Sistema visual para Ground Truth de sistemas autónomos

Este trabalho visa contribuir para o desenvolvimento de um sistema de visão multi-câmara para determinação da localização, atitude e seguimento de múltiplos objectos, para ser utilizado na unidade de robótica do INESCTEC, e resulta da necessidade de ter informação externa exacta que sirva de referência no estudo, caracterização e desenvolvimento de algoritmos de localização, navegação e controlo de vários sistemas autónomos. Com base na caracterização dos veículos autónomos existentes na unidade de robótica do INESCTEC e na análise dos seus cenários de operação, foi efectuado o levantamento de requisitos para o sistema a desenvolver. Foram estudados os fundamentos teóricos, necessários ao desenvolvimento do sistema, em temas relacionados com visão computacional, métodos de estimação e associação de dados para problemas de seguimento de múltiplos objectos . Foi proposta uma arquitectura para o sistema global que endereça os vários requisitos identi cados, permitindo a utilização de múltiplas câmaras e suportando o seguimento de múltiplos objectos, com ou sem marcadores. Foram implementados e validados componentes da arquitectura proposta e integrados num sistema para validação, focando na localização e seguimento de múltiplos objectos com marcadores luminosos à base de Light-Emitting Diodes (LEDs). Nomeadamente, os módulos para a identi cação dos pontos de interesse na imagem, técnicas para agrupar os vários pontos de interesse de cada objecto e efectuar a correspondência das medidas obtidas pelas várias câmaras, método para a determinação da posição e atitude dos objectos, ltro para seguimento de múltiplos objectos. Foram realizados testes para validação e a nação do sistema implementado que demonstram que a solução encontrada vai de encontro aos requisitos, e foram identi cadas as linhas de trabalho para a continuação do desenvolvimento do sistema global.

Consumo inteligente de energia elétrica

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia de Redes de Comunicação e Multimédia

Intelligent Distributed Environmental Decision Support System

This article discusses the development of an Intelligent Distributed Environmental Decision Support System, built upon the association of a Multi-agent Belief Revision System with a Geographical Information System (GIS). The inherent multidisciplinary features of the involved expertises in the field of environmental management, the need to define clear policies that allow the synthesis of divergent perspectives, its systematic application, and the reduction of the costs and time that result from this integration, are the main reasons that motivate the proposal of this project. This paper is organised in two parts: in the first part we present and discuss the developed Distributed Belief Revision Test-bed — DiBeRT; in the second part we analyse its application to the environmental decision support domain, with special emphasis on the interface with a GIS.

Towards a flexible and transparent database evolution

Applications refactorings that imply the schema evolution are common activities in programming practices. Although modern object-oriented databases provide transparent schema evolution mechanisms, those refactorings continue to be time consuming tasks for programmers. In this paper we address this problem with a novel approach based on aspect-oriented programming and orthogonal persistence paradigms, as well as our meta-model. An overview of our framework is presented. This framework, a prototype based on that approach, provides applications with aspects of persistence and database evolution. It also provides a new pointcut/advice language that enables the modularization of the instance adaptation crosscutting concern of classes, which were subject to a schema evolution. We also present an application that relies on our framework. This application was developed without any concern regarding persistence and database evolution. However, its data is recovered in each execution, as well as objects, in previous schema versions, remain available, transparently, by means of our framework.

A Green Approach for Selfish Misbehavior Detection in 802.11-Based Wireless Networks

IEEE 802.11 is one of the most well-established and widely used standard for wireless LAN. Its Medium Access control (MAC) layer assumes that the devices adhere to the standard’s rules and timers to assure fair access and sharing of the medium. However, wireless cards driver flexibility and configurability make it possible for selfish misbehaving nodes to take advantages over the other well-behaving nodes. The existence of selfish nodes degrades the QoS for the other devices in the network and may increase their energy consumption. In this paper we propose a green solution for selfish misbehavior detection in IEEE 802.11-based wireless networks. The proposed scheme works in two phases: Global phase which detects whether the network contains selfish nodes or not, and Local phase which identifies which node or nodes within the network are selfish. Usually, the network must be frequently examined for selfish nodes during its operation since any node may act selfishly. Our solution is green in the sense that it saves the network resources as it avoids wasting the nodes energy by examining all the individual nodes of being selfish when it is not necessary. The proposed detection algorithm is evaluated using extensive OPNET simulations. The results show that the Global network metric clearly indicates the existence of a selfish node while the Local nodes metric successfully identified the selfish node(s). We also provide mathematical analysis for the selfish misbehaving and derived formulas for the successful channel access probability.

Manoeuvre Based Mission Control System for an Autonomous Surface Vehicle

In this work the mission control and supervision system developed for the ROAZ Autonomous Surface Vehicle is presented. Complexity in mission requirements coupled with flexibility lead to the design of a modular hierarchical mission control system based on hybrid systems control. Monitoring and supervision control for a vehicle such as ROAZ mission is not an easy task using tools with low complexity and yet powerful enough. A set of tools were developed to perform both on board mission control and remote planning and supervision. “ROAZ- Mission Control” was developed to be used in support to bathymetric and security missions performed in river and at seas.

