Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

Decision Making for Teams of Mobile Robots

In the past years, we could observe a significant amount of new robotic systems in science, industry, and everyday life. To reduce the complexity of these systems, the industry constructs robots that are designated for the execution of a specific task such as vacuum cleaning, autonomous driving, observation, or transportation operations. As a result, such robotic systems need to combine their capabilities to accomplish complex tasks that exceed the abilities of individual robots. However, to achieve emergent cooperative behavior, multi-robot systems require a decision process that copes with the communication challenges of the application domain. This work investigates a distributed multi-robot decision process, which addresses unreliable and transient communication. This process composed by five steps, which we embedded into the ALICA multi-agent coordination language guided by the PROViDE negotiation middleware. The first step encompasses the specification of the decision problem, which is an integral part of the ALICA implementation. In our decision process, we describe multi-robot problems by continuous nonlinear constraint satisfaction problems. The second step addresses the calculation of solution proposals for this problem specification. Here, we propose an efficient solution algorithm that integrates incomplete local search and interval propagation techniques into a satisfiability solver, which forms a satisfiability modulo theories (SMT) solver. In the third decision step, the PROViDE middleware replicates the solution proposals among the robots. This replication process is parameterized with a distribution method, which determines the consistency properties of the proposals. In a fourth step, we investigate the conflict resolution. Therefore, an acceptance method ensures that each robot supports one of the replicated proposals. As we integrated the conflict resolution into the replication process, a sound selection of the distribution and acceptance methods leads to an eventual convergence of the robot proposals. In order to avoid the execution of conflicting proposals, the last step comprises a decision method, which selects a proposal for implementation in case the conflict resolution fails. The evaluation of our work shows that the usage of incomplete solution techniques of the constraint satisfaction solver outperforms the runtime of other state-of-the-art approaches for many typical robotic problems. We further show by experimental setups and practical application in the RoboCup environment that our decision process is suitable for making quick decisions in the presence of packet loss and delay. Moreover, PROViDE requires less memory and bandwidth compared to other state-of-the-art middleware approaches.

Sviluppo di una app di ausilio per persone non vedenti per Android

La tesi prevede lo sviluppo di una app di ausilio per persone non vedenti per ambiente Android. L'applicazione ha due scopi principali: rilevazione degli ostacoli che l'utente incontra nel proprio cammino, tramite un apposito visore, con successivo invio di informazioni sugli ostacoli rilevati tramite output audio e tattili e realizzazione di una versione personalizzata di Google Maps che l'utente può utilizzare nella maniera più comoda e sicura possibile.

Secure Web Service Clients on Mobile Devices

Enterprise apps on mobile devices typically need to communicate with other system components by consuming web services. Since most of the current mobile device platforms (such as Android) do not provide built-in features for consuming SOAP services, extensions have to be designed. Additionally in order to accommodate the typical enhanced security requirements of enterprise apps, it is important to be able to deal with SOAP web service security extensions on client side. In this article we show that neither the built-in SOAP capabilities for Android web service clients are sufficient for enterprise apps nor are the necessary security features supported by the platform as is. After discussing different existing extensions making Android devices SOAP capable we explain why none of them is really satisfactory in an enterprise context. Then we present our own solution which accommodates not only SOAP but also the WS-Security features on top of SOAP. Our solution heavily relies on code generation in order to keep the flexibility benefits of SOAP on one hand while still keeping the development effort manageable for software development. Our approach provides a good foundation for the implementation of other SOAP extensions apart from security on the Android platform as well. In addition our solution based on the gSOAP framework may be used for other mobile platforms in a similar manner.

Exercit@rt mobile : monitorização da reabilitação respiratória na DPOC

A prevalência estimada da Doença Pulmonar Obstrutiva Crónica (DPOC) em Portugal é de 14,2% para indivíduos com idade superior a 45 anos (cerca de 800.000 indivíduos), sendo mais prevalente no sexo masculino (Observatório Nacional das Doenças Respiratórias, 2014). Com o aparecimento de soluções baseadas em novas modalidades de eHealth e mHealth surgiram novas formas de acompanhamento e monitorização das doenças crónicas, nomeadamente da DPOC. É neste contexto que foi desenvolvida a aplicação mobile Exercit@rt, em parceria com a Escola Superior de Saúde da Universidade de Aveiro e em continuidade com outros estudos do MCMM anteriormente desenvolvidos. A aplicação permite monitorizar, em tempo real, através da utilização de um oxímetro Bluetooth, os níveis de batimento cardíaco e saturação de oxigénio dos pacientes com DPOC. Com esta aplicação os pacientes podem realizar diversos exercícios de fisioterapia respiratória assim como atividades físicas de vida diária que podem ser monitorizadas, georreferenciadas e avaliadas. Para além do desenvolvimento da aplicação mobile, a presente investigação integrou ainda uma etapa de validação que contou com a participação de dez pacientes com doenças do foro respiratório – cinco utilizadores que utilizam/têm smartphone (UTS) e cinco utilizadores não utilizam/não têm smartphone (NUNTS). A cada um destes foram propostas tarefas a realizar na aplicação mobile, estando previsto que a aplicação estivesse apta para qualquer participante. A totalidade dos participantes reconheceu a utilidade da aplicação no controlo da sua doença.

A Mobile High Sensitivity On-field Organophosphorous Compounds Detecting System for IoT Based Food Safety Tracking

Food safety has always been a social issue that draws great public attention. With the rapid development of wireless communication technologies and intelligent devices, more and more Internet of Things (IoT) systems are applied in the food safety tracking field. However, connection between things and information system is usually established by pre-storing information of things into RFID Tag, which is inapplicable for on-field food safety detection. Therefore, considering pesticide residue is one of the severe threaten to food safety, a new portable, high-sensitivity, low-power, on-field organophosphorus (OP) compounds detection system is proposed in this thesis to realize the on-field food safety detection. The system is designed based on optical detection method by using a customized photo-detection sensor. A Micro Controller Unit (MCU) and a Bluetooth Low Energy (BLE) module are used to quantize and transmit detection result. An Android Application (APP) is also developed for the system to processing and display detection result as well as control the detection process. Besides, a quartzose sample container and black system box are also designed and made for the system demonstration. Several optimizations are made in wireless communication, circuit layout, Android APP and industrial design to realize the mobility, low power and intelligence.

Quantitative and Qualitative Trade-Off Analysis of Drowsy Driver Detection Methods: Single Electrode Wearable EEG Device, Multi-Electrode Wearable EEG Device, and Head-Mounted Gyroscope

Drowsy driving impairs motorists’ ability to operate vehicles safely, endangering both the drivers and other people on the road. The purpose of the project is to find the most effective wearable device to detect drowsiness. Existing research has demonstrated several options for drowsiness detection, such as electroencephalogram (EEG) brain wave measurement, eye tracking, head motions, and lane deviations. However, there are no detailed trade-off analyses for the cost, accuracy, detection time, and ergonomics of these methods. We chose to use two different EEG headsets: NeuroSky Mindwave Mobile (single-electrode) and Emotiv EPOC (14- electrode). We also tested a camera and gyroscope-accelerometer device. We can successfully determine drowsiness after five minutes of training using both single and multi-electrode EEGs. Devices were evaluated using the following criteria: time needed to achieve accurate reading, accuracy of prediction, rate of false positives vs. false negatives, and ergonomics and portability. This research will help improve detection devices, and reduce the number of future accidents due to drowsy driving.

Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

A high-flux BEC source for mobile atom interferometers

Quantum sensors based on coherent matter-waves are precise measurement devices whose ultimate accuracy is achieved with Bose-Einstein condensates (BECs) in extended free fall. This is ideally realized in microgravity environments such as drop towers, ballistic rockets and space platforms. However, the transition from lab-based BEC machines to robust and mobile sources with comparable performance is a challenging endeavor. Here we report on the realization of a miniaturized setup, generating a flux of 4x10(5) quantum degenerate Rb-87 atoms every 1.6 s. Ensembles of 1 x 10(5) atoms can be produced at a 1 Hz rate. This is achieved by loading a cold atomic beam directly into a multi-layer atom chip that is designed for efficient transfer from laser-cooled to magnetically trapped clouds. The attained flux of degenerate atoms is on par with current lab-based BEC experiments while offering significantly higher repetition rates. Additionally, the flux is approaching those of current interferometers employing Raman-type velocity selection of laser-cooled atoms. The compact and robust design allows for mobile operation in a variety of demanding environments and paves the way for transportable high-precision quantum sensors.

