Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach

In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry. The minimization problem is solved in a coarse-to-fine scheme to cope with large displacements, and a smooth filter based on the covariance of the estimate is employed to handle uncertainty in unconstraint scenarios (e.g. corridors). Simulated and real experiments have been performed to compare our approach with two prominent scan matchers and with wheel odometry. Quantitative and qualitative results demonstrate the superior performance of our approach which, along with its very low computational cost (0.9 milliseconds on a single CPU core), makes it suitable for those robotic applications that require planar odometry. For this purpose, we also provide the code so that the robotics community can benefit from it.

Microstructural-based approach to the interpretation of clays and transitional soils behaviour

Tese (doutorado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Civil e Ambiental, 2016.

H-infinity control design for time-delay linear systems: a rational transfer function based approach

The aim of this paper is to present new results on H-infinity control synthesis for time-delay linear systems. We extend the use of a finite order LTI system, called comparison system to H-infinity analysis and design. Differently from what can be viewed as a common feature of other control design methods available in the literature to date, the one presented here treats time-delay systems control design with classical numeric routines based on Riccati equations arisen from H-infinity theory. The proposed algorithm is simple, efficient and easy to implement. Some examples illustrating state and output feedback design are solved and discussed in order to put in evidence the most relevant characteristic of the theoretical results. Moreover, a practical application involving a 3-DOF networked control system is presented.

Analysis of competitiveness level in an industrial company using a continuous improvement based approach

International audience

A MARKET-BASED APPROACH TO 3D PRINTING FOR ECONOMIC DEVELOPMENT IN GHANA

The purpose of this report is to create the foundation for further study of a market-based approach to 3D printing as an instrument for economic development in Ghana. The delivery of improved products and services to the most underserved markets is needed to spur economic activity and improve standards of living. The relationship between economic development and the advancement of technology is considered within the context of Ghana. An opportunity for market entry exists within both the bottom of the economic pyramid and the mid-segment market. 3D printing (additive manufacturing) has proven to be a disruptive technology that has demonstrated an ability to expedite the speed of innovations and create products that were previously not possible. An investigation of how 3D printers can be used to create improved products for the most underserved markets within Ghana is presented. Questions are asked to elucidate how and when adoption of 3D printers and 3D printed products may occur in the future. Based upon the existing barriers to adoption, 3D printing technology must improve before widespread adoption will occur in Ghana.

Health profile of centenarians in Portugal: a census-based approach

Background: The number of centenarians is rapidly increasing in Europe. In Portugal, it has almost tripled over the last 10 years and constitutes one of the fastest-growing segments of the population. This paper aims to describe the health and sociodemographic characteristics of Portuguese centenarians as given in the 2011 census and to identify sex differences. Methods: All persons living in Portugal mainland and Madeira and Azores islands aged 100 years old at the time of the 2011 census (N = 1,526) were considered. Measures include sociodemographic characteristics and perceived difficulties in six functional domains of basic actions (seeing, hearing, walking, cognition, self-care, and communication) as assessed by the Portuguese census official questionnaires. Results: Most centenarians are women (82.1 %), widowed (82 %), never attended school (51 %), and live in private households (71 %). The majority show major constraints in seeing (67.4 %), hearing (72.3 %), and particularly in their mobility (83.7 % cannot/have great difficulties in walking/climbing stairs and 80.7 % in bathing/dressing). In general, a better outcome was found for reported memory/concentration and understanding, with 39.1 % and 42.5 % presenting no or mild difficulty, respectively. Top-level functioning (no/mild difficulties in all dimensions concurrently) was observed in a minority of cases (5.96 %). Women outnumber men by a ratio of 4.6, and statistically significant differences were found between men and women for all health-related variables, with women presenting a higher percentage of difficulties. Conclusion: Portuguese centenarians experience great difficulties in sensory domains and basic daily living activities, and to a lesser extent in cognition and communication. The obtained profile, though self-reported, is important in considering the potential of social and family participation of this population regardless of their functional and sensory limitations. Based on the observed differences between men and women, gender-specific and gender-sensitive interventions are recommended in order to acknowledge women’s worse overall condition.

The value of peer support and a strengths-based approach in a groupwork programme for fathers in a family support setting

This paper seeks to share and critically explore the learning gained through the genesis, realisation, and facilitation process of Just for Dads, a groupwork programme for fathers, run in a family support setting. It highlights the importance of and challenges involved in engaging men in practice, and in groupwork aimed at fathers in particular. It recounts the significance of using a strengths perspective as a framework for engaging fathers in groupwork and highlights its value as experienced by participants and facilitators. The dynamic of peer learning which developed as a key part of the groupwork process is discussed, both in relation to how it was experienced by participants and also the degree to which the facilitators were part of that dynamic. Overall the paper aims to document and air key issues arising in this relatively unexplored arena of groupwork and family support practice.

Integration of process planning and scheduling using mobile-agent based approach in a networked manufacturing environment

Effective and efficient implementation of intelligent and/or recently emerged networked manufacturing systems require an enterprise level integration. The networked manufacturing offers several advantages in the current competitive atmosphere by way to reduce, by shortening manufacturing cycle time and maintaining the production flexibility thereby achieving several feasible process plans. The first step in this direction is to integrate manufacturing functions such as process planning and scheduling for multi-jobs in a network based manufacturing system. It is difficult to determine a proper plan that meets conflicting objectives simultaneously. This paper describes a mobile-agent based negotiation approach to integrate manufacturing functions in a distributed manner; and its fundamental framework and functions are presented. Moreover, ontology has been constructed by using the Protégé software which possesses the flexibility to convert knowledge into Extensible Markup Language (XML) schema of Web Ontology Language (OWL) documents. The generated XML schemas have been used to transfer information throughout the manufacturing network for the intelligent interoperable integration of product data models and manufacturing resources. To validate the feasibility of the proposed approach, an illustrative example along with varied production environments that includes production demand fluctuations is presented and compared the proposed approach performance and its effectiveness with evolutionary algorithm based Hybrid Dynamic-DNA (HD-DNA) algorithm. The results show that the proposed scheme is very effective and reasonably acceptable for integration of manufacturing functions.

A Case-Based Approach to Nosocomial Infection Detection

The nosocomial infections are a growing concern because they affect a large number of people and they increase the admission time in healthcare facilities. Additionally, its diagnosis is very tricky, requiring multiple medical exams. So, this work is focused on the development of a clinical decision support system to prevent these events from happening. The proposed solution is unique once it caters for the explicit treatment of incomplete, unknown, or even contradictory information under a logic programming basis, that to our knowledge is something that happens for the first time.

A Case Based approach to assess Waiting Time Prediction at an Intensive Care Unity

Waiting time at an intensive care unity stands for a key feature in the assessment of healthcare quality. Nevertheless, its estimation is a difficult task, not only due to the different factors with intricate relations among them, but also with respect to the available data, which may be incomplete, self-contradictory or even unknown. However, its prediction not only improves the patients’ satisfaction but also enhance the quality of the healthcare being provided. To fulfill this goal, this work aims at the development of a decision support system that allows one to predict how long a patient should remain at an emergency unit, having into consideration all the remarks that were just stated above. It is built on top of a Logic Programming approach to knowledge representation and reasoning, complemented with a Case Base approach to computing.

Age Prediction through Pelvis X-Ray Images - A Case Based approach to Problem Solving

It is well known that the dimensions of the pelvic bones depend on the gender and vary with the age of the individual. Indeed, and as a matter of fact, this work will focus on the development of an intelligent decision support system to predict individual’s age based on pelvis’ dimensions criteria. On the one hand, some basic image processing technics were applied in order to extract the relevant features from pelvic X-rays. On the other hand, the computational framework presented here was built on top of a Logic Programming approach to knowledge representation and reasoning, that caters for the handling of incomplete, unknown, or even self-contradictory information, complemented with a Case Base approach to computing.

