996 resultados para License system
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Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal
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Thesis presented to satisfy the necessary requirements for obtaining a PhD degree in International Relation with specialization in Globalization and the Environment,
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Oceans - San Diego, 2013
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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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This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.
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The process of visually exploring underwater environments is still a complex problem. Underwater vision systems require complementary means of sensor information to help overcome water disturbances. This work proposes the development of calibration methods for a structured light based system consisting on a camera and a laser with a line beam. Two different calibration procedures that require only two images from different viewpoints were developed and tested in dry and underwater environments. Results obtained show, an accurate calibration for the camera/projector pair with errors close to 1 mm even in the presence of a small stereos baseline.
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In this work we propose the development of a stereo SLS system for underwater inspection operations. We demonstrate how to perform a SLS calibration both in dry and underwater environments using two different methods. The proposed methodology is able to achieve quite accurate results, lower than 1 mm in dry environments. We also display a 3D underwater scan of a known object size, a sea scallop, where the system is able to perform a scan with a global error lower than 2% of the object size.
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The Electromyography (EMG) is an important tool for gait analyzes and disorders diagnoses. Traditional methods involve equipment that can disturb the analyses, being gradually substituted by different approaches, like wearable and wireless systems. The cable replacement for autonomous systems demands for technologies capable of meeting the power constraints. This work presents the development of an EMG and kinematic data capture wireless module, designed taking into account power consumption issues. This module captures and converts the analog myoeletric signal to digital, synchronously with the capture of kinetic information. Both data are time multiplexed and sent to a PC via Bluetooth link. The work carried out comprised the development of the hardware, the firmware and a graphical interface running in an external PC. The hardware was developed using the PIC18F14K22, a low power family of microcontrollers. The link was established via Bluetooth, a protocol designed for low power communication. An application was also developed to recover and trace the signal to a Graphic User Interface (GUI), coordinating the message exchange with the firmware. Results were obtained which allowed validating the conceived system in static and with the subject performing short movements. Although it was not possible to perform the tests within more dynamic movements, it is shown that it is possible to capture, transmit and display the captured data as expected. Some suggestions to improve the system performance also were made.
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Since there are no studies evaluating the participation of the complement system (CS) in Jorge Lobo's disease and its activity on the fungus Lacazia loboi, we carried out the present investigation. Fungal cells with a viability index of 48% were obtained from the footpads of BALB/c mice and incubated with a pool of inactivated serum from patients with the mycosis or with sterile saline for 30 min at 37 ºC. Next, the tubes were incubated for 2 h with a pool of noninactivated AB+ serum, inactivated serum, serum diluted in EGTA-MgCl2, and serum diluted in EDTA. The viability of L. loboi was evaluated and the fungal suspension was cytocentrifuged. The slides were submitted to immunofluorescence staining using human anti-C3 antibody. The results revealed that 98% of the fungi activated the CS by the alternative pathway and no significant difference in L. loboi viability was observed after CS activation. In parallel, frozen histological sections from 11 patients were analyzed regarding the presence of C3 and IgG by immunofluorescence staining. C3 and IgG deposits were observed in the fungal wall of 100% and 91% of the lesions evaluated, respectively. The results suggest that the CS and immunoglobulins may contribute to the defense mechanisms of the host against L. loboi.
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The goal of this project, one of the proposals of the EPS@ISEP Spring 2014, was to develop an Aquaponics System. Over recent years Aquaponics systems have received increased attention since they contribute to reduce the strain on resources within 1st and 3rd world countries. Aquaponics is the combination of Hydroponics and Aquaculture, mimicking a natural environment in order to successfully apply and enhance the understanding of natural cycles within an indoor process. Using this knowledge of natural cycles, it was possible to create a system with capabilities similar to that of a natural environment with the support of electronics, enhancing the overall efficiency of the system. The multinational team involved in the development of this system was composed of five students from five countries and fields of study. This paper describes their solution, including the overall design, the technology involved and the benefits it can bring to the current market. The team was able to design and render the Computer Aided Design (CAD) drawings of the prototype, assemble all components, successfully test the electronics and comply with the budget. Furthermore, the designed solution was supported by a product sustainability study and included a specific marketing plan. Last but not least, the students enrolled in this project obtained new multidisciplinary knowledge and increased their team work and cross-cultural communication skills.
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Quality of life is a concept influenced by social, economic, psychological, spiritual or medical state factors. More specifically, the perceived quality of an individual's daily life is an assessment of their well-being or lack of it. In this context, information technologies may help on the management of services for healthcare of chronic patients such as estimating the patient quality of life and helping the medical staff to take appropriate measures to increase each patient quality of life. This paper describes a Quality of Life estimation system developed using information technologies and the application of data mining algorithms to access the information of clinical data of patients with cancer from Otorhinolaryngology and Head and Neck services of an oncology institution. The system was evaluated with a sample composed of 3013 patients. The results achieved show that there are variables that may be significant predictors for the Quality of Life of the patient: years of smoking (p value 0.049) and size of the tumor (p value < 0.001). In order to assign the variables to the classification of the quality of life the best accuracy was obtained by applying the John Platt's sequential minimal optimization algorithm for training a support vector classifier. In conclusion data mining techniques allow having access to patients additional information helping the physicians to be able to know the quality of life and produce a well-informed clinical decision.
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Thesis submitted to the Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia for the degree of Doctor of Philosophy in Environmental Engineering
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The microbiological monitoring of the water used for hemodialysis is extremely important, especially because of the debilitated immune system of patients suffering from chronic renal insufficiency. To investigate the occurrence and species diversity of bacteria in waters, water samples were collected monthly from a hemodialysis center in upstate São Paulo and tap water samples at the terminal sites of the distribution system was sampled repeatedly (22 times) at each of five points in the distribution system; a further 36 samples were taken from cannulae in 19 hemodialysis machines that were ready for the next patient, four samples from the reuse system and 13 from the water storage system. To identify bacteria, samples were filtered through 0.22 µm-pore membranes; for mycobacteria, 0.45 µm pores were used. Conventional microbiological and molecular methods were used in the analysis. Bacteria were isolated from the distribution system (128 isolates), kidney machine water (43) and reuse system (3). Among these isolates, 32 were Gram-positive rods, 120 Gram-negative rods, 20 Gram-positive cocci and 11 mycobacteria. We propose the continual monitoring of the water supplies in hemodialysis centers and the adoption of effective prophylactic measures that minimize the exposure of these immunodeficient patients to contaminated sources of water.
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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.