Probabilistic constraint reasoning with Monte Carlo integration to robot localization

This work studies the combination of safe and probabilistic reasoning through the hybridization of Monte Carlo integration techniques with continuous constraint programming. In continuous constraint programming there are variables ranging over continuous domains (represented as intervals) together with constraints over them (relations between variables) and the goal is to find values for those variables that satisfy all the constraints (consistent scenarios). Constraint programming “branch-and-prune” algorithms produce safe enclosures of all consistent scenarios. Special proposed algorithms for probabilistic constraint reasoning compute the probability of sets of consistent scenarios which imply the calculation of an integral over these sets (quadrature). In this work we propose to extend the “branch-and-prune” algorithms with Monte Carlo integration techniques to compute such probabilities. This approach can be useful in robotics for localization problems. Traditional approaches are based on probabilistic techniques that search the most likely scenario, which may not satisfy the model constraints. We show how to apply our approach in order to cope with this problem and provide functionality in real time.

Teleoperation of a service robot using a mobile device

Teleoperation is a concept born with the rapid evolution of technology, with an intuitive meaning "operate at a distance." The first teleoperation system was created in the mid 1950s, which were handled chemicals. Remote controlled systems are present nowadays in various types of applications. This dissertation presents the development of a mobile application to perform the teleoperation of a mobile service robot. The application integrates a distributed surveillance (the result of a research project QREN) and led to the development of a communication interface between the robot (the result of another QREN project) and the vigilance system. It was necessary to specify a communication protocol between the two systems, which was implemented over a communication framework 0MQ (Zero Message Queue). For the testing, three prototype applications were developed before to perform the test on the robot.

Integration of a mobile autonomous robot in a surveillance multi-agent system

This dissertation aims to guarantee the integration of a mobile autonomous robot equipped with many sensors in a multi-agent distributed and georeferenced surveillance system. The integration of a mobile autonomous robot in this system leads to new features that will be available to clients of surveillance system may use. These features may be of two types: using the robot as an agent that will act in the environment or by using the robot as a mobile set of sensors. As an agent in the system, the robot can move to certain locations when alerts are received, in order to acknowledge the underlying events or take to action in order to assist in resolving this event. As a sensor platform in the system, it is possible to access information that is read from the sensors of the robot and access complementary measurements to the ones taken by other sensors in the multi-agent system. To integrate this mobile robot in an effective way it is necessary to extend the current multi-agent system architecture to make the connection between the two systems and to integrate the functionalities provided by the robot into the multi-agent system.

Especificidades da tradução para palco: o caso do espectáculo Dr. Jekyll & Mr. Hyde da Companhia do Chapitô

A tradução para palco é uma tarefa particularmente complexa, dados os problemas que coloca ao tradutor não só a nível linguístico e cultural, mas também porque envolve linguagens não-verbais e ainda a noção de performability do texto a ser levado ao palco, o que implica um conhecimento profundo dos códigos teatrais implícitos no texto e na sua performance. O presente trabalho de projecto tem por objectivo uma análise do processo de criação e tradução do guião do espectáculo Dr. Jekyll & Mr. Hyde, realizado pela Companhia do Chapitô (Lisboa) entre 2013 e 2014. Através de um processo de adaptação peculiar, inspirado na commedia dell’arte, a Companhia do Chapitô criou a peça através de uma improvisação sobre o texto original em língua inglesa, o que conduziu à criação de um guião-base em inglês que foi posteriormente traduzido para a língua portuguesa pela mestranda. O trabalho que aqui se apresenta descreve tal processo, que se reveste de características especiais devido ao método de trabalho colaborativo seguido pela referida companhia de teatro que acolheu este projecto

[Preface to] RoboCup 2007: Robot Soccer World Cup XI

[Excerpt] The 11th RoboCup International Symposium was held during July 9–10, 2007 at the Fox Theatre in Atlanta, GA, immediately after the 2007 Soccer, Rescue and Junior Competitions. The RoboCup community has observed an increasing interest from other communities over the past few years, e.g., the robotics community.RoboCupisseenasasignificantapproachtotheevaluationofnewlydeveloped methods to many difficult problems in robotics. Atlanta was also the location of a RoboCup@Space demonstration, which reflected the role of AI and robotics in space exploration. Prior to the symposium, space agencies had expressed an interest in cooperating with RoboCup. A first step in this direction was a successful demonstration at RoboCup 2007, which was accompanied with aninvitedtalkgivenbyaleadingscientistfromtheJapanAerospaceExploration Agency JAXA. [...]

Generating timed trajectories foran autonomous robot

Tese de Doutoramento Programa Doutoral em Engenharia Electrónica e Computadores

Off-line simulation inspires insight: a neurodynamics approach to efficient robot task learning

There is currently an increasing demand for robots able to acquire the sequential organization of tasks from social learning interactions with ordinary people. Interactive learning-by-demonstration and communication is a promising research topic in current robotics research. However, the efficient acquisition of generalized task representations that allow the robot to adapt to different users and contexts is a major challenge. In this paper, we present a dynamic neural field (DNF) model that is inspired by the hypothesis that the nervous system uses the off-line re-activation of initial memory traces to incrementally incorporate new information into structured knowledge. To achieve this, the model combines fast activation-based learning to robustly represent sequential information from single task demonstrations with slower, weight-based learning during internal simulations to establish longer-term associations between neural populations representing individual subtasks. The efficiency of the learning process is tested in an assembly paradigm in which the humanoid robot ARoS learns to construct a toy vehicle from its parts. User demonstrations with different serial orders together with the correction of initial prediction errors allow the robot to acquire generalized task knowledge about possible serial orders and the longer term dependencies between subgoals in very few social learning interactions. This success is shown in a joint action scenario in which ARoS uses the newly acquired assembly plan to construct the toy together with a human partner.

Global vs. local nonlinear optimization techniques for human-like movement of an anthropomorphic robot

In this paper a comparison between using global and local optimization techniques for solving the problem of generating human-like arm and hand movements for an anthropomorphic dual arm robot is made. Although the objective function involved in each optimization problem is convex, there is no evidence that the admissible regions of these problems are convex sets. For the sequence of movements for which the numerical tests were done there were no significant differences between the optimal solutions obtained using the global and the local techniques. This suggests that the optimal solution obtained using the local solver is indeed a global solution.

The natural history of the rarer lepidopterous insects of Georgia : including their systematic characters, the particulars of their several metamorphoses, and the plants on which they feed. Collected from the observation of Mr. John Abbot, many years resident in that country /

vol. 1

The natural history of the rarer lepidopterous insects of Georgia : including their systematic characters, the particulars of their several metamorphoses, and the plants on which they feed. Collected from the observation of Mr. John Abbot, many years resident in that country /

vol. 2

Flora boreali-americana, or, the botany of the northern parts of British America : compiled principally from the plants collected by Dr. Richardson & Mr. Drummond on the late northern expeditions, under command of Captain Sir John Franklin, R.N. To which are added (by permission of the Horticultural society of London,) those of Mr. Douglas, from north-west America, and of other naturalists /

v.1

Flora boreali-americana, or, the botany of the northern parts of British America : compiled principally from the plants collected by Dr. Richardson & Mr. Drummond on the late northern expeditions, under command of Captain Sir John Franklin, R.N. To which are added (by permission of the Horticultural society of London,) those of Mr. Douglas, from north-west America, and of other naturalists /

v.2