mHealth in Urology: A Review of Experts' Involvement in App Development

Smartphones are increasingly playing a role in healthcare and previous studies assessing medical applications (apps) have raised concerns about lack of expert involvement and low content accuracy. However, there are no such studies in Urology. We reviewed Urology apps with the aim of assessing the level of participation of healthcare professionals (HCP) and scientific Urology associations in their development.

Desenvolvimento de protótipo de aplicativo móvel em Android® para o controle e acompanhamento nutricional da saúde óssea em mulheres menopáusicas

Following a drop in estrogen in the period of menopause some women begin to lose bone mass more than 1% per year reaching the end of five years with loss greater than 25%. In this regard, factors such as older age, low calcium intake and premature menopause favor the onset of osteoporosis. Preventive methods such as nutritional counseling to a proper diet and the support of technology through applications that assess dietary intake are essential. Thus, this study aimed to develop an application for Android® platform focused on the evaluation of nutritional and organic conditions involved in bone health and risks for developing osteoporosis in postmenopausal women. To achieve this goal we proceeded to a study of 72 women aged 46-79 years, from the physical exercise for bone health of the Laboratory for Research in Biochemistry and Densitometry the Federal Technological University of Paraná program. Data were collected in the second half of 2014 through tests Bone Densitometry and Body Composition, Blood Tests, Anthropometric data and Nutrition Assessment. The study included women with a current diagnosis of osteopenia or osteoporosis primary, aged more than 45 years postmenopausal. For the assessment of bone mineral density and body composition used the device Absorptiometry Dual Energy X-ray (DXA) brand Hologic Discovery TM Model A. For anthropometric assessment was included to body mass, height, abdominal circumference, Waist circumference and hip circumference. The instrument for assessing food consumption was used Recall 24 hours a day (24HR). The estimated intake of energy and nutrients was carried from the tabulation of the food eaten in the Software Diet Pro 4®. In a sub sample of 30 women with osteopenia / osteoporosis serum calcium and alkaline phosphatase tests were performed. The results demonstrated a group of women (n = 30) average calcium intake of 570mg / day (± 340). The analysis showed a mean serum calcium within the normal range (10,20mg / dl ± 0.32) and average values and slightly increased alkaline phosphatase (105.40 U / L ± 23.70). Furthermore, there was a significant correlation between the consumption of protein and the optimal daily intake of calcium (0.375 p-value 0.05). Based on these findings, we developed an application early stage in Android® platform operating system Google®, being called OsteoNutri. We chose to use Java Eclipse® where it was executed Android® version of the project; choice of application icons and setting the visual editor for building the application layouts. The DroidDraw® was used for development of the three application GUIs. For practical tests we used a cell compatible with the version that was created (4.4 or higher). The prototype was developed in conjunction with the Group and Instrumentation Applications Development (GDAI) of the Federal Technological University of Paraná. So this application can be considered an important tool in dietary control, allowing closer control consumption of calcium and dietary proteins.

Boost Software Business Products with Hybrid Development

This paper presents how new paradigms and methodologies for software development are changing rapidly in the last two years. In the current scenario where we live on, occurs a transition that, although slight, reflects the rapid manner in which the software production paradigms are reinvented due to the change of display devices and interaction with the end user. Studies indicate that in 2013 was the turn out of the internet access domain for mobile devices over the traditional desktop device, which is currently at around 60% mobile, against 40% desktop. This field will tend to grow in the coming years and it is expected that the use of internet for a desktop terminal tends to be less each day (comScore). In this context, the software industry has been re-invented and updated with respect to technologies that promote software and mobile applications, building products capable of responding to the user market. The development of software products, such as applications, must be put into production for different user environments, such as Web, iOS and Android in a way to enhance efficiency, optimization and productivity in the software development cycle (Langer, Arthur M.).

