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.

An IP capable data link layer protocol for narrow band half-duplex packet data radio networks

The wide adaptation of Internet Protocol (IP) as de facto protocol for most communication networks has established a need for developing IP capable data link layer protocol solutions for Machine to machine (M2M) and Internet of Things (IoT) networks. However, the wireless networks used for M2M and IoT applications usually lack the resources commonly associated with modern wireless communication networks. The existing IP capable data link layer solutions for wireless IoT networks provide the necessary overhead minimising and frame optimising features, but are often built to be compatible only with IPv6 and specific radio platforms. The objective of this thesis is to design IPv4 compatible data link layer for Netcontrol Oy's narrow band half-duplex packet data radio system. Based on extensive literature research, system modelling and solution concept testing, this thesis proposes the usage of tunslip protocol as the basis for the system data link layer protocol development. In addition to the functionality of tunslip, this thesis discusses the additional network, routing, compression, security and collision avoidance changes required to be made to the radio platform in order for it to be IP compatible while still being able to maintain the point-to-multipoint and multi-hop network characteristics. The data link layer design consists of the radio application, dynamic Maximum Transmission Unit (MTU) optimisation daemon and the tunslip interface. The proposed design uses tunslip for creating an IP capable data link protocol interface. The radio application receives data from tunslip and compresses the packets and uses the IP addressing information for radio network addressing and routing before forwarding the message to radio network. The dynamic MTU size optimisation daemon controls the tunslip interface maximum MTU size according to the link quality assessment calculated from the radio network diagnostic data received from the radio application. For determining the usability of tunslip as the basis for data link layer protocol, testing of the tunslip interface is conducted with both IEEE 802.15.4 radios and packet data radios. The test cases measure the radio network usability for User Datagram Protocol (UDP) based applications without applying any header or content compression. The test results for the packet data radios reveal that the typical success rate for packet reception through a single-hop link is above 99% with a round-trip-delay of 0.315s for 63B packets.

Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Focus giurisprudenziale. Sentenza 8/09/2015, Grande Camera della Corte di Lussemburgo, c.d. caso Taricco

Con sentenza Sez. 3 Num. 2210 Anno 2016 - Relatore: Scarcella Alessio - Data Udienza: 17/09/2015, la Cassazione, in una ipotesi di cd. “grave frode IVA”, ha disapplicato la specifica norma di cui all'ultima parte del terzo comma dell'art. 160 ed al secondo comma dell'art. 161 cod. pen. a seguito della sentenza della Corte di Giustizia U.E. dell'8 settembre 2015 (Grande Sezione), Taricco, causa C-105/14.

Diseño de una metodología que permita implementar el protocolo de internet versión 6 en empresas o instituciones con aplicaciones basadas en el protocolo TCP/IP versión 4

Se realizar una investigación para formar una base teórica que permita desarrollar un manual de referencia que sirva como consulta general sobre el uso del Protocolo de Internet versión 6, IPv6, y de las especificaciones básicas necesarias para migrar a esta nueva tecnología. Verificar el uso que hacen las empresas o instituciones en nuestro medio de aplicaciones operando en redes basadas en el Protocolo de Internet versión 4, con la idea de desarrollar pautas que sirvan para definir una metodología general para la migración de estas redes y sus aplicaciones en operación, al nuevo Protocolo de Internet IPv6

Camões - Instituto da Cooperação e da Língua Portuguesa [Camões, IP] português língua de herança [PLH] - língua e identidade

Neste artigo, abordamos, num primeiro momento, a relação entre língua e identidade, tendo em mente que um dos objetivos principais do EPE [Ensino Português no Estrangeiro] é reforçar o vínculo afetivo dos alunos com as suas raízes. O trabalho que aqui apresentamos visa, precisamente, contribuir para a valorização desse elo afetivo dos alunos do EPE na Alemanha, com a LP [Língua Portuguesa] e com uma parte integrante da sua identidade. Num segundo momento, tendo em conta a heterogeneidade dos nossos alunos, dos seus perfis linguísticos e culturais, identificamos que estatuto assume a LP para estes alunos, elucidando sobre as dimensões pedagógicas adotadas ou a adotar no processo de E/A [Ensino e aprendizagem] do EPE. Destacamos, assim, o conceito de Português Língua de Herança [PLH], estatuto que o português assume para os alunos do EPE na Alemanha, percecionado como a língua minoritária, usada pelos filhos dos emigrantes das segundas e terceiras gerações, em contexto restrito, no seio familiar, com a família e, de uma forma menos frequente, com os amigos portugueses.

