Integrated visual perception architecture for robotic clothes perception and manipulation

This thesis proposes a generic visual perception architecture for robotic clothes perception and manipulation. This proposed architecture is fully integrated with a stereo vision system and a dual-arm robot and is able to perform a number of autonomous laundering tasks. Clothes perception and manipulation is a novel research topic in robotics and has experienced rapid development in recent years. Compared to the task of perceiving and manipulating rigid objects, clothes perception and manipulation poses a greater challenge. This can be attributed to two reasons: firstly, deformable clothing requires precise (high-acuity) visual perception and dexterous manipulation; secondly, as clothing approximates a non-rigid 2-manifold in 3-space, that can adopt a quasi-infinite configuration space, the potential variability in the appearance of clothing items makes them difficult to understand, identify uniquely, and interact with by machine. From an applications perspective, and as part of EU CloPeMa project, the integrated visual perception architecture refines a pre-existing clothing manipulation pipeline by completing pre-wash clothes (category) sorting (using single-shot or interactive perception for garment categorisation and manipulation) and post-wash dual-arm flattening. To the best of the author’s knowledge, as investigated in this thesis, the autonomous clothing perception and manipulation solutions presented here were first proposed and reported by the author. All of the reported robot demonstrations in this work follow a perception-manipulation method- ology where visual and tactile feedback (in the form of surface wrinkledness captured by the high accuracy depth sensor i.e. CloPeMa stereo head or the predictive confidence modelled by Gaussian Processing) serve as the halting criteria in the flattening and sorting tasks, respectively. From scientific perspective, the proposed visual perception architecture addresses the above challenges by parsing and grouping 3D clothing configurations hierarchically from low-level curvatures, through mid-level surface shape representations (providing topological descriptions and 3D texture representations), to high-level semantic structures and statistical descriptions. A range of visual features such as Shape Index, Surface Topologies Analysis and Local Binary Patterns have been adapted within this work to parse clothing surfaces and textures and several novel features have been devised, including B-Spline Patches with Locality-Constrained Linear coding, and Topology Spatial Distance to describe and quantify generic landmarks (wrinkles and folds). The essence of this proposed architecture comprises 3D generic surface parsing and interpretation, which is critical to underpinning a number of laundering tasks and has the potential to be extended to other rigid and non-rigid object perception and manipulation tasks. The experimental results presented in this thesis demonstrate that: firstly, the proposed grasp- ing approach achieves on-average 84.7% accuracy; secondly, the proposed flattening approach is able to flatten towels, t-shirts and pants (shorts) within 9 iterations on-average; thirdly, the proposed clothes recognition pipeline can recognise clothes categories from highly wrinkled configurations and advances the state-of-the-art by 36% in terms of classification accuracy, achieving an 83.2% true-positive classification rate when discriminating between five categories of clothes; finally the Gaussian Process based interactive perception approach exhibits a substantial improvement over single-shot perception. Accordingly, this thesis has advanced the state-of-the-art of robot clothes perception and manipulation.

Evaluation of the antioxidant activity and antitumor activity of marine invertebrates extracts

Dissertação de Mestrado, Biologia Marinha, Faculdade de Ciências e Tecnologias, Universidade do Algarve, 2014

Projectar com luz, cor e matéria

Dissertação para obtenção do grau de Mestre em Arquitectura com Especialização em Arquitectura de Interiores, apresentada na Universidade de Lisboa - Faculdade de Arquitectura.

S.P.O.T.: Sensações, paixões, ódios e taras - a vida em palco: Relatório de estágio em assistência de encenação do espectáculo

Este estágio permitiu-me reflectir sobre questões fundamentais para a minha formação em Dramaturgia e Encenação. A capacidade de trabalho e coordenação requeridas a um encenador tomaram-se preocupações concretas no meu trabalho. Ter a noção de todos os elementos a ter em conta para criar um espectáculo permitiu-me compreender a importância individual de cada um, bem como a minúcia da harmonização entre eles. Esta viagem começa na origem e compreensão do texto, passando pela análise do trabalho do encenador, e culminando na observação da evolução do meu trabalho. Executar o que até agora apenas conhecia das linhas escritas por Peter Brook, Artaud, Stanislavki, António Damásio e Erving Goffman, entre outros, significa levantar um véu e ver com os meus olhos as texturas que compõem a arte do Teatro. ABSTRACT: This training period opened the field for broader reflection on fundamental issues related to Dramatology and Staging Techniques. The skills acquired, the coordination, and the endurance demanded from a stage director showed the actual dimension of the whole that one must consider when creating a show. namely. by understanding the importance of each and every individual on stage as well as the difficult minute details necessary to develop a sense of harmony with different parts. My voyage starts with the work, ending with the criticism of my own work. With practical staging experience - unveiling the most significant textures in the art of Theatre - I fully realized the writing of authors such as Brook. Artaud. Stanislavski, Damacio and Goffman.

Propuesta de elaboración de recetas de autor, en base a productos ecuatorianos con técnicas de vanguardia

En nuestro país en los últimos tiempos se ha dado un boom en el área gastronómica ya que se empieza a dar mucho realce al tema de rescatar sabores y tradiciones, además las personas cada vez se van volviendo más exigentes y comparativas , esto nos lleva a crear nuevas opciones de sabores y técnicas para la elaboración de los mismos. De cierta manera las personas que elaboramos alimentos nos vemos en la obligación de satisfacer a nuestros clientes ya no sólo en el sabor. Ahora también en presentaciones y texturas que lleguen a sorprenderlos. Sin olvidarnos de las raíces propias de cada plato y más bien resaltando el consumo de cada elemento que los compone. Así hacemos una fusión perfecta entre lo moderno y lo tradicional

The influence of rock fabric in the durability of two sandstones used in the Andalusian Architectural Heritage (Montoro and Ronda, Spain)

Natural stone has been a popular and reliable building material throughout history appearing in many historic monuments and in more recent buildings. Research into the intrinsic properties of specific stones is important because it gives us a greater understanding of the factors that limit and act on them. This can help prevent serious problems from occurring in our buildings bringing both esthetic benefits and financial savings. To this end, the main objective of this research has been to study the influence of the fabric and the mineral composition of two types of sandstone on their durability. The first is a red continental sandstone from the Buntsandstein Age called “Molinaza Roja”, which is quarried in Montoro (Cordoba). The second is quarried in Ronda (Malaga) and is sold under the trade name of “Arenisca Ronda”. It is a light pink-whitish calcarenite deposited during the Late Tortonian to Late Messinian. We characterized their petrological and petrophysical properties by studying their rock fabrics, porous systems and mechanical properties. In order to obtain a complete vision of the behavior of their rock fabrics, we also carried out two decay tests, the salt crystallization and the freeze–thaw tests. We then measured the effects on the textures of the altered samples during and after the decay tests and we evaluated the changes in the porous system. By comparing the results between intact and altered samples, we found that Arenisca Ronda is less durable because it has a high quantity of expandable clays (smectites) and a high percentage of pores in the 0.1–1 μm range, in which the pressure produced by salt crystallization is strongest. In Molinaza Roja the decay agents caused significant sanding due to loss of cohesion between the clasts, especially during the salt crystallization test. In both stones, the anisotropies (oriented textures) have an important role in their hydric and dynamic behavior and also affect their mechanical properties (especially in the compression resistance). No changes in color were detected.

Panel prefabricado a base de fibras naturales

En este trabajo de investigación, se diseñó y desarrollo un panel prefabricado para aplicaciones arquitectónicas, compuesto por fibras naturales. El panel fue elaborado a partir de una mezcla de fibras vegetales de tamo de arroz y cabuya, con partículas de arena silícea, los cuales, están aglomerados con una resina de silicato de sodio. La mezcla de estos materiales tiene buenas propiedades de trabajabilidad, compactación y con la aplicación de dióxido de carbono CO2, esta mezcla se solidifica rápidamente. Esta técnica, facilita el proceso de producción en serie de los paneles prefabricados de fibras naturales. A través del moldeo con una prensa manual, se obtuvo paneles con buenas propiedades y características de resistencia, módulo de ruptura, densidad y contenido de humedad; además de tener medidas modulares, texturas de agradable aspecto superficial y criterios de reversibilidad. Los paneles también presentan favorables cualidades de aislamiento térmico y acústico. Sus aplicaciones y utilidades son para revestimiento en espacios interiores de: muros, cielo raso y tabiquería liviana o decorativa. Finalmente se generó una propuesta de instalación de los paneles, utilizando de igual forma recursos renovables y sostenibles.

Efficient representation of texture details in medical images by fusion of Ripplet and DDCT transformed images

Purpose: To evaluate and compare the performance of Ripplet Type-1 transform and directional discrete cosine transform (DDCT) and their combinations for improved representation of MRI images while preserving its fine features such as edges along the smooth curves and textures. Methods: In a novel image representation method based on fusion of Ripplet type-1 and conventional/directional DCT transforms, source images were enhanced in terms of visual quality using Ripplet and DDCT and their various combinations. The enhancement achieved was quantified on the basis of peak signal to noise ratio (PSNR), mean square error (MSE), structural content (SC), average difference (AD), maximum difference (MD), normalized cross correlation (NCC), and normalized absolute error (NAE). To determine the attributes of both transforms, these transforms were combined to represent the entire image as well. All the possible combinations were tested to present a complete study of combinations of the transforms and the contrasts were evaluated amongst all the combinations. Results: While using the direct combining method (DDCT) first and then the Ripplet method, a PSNR value of 32.3512 was obtained which is comparatively higher than the PSNR values of the other combinations. This novel designed technique gives PSNR value approximately equal to the PSNR’s of parent techniques. Along with this, it was able to preserve edge information, texture information and various other directional image features. The fusion of DDCT followed by the Ripplet reproduced the best images. Conclusion: The transformation of images using Ripplet followed by DDCT ensures a more efficient method for the representation of images with preservation of its fine details like edges and textures.

Evaluating Karner Blue Butterfly (Lycaeides Melissa Samuelis Nabokov) Habitat Selection in the State of Wisconsin, USA

The federally endangered Karner blue butterfly (Lycaeides melissa samuelis Nabokov) persists in rare oak/pine grassland communities spanning across the Great Lakes region, relying on host plant wild blue lupine (Lupinus perennis). Conservation efforts since 1992 have led to the development of several programs that restore and monitor habitat. This study aims to evaluate Karner blue habitat selection in the state of Wisconsin and develop high-resolution tools for use in conservation efforts. Spatial predictive models developed during this study accurately predicted potential habitat across state properties based on soils and canopy cover, and identified ~51-100% of Karner blue occurrences based on lupine and shrub/tree cover, and focal nectar plant abundance. When evaluated relative to American bison (Bison bison), Karner blues and lupine were more likely to occur in areas of low disturbance, but aggregated where bison were recently present in areas of moderate/high disturbance. Lupine C:N ratio increased relative to cover of shrubs/trees and focal nectar plant abundance and decreased relative to cover of groundlitter. Karner blue density increased with lupine C:N ratio, decreased with nitrogen content, and was not related to phenolic levels. We strongly suggest that areas of different soil textures must be managed differently and that maintenance techniques should generate a mix of shrubs/tree cover (10-45%), groundlitter cover (~10-40%), >5% cover of lupine, and establish an abundance of focal nectar plants. This study provides unique tools for use in conservation and should aid in focusing management efforts and recovery of this species.