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.

As roupas esportivas em Revista na cidade de Belo Horizonte (1929-1950) : moldes, recortes e costuras

Universidade Estadual de Campinas. Faculdade de Educação Física

Proposição de um método de análise de movimentos de jogadores de tênis de campo a partir de vídeos televisivos = : Proposition of a method for tennis players motion analysis on broadcast videos

Universidade Estadual de Campinas . Faculdade de Educação Física

Tradução, adaptação transcultural e validação do "Body Image Avoidance Questionnaire (BIAQ)" e do "Body Checking Questionnaire (BCQ)" para lingua portuguesa no Brasil

Universidade Estadual de Campinas . Faculdade de Educação Física

Dress for Dissent: Reading the Almost Unreadable

The changing ways of clothing in Australia, which has communicated disaffection within the public sphere, is enquired. The relationship between clothes as protested in everyday public life, and those exceptional, socially disruptive clothes on view at specific protest gatherings, are also explored. It is shown that dissident dress in the 1980s demonstrated a greater degree of solidarity in its radical difference from mainstream dress of 2000s. It is suggested that building on reconceptualised notion of protest dressing as process not fixity, the relationship of dissident dress to the mainstream has become, for the most part, less dichotomous.

Burrundulla Garden Housing at Kambah, Canberra

View to rear of townhouses with enclosed garden, shed and clothes line.

Further evidence for the agreement between patients with stroke and their proxies on the Frenchay Activities Index

Objective: To determine item, subscale and total score agreement on the Frenchay Activities Index (FAI) between stroke patients and proxies six months after discharge from rehabilitation. Design: Prospective study design. Setting/subjects: Fifty patient-proxy pairs, interviewed separately, in the patient's residence. Main outcome measures: Modified FAI using 13 items. Individual FAI items, subscales and total score agreement as measured by weighted kappa and intraclass correlation coefficients (ICC). Results: Excellent agreement was found for the total FAI (ICC 0.87, 95% confidence interval (CI) 0.78-0.93), and domestic (ICC 0.85, 95% CI 0.73-0.91) and outdoor (ICC 0.87, 95% CI 0.78-0.95) subscales, with moderate agreement found for the work/leisure subscale (ICC 0.63, 95% CI 0.34-0.78). For the individual FAI items, good, moderate, fair and poor agreement was found for five, three, four and one item, respectively. The best agreement was for objective items of preparing meals, washing-up, washing clothes, shopping and driving. The poorest agreement was for participation in hobbies, social outings and heavy housework. Scoring biases associated with patient or proxy demographic characteristics were found. Female proxies, and those who were spouses, scored patients lower on domestic activities; male patients, and those who were younger, scored themselves higher on outdoor activities and higher patient FIM scores were positively correlated with higher FAI scores. Conclusions: While total and subscale agreement on the FAI was high, individual item agreement varied. Proxy scores should be used with caution due to bias.

A rapid method for determining recent sunscreen use in field studies

The role of sunscreens in preventing skin cancer and melanoma is the focus of ongoing research. Currently, there is no objective measure which can be used in field studies to determine whether a person has applied sunscreen to their skin, and researchers must use indirect assessments such as questionnaires. We sought to develop a rapid, non-invasive method for identifying sunscreen on the skin for use in epidemiological studies. Our basic method is to swab the skin, elute any residues which have been adsorbed onto the swab by rinsing in ethanol, and submit the eluted washings for spectrophotometric analysis. In a controlled study, we applied 0.1 ml of sunscreen to a 50 cm(2) grid on both forearms of 21 volunteers. Each forearm was allocated one of 10 different sunscreen brands. The skin was swabbed after intervals of 20 min, 1 h, 2 h and 4 h. In a field study conducted among 12 children aged 2-4 years attending a child care centre, sunscreen was applied to the faces of half the children. Swabs were then taken from the face and back of all children without knowledge of sunscreen status. In the controlled study, sunscreen was clearly detectable up to 2 h after application for all brands containing organic sunscreen, and marginally detectable at 4 h. In the field study, this method correctly identified all children with and without sunscreen. We conclude that spectrophotometric analysis of skin swabs can reliably detect the presence of sunscreen on the skin for up to 2 It after application. (C) 2002 Elsevier Science B.V. All rights reserved.

A propósito do traje tradicional de Lisboa

Sintetiza-se a questão da existência de um traje tradicional lisboeta e cruza-se o mesmo com as festas da cidade de Lisboa, nomeadamente a sua utilização enquanto figurino nas marchas populares. ABSTRACT - It is questioned the existence of a traditional costume in Lisbon, its use in the festivities of the town, namely as stage costume in the popular marches.

A Importância dos catálogos para o sector do vestuário português qualidade estética e gráfica dos catálogos

O catálogo é um produto de comunicação com presença forte no mundo da moda, reflexo por excelência de cada coleção e imagem de marca. Verifica-se que os critérios objectivos de avaliação dos catálogos não foram ainda alvo de uma análise estruturada e aprofundada, apesar da importância que possuem para as empresas do sector do Vestuário. Assim, decidiuse estudar os elementos que definem o nível de qualidade estética e gráfica dos catálogos de vestuário. Analisaram-se catálogos de marcas portuguesas e internacionais da indústria da moda cuja qualidade é reconhecida pelos profissionais de design. Como resultado desse estudo foi criada a Matriz AQC - Matriz de Avaliação da Qualidade dos Catálogos Produto e a Matriz AQC – Matriz de avaliação da Qualidade dos Catálogos Imagem.

Inperlys – independente personal location system

O desenvolvimento de sistemas de localização pedestre com recurso a técnicas de dead reckoning tem mostrado ser uma área em expansão no mundo académico e não só. Existem algumas soluções criadas, no entanto, nem todas as soluções serão facilmente implementadas no mercado, quer seja pelo hardware caro, ou pelo sistema em si, que é desenvolvido tendo em conta um cenário em particular. INPERLYS é um sistema que visa apresentar uma solução de localização pedestre, independentemente do cenário, utilizando recursos que poderão ser facilmente usados. Trata-se de um sistema que utiliza uma técnica de dead reckonig para dar a localização do utilizador. Em cenários outdoor, um receptor GPS fornece a posição do utilizador, fornecendo uma posição absoluta ao sistema. Quando não é possível utilizar o GPS, recorre-se a um sensor MEMS e a uma bússola para se obter posições relativas à última posição válida do GPS. Para interligar todos os sensores foi utilizado o protocolo de comunicações sem fios ZigBee™. A escolha recaiu neste protocolo devido a factores como os seus baixos consumos e o seu baixo custo. Assim o sistema torna-se de uso fácil e confortável para o utilizador, ao contrário de sistemas similares desenvolvidos, que utilizam cabos para interligarem os diferentes componentes do sistema. O sensor MEMS do tipo acelerómetro tem a função de ler a aceleração horizontal, ao nível do pé. Esta aceleração será usada por um algoritmo de reconhecimento do padrão das acelerações para se detectar os passos dados. Após a detecção do passo, a aceleração máxima registada nesse passo é fornecida ao coordenador, para se obter o deslocamento efectuado. Foram efectuados alguns testes para se perceber a eficiência do INPERLYS. Os testes decorreram num percurso plano, efectuados a uma velocidade normal e com passadas normais. Verificou-se que, neste momento, o desempenho do sistema poderá ser melhorado, quer seja a nível de gestão das comunicações, quer a nível do reconhecimento do padrão da aceleração horizontal, essencial para se detectar os passos. No entanto o sistema é capaz de fornecer a posição através do GPS, quando é possível a sua utilização, e é capaz de fornecer a orientação do movimento.

O homem vestido

São elencadas as várias motivações relativas ao uso da indumentária e ensaiado um levantamento das posturas perante a Moda.

Design and evaluation of multi-band RF energy harvesting circuits and antennas for WSNs

Radio frequency (RF) energy harvesting is an emerging technology that will enable to drive the next generation of wireless sensor networks (WSNs) without the need of using batteries. In this paper, we present RF energy harvesting circuits specifically developed for GSM bands (900/1800) and a wearable dual-band antenna suitable for possible implementation within clothes for body worn applications. Besides, we address the development and experimental characterization of three different prototypes of a five-stage Dickson voltage multiplier (with match impedance circuit) responsible for harvesting the RF energy. Different printed circuit board (PCB) fabrication techniques to produce the prototypes result in different values of conversion efficiency. Therefore, we conclude that if the PCB fabrication is achieved by means of a rigorous control in the photo-positive method and chemical bath procedure applied to the PCB it allows for attaining better values for the conversion efficiency. All three prototypes (1, 2 and 3) can power supply the IRIS sensor node for RF received powers of -4 dBm, -6 dBm and -5 dBm, and conversion efficiencies of 20, 32 and 26%, respectively. © 2014 IEEE.

Utilization of remote experimentation in mobile devices for education

In this paper the authors intend to demonstrate the utilization of remote experimentation (RE) using mobile computational devices in the Science areas of the elementary school, with the purpose to develop practices that will help in the assimilation process of the subjects taught in classroom seeking to interlink them with the daily students? activities. Allying mobility with RE we intend to minimize the space-temporal barrier giving more availability and speed in the information access. The implemented architecture utilizes technologies and freely distributed softwares with open code resources besides remote experiments developed in the Laboratory of Remote Experimentation (RExLab) of Federal University of Santa Catarina (UFSC), in Brazil, through the physical computation platform of the ?open hardware of construction of our own. The utilization of open code computational tools and the integration of hardware to the 3D virtual worlds, accessible through mobile devices, give to the project an innovative face with a high potential for reproducibility and reusability.

The international expansion strategy of Striyah in Poland

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics