Combining sparse and dense methods in 6D Visual Odometry

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

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Proactive services ecosystem framework

Dissertation presented to obtain the degree of Doctor in Electrical and Computer Engineering, specialization on Collaborative Enterprise Networks

Desenvolvimento de uma framework de argumentação Para apoio à tomada de decisão ubíqua

Os Sistemas de Apoio à Tomada de Decisão em Grupo (SADG) surgiram com o objetivo de apoiar um conjunto de decisores no processo de tomada de decisão. Uma das abordagens mais comuns na literatura para a implementação dos SADG é a utilização de Sistemas Multi-Agente (SMA). Os SMA permitem refletir com maior transparência o contexto real, tanto na representação que cada agente faz do decisor que representa como no formato de comunicação utilizado. Com o crescimento das organizações, atualmente vive-se uma viragem no conceito de tomada de decisão. Cada vez mais, devido a questões como: o estilo de vida, os mercados globais e o tipo de tecnologias disponíveis, faz sentido falar de decisão ubíqua. Isto significa que o decisor deverá poder utilizar o sistema a partir de qualquer local, a qualquer altura e através dos mais variados tipos de dispositivos eletrónicos tais como tablets, smartphones, etc. Neste trabalho é proposto um novo modelo de argumentação, adaptado ao contexto da tomada de decisão ubíqua para ser utilizado por um SMA na resolução de problemas multi-critério. É assumido que cada agente poderá utilizar um estilo de comportamento que afeta o modo como esse agente interage com outros agentes em situações de conflito. Sendo assim, pretende-se estudar o impacto da utilização de estilos de comportamento ao longo do processo da tomada de decisão e perceber se os agentes modelados com estilos de comportamento conseguem atingir o consenso mais facilmente quando comparados com agentes que não apresentam nenhum estilo de comportamento. Pretende-se ainda estudar se o número de argumentos trocados entre os agentes é proporcional ao nível de consenso final após o processo de tomada de decisão. De forma a poder estudar as hipóteses de investigação desenvolveu-se um protótipo de um SADG, utilizando um SMA. Desenvolveu-se ainda uma framework de argumentação que foi adaptada ao protótipo desenvolvido. Os resultados obtidos permitiram validar as hipóteses definidas neste trabalho tendo-se concluído que os agentes modelados com estilos de comportamento conseguem na maioria das vezes atingir um consenso mais facilmente comparado com agentes que não apresentam nenhum estilo de comportamento e que o número de argumentos trocados entre os agentes durante o processo de tomada de decisão não é proporcional ao nível de consenso final.

A multiagent based shop floor transportation system simulator

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

Distributed replicated macro-components

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Lightweight robust behavior industrial agent methodology

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

Transactions in dynamic reactive environments

Most of today’s systems, especially when related to the Web or to multi-agent systems, are not standalone or independent, but are part of a greater ecosystem, where they need to interact with other entities, react to complex changes in the environment, and act both over its own knowledge base and on the external environment itself. Moreover, these systems are clearly not static, but are constantly evolving due to the execution of self updates or external actions. Whenever actions and updates are possible, the need to ensure properties regarding the outcome of performing such actions emerges. Originally purposed in the context of databases, transactions solve this problem by guaranteeing atomicity, consistency, isolation and durability of a special set of actions. However, current transaction solutions fail to guarantee such properties in dynamic environments, since they cannot combine transaction execution with reactive features, or with the execution of actions over domains that the system does not completely control (thus making rolling back a non-viable proposition). In this thesis, we investigate what and how transaction properties can be ensured over these dynamic environments. To achieve this goal, we provide logic-based solutions, based on Transaction Logic, to precisely model and execute transactions in such environments, and where knowledge bases can be defined by arbitrary logic theories.

An agent-based simulator to estimate domestic energy use

Throughout recent years, there has been an increase in the population size, as well as a fast economic growth, which has led to an increase of the energy demand that comes mainly from fossil fuels. In order to reduce the ecological footprint, governments have implemented sustainable measures and it is expected that by 2035 the energy produced from renewable energy sources, such as wind and solar would be responsible for one-third of the energy produced globally. However, since the energy produced from renewable sources is governed by the availability of the respective primary energy source there is often a mismatch between production and demand, which could be solved by adding flexibility on the demand side through demand response (DR). DR programs influence the end-user electricity usage by changing its cost along the time. Under this scenario the user needs to estimate the energy demand and on-site production in advance to plan its energy demand according to the energy price. This work focuses on the development of an agent-based electrical simulator, capable of: (a) estimating the energy demand and on-site generation with a 1-min time resolution for a 24-h period, (b) calculating the energy price for a given scenario, (c) making suggestions on how to maximize the usage of renewable energy produced on-site and to lower the electricity costs by rescheduling the use of certain appliances. The results show that this simulator allows reducing the energy bill by 11% and almost doubling the use of renewable energy produced on-site.

Measurement of the production and lepton charge asymmetry of W bosons in Pb plus Pb collisions at root s(NN)=2.76 TeV with the ATLAS detec

A measurement of W boson production in lead-lead collisions at sNN−−−√=2.76 TeV is presented. It is based on the analysis of data collected with the ATLAS detector at the LHC in 2011 corresponding to an integrated luminosity of 0.14 nb−1 and 0.15 nb−1 in the muon and electron decay channels, respectively. The differential production cross-sections and lepton charge asymmetry are each measured as a function of the average number of participating nucleons ⟨Npart⟩ and absolute pseudorapidity of the charged lepton. The results are compared to predictions based on next-to-leading-order QCD calculations. These measurements are, in principle, sensitive to possible nuclear modifications to the parton distribution functions and also provide information on scaling of W boson production in multi-nucleon systems.

Coupling and monotonicity of queueing processes

The main purpose of this work is to give a survey of main monotonicity properties of queueing processes based on the coupling method. The literature on this topic is quite extensive, and we do not consider all aspects of this topic. Our more concrete goal is to select the most interesting basic monotonicity results and give simple and elegant proofs. Also we give a few new (or revised) proofs of a few important monotonicity properties for the queue-size and workload processes both in single-server and multi- server systems. The paper is organized as follows. In Section 1, the basic notions and results on coupling method are given. Section 2 contains known coupling results for renewal processes with focus on construction of synchronized renewal instants for a superposition of independent renewal processes. In Section 3, we present basic monotonicity results for the queue-size and workload processes. We consider both discrete-and continuous-time queueing systems with single and multi servers. Less known results on monotonicity of queueing processes with dependent service times and interarrival times are also presented. Section 4 is devoted to monotonicity of general Jackson-type queueing networks with Markovian routing. This section is based on the notable paper [17]. Finally, Section 5 contains elements of stability analysis of regenerative queues and networks, where coupling and monotonicity results play a crucial role to establish minimal suficient stability conditions. Besides, we present some new monotonicity results for tandem networks.

Error and attack tolerance of layered complex networks.

Many complex systems may be described by not one but a number of complex networks mapped on each other in a multi-layer structure. Because of the interactions and dependencies between these layers, the state of a single layer does not necessarily reflect well the state of the entire system. In this paper we study the robustness of five examples of two-layer complex systems: three real-life data sets in the fields of communication (the Internet), transportation (the European railway system), and biology (the human brain), and two models based on random graphs. In order to cover the whole range of features specific to these systems, we focus on two extreme policies of system's response to failures, no rerouting and full rerouting. Our main finding is that multi-layer systems are much more vulnerable to errors and intentional attacks than they appear from a single layer perspective.

Joustava hitsausautomaatio piensarjatuotannossa

Kustannuspaineet, tuotteiden laatuvaatimukset ja lisääntyvässä määrin myös ammattitaitoisen työvoiman pula lisäävät robotisoinnin käyttötarvetta hitsauksessa. Tämä työ on tehty edellä mainituista lähtökohdista ja käsittelee robottihitsausjärjestelmän suunnitteluprojektia, joustavaa hitsausautomaatiota ja robotiikan soveltamista. Näkökohtana on Savonia-ammattikorkeakoulun sekä Pohjois-Savon alueen yritysten tutkimus-, kehitys- ja koulutustoiminnan tarpeet. Joustavuus on hitsausjärjestelmän päätavoite, jolla pyritään vastaamaan asiakasohjautuvan yksittäis- ja piensarjatuotannon haasteisiin. Ratkaisua yksittäis- ja piensarjatuotteiden kokonaistaloudelliseen hitsaukseen on haettu hitsausrobotin rinnalle lisätyllä apurobotilla, jonka päätehtävä on kappaleenkäsittely, mutta sitä voidaan käyttää myös mm. robotisoituun leikkauksen ja särmäykseen. Tavallisuudesta poikkeavaa järjestelmäratkaisua on perusteltu sillä, että ohjaus- ja ohjelmointitekniikan sekä kehittyneen anturoinnin myötä on robottien käytettävyys parantunut ja aiempaa haasteellisempien robottijärjestelmien toteuttaminen on tullut näin mahdolliseksi. Lisäksi virtuaalimallinnus, simulointi ja etäohjelmointi ovat työkaluja, joita voidaan käyttää mm. tuotannon laadun ja tehokkuuden parantamiseen. Työssä esitetty robottiaseman suunnittelu alkaa järjestelmän määrittelystä, vaatimuslistan laadinnasta sekä visioinnista ja päättyy kolmen järjestelmävaihtoehdon vertailuun. Esitetyillä järjestelmävaihtoehdoilla on haettu mahdollisuutta yhdistää yleensä erillisinä toteutettuja työvaiheita yhteiseen soluun. Tuotannon joustavuus on ollut tuotantokapasiteettia tärkeämpi laitteistokokoonpanon valintaperuste.

Hammashihnajohdeakseleiden liikkeiden synkronointi

Nykyisessä valmistusteollisuudessa erilaisten robottien ja automatisoitujen tuotantovaiheiden rooli on erittäin merkittävä. Tarkasti suunnitellut liikkeet ja toimintavaiheet voidaan nykyisillä järjestelmillä ajoittaa tarkasti toisiinsa nähden, jolloin erilaisten virhetilanteidenkin sattuessa järjestelmä pystyy toimimaan tilanteen edellyttämällä tavalla. Automatisoinnin etuna on myös tuotannon muokkaaminen erilaisten tuotteiden valmistamiseen pienillä muutoksilla, jolloin tuotantokustannukset pysyvät matalina myös pienten valmistuserien tapauksissa. Usean akselin laitteissa eli niin sanotuissa moniakselikäytöissä laitteen toimintatarkkuus riippuu jokaisen liikeakselin tarkkuudesta. Liikkeenohjauksessa on perinteisesti ollut käytössä myötäkytketty paikkakaskadi, jonka virityksessä otetaan huomioon akselilla olevat erilaiset dynaamiset tilat ja käytettävät referenssit. Monissa nykyisissä hajautetuissa järjestelmissä eli moniakselikäytöissä, joissa jokaiselle akselille on oma ohjauslaite, ei yksittäisen akselin paikkavirhettä huomioida muiden akseleiden ohjauksessa. Työssä tutkitaan erilaisia moniakselijärjestelmien ohjausmenetelmiä ja myötäkytketyn paikkakaskadin toimintaa moniakselikäytössä pyritään parantamaan tuomalla paikkasäätimen rinnalle toinen säädin, jonka tulona on akseleiden välinen paikkaero.