Release currents of IP₃ receptor channel clusters and concentration profiles

We simulate currents and concentration profiles generated by Ca2+ release from the endoplasmic reticulum (ER) to the cytosol through IP3 receptor channel clusters. Clusters are described as conducting pores in the lumenal membrane with a diameter from 6 nm to 36 nm. The endoplasmic reticulum is modeled as a disc with a radius of 1–12 mm and an inner height of 28 nm. We adapt the dependence of the currents on the trans Ca2+ concentration (intralumenal) measured in lipid bilayer experiments to the cellular geometry. Simulated currents are compared with signal mass measurements in Xenopus oocytes. We find that release currents depend linearly on the concentration of free Ca2+ in the lumen. The release current is approximately proportional to the square root of the number of open channels in a cluster. Cytosolic concentrations at the location of the cluster range from 25 μM to 170 μM. Concentration increase due to puffs in a distance of a few micrometers from the puff site is found to be in the nanomolar range. Release currents decay biexponentially with timescales of < 1 s and a few seconds. Concentration profiles decay with timescales of 0.125–0.250 s upon termination of release.

Performance Analysis of IP based WSNs in real time systems

Wireless sensor networks (WSNs) are the key enablers of the internet of things (IoT) paradigm. Traditionally, sensor network research has been to be unlike the internet, motivated by power and device constraints. The IETF 6LoWPAN draft standard changes this, defining how IPv6 packets can be efficiently transmitted over IEEE 802.15.4 radio links. Due to this 6LoWPAN technology, low power, low cost micro- controllers can be connected to the internet forming what is known as the wireless embedded internet. Another IETF recommendation, CoAP allows these devices to communicate interactively over the internet. The integration of such tiny, ubiquitous electronic devices to the internet enables interesting real-time applications. This thesis work attempts to evaluate the performance of a stack consisting of CoAP and 6LoWPAN over the IEEE 802.15.4 radio link using the Contiki OS and Cooja simulator, along with the CoAP framework Californium (Cf). Ultimately, the implementation of this stack on real hardware is carried out using a raspberry pi as a border router with T-mote sky sensors as slip radios and CoAP servers relaying temperature and humidity data. The reliability of the stack was also demonstrated during scalability analysis conducted on the physical deployment. The interoperability is ensured by connecting the WSN to the global internet using different hardware platforms supported by Contiki and without the use of specialized gateways commonly found in non IP based networks. This work therefore developed and demonstrated a heterogeneous wireless sensor network stack, which is IP based and conducted performance analysis of the stack, both in terms of simulations and real hardware.

Diseño de un sistema de telefonía IP para implementarse en el cantón Santa Marta municipio de Ciudad Victoria, Cabañas

Diseño de un sistema de telefonía utilizando el protocolo VoIP, el cual se implementó en el cantón Santa Marta, municipio de Ciudad Victoria, Cabañas, usando enlaces inalámbricos a 24.6 Hz. El sistema permite la integración de teléfonos Smartphone gracias al uso del software FreePbx el cual corre dentro de un dispositivo Raspberry PI

Arquitetura de rede com suporte à mobilidade de fluxo IP e ao gerenciamento de Mobilidade Distribuído (DMM)

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2016.

Texture-Detail Preservation Measurement in Camera Phones: An Updated Approach

Recent advances in mobile phone cameras have poised them to take over compact hand-held cameras as the consumer’s preferred camera option. Along with advances in the number of pixels, motion blur removal, face-tracking, and noise reduction algorithms have significant roles in the internal processing of the devices. An undesired effect of severe noise reduction is the loss of texture (i.e. low-contrast fine details) of the original scene. Current established methods for resolution measurement fail to accurately portray the texture loss incurred in a camera system. The development of an accurate objective method to identify the texture preservation or texture reproduction capability of a camera device is important in this regard. The ‘Dead Leaves’ target has been used extensively as a method to measure the modulation transfer function (MTF) of cameras that employ highly non-linear noise-reduction methods. This stochastic model consists of a series of overlapping circles with radii r distributed as r−3, and having uniformly distributed gray level, which gives an accurate model of occlusion in a natural setting and hence mimics a natural scene. This target can be used to model the texture transfer through a camera system when a natural scene is captured. In the first part of our study we identify various factors that affect the MTF measured using the ‘Dead Leaves’ chart. These include variations in illumination, distance, exposure time and ISO sensitivity among others. We discuss the main differences of this method with the existing resolution measurement techniques and identify the advantages. In the second part of this study, we propose an improvement to the current texture MTF measurement algorithm. High frequency residual noise in the processed image contains the same frequency content as fine texture detail, and is sometimes reported as such, thereby leading to inaccurate results. A wavelet thresholding based denoising technique is utilized for modeling the noise present in the final captured image. This updated noise model is then used for calculating an accurate texture MTF. We present comparative results for both algorithms under various image capture conditions.