Feature Extraction in Densely Sensed Environments: Extensions to Multiple Broadcast Domains

The vision of the Internet of Things (IoT) includes large and dense deployment of interconnected smart sensing and monitoring devices. This vast deployment necessitates collection and processing of large volume of measurement data. However, collecting all the measured data from individual devices on such a scale may be impractical and time consuming. Moreover, processing these measurements requires complex algorithms to extract useful information. Thus, it becomes imperative to devise distributed information processing mechanisms that identify application-specific features in a timely manner and with a low overhead. In this article, we present a feature extraction mechanism for dense networks that takes advantage of dominance-based medium access control (MAC) protocols to (i) efficiently obtain global extrema of the sensed quantities, (ii) extract local extrema, and (iii) detect the boundaries of events, by using simple transforms that nodes employ on their local data. We extend our results for a large dense network with multiple broadcast domains (MBD). We discuss and compare two approaches for addressing the challenges with MBD and we show through extensive evaluations that our proposed distributed MBD approach is fast and efficient at retrieving the most valuable measurements, independent of the number sensor nodes in the network.

Parallel run-time for CO-OPN

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Articulação de várias linguagens de programação/tecnologias no desenvolvimento aplicacional

O desenvolvimento aplicacional é uma área em grande expansão no mercado das tecnologias de informação e como tal, é uma área que evolui rápido. Os impulsionadores para esta característica são as comunicações e os equipamentos informáticos, pois detêm características mais robustas e são cada vez mais rápidos. A função das aplicações é acompanhar esta evolução, possuindo arquiteturas mais complexas/completas visando suportar todos os pedidos dos clientes, através da produção de respostas em tempos aceitáveis. Esta dissertação aborda várias arquiteturas aplicacionais possíveis de implementar, mediante o contexto que esteja inserida, como por exemplo, um cenário com poucos ou muitos clientes, pouco ou muito capital para investir em servidores, etc. É fornecido um nivelamento acerca dos conceitos subjacentes ao desenvolvimento aplicacional. Posteriormente é analisado o estado de arte das linguagens de programação web e orientadas a objetos, bases de dados, frameworks em JavaScript, arquiteturas aplicacionais e, por fim, as abordagens para definir objetivos mensuráveis no desenvolvimento aplicacional. Foram implementados dois protótipos. Um deles, numa arquitetura multicamada com várias linguagens de programação e tecnologias. O segundo, numa única camada (monolítica) com uma única linguagem de programação. Os dois protótipos foram testados e comparados com o intuito de escolher uma das arquiteturas, num determinado cenário de utilização.

Distributed processing of large remote sensing images using MapReduce - A case of Edge Detection

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Information flow analysis using data-dependent logical propositions

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Robot Manipulator Systems: Analysis and Control

Manipulator systems are rather complex and highly nonlinear which makes difficult their analysis and control. Classic system theory is veil known, however it is inadequate in the presence of strong nonlinear dynamics. Nonlinear controllers produce good results [1] and work has been done e. g. relating the manipulator nonlinear dynamics with frequency response [2–5]. Nevertheless, given the complexity of the problem, systematic methods which permit to draw conclusions about stability, imperfect modelling effects, compensation requirements, etc. are still lacking. In section 2 we start by analysing the variation of the poles and zeros of the descriptive transfer functions of a robot manipulator in order to motivate the development of more robust (and computationally efficient) control algorithms. Based on this analysis a new multirate controller which is an improvement of the well known “computed torque controller” [6] is announced in section 3. Some research in this area was done by Neuman [7,8] showing tbat better robustness is possible if the basic controller structure is modified. The present study stems from those ideas, and attempts to give a systematic treatment, which results in easy to use standard engineering tools. Finally, in section 4 conclusions are presented.

Urban land use and land cover change analysis and modeling a case study area Malatya, Turkey

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Energy-efficient diversity combining for different access schemes in a multi-path dispersive channel

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

Smart-RBAC

Generally, smart campus applications do not consider the role of the user with his/her position in a university environment, consequently irrelevant information is delivered to the users. This dissertation proposes a location-based access control model, named Smart-RBAC, extending the functionality of Role-based Access Control Model (RBAC) by including user’s location as the contextual attribute, to solve the aforementioned problem. Smart-RBAC model is designed with a focus on content delivery to the user in order to offer a feasible level of flexibility, which was missing in the existing location-based access control models. An instance of the model, derived from Liferay’s RBAC, is implemented by creating a portal application to test and validate the Smart-RBAC model. Additionally, portlet-based applications are developed to assess the suitability of the model in a smart campus environment. The evaluation of the model, based on a popular theoretical framework, demonstrates the model’s capability to achieve some security goals like “Dynamic Separation of Duty” and “Accountability”. We believe that the Smart-RBAC model will improve the existing smart campus applications since it utilizes both, role and location of the user, to deliver content.