Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

How to convert a Word 2003 document into HTML

How to convert Word 2003 into HTML with associated resources folder. Includes examples showing how to create simple navigation within the document.

An Introduction to applying styles in MS Word 2010

Keeping formatting consistent is made easy by using Styles and they allow you to change the look of the text formatting throughout your file with a few clicks. This video shows how to apply styles in a MS Word 2010 file. Using Heading styles also allow you to make the most out of Word’s Navigation Pane and Table of Contents features – watch our videos on those too! For best viewing Download the video.

Using the Navigation Pane in MS Word 2010

The Navigation Pane makes it very easy to navigate around the Headings a long document, to reshuffle sections of content and to select and print parts of a file. For best viewing Download the video.

Tools to use when writing a thesis in Word 2010/2013 (PC)

This collection of videos shows you how to use a range of time-saving tools when writing a thesis in MS Word 2010/2013. See the full SupportGuide at http://www.go.soton.ac.uk/thesispc. There are videos on using styles; creating tables of contents and tables of figures; using the Navigation Pane; using the Browse Object tool and many more. There is an equivelent collection for use with Word 2011 which is for use with Apple computers.

An introduction to applying styles in the University's thesis template using MS Word 2011 for Apple computers

Keeping formatting consistent is made easy by using Styles and they allow you to change the look of the text formatting throughout your file with a few clicks. This video shows how to apply styles in a MS Word 2011 file. Using Heading styles also allow you to make the most out of Word’s Navigation Pane and Table of Contents features – watch our videos on those too! For best viewing Download the video.

¿Qué entienden los jóvenes universitarios por monogamia y sexo sin penetración, como estrategias preventivas de la transmisión sexual del virus del SIDA? = What university students understand by monogamy and sex without penetration as preventive strategies of sexual transmission of AIDS virus?

Monogamy and sex without penetration are behaviors recommended by the WHO to avoid AIDS virus sexual transmission. Seven hundred and fifty university students from 18 to 25 years (67.7% women) were surveyed and they were asked to give a maximum of three free definitions of the words monogamy and sex without penetration to prevent AIDS virus sexual transmission. Their participation was voluntary and anonymous. Although the majority of the answers was correct, there was a considerable percentage of wrong answers, either for monogamy (3.7% masturbation; 2.1% to have many partners; 0.9% homosexual relations), or for sex without penetration (20.5% oral sex; 1.1% anal coitus; 0.8% coitus without orgasm; 0.4% coitus interruptus). Some definitions or examples differ by gender. The amount of wrongs or incomplete answers put researchers on the alert about insufficient preventive knowledge in a population with a high educational level

Local model predictive control for navigation of a wheeled mobile robot using monocular information

Aquesta tesi està inspirada en els agents naturals per tal de planificar de manera dinàmica la navegació d'un robot diferencial de dues rodes. Les dades dels sistemes de percepció són integrades dins una graella d'ocupació de l'entorn local del robot. La planificació de les trajectòries es fa considerant la configuració desitjada del robot, així com els vértexs més significatius dels obstacles més propers. En el seguiment de les trajectòries s'utilitzen tècniques locals de control predictiu basades en el model, amb horitzons de predicció inferiors a un segon. La metodologia emprada és validada mitjançant nombrosos experiments.

An approach to coded structured light to obtain three dimensional information

The human visual ability to perceive depth looks like a puzzle. We perceive three-dimensional spatial information quickly and efficiently by using the binocular stereopsis of our eyes and, what is mote important the learning of the most common objects which we achieved through living. Nowadays, modelling the behaviour of our brain is a fiction, that is why the huge problem of 3D perception and further, interpretation is split into a sequence of easier problems. A lot of research is involved in robot vision in order to obtain 3D information of the surrounded scene. Most of this research is based on modelling the stereopsis of humans by using two cameras as if they were two eyes. This method is known as stereo vision and has been widely studied in the past and is being studied at present, and a lot of work will be surely done in the future. This fact allows us to affirm that this topic is one of the most interesting ones in computer vision. The stereo vision principle is based on obtaining the three dimensional position of an object point from the position of its projective points in both camera image planes. However, before inferring 3D information, the mathematical models of both cameras have to be known. This step is known as camera calibration and is broadly describes in the thesis. Perhaps the most important problem in stereo vision is the determination of the pair of homologue points in the two images, known as the correspondence problem, and it is also one of the most difficult problems to be solved which is currently investigated by a lot of researchers. The epipolar geometry allows us to reduce the correspondence problem. An approach to the epipolar geometry is describes in the thesis. Nevertheless, it does not solve it at all as a lot of considerations have to be taken into account. As an example we have to consider points without correspondence due to a surface occlusion or simply due to a projection out of the camera scope. The interest of the thesis is focused on structured light which has been considered as one of the most frequently used techniques in order to reduce the problems related lo stereo vision. Structured light is based on the relationship between a projected light pattern its projection and an image sensor. The deformations between the pattern projected into the scene and the one captured by the camera, permits to obtain three dimensional information of the illuminated scene. This technique has been widely used in such applications as: 3D object reconstruction, robot navigation, quality control, and so on. Although the projection of regular patterns solve the problem of points without match, it does not solve the problem of multiple matching, which leads us to use hard computing algorithms in order to search the correct matches. In recent years, another structured light technique has increased in importance. This technique is based on the codification of the light projected on the scene in order to be used as a tool to obtain an unique match. Each token of light is imaged by the camera, we have to read the label (decode the pattern) in order to solve the correspondence problem. The advantages and disadvantages of stereo vision against structured light and a survey on coded structured light are related and discussed. The work carried out in the frame of this thesis has permitted to present a new coded structured light pattern which solves the correspondence problem uniquely and robust. Unique, as each token of light is coded by a different word which removes the problem of multiple matching. Robust, since the pattern has been coded using the position of each token of light with respect to both co-ordinate axis. Algorithms and experimental results are included in the thesis. The reader can see examples 3D measurement of static objects, and the more complicated measurement of moving objects. The technique can be used in both cases as the pattern is coded by a single projection shot. Then it can be used in several applications of robot vision. Our interest is focused on the mathematical study of the camera and pattern projector models. We are also interested in how these models can be obtained by calibration, and how they can be used to obtained three dimensional information from two correspondence points. Furthermore, we have studied structured light and coded structured light, and we have presented a new coded structured light pattern. However, in this thesis we started from the assumption that the correspondence points could be well-segmented from the captured image. Computer vision constitutes a huge problem and a lot of work is being done at all levels of human vision modelling, starting from a)image acquisition; b) further image enhancement, filtering and processing, c) image segmentation which involves thresholding, thinning, contour detection, texture and colour analysis, and so on. The interest of this thesis starts in the next step, usually known as depth perception or 3D measurement.

From architecturology to architecturological research

This paper presents a genesis of the French research field of Architecturology, from its creation to the current researches developed from it, at ARIAM-LAREA (National School of Architecture of Paris-la-Villette Laboratory of modeling for computer aids of cognitive activity of conception). Architecturology has been thought at the creation of French Schools of Architecture that has been initiated with the French movement of 1968 May. Its major aim is to build specific knowledge on architecture for learning architecture. The first book of the beginnings of this scientific field is “Sur l’espace architectural” written by Ph. Boudon and published in 1971. It’s currently constituted with a scientific systemic language and a paradigm that help to explain cognitive activity of design named by it, conception. This scientific language has been published in “Enseigner la conception architecturale: cours d’architecturologie” written by Ph. Boudon, Ph. Deshayes, F. Pousin and F. Shatz, and published in 1994 and in 2000, in “Echelle(s)” published in 2002 and which gathers different articles of Ph. Boudon and, in different articles of the team of LAREA - Ph. Boudon, Ph. Deshayes, F. Pousin, F. Shatz and C. Lecourtois. From this scientific language and the paradigm of Architecturology, I develop methods for extending the field of knowledge of this point of view by doing researches in architecture. These methods are gathered into the concept of Applied Architecturology. In 2005, LAREA has merged with a research team interested in Computer Aided Design, named ARIAM. To create ARIAM-LAREA, we have built a new research program on Computer Aided Conception where we use Applied Architecturology for 1) producing new knowledge on implications of Computer in cognitive activity of design and 2) developing new software to Support some operations of conception. This paper exposes my current research work and three theses that I co-lead at ARIAMLAREA on this object.

A gestão de políticas públicas em saúde da divisão de vigilância em saúde da secretaria de estado de saúde pública - SESPA no combate do HIV/AIDS no estado do Pará - um estudo de caso

A presente dissertação teve como objetivo compreender como se promove a Gestão da Divisão de Vigilância Sanitária pela Secretaria de Estado de Saúde Pública/SESPA no combate do HIV/AIDS no Estado do Pará. A pesquisa contemplou o processo de Gestão de Políticas Públicas em Saúde da Divisão de Vigilância em Saúde da Secretaria de Estado de Saúde Pública – SESPA no combate do HIV/AIDS no Estado do Pará, destacando os resultados dessa gestão nos casos notificados. Tratou-se de um estudo descritivo, cujos dados foram coletados a partir de levantamento bibliográfico e documental com aplicação de questionário na Divisão de Vigilância em Saúde da Secretaria do Estado de Saúde Pública/SESPA. O referencial teórico enfocou aspectos da contextualização da Gestão Pública e Privada, assim como fez referencia a Gestão de Políticas Públicas em Saúde em Portugal e no Brasil. Os resultados mostraram que a Gestão da Divisão de Vigilância Sanitária /SESPA consiste em uma Gestão Pública que realiza suas atividades sobre uma estrutura burocrata e centralizada impedindo que a mesma supra adequadamente, enquanto organização, às demandas do Estado do Pará e aos desafios impostos pelo HIV/AIDS, que se reafirma como assunto de saúde pública. Como conclusão, o estudo evidenciou que Gestão da Divisão da Vigilância em Saúde da Secretaria de Estado de Saúde Pública/SESPA no combate do HIV/AIDS não promoveu adequadamente suas ações, apresentando resultados satisfatórios, pois necessita de melhores políticas públicas que propiciem ações para o cumprimento de suas metas, fortalecendo a capacidade de organização e de articulação, como a redução efetiva das vulnerabilidades sociais e políticas que agenciam a expansão da epidemia, crescentemente associada às desigualdades sociais que vigoram no Estado do Pará.

Evaluating the directional effects of acoustic horn style hearing aids using the QuickSIN procedure

This paper evaluates the directional effects of two hearing devices – an antique London Dome horn style device and a constructed Cupped Hand. The comparisons were made using the Quick SIN (Speech in Noise) adaptive test which measures signal-to-noise ratio loss.

Comparison of two single-channel tactile aids for the deaf

This paper reviews a study to compare two commercially available single-channel tactile aids for the deaf.

Are distortion levels a problem with digital signal processing hearing aids and frequency modulation (FM) systems?

The purpose of this study was to examine objective and subjective distortion present when frequency modulation (FM) systems were coupled with four digital signal processing (DSP) hearing aids. Electroacoustic analysis and subjective listening tests by experienced audiologists revealed that distortion levels varied across hearing aids and channels.