Producers' Perceptions and Consumers' Behaviour Toward Certified Beans from Integrated Production (IP) in the Brazilian Central Region

Integrated production (IP) is part of the Brazilian government program to promote sustainable agricultural production. IP ensure minimum food quality standards for domestic market, and export. Furthermore, IP is considered a good option to reduce negative environmental impacts of intensive crops in tropical Savannas, including common beans, as a Brazilian staple food. Although its advantages, and the government’s effort to promote IP, few growers are adopting IP. Maybe, the perception about IP usefulness and/or its ease of use is not too clear. Moreover, the production sector is driven by market signs, and there is few information on the consumer's preferences toward IP certified products in Brazil. In this study, we sought to identify some critical factors that can influence the IP adoption in beans' production. Moreover, we sought to verify the consumers’ perceptions and intention of purchasing IP certified beans (hypothetical product). This report comprises four chapters: (1) an introduction illustrating the context in which the research was based; (2) the results on the study of IP adoption based on the Technology Acceptance Model (TAM); (3) the choice experiment results applied to identify consumers preferences and willingness-to-pay (WTP) for IP label; (4) the results on the Theory of Planned Behaviour (TPB) applied to identify consumers’ perception toward IP certified beans. This research contributes with rich information for the beans’ supply chain, providing several insights to growers, retail and other agents, including policy makers. Beans’ production sector seems to be positively intentioned to adopt IP, but further studies should be conducted to test other adoption indicators using TAM model. Surveyed consumers are willing to pay a premium price for IP labelled beans. They showed a positive attitude toward purchasing IP labelled beans. It is an important information to motivate production sector to offer certified beans to the market.

SOB A SOMBRA DO IPÊ: A ESPACIALIZAÇÃO DO IMAGINÁRIO NEODRUÍDICO NAS CIDADES BRASILEIRAS

A Nova Era, movimento globalizado que ocorre em centros urbanos, permitiu diversas releituras de religiões instituicionais, bem como a reinvenção do paganismo. Num mundo conectado em tempo real, tudo é palco de vivências e ressignificações, possibilitando o acesso e a prática de qualquer uma delas. Esse trabalho teve como objetivo verificar como um segmento da Nova Era - os druidas contemporâneos - filiados à BDO/Druidnetwork vivenciavam o seu cotidiano e espacializavam, nas cidades brasileiras, uma religiosidade pautada no imaginário e nas divindades dos antigos celtas. A pesquisa mostrou que a procura por essa religiosidade estava ligada essencialmente as necessidades espirituais que harmonizasse o ser humano com a natureza e mantivesse distância das religiões tradicionais. Para essa reconexão, os druidas contemporâneos sacralizavam a paisagem geográfica, adapatavam-se ao ethos local e rompiam as fronteiras físicas dos territórios adequando-as às suas necessidades imediatas. Por meio dessa articulação espacial manifestavam sua preocupação com o nosso planeta. Todos os atos, incluindo a mudança de hábito era em prol de uma Terra melhor. Em espaços físicos, mentais ou virtuais trocavam a dúvida pela certeza na mudança de consciência da humanidade.

Caratterizzazione in camera climatica dei rivelatori a scintillazione in corso di installazione a M.te Cimone per l’esperimento Gamma-Flash

Questa Tesi di Laurea è legata agli aspetti tecnologici dell'esperimento Gamma-Flash, progetto coordinato dall'Istituto Nazionale di Astrofisica finanziato dall'Agenzia Spaziale Italiana che ha lo scopo di studiare eventi altamente energetici che avvengono in atmosfera denominati Terrestial Gamma-ray Flashes (TGFs). Questi eventi hanno uno stretto legame con i fulmini che avvengono durante episodi temporaleschi. I fulmini producono particelle ionizzate ed elettroni che per effetto bremmstrahlung emettono radiazione in un ampio intervallo di energie da centinaia di keV a decine di MeV. Questo tipo di eventi è stato rivelato da numerose missioni da satellite fin dagli anni '90 (BATSE/CGRO) e successivamente con i satelliti RHESSI, AGILE, BeppoSAX e Fermi. Molto più rare sono le osservazioni di questi eventi da terra o da rivelatori posti su velivoli. Gamma-Flash ha lo scopo di realizzare strumentazione per la rivelazione di questi eventi da un osservatorio posto su M.te Cimone (2165m s.l.m) e su un aereo in grado di raggiungere quote di 8-10000m. L'esperimento viene effettuato attraverso rivelatori a scintillazione e con elettronica dedicata la cui risposta in energia dipende dalla temperatura di funzionamento. È quindi importante conoscere come il detector si comporta al variare della temperatura, che, soprattutto nell'esperimento terrestre, può variare di decine di gradi anche su tempi scala brevi. Scopo di questa tesi è stato quindi di caratterizzare uno dei rivelatori che saranno posti all'Osservatorio O. Vittori di M.te Cimone utilizzando una camera climatica che simula le condizioni di temperatura variabili e riscontrabili durante l'esperimento.