Assessing the role of Mediterranean evergreen oaks canopy cover in land surface albedo and temperature using a remote sensing-based approach

Modifications in vegetation cover can have an impact on the climate through changes in biogeochemical and biogeophysical processes. In this paper, the tree canopy cover percentage of a savannah-like ecosystem (montado/dehesa) was estimated at Landsat pixel level for 2011, and the role of different canopy cover percentages on land surface albedo (LSA) and land surface temperature (LST) were analysed. A modelling procedure using a SGB machine-learning algorithm and Landsat 5-TM spectral bands and derived vegetation indices as explanatory variables, showed that the estimation of montado canopy cover was obtained with good agreement (R2 = 78.4%). Overall, montado canopy cover estimations showed that low canopy cover class (MT_1) is the most representative with 50.63% of total montado area. MODIS LSA and LST products were used to investigate the magnitude of differences in mean annual LSA and LST values between contrasting montado canopy cover percentages. As a result, it was found a significant statistical relationship between montado canopy cover percentage and mean annual surface albedo (R2 = 0.866, p < 0.001) and surface temperature (R2 = 0.942, p < 0.001). The comparisons between the four contrasting montado canopy cover classes showed marked differences in LSA (χ2 = 192.17, df = 3, p < 0.001) and LST (χ2 = 318.18, df = 3, p < 0.001). The highest montado canopy cover percentage (MT_4) generally had lower albedo than lowest canopy cover class, presenting a difference of −11.2% in mean annual albedo values. It was also showed that MT_4 and MT_3 are the cooler canopy cover classes, and MT_2 and MT_1 the warmer, where MT_1 class had a difference of 3.42 °C compared with MT_4 class. Overall, this research highlighted the role that potential changes in montado canopy cover may play in local land surface albedo and temperature variations, as an increase in these two biogeophysical parameters may potentially bring about, in the long term, local/regional climatic changes moving towards greater aridity.

Semi-automatic keyword based approach for FIRE 2016 Microblog Track

This paper describes our semi-automatic keyword based approach for the four topics of Information Extraction from Microblogs Posted during Disasters task at Forum for Information Retrieval Evaluation (FIRE) 2016. The approach consists three phases.

Binaural Signal Processing Motivated Generalized Analytic Signal Construction and AM-FM Demodulation

Binaural hearing studies show that the auditory system uses the phase-difference information in the auditory stimuli for localization of a sound source. Motivated by this finding, we present a method for demodulation of amplitude-modulated-frequency-modulated (AM-FM) signals using a ignal and its arbitrary phase-shifted version. The demodulation is achieved using two allpass filters, whose impulse responses are related through the fractional Hilbert transform (FrHT). The allpass filters are obtained by cosine-modulation of a zero-phase flat-top prototype halfband lowpass filter. The outputs of the filters are combined to construct an analytic signal (AS) from which the AM and FM are estimated. We show that, under certain assumptions on the signal and the filter structures, the AM and FM can be obtained exactly. The AM-FM calculations are based on the quasi-eigenfunction approximation. We then extend the concept to the demodulation of multicomponent signals using uniform and non-uniform cosine-modulated filterbank (FB) structures consisting of flat bandpass filters, including the uniform cosine-modulated, equivalent rectangular bandwidth (ERB), and constant-Q filterbanks. We validate the theoretical calculations by considering application on synthesized AM-FM signals and compare the performance in presence of noise with three other multiband demodulation techniques, namely, the Teager-energy-based approach, the Gabor's AS approach, and the linear transduction filter approach. We also show demodulation results for real signals.

Dense disparity map estimation respecting image discontinuities

[EN] We present an energy based approach to estimate a dense disparity map from a set of two weakly calibrated stereoscopic images while preserving its discontinuities resulting from image boundaries. We first derive a simplified expression for the disparity that allows us to estimate it from a stereo pair of images using an energy minimization approach. We assume that the epipolar geometry is known, and we include this information in the energy model. Discontinuities are preserved by means of a regularization term based on the Nagel-Enkelmann operator. We investigate the associated Euler-Lagrange equation of the energy functional, and we approach the solution of the underlying partial differential equation (PDE) using a gradient descent method The resulting parabolic problem has a unique solution. In order to reduce the risk to be trapped within some irrelevant local minima during the iterations, we use a focusing strategy based on a linear scalespace. Experimental results on both synthetic and real images arere presented to illustrate the capabilities of this PDE and scale-space based method.