Teleoperación de un robot móvil mediante dispositivos Android

Resumen: En el siguiente trabajo se aborda un problema para solventar la comunicación con los robots del departamento MAPIR de la Universidad de Málaga, anteriormente sólo podían ser teleoperados mediante comandos escritos en Skype, así que se procede a diseñar un cliente móvil para Android que nos permite conectarse en tiempo real a un robot, obtener la imagen de lo que su cámara capta y además permitir su teleoperación. Por su parte, el robot corre un servidor que administra esos datos al cliente para trabajar conjuntamente. Dicho trabajo se desarrolla haciendo uso de nuevas tecnologias y protocolos como es WebRTC (de Google) para el intercambio de imágenes y del lado del servidor, se ha usado NodeJS.

MAIS(F) : Moodle : Android : interface simplificado para utilização de fóruns

É crescente a utilização dos dispositivos móveis com ecrãs maiores e melhores, mais memória, maiores capacidades multimédia e métodos mais refinados para introduzir dados. Dispositivos que integram comunicações, acesso à internet e diversos tipos de sensores possibilitarão, seguramente, abordagens inovadoras e criativas em atividades pedagógicas, em contraste com as utilizações atuais nos computadores pessoais. A análise das aplicações que atualmente integram os módulos do Moodle nos dispositivos móveis mostra que existe ainda um longo caminho a percorrer. As aplicações existentes têm, quase na sua totalidade, como objetivo adaptar o interface aos dispositivos móveis, o que é apenas o primeiro passo no sentido de aproveitar todas as potencialidades destes dispositivos. É, pois, possível imaginar um futuro próximo, onde as potencialidades dos dispositivos móveis darão origem a aplicações com um enorme potencial de aprendizagem, que advém do facto de os estudantes encontrarem conexões entre as suas vidas e a sua educação, através da realização de atividades em contexto no dispositivo móvel, sempre omnipresente. Com este trabalho de investigação e desenvolvimento pretende-se: a) avaliar o estado da arte do mobile learning, na área dos Learning Management System (LMS); b) refletir sobre as funcionalidades que deve oferecer uma aplicação para dispositivos móveis, com enfoque no sistema operativo Android, que permita a gestão e atualização dos fóruns e ficheiros do Moodle; c) conceber e produzir a referida aplicação, de acordo com as especificações consideradas relevantes; d) avaliar o seu impacto educativo e funcional. É demonstrado neste estudo que o recurso a dispositivos móveis potencia a aprendizagem baseada em LMS (Learning Management System), identificando-se as vantagens da sua utilização. São também apresentadas as funcionalidades da aplicação Mais(f), desenvolvida no âmbito da investigação, a avaliação da mesma pelos participantes no estudo, bem como as perspectivas futuras de utilização da aplicação Mais(f).

Cyber foraging for green computing, improving performance and prolonging battery life of mobile devices

The increasing dependency of everyday life on mobile devices also increases the number and complexity of computing tasks to be supported by these devices. However, the inherent requirement of mobility restricts them from being resources rich both in terms of energy (battery capacity) and other computing resources such as processing capacity, memory and other resources. This thesis looks into cyber foraging technique of offloading computing tasks. Various experiments on android mobile devices are carried out to evaluate offloading benefits in terms of sustainability advantage, prolonging battery life and augmenting the performance of mobile devices. This thesis considers two scenarios of cyber foraging namely opportunistic offloading and competitive offloading. These results show that the offloading scenarios are important for both green computing and resource augmentation of mobile devices. A significant advantage in battery life gain and performance enhancement is obtained. Moreover, cyber foraging is proved to be efficient in minimizing energy consumption per computing tasks. The work is based on scavenger cyber foraging system. In addition, the work can be used as a basis for studying cyber foraging and other similar approaches such as mobile cloud/edge computing for internet of things devices and improving the user experiences of applications by minimizing latencies through the use of potential nearby surrogates.