880 resultados para Multi agent system (MAS)


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The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

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The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.

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Os sistemas de perceção visual são das principais fontes de informação sensorial utilizadas pelos robôs autónomos, para localização e navegação em diferentes meios de operação. O objetivo passa por obter uma grande quantidade de informação sobre o ambiente que a câmara está a visualizar, processar e extrair informação que permita realizar as tarefas de uma forma e ciente. Uma informação em particular que os sistemas de visão podem fornecer, e a informação tridimensional acerca do meio envolvente. Esta informação pode ser adquirida recorrendo a sistemas de visão monoculares ou com múltiplas câmaras. Nestes sistemas a informação tridimensional pode ser obtida recorrendo a técnica de triangulação, tirando partido do conhecimento da posição relativa entre as câmaras. No entanto, para calcular as coordenadas de um ponto tridimensional no referencial da câmara e necessário existir correspondência entre pontos comuns às imagens adquiridas pelo sistema. No caso de más correspondências a informação 3D e obtida de forma incorreta. O problema associado à correspondência de pontos pode ser agravado no caso das câmaras do sistema terem características intrínsecas diferentes nomeadamente: resolução, abertura da lente, distorção. Outros fatores como as orientações e posições das câmaras também podem condicionar a correspondência de pontos. Este trabalho incide sobre problemática de correspondência de pontos existente no processo de cálculo da informação tridimensional. A presente dissertação visa o desenvolvimento de uma abordagem de correspondência de pontos para sistemas de visão no qual é conhecida a posição relativa entre câmaras.

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Smart Cities are designed to be living systems and turn urban dwellers life more comfortable and interactive by keeping them aware of what surrounds them, while leaving a greener footprint. The Future Cities Project [1] aims to create infrastructures for research in smart cities including a vehicular network, the BusNet, and an environmental sensor platform, the Urban Sense. Vehicles within the BusNet are equipped with On Board Units (OBUs) that offer free Wi-Fi to passengers and devices near the street. The Urban Sense platform is composed by a set of Data Collection Units (DCUs) that include a set of sensors measuring environmental parameters such as air pollution, meteorology and noise. The Urban Sense platform is expanding and receptive to add new sensors to the platform. The parnership with companies like TNL were made and the need to monitor garbage street containers emerged as air pollution prevention. If refuse collection companies know prior to the refuse collection which route is the best to collect the maximum amount of garbage with the shortest path, they can reduce costs and pollution levels are lower, leaving behind a greener footprint. This dissertation work arises in the need to monitor the garbage street containers and integrate these sensors into an Urban Sense DCU. Due to the remote locations of the garbage street containers, a network extension to the vehicular network had to be created. This dissertation work also focus on the Multi-hop network designed to extend the vehicular network coverage area to the remote garbage street containers. In locations where garbage street containers have access to the vehicular network, Roadside Units (RSUs) or Access Points (APs), the Multi-hop network serves has a redundant path to send the data collected from DCUs to the Urban Sense cloud database. To plan this highly dynamic network, the Wi-Fi Planner Tool was developed. This tool allowed taking measurements on the field that led to an optimized location of the Multi-hop network nodes with the use of radio propagation models. This tool also allowed rendering a temperature-map style overlay for Google Earth [2] application. For the DCU for garbage street containers the parner company provided the access to a HUB (device that communicates with the sensor inside the garbage containers). The Future Cities use the Raspberry pi as a platform for the DCUs. To collect the data from the HUB a RS485 to RS232 converter was used at the physical level and the Modbus protocol at the application level. To determine the location and status of the vehicles whinin the vehicular network a TCP Server was developed. This application was developed for the OBUs providing the vehicle Global Positioning System (GPS) location as well as information of when the vehicle is stopped, moving, on idle or even its slope. To implement the Multi-hop network on the field some scripts were developed such as pingLED and “shark”. These scripts helped upon node deployment on the field as well as to perform all the tests on the network. Two setups were implemented on the field, an urban setup was implemented for a Multi-hop network coverage survey and a sub-urban setup was implemented to test the Multi-hop network routing protocols, Optimized Link State Routing Protocol (OLSR) and Babel.

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Os Mercados Eletrónicos atingiram uma complexidade e nível de sofisticação tão elevados, que tornaram inadequados os modelos de software convencionais. Estes mercados são caracterizados por serem abertos, dinâmicos e competitivos, e constituídos por várias entidades independentes e heterogéneas. Tais entidades desempenham os seus papéis de forma autónoma, seguindo os seus objetivos, reagindo às ocorrências do ambiente em que se inserem e interagindo umas com as outras. Esta realidade levou a que existisse por parte da comunidade científica um especial interesse no estudo da negociação automática executada por agentes de software [Zhang et al., 2011]. No entanto, a diversidade dos atores envolvidos pode levar à existência de diferentes conceptualizações das suas necessidades e capacidades dando origem a incompatibilidades semânticas, que podem prejudicar a negociação e impedir a ocorrência de transações que satisfaçam as partes envolvidas. Os novos mercados devem, assim, possuir mecanismos que lhes permitam exibir novas capacidades, nomeadamente a capacidade de auxiliar na comunicação entre os diferentes agentes. Pelo que, é defendido neste trabalho que os mercados devem oferecer serviços de ontologias que permitam facilitar a interoperabilidade entre os agentes. No entanto, os humanos tendem a ser relutantes em aceitar a conceptualização de outros, a não ser que sejam convencidos de que poderão conseguir um bom negócio. Neste contexto, a aplicação e exploração de relações capturadas em redes sociais pode resultar no estabelecimento de relações de confiança entre vendedores e consumidores, e ao mesmo tempo, conduzir a um aumento da eficiência da negociação e consequentemente na satisfação das partes envolvidas. O sistema AEMOS é uma plataforma de comércio eletrónico baseada em agentes que inclui serviços de ontologias, mais especificamente, serviços de alinhamento de ontologias, incluindo a recomendação de possíveis alinhamentos entre as ontologias dos parceiros de negociação. Este sistema inclui também uma componente baseada numa rede social, que é construída aplicando técnicas de análise de redes socias sobre informação recolhida pelo mercado, e que permite melhorar a recomendação de alinhamentos e auxiliar os agentes na sua escolha. Neste trabalho são apresentados o desenvolvimento e implementação do sistema AEMOS, mais concretamente: • É proposto um novo modelo para comércio eletrónico baseado em agentes que disponibiliza serviços de ontologias; • Adicionalmente propõem-se o uso de redes sociais emergentes para captar e explorar informação sobre relações entre os diferentes parceiros de negócio; • É definida e implementada uma componente de serviços de ontologias que é capaz de: • o Sugerir alinhamentos entre ontologias para pares de agentes; • o Traduzir mensagens escritas de acordo com uma ontologia em mensagens escritas de acordo com outra, utilizando alinhamentos previamente aprovados; • o Melhorar os seus próprios serviços recorrendo às funcionalidades disponibilizadas pela componente de redes sociais; • É definida e implementada uma componente de redes sociais que: • o É capaz de construir e gerir um grafo de relações de proximidade entre agentes, e de relações de adequação de alinhamentos a agentes, tendo em conta os perfis, comportamento e interação dos agentes, bem como a cobertura e utilização dos alinhamentos; • o Explora e adapta técnicas e algoritmos de análise de redes sociais às várias fases dos processos do mercado eletrónico. A implementação e experimentação do modelo proposto demonstra como a colaboração entre os diferentes agentes pode ser vantajosa na melhoria do desempenho do sistema e como a inclusão e combinação de serviços de ontologias e redes sociais se reflete na eficiência da negociação de transações e na dinâmica do mercado como um todo.

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In the last few years the number of systems and devices that use voice based interaction has grown significantly. For a continued use of these systems the interface must be reliable and pleasant in order to provide an optimal user experience. However there are currently very few studies that try to evaluate how good is a voice when the application is a speech based interface. In this paper we present a new automatic voice pleasantness classification system based on prosodic and acoustic patterns of voice preference. Our study is based on a multi-language database composed by female voices. In the objective performance evaluation the system achieved a 7.3% error rate.

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Dissertação para obtenção do Grau de Mestre em Engenharia Informática

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Dissertação para obtenção do Grau de Mestre em Engenharia Informática

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A dengue fever case is described in a 58-year-old male patient with febrile illness and thrombocytopenia complicated by neurological involvement characterized by transverse myelitis followed by weakness of both legs and flaccid paralysis. Muscle strength was much diminished and bilateral areflexia was observed. Dengue 2 (DEN-2) virus was isolated and the patient sero-converted by hemagglutination-inhibition and IgM-ELISA tests. The RT-PCR test was positive to DEN-2 in acute phase serum and culture supernatant, but negative in the cerebrospinal fluid. After three weeks of hospitalization the patient was discharged. No other infectious agent was detected in the blood and cerebrospinal fluid samples. The patient had full recovery from paralysis six months after the onset of DEN-2 infection.

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Dissertação para obtenção do grau de Mestre em Engenharia Química e Bioquímica

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Dissertação para obtenção do Grau de Doutor em Engenharia Electrotécnica e Computadores

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The processes of mobilization of land for infrastructures of public and private domain are developed according to proper legal frameworks and systematically confronted with the impoverished national situation as regards the cadastral identification and regularization, which leads to big inefficiencies, sometimes with very negative impact to the overall effectiveness. This project report describes Ferbritas Cadastre Information System (FBSIC) project and tools, which in conjunction with other applications, allow managing the entire life-cycle of Land Acquisition and Cadastre, including support to field activities with the integration of information collected in the field, the development of multi-criteria analysis information, monitoring all information in the exploration stage, and the automated generation of outputs. The benefits are evident at the level of operational efficiency, including tools that enable process integration and standardization of procedures, facilitate analysis and quality control and maximize performance in the acquisition, maintenance and management of registration information and expropriation (expropriation projects). Therefore, the implemented system achieves levels of robustness, comprehensiveness, openness, scalability and reliability suitable for a structural platform. The resultant solution, FBSIC, is a fit-for-purpose cadastre information system rooted in the field of railway infrastructures. FBSIC integrating nature of allows: to accomplish present needs and scale to meet future services; to collect, maintain, manage and share all information in one common platform, and transform it into knowledge; to relate with other platforms; to increase accuracy and productivity of business processes related with land property management.

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Geographic information systems give us the possibility to analyze, produce, and edit geographic information. Furthermore, these systems fall short on the analysis and support of complex spatial problems. Therefore, when a spatial problem, like land use management, requires a multi-criteria perspective, multi-criteria decision analysis is placed into spatial decision support systems. The analytic hierarchy process is one of many multi-criteria decision analysis methods that can be used to support these complex problems. Using its capabilities we try to develop a spatial decision support system, to help land use management. Land use management can undertake a broad spectrum of spatial decision problems. The developed decision support system had to accept as input, various formats and types of data, raster or vector format, and the vector could be polygon line or point type. The support system was designed to perform its analysis for the Zambezi river Valley in Mozambique, the study area. The possible solutions for the emerging problems had to cover the entire region. This required the system to process large sets of data, and constantly adjust to new problems’ needs. The developed decision support system, is able to process thousands of alternatives using the analytical hierarchy process, and produce an output suitability map for the problems faced.

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The existing parking simulations, as most simulations, are intended to gain insights of a system or to make predictions. The knowledge they have provided has built up over the years, and several research works have devised detailed parking system models. This thesis work describes the use of an agent-based parking simulation in the context of a bigger parking system development. It focuses more on flexibility than on fidelity, showing the case where it is relevant for a parking simulation to consume dynamically changing GIS data from external, online sources and how to address this case. The simulation generates the parking occupancy information that sensing technologies should eventually produce and supplies it to the bigger parking system. It is built as a Java application based on the MASON toolkit and consumes GIS data from an ArcGis Server. The application context of the implemented parking simulation is a university campus with free, on-street parking places.

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The need for more efficient illumination systems has led to the proliferation of Solid-State Lighting (SSL) systems, which offer optimized power consumption. SSL systems are comprised of LED devices which are intrinsically fast devices and permit very fast light modulation. This, along with the congestion of the radio frequency spectrum has paved the path for the emergence of Visible Light Communication (VLC) systems. VLC uses free space to convey information by using light modulation. Notwithstanding, as VLC systems proliferate and cost competitiveness ensues, there are two important aspects to be considered. State-of-the-art VLC implementations use power demanding PAs, and thus it is important to investigate if regular, existent Switched-Mode Power Supply (SMPS) circuits can be adapted for VLC use. A 28 W buck regulator was implemented using a off-the-shelf LED Driver integrated circuit, using both series and parallel dimming techniques. Results show that optical clock frequencies up to 500 kHz are achievable without any major modification besides adequate component sizing. The use of an LED as a sensor was investigated, in a short-range, low-data-rate perspective. Results show successful communication in an LED-to-LED configuration, with enhanced range when using LED strings as sensors. Besides, LEDs present spectral selective sensitivity, which makes them good contenders for a multi-colour LED-to-LED system, such as in the use of RGB displays and lamps. Ultimately, the present work shows evidence that LEDs can be used as a dual-purpose device, enabling not only illumination, but also bi-directional data communication.