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

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.

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Neural control of an autonomous robot

This article aims to apply the concepts associated with artificial neural networks (ANN) in the control of an autonomous robot system that is intended to be used in competitions of robots. The robot was tested in several arbitrary paths in order to verify its effectiveness. The results show that the robot performed the tasks with success. Moreover, in the case of arbitrary paths the ANN control outperforms other methodologies, such as fuzzy logic control (FLC).

Simulation Environment for Multi-Robot Cooperative 3D Target Perception

4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014

Uncertainty based Multi-Robot Cooperative Triangulation

The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.

Echovirus 4 associated to hand, foot and mouth disease

Hand, foot and mouth disease (HFMD) is a contagious enteroviral infection occurring primarily in children and characterized by vesicular palmoplantar eruptions and erosive stomatitis. Echovirus 4 (EV-4) has been commonly associated with aseptic meningitis. The association of HFMD with EV-4 has not been reported previously. Two samples of a 14-month child who presented mild fever, sores in the mouth, rash with blisters on the palm of hands and soles of feet were sent to Enteric Viruses Laboratory of Adolfo Lutz Institute. Clinical samples were inoculated in three different cell lines, and those which presented cytopathic effect (CPE), were submitted to Indirect Immunofluorescence Assay (IFA) and "one step" RT-PCR. Agarose gel electrophoresis from RT-PCR product, showed a product with 437 bp, which is characteristic of Enterovirus group. Echovirus 4 was identified by IFA. Although HFMD is a viral infection associated mainly with Enterovirus 71 (HEV-71) and Coxsackievirus A16 (CV-A16), our results demonstrate a diversity of serotype related to HFMD and stress the importance of epidemiological surveillance to this disease and its complications.

The Turbocharged Becker Flap: a Simple Variation that Allows Coverage of Most of the Dorsum of the Hand

Cover of medium and large defects of the dorsum of the hand remains a substantial surgical challenge that often requires free tissue transfer. We report the case of a 28-year-old male who presented with necrosis of most of the dorsum of his dominant hand after an iatrogenic injury. A large Becker flap was raised to cover the entire defect. However, venous insufficiency was noted intraoperatively. The flap was turbocharged by performing a venous anastomosis between the flap and the recipient site, resulting in complete survival of the flap. The authors conclude that the turbocharged Becker flap can be a good alternative for expeditiously covering large defects of the dorsum of the hand without having to resort to free tissue transfer.

Nefrectomia Radical e Nefroureterectomia Laparoscópica "Hand-Assited": a Experiência dos Primeiros 21 Casos

Objectivos: Os autores apresentam a sua casuística com os primeiros 21 casos submetidos a nefrectomia radical e nefroureterectomia laparoscópica "hand- assisted" e laparoscópica pura. Material e Métodos: Entre o período de Janeiro 2003 a Junho de 2004 procedeu-se à realização de nefrectomia radical e nefroureterectomia laparoscópica em 21 doentes com o diagnóstico clínico de carcinoma de células renais e de carcinoma de células de transição do trato urinário alto. Optámos pela assistência da mão apenas quando útil ou necessário. Realizamos 16 nefrectomias radicais laparoscopicas "hand-assisted", 2 nefroureterectomias radicais laparoscopicas "hand- assisted" com desincer- ção endoscópica do meato ureteral e 3 nefrectomias radicais laparoscopicas "puras". A idade média deste grupo foi de 62 anos.O diâmetro médio da massa renal foi de 4,8 cm. O diagnóstico anatomo-patológico revelou a existência de 17 carcinomas de células renais, 2 carcinomas de células de transição, 1 hemangioma e 1 quisto renal complicado. Tivemos uma taxa de conversão de 5%, e a duração da cirurgia foi de 1,46 horas. O follow- up destes doentes variou entre 1 e 2 anos, não se tendo verificado quaisquer recidivas. Nesta série houve um re-internamento. Conclusão: a nefrectomia radical laparoscópica "hand-assisted" e a nefroureterectomia laparoscópica "hand-assisted" são exequíveis sendo a curva de aprendizagem relativamente curta. A taxa de complicações é baixa.

A 63-Year-Old Woman Presenting with a Synovial Sarcoma of the Hand: a Case Report

INTRODUCTION: Synovial sarcoma is a high-grade, soft-tissue sarcoma that most frequently is located in the vicinity of joints, tendons or bursae, although it can also be found in extra-articular locations. Most patients with synovial sarcoma of the hand are young and have a poor prognosis, as these tumors are locally aggressive and are associated with a relatively high metastasis rate. According to the literature, local recurrence and/or metastatic disease is found in nearly 80% of patients. Current therapy comprises surgery, systemic and limb perfusion chemotherapy, and radiotherapy. However, the 5-year survival rate is estimated to be only around 27% to 55%. Moreover, most authors agree that synovial sarcoma is one of the most commonly misdiagnosed malignancies of soft tissues because of their slow growing pattern, benign radiographic appearance, ability to change size, and the fact that they may elicit pain similar to that caused by common trauma. CASE PRESENTATION: We describe an unusual case of a large synovial sarcoma of the hand in a 63-year-old Caucasian woman followed for 12 years by a multidisciplinary team. In addition, a literature review of the most pertinent aspects of the epidemiology, diagnosis, treatment and prognosis of these patients is presented. CONCLUSION: Awareness of this rare tumor by anyone dealing with hand pathology can hasten diagnosis, and this, in turn, can potentially increase survival. Therefore, a high index of suspicion for this disease should be kept in mind, particularly when evaluating young people, as they are the most commonly affected group.

Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

Development of advanced human robot interaction systems

O trabalho aqui apresentado é a Dissertação da minha Tese do curso de Mestrado em Engenharia Eletrotécnica e de Computadores do ISEP, realizada em parceria com o INESC TEC. O trabalho consiste no desenvolvimento de um sistema avançado de interação entre homem-robô, usando ferramentas de software livres e de domínio público e hardware pouco dispendioso e facilmente acessível. Pretende-se que o sistema desenvolvido possa ser adotado por pequenas ou micro empresas, daí a restrição monetária. Este tipo de empresas tem, por norma, uma capacidade de investimento pequena, e ficam impossibilitadas de aceder a este tipo de sistemas automatizados se estes forem caros. No entanto, o robô continua a ser um componente fundamental, sendo dispendioso. Os trabalhos realizados pelos sistemas robóticos podem por um lado, ser repetitivos sem necessidade de grandes ajustes; por outro lado, o trabalho a realizar pode ser bastante diverso, sendo necessários bastantes ajustes com (possivelmente) programação do robô. As empresas podem não ter disponível mão-de-obra qualificada para realização da programação do robô. Pretende-se então um sistema de “ensino” que seja simples e rápido. Este trabalho pretende satisfazer as necessidades de um sistema de interação homem-robô intuitivo mesmo para operadores que não estejam familiarizados com a robótica. Para simplificar a transferência de informação da tarefa a desempenhar pelo sistema robótico é usado um sistema de infravermelhos para delinear a operação a desempenhar, neste caso concreto uma operação de soldadura. O operador usa um apontador com marcadores, a posição destes marcadores é detetada usando duas câmaras para permitir o posicionamento tridimensional no espaço. As câmaras possuem filtros infravermelhos para separar o espectro de luz. Para o controlo do sistema e interface com o robô é usado um computador de baixos recursos computacionais e energéticos, e também de baixo custo. O sistema desenvolvido é portanto computacionalmente leve para poder ser executado neste computador.

Eye insight

Dissertação para Obtenção do grau de Mestrado em Arte e Ciência do Vidro