Project for Active and Robot Vision Course

Tässä työssä raportoidaan harjoitustyön kehittäminen ja toteuttaminen Aktiivisen- ja robottinäön kurssille. Harjoitustyössä suunnitellaan ja toteutetaan järjestelmä joka liikuttaa kappaleita robottikäsivarrella kolmiuloitteisessa avaruudessa. Kappaleidenpaikkojen määrittämiseen järjestelmä käyttää digitaalisia kuvia. Tässä työssä esiteltävässä harjoitustyötoteutuksessa käytettiin raja-arvoistusta HSV-väriavaruudessa kappaleiden segmentointiin kuvasta niiden värien perusteella. Segmentoinnin tuloksena saatavaa binäärikuvaa suodatettiin mediaanisuotimella kuvan häiriöiden poistamiseksi. Kappaleen paikkabinäärikuvassa määritettiin nimeämällä yhtenäisiä pikseliryhmiä yhtenäisen alueen nimeämismenetelmällä. Kappaleen paikaksi määritettiin suurimman nimetyn pikseliryhmän paikka. Kappaleiden paikat kuvassa yhdistettiin kolmiuloitteisiin koordinaatteihin kalibroidun kameran avulla. Järjestelmä liikutti kappaleita niiden arvioitujen kolmiuloitteisten paikkojen perusteella.

The business model ontology a proposition in a design science approach

The goal of this dissertation is to find and provide the basis for a managerial tool that allows a firm to easily express its business logic. The methodological basis for this work is design science, where the researcher builds an artifact to solve a specific problem. In this case the aim is to provide an ontology that makes it possible to explicit a firm's business model. In other words, the proposed artifact helps a firm to formally describe its value proposition, its customers, the relationship with them, the necessary intra- and inter-firm infrastructure and its profit model. Such an ontology is relevant because until now there is no model that expresses a company's global business logic from a pure business point of view. Previous models essentially take an organizational or process perspective or cover only parts of a firm's business logic. The four main pillars of the ontology, which are inspired by management science and enterprise- and processmodeling, are product, customer interface, infrastructure and finance. The ontology is validated by case studies, a panel of experts and managers. The dissertation also provides a software prototype to capture a company's business model in an information system. The last part of the thesis consists of a demonstration of the value of the ontology in business strategy and Information Systems (IS) alignment. Structure of this thesis: The dissertation is structured in nine parts: Chapter 1 presents the motivations of this research, the research methodology with which the goals shall be achieved and why this dissertation present a contribution to research. Chapter 2 investigates the origins, the term and the concept of business models. It defines what is meant by business models in this dissertation and how they are situated in the context of the firm. In addition this chapter outlines the possible uses of the business model concept. Chapter 3 gives an overview of the research done in the field of business models and enterprise ontologies. Chapter 4 introduces the major contribution of this dissertation: the business model ontology. In this part of the thesis the elements, attributes and relationships of the ontology are explained and described in detail. Chapter 5 presents a case study of the Montreux Jazz Festival which's business model was captured by applying the structure and concepts of the ontology. In fact, it gives an impression of how a business model description based on the ontology looks like. Chapter 6 shows an instantiation of the ontology into a prototype tool: the Business Model Modelling Language BM2L. This is an XML-based description language that allows to capture and describe the business model of a firm and has a large potential for further applications. Chapter 7 is about the evaluation of the business model ontology. The evaluation builds on literature review, a set of interviews with practitioners and case studies. Chapter 8 gives an outlook on possible future research and applications of the business model ontology. The main areas of interest are alignment of business and information technology IT/information systems IS and business model comparison. Finally, chapter 9 presents some conclusions.

Emergence of oriented circuits driven by synaptic pruning associated with spike-timing-dependent plasticity (STDP)

ABSTRACT: Massive synaptic pruning following over-growth is a general feature of mammalian brain maturation. Pruning starts near time of birth and is completed by time of sexual maturation. Trigger signals able to induce synaptic pruning could be related to dynamic functions that depend on the timing of action potentials. Spike-timing-dependent synaptic plasticity (STDP) is a change in the synaptic strength based on the ordering of pre- and postsynaptic spikes. The relation between synaptic efficacy and synaptic pruning suggests that the weak synapses may be modified and removed through competitive "learning" rules. This plasticity rule might produce the strengthening of the connections among neurons that belong to cell assemblies characterized by recurrent patterns of firing. Conversely, the connections that are not recurrently activated might decrease in efficiency and eventually be eliminated. The main goal of our study is to determine whether or not, and under which conditions, such cell assemblies may emerge out of a locally connected random network of integrate-and-fire units distributed on a 2D lattice receiving background noise and content-related input organized in both temporal and spatial dimensions. The originality of our study stands on the relatively large size of the network, 10,000 units, the duration of the experiment, 10E6 time units (one time unit corresponding to the duration of a spike), and the application of an original bio-inspired STDP modification rule compatible with hardware implementation. A first batch of experiments was performed to test that the randomly generated connectivity and the STDP-driven pruning did not show any spurious bias in absence of stimulation. Among other things, a scale factor was approximated to compensate for the network size on the ac¬tivity. Networks were then stimulated with the spatiotemporal patterns. The analysis of the connections remaining at the end of the simulations, as well as the analysis of the time series resulting from the interconnected units activity, suggest that feed-forward circuits emerge from the initially randomly connected networks by pruning. RESUME: L'élagage massif des synapses après une croissance excessive est une phase normale de la ma¬turation du cerveau des mammifères. L'élagage commence peu avant la naissance et est complété avant l'âge de la maturité sexuelle. Les facteurs déclenchants capables d'induire l'élagage des synapses pourraient être liés à des processus dynamiques qui dépendent de la temporalité rela¬tive des potentiels d'actions. La plasticité synaptique à modulation temporelle relative (STDP) correspond à un changement de la force synaptique basé sur l'ordre des décharges pré- et post- synaptiques. La relation entre l'efficacité synaptique et l'élagage des synapses suggère que les synapses les plus faibles pourraient être modifiées et retirées au moyen d'une règle "d'appren¬tissage" faisant intervenir une compétition. Cette règle de plasticité pourrait produire le ren¬forcement des connexions parmi les neurones qui appartiennent à une assemblée de cellules caractérisée par des motifs de décharge récurrents. A l'inverse, les connexions qui ne sont pas activées de façon récurrente pourraient voir leur efficacité diminuée et être finalement éliminées. Le but principal de notre travail est de déterminer s'il serait possible, et dans quelles conditions, que de telles assemblées de cellules émergent d'un réseau d'unités integrate-and¬-fire connectées aléatoirement et distribuées à la surface d'une grille bidimensionnelle recevant à la fois du bruit et des entrées organisées dans les dimensions temporelle et spatiale. L'originalité de notre étude tient dans la taille relativement grande du réseau, 10'000 unités, dans la durée des simulations, 1 million d'unités de temps (une unité de temps correspondant à une milliseconde), et dans l'utilisation d'une règle STDP originale compatible avec une implémentation matérielle. Une première série d'expériences a été effectuée pour tester que la connectivité produite aléatoirement et que l'élagage dirigé par STDP ne produisaient pas de biais en absence de stimu¬lation extérieure. Entre autres choses, un facteur d'échelle a pu être approximé pour compenser l'effet de la variation de la taille du réseau sur son activité. Les réseaux ont ensuite été stimulés avec des motifs spatiotemporels. L'analyse des connexions se maintenant à la fin des simulations, ainsi que l'analyse des séries temporelles résultantes de l'activité des neurones, suggèrent que des circuits feed-forward émergent par l'élagage des réseaux initialement connectés au hasard.

Virtual

Memòria del procés seguit per penjar i publicar una aplicació pel sistema operatiu Firefox OS incloent-hi el codi.

Marooned plants : vernacular naming practices in the Mascarene Islands

This article explores possible histories of plant exchanges and plant naming tied to the slave trade between East Africa, Madagascar and the Mascarene Islands. The subsequent 'marronnage' of slaves on these islands - their escape from captivity, sometimes to live in mountain hideouts - continues to inspire cultural references. Inspired by the use of the adjective 'marron/marronne' for a number of plants on Reunion Island, we compile evidence of plant exchanges and plant naming from ecological records, historical accounts and the use of descriptive, emotive or symbolic vernacular names as clues for deepening our knowledge of historical societies and environments. The evidence from the Mascarenes opens a window into the role of the African diaspora in plant introduction, diffusion, domestication and cultivation. We document that maroons relied on a variety of wild, escaped and cultivated plants for their subsistence. We also highlight the role of marronnage in the popular and literary imaginary, with the result that many plants are named 'marron/marrone' in a metaphorical sense. Finally, we identify a few plants that may have been transported, cultivated, or encouraged in one way or another by maroons. Along the way, we reflect on the pitfalls and opportunities of such interdisciplinary work.

Collaborative explicit plasticity framework: a conceptual scheme for the generation of plastic and group-aware user interfaces

The advent of new advances in mobile computing has changed the manner we do our daily work, even enabling us to perform collaborative activities. However, current groupware approaches do not offer an integrating and efficient solution that jointly tackles the flexibility and heterogeneity inherent to mobility as well as the awareness aspects intrinsic to collaborative environments. Issues related to the diversity of contexts of use are collected under the term plasticity. A great amount of tools have emerged offering a solution to some of these issues, although always focused on individual scenarios. We are working on reusing and specializing some already existing plasticity tools to the groupware design. The aim is to offer the benefits from plasticity and awareness jointly, trying to reach a real collaboration and a deeper understanding of multi-environment groupware scenarios. In particular, this paper presents a conceptual framework aimed at being a reference for the generation of plastic User Interfaces for collaborative environments in a systematic and comprehensive way. Starting from a previous conceptual framework for individual environments, inspired on the model-based approach, we introduce specific components and considerations related to groupware.

Comportamento de cultivares de manga (Mangifera indica L.) em relação à malformação

A malformação da mangueira causada pelo fungo Fusarium subglutinans Wollenweb & Reinking é provavelmente a doença que mais causa prejuízos à produção de manga no Brasil e em outros países produtores. Esse fungo foi isolado de uma planta-matriz da cultivar Tommy Atkins com avançados sintomas da doença, purificado e preparado para ser inoculado em 15 cultivares de manga nacionais e importadas. Inicialmente, foram inoculadas, em julho de 2000, 10 cultivares: Bourbon IAC - 100, Coração-de-Boi, Keitt, Parvin, Primor de Amoreira, Sensation, Smith, Surpresa, Tommy Atkins e Van Dyke. O segundo grupo foi inoculado em dezembro de 2000, com as cultivares: Adams, Bhadauran, Palmer, Princesa e Zill, e repetiu-se a inoculação com outras mudas das cultivares Primor de Amoreira, Sensation e Tommy Atkins, com a finalidade de se compararem as duas épocas de inoculação. Através dos dados obtidos com as plantas avaliadas nas duas épocas de inoculação, após 11 meses de observações, realizou-se o teste de médias Z para comparar a proporção de plantas doentes entre as cultivares, podendo-se concluir, com os resultados obtidos, que as cultivares Bhadauran, Palmer, Parvin, Sensation, Surpresa, Van Dyke e Zill apresentam menor porcentagem de plantas com sintomas de malformação ou menor progressão de sintomas em relação às outras cultivares inoculadas, para as condições de ambiente protegido em que foram realizados os ensaios.

The real estate markets : Players, institutions and territories

Revealing the parties, the processes and the institutions and, consequently, both the diversity and contingency of the real estate markets, the existing increasing literature emphasises the contemporary numerous links and interdependencies between real estate, land value, planning and town planning policy and even the financial system. This paper is an attempt to understand all the real estate markets, from the most peripheral ones, where the urban rent is the lowest, to the most dense city centres. To gain a better understanding of the real estate market, a process of firstly deconstruction and then reconstruction is used. The process of deconstruction involves identifying various market trends according to property type (principally residential buildings), players and institutions, territorial situations and temporalities based on research conducted in Switzerland. We then developed a meta-synthesis inspired by Fernand Braudel whose works put as much emphasis on day-to-day economic activity as on long-term activity, and on local as well as global issues.

Responsiveness et changement thérapeutique au travers de l'études de cas

Le concept de responsiveness ou « responsivité » a été proposé dans le domaine de la recherche en psychothérapie pour décrire l'influence mutuelle qui s'exerce continuellement entre patient et thérapeute. La nature responsive des psychothérapies pose alors un problème majeur aux chercheurs, qui adoptent généralement des plans de recherche impliquant des liens de cause à effet et sont en échec dans leur entreprise de mieux comprendre le changement thérapeutique. L'objectif de notre travail est de proposer des pistes pour répondre à ce problème. Nous avons adopté la méthode d'étude de cas, qui permet une analyse en profondeur et en contexte des processus de changement. Dans les deux premières phases de la recherche, nous nous situions dans une approche spécifique à la recherche qualitative en psychothérapie. Nous avons tout d'abord analysé comment le changement s'effectuait chez le patient, en identifiant pas à pas le niveau d'assimilation de ses expériences problématiques. Nous avons ensuite tenté d'appréhender le rôle du thérapeute dans le processus de changement. Notre objectif était d'analyser comment la responsivité du thérapeute pouvait faciliter le processus de changement chez le patient à chaque instant de la thérapie. En suivant une procédure inspirée de l'analyse de la tâche, nous avons identifié pour chaque niveau d'assimilation des interventions thérapeutiques suivies de progression, et élaboré un modèle empirique séquentiel. Dans la troisième phase de la recherche, nous avons effectué un tournant dans notre parcours et sommes allée du côté des sciences du langage. En adoptant une approche dialogique du discours, notre objectif était d'éclairer notre objet d'étude à partir d'une nouvelle perspective et d'ouvrir la réflexion. Nous avons ