Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

Impact of antenna choices on the reliability of mobile broadband transmission at millimetre - wave frequencies

This paper deals with the impact of several antenna chices on the radio transmission performance within a cellular Mobile Broaband System (MBS) currently under research in Europe. Several antenna types are considered, namely switchable-beam antennas and adaptive antennas employing a phased array approach.

Adaptive transceiver - antenna techniques for mobile broadband communications at millimetre - wave frequencies

This paper is concerned with the implementation of a Mobile Broadband System, currently under research in Europe. We present a low-complexity, adaptive transceiver/antenna approach where simple, linear, phased arrays are adjusted under a transmission quality measurement provided by a decision-feedback equalizer. Several simulation results are presented and discussed.

Impact of antenna choices on the reliability of mobile broadband transmission at mm-wave frequencies

This paper deals with the impact of several antenna choices on the radio transmission performance within a cellular Mobile Broaband System (MBS) currently under research in Europe. Several antenna types are considered, namely switchble-beam antennas and adaptive antennas employing a phased array approach.

LifeSpeeder: a web and mobile platform for events location

The use of smartphones and tablets as become almost banal in these days. Smartphones, besides serving their main purpose of making and receiving calls, come to be one of the main equipments to obtain information from the Internet, using the commonly installed browsers or through the use of dedicated applications. Furthermore, several other devices are also very frequent to the majority of the modern smartphones and tablets in the market (e.g., GPS - Global Positioning System). This devices give the current systems a very high potential of usage. One example of applicability, comes from the wish to find and navigate to events or activities which are or will soon be occurring near the user. The LifeSpeeder platform is one of the first applications in the mobile equipment market of applications which take into consideration exactly what we have just outlined, i.e., a mobile and desktop application which allows the users to locate events according with their preferences and to get help navigating to them. In this paper we briefly describe the LifeSpeeder's front and back-end. © 2014 Springer International Publishing.

virtX: ein Lehr- und Lernsystem für mobile Röntgengeräte zur Verbesserung der Ausbildung im Strahlenschutz

Hintergrund und Fragestellung: Die durch röntgentechnische Diagnoseverfahren in der Medizin entstehende Strahlenbelastung für Patient und Personal soll laut Strahlenschutzverordnung so gering wie möglich gehalten werden. Um dieses zu erreichen ist ein professioneller und bedachter Umgang mit den Röntgengeräten unabdingbar. Dieses Verhalten kann derzeit jedoch nur theoretisch vermittelt werden, da sich ein Üben mit realer Strahlung von selbst verbietet. Daher stellt sich die Frage wie man die Strahlenschutzausbildung durch eine verbesserte Vermittlung der komplexen Thematik unterstützen kann. Methoden: Das CBT-System (Computer Based Training) virtX, welches das Erlernen der korrekten Handhabung mobiler Röntgengeräte unterstützt, wurde um Aspekte aus dem Bereich des Strahlenschutzes erweitert. Es wurde eine prototypische Visualisierung der entstehenden Streustrahlung sowie die Darstellung des Nutzstrahlenganges integriert. Des Weiteren wurde die Berechnung und Anzeige der virtuellen Einfallsdosis für das durchstrahlte Volumen sowie für den Bereich des Bildverstärkers hinzugefügt. Für die Berechnung und Visualisierung all dieser Komponenten werden die in virtX parametrisierbaren C-Bogen-Einstellungen, z.B. Stellung der Blenden, Positionierung des Röntgengerätes zum durchstrahlten Volumen und Strahlenintensität, herangezogen. Das so erweiterte System wurde auf einem dreitägigen Kurs für OP-Personal mit über 120 Teilnehmern eingesetzt und auf der Basis von Fragebögen evaluiert. Ergebnisse: Von den Teilnehmern gaben 55 einen ausgefüllten Evaluations-Fragebogen ab (Responserate 82%). Das Durchschnittsalter der 39 weiblichen und 15 männlichen Teilnehmer (einer o.A.) lag bei 33±8 Jahren, die Berufserfahrung bei 9,37±7 Jahren. Die Erfahrung mit dem C-Bogen wurde von einem Teilnehmer (2%) mit „Keine oder bisher nur Einführung erhalten“, von acht Teilnehmern (14%) mit „bediene einen C-Bogen gelegentlich“ und von 46 (84%) mit „bediene einen C-Bogen regelmäßig“ angegeben. 45 (92%) der Teilnehmer gaben an, durch die Visualisierung der Streustrahlung etwas Neues zur Vermeidung unnötiger Strahlenbelastung dazugelernt zu haben. Schlussfolgerung: Trotz einer bislang nur prototypischen Visualisierung der Streustrahlung können mit virtX zentrale Aspekte und Verhaltensweisen zur Vermeidung unnötiger Strahlenbelastung erfolgreich vermittelt werden und so Lücken der traditionellen Strahlenschutzausbildung geschlossen werden.

Hybrid authentication systems: towards robust user authentication on wireless and mobile devices using biometric technologies

Adequate user authentication is a persistent problem, particularly with mobile devices, which tend to be highly personal and at the fringes of an organisation's influence. Yet these devices are being used increasingly in various business settings, where they pose a risk to security and privacy, not only from sensitive information they may contain, but also from the means they typically offer to access such information over wireless networks. User authentication is the first line of defence for a mobile device that falls into the hands of an unauthorised user. However, motivating users to enable simple password mechanisms and periodically update their authentication information is difficult at best. This paper examines some of the issues relating to the use of biometrics as a viable method of authentication on mobile wireless devices. It is also a critical analysis of some of the techniques currently employed and where appropriate, suggests novel hybrid ways in which they could be improved or modified. Both biometric technology and wireless setting based constraints that determine the feasibility and the performance of the authentication feature are specified. Some well known biometric technologies are briefly reviewed and their feasibility for wireless and mobile use is reviewed. Furthermore, a number of quantitative and qualitative parameters for evaluation are also presented. Biometric technologies are continuously advancing toward commercial implementation in wireless devices. When carefully designed and implemented, the advantage of biometric authentication arises mainly from increased convenience and coexistent improved security.

Human Computer Interaction using gestures for mobile devices and serious games: A review

The Human-Computer Interaction (HCI) with interfaces is an active challenge field in the industry over the past decades and has opened the way to communicate with the means of verbal, hand and body gestures using the latest technologies for a variety of different applications in areas such as video games, training and simulation. However, accurate recognition of gestures is still a challenge. In this paper, we review the basic principles and current methodologies used for collecting the raw gesture data from the user for recognize actions the users perform and the technologies currently used for gesture-HCI in games enterprise. In addition, we present a set of projects from various applications in games industry that are using gestural interaction.

Using Mobile Learning Games for Delivery Purposes in Humanities

Games and applications with gamified elements have been used in teaching and learning widely. Gamified applications attract the interest of students and teachers because they assist them to achieve their cognitive and pedagogical purposes. This paper describes a study that explores the use of a gamified learning application designed to introduce students at key stages 3 and 4 (ages 14-15) to ancient Greek Philosophy. The study involves 3 tests and 3 different groups of students and aimed to explore if the application improves students' knowledge and understanding and to compare different styles of subject delivering. This paper presents and discusses in details the results of the first test.

SAR determination and influence of the human head in the radiation of a mobile antenna for two different frequencies

The big proliferation of mobile communication systems has caused an increased concern about the interaction between the human body and the antennas of mobile handsets. In order to study the problem, a multiband antenna was designed, fabricated and measured to operate over two frequency sub bands 900 and 1800 MHz. After that, we simulated the same antenna, but now, in the presence of a human head model to analyze the head's influence. First, the influence of the human head on the radiation efficiency of the antenna has been investigated as a function of the distance between the head and the antenna and with the inclination of the antenna. Furthermore, the relative amount of the electromagnetic power absorbed in the head has been obtained.

Influence of the Human Head in the Radiation of a Mobile Antenna

The big proliferation of mobile communication systems has caused an increased concern about the interaction between the human body and the antennas of mobile handsets. In order to study the problem, a multiband antenna was designed, fabricated and measured to operate over two frequency sub bands 900 and 1800 MHz. After that, we simulated the same antenna, but now, in the presence of a human head model to analyze the head's influence. First, the influence of the human head on the radiation efficiency of the antenna has been investigated as a function of the distance between the head and the antenna and with the inclination of the antenna. Furthermore, the relative amount of the electromagnetic power absorbed in the head has been obtained. In this study the electromagnetic analysis has been performed via FDTD (Finite Difference Time Domain).