenho.

An identity-based approch to communication

The main objective of this paper is to evaluate the key elements in the construction of cosistent organisational messages over time. In order to accomplish that, we propose the aligment of several elements: vision, misson, objectives, cultural values, optimal identity attributes, positioning, type of messages, communication style and means, and image...

The telegraph as an omen of the future in James W. Carey's vision

In the history of modern communication, after the development of the printing press, the telegraph unleashed a revolution in communications. Today, Internet is in many ways its heir. Reflections on the telegraph may open up perspectives concerning tendencies, possibilities and pitfalls of the Internet. The telegraph has been well explored in important literature on communication and media which tends to emphasize the history of this technology, its social context and institutional meaning [e.g. Robert L. Thompson, 1947, Tom Standage, 2007 [1998]. James W. Carey, the North- American critical cultural studies' mentor, in his essay "Technology and Ideology. The Case of the Telegraph" (2009 [1983]), suggests a distinctive approach. In the telegraph, Carey sees the prototype of many subsequent commercial empires based on science and technology, a pioneer model for complex business management; an example of interest struggle for the patents control; an inductor of changes both in language and in structures of knowledge; and a promoter of a futurist and utopian thought of information technologies. Having in mind a revolution in communications promoted by the Internet, this paper revisits this seminal essay to explore its great attainment, as well as the problems of this kind of approach which conceives the innovation of the telegraph as a metaphor for all the innovations announcing the modern stage of history and determining still today the major lines of development in modern communication systems.

EGNOS based virtual reference stations

We propose the use of the European Geostationary Navigation Overlay Service (EGNOS) data - real time on line data provided by SISNeT - to develop Virtual Reference Stations and, thus, increase the quality of the Position, Velocity an Time (PVT) solution of receivers unable to interface directly with EGNOS. A Virtual Reference Station (VRS) is a concept where the existence of a differential reference station located near a mobile rover is simulated by software in order to increase the accuracy of the PVT solution of the mobile GNSS receiver.

Internet based VRS Code Positioning

Absolute positioning – the real time satellite based positioning technique that relies solely on global navigation satellite systems – lacks accuracy for several real time application domains. To provide increased positioning quality, ground or satellite based augmentation systems can be devised, depending on the extent of the area to cover. The underlying technique – multiple reference station differential positioning – can, in the case of ground systems, be further enhanced through the implementation of the virtual reference station concept. Our approach is a ground based system made of a small-sized network of three stations where the concept of virtual reference station was implemented. The stations provide code pseudorange corrections, which are combined using a measurement domain approach inversely proportional to the distance from source station to rover. All data links are established trough the Internet.

The sociological perspective on the knowledge-based society: assumptions, facts and visions

The paper will present the central discourse of the knowledge-based society. Already in the 1960s the debate of the industrial society already raised the question whether there can be considered a paradigm shift towards a knowledge-based society. Some prominent authors already foreseen ‘knowledge’ as the main indicator in order to displace ‘labour’ and ‘capital’ as the main driving forces of the capitalistic development. Today on the political level and also in many scientific disciplines the assumption that we are already living in a knowledge-based society seems obvious. Although we still do not have a theory of the knowledge-based society and there still exist a methodological gap about the empirical indicators, the vision of a knowledge-based society determines at least the perception of the Western societies. In a first step the author will pinpoint the assumptions about the knowledge-based society on three levels: on the societal, on the organisational and on the individual level. These assumptions are relied on the following topics: a) The role of the information and communication technologies; b) The dynamic development of globalisation as an ‘evolutionary’ process; c) The increasing importance of knowledge management within organisations; d) The changing role of the state within the economic processes. Not only the differentiation between the levels but also the revision of the assumptions of a knowledge-based society will show that the ‘topics raised in the debates’ cannot be considered as the results of a profound societal paradigm shift. However what seems very impressive is the normative and virtual shift towards a concept of modernity, which strongly focuses on the role of technology as a driving force as well as on the global economic markets, which has to be accepted. Therefore – according to the official debate - the successful adaptation of these processes seems the only way to meet the knowledge-based society. Analysing the societal changes on the three levels, the label ‘knowledge-based society’ can be seen critically. Therefore the main question of Theodor W. Adorno during the 16th Congress of Sociology in 1968 did not loose its actuality. Facing the societal changes he asked whether we are still living in the industrial society or already in a post-industrial state. Thinking about the knowledge-based society according to these two options, this exercise would enrich the whole debate in terms of social inequality, political, economic exclusion processes and at least the power relationship between social groups.

Schem@Doc: a web-based XML schema visualizer

XML Schema is one of the most used specifications for defining types of XML documents. It provides an extensive set of primitive data types, ways to extend and reuse definitions and an XML syntax that simplifies automatic manipulation. However, many features that make XML Schema Definitions (XSD) so interesting also make them rather cumbersome to read. Several tools to visualize and browse schema definitions have been proposed to cope with this issue. The novel approach proposed in this paper is to base XSD visualization and navigation on the XML document itself, using solely the web browser, without requiring a pre-processing step or an intermediate representation. We present the design and implementation of a web-based XML Schema browser called schem@Doc that operates over the XSD file itself. With this approach, XSD visualization is synchronized with the source file and always reflects its current state. This tool fits well in the schema development process and is easy to integrate in web repositories containing large numbers of XSD files.

Navegação de robôs móveis por marcas artificiais em ambientes semi-estruturados

Mestrado em engenharia electrotécnica e de computadores - Área de Especialização de Sistemas Autónomos

An internet DGPS service for precise outdoor navigation

The goal of the work presented in this paper is to provide mobile platforms within our campus with a GPS based data service capable of supporting precise outdoor navigation. This can be achieved by providing campus-wide access to real time Differential GPS (DGPS) data. As a result, we designed and implemented a three-tier distributed system that provides Internet data links between remote DGPS sources and the campus and a campus-wide DGPS data dissemination service. The Internet data link service is a two-tier client/server where the server-side is connected to the DGPS station and the client-side is located at the campus. The campus-wide DGPS data provider disseminates the DGPS data received at the campus via the campus Intranet and via a wireless data link. The wireless broadcast is intended for portable receivers equipped with a DGPS wireless interface and the Intranet link is provided for receivers with a DGPS serial interface. The application is expected to provide adequate support for accurate outdoor campus navigation tasks.

Localization system for pedestrians based on sensor and information fusion

Nowadays there is an increase of location-aware mobile applications. However, these applications only retrieve location with a mobile device's GPS chip. This means that in indoor or in more dense environments these applications don't work properly. To provide location information everywhere a pedestrian Inertial Navigation System (INS) is typically used, but these systems can have a large estimation error since, in order to turn the system wearable, they use low-cost and low-power sensors. In this work a pedestrian INS is proposed, where force sensors were included to combine with the accelerometer data in order to have a better detection of the stance phase of the human gait cycle, which leads to improvements in location estimation. Besides sensor fusion an information fusion architecture is proposed, based on the information from GPS and several inertial units placed on the pedestrian body, that will be used to learn the pedestrian gait behavior to correct, in real-time, the inertial sensors errors, thus improving location estimation.

Sistema de mapeamento e localização simultânea para inspecção subaquática

A sequente dissertação resulta do desenvolvimento de um sistema de navegação subaquático para um Remotely Operated Vehicle (ROV). A abordagem proposta consiste de um algoritmo em tempo real baseado no método de Mapeamento e Localização Simultâneo (SLAM) a partir de marcadores em ambientes marinhos não estruturados. SLAM introduz dois principais desafios: (i) reconhecimento dos marcadores provenientes dos dados raw do sensor, (ii) associação de dados. Na detecção dos marcadores foram aplicadas técnicas de visão artificial baseadas na extracção de pontos e linhas. Para testar o uso de features no visual SLAM em tempo real nas operações de inspecção subaquáticas foi desenvolvida uma plataforma modicada do RT-SLAM que integra a abordagem EKF SLAM. A plataforma é integrada em ROS framework e permite estimar a trajetória 3D em tempo real do ROV VideoRay Pro 3E até 30 fps. O sistema de navegação subaquático foi caracterizado num tanque instalado no Laboratório de Sistemas Autónomos através de um sistema stereo visual de ground truth. Os resultados obtidos permitem validar o sistema de navegação proposto para veículos subaquáticos. A trajetória adquirida pelo VideoRay em ambiente controlado é validada pelo sistema de ground truth. Dados para ambientes não estruturados, como um gasoduto, foram adquiridos e obtida respectiva trajetória realizada pelo robô. Os dados apresentados comprovam uma boa precisão e exatidão para a estimativa da posição.

An automated maneuver control framework for a remotely operated vehicle

OCEANS, 2001. MTS/IEEE Conference and Exhibition (Volume:2 )

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.

Environmental modeling with precision navigation using ROAZ autonomous surface vehicle

The use of robotic vehicles for environmental modeling is discussed. This paper presents diverse results in autonomous marine missions with the ROAZ autonomous surface vehicle. The vehicle can perform autonomous missions while gathering marine data with high inertial and positioning precision. The underwater world is an, economical and environmental, asset that need new tools to study and preserve it. ROAZ is used in marine environment missions since it can sense and monitor the surface and underwater scenarios. Is equipped with a diverse set of sensors, cameras and underwater sonars that generate 3D environmental models. It is used for study the marine life and possible underwater wrecks that can pollute or be a danger to marine navigation. The 3D model and integration of multibeam and sidescan sonars represent a challenge in nowadays. Adding that it is important that robots can explore an area and make decisions based on their surroundings and goals. Regard that, autonomous robotic systems can relieve human beings of repetitive and dangerous tasks.

TIGRE - An autonomous ground robot for outdoor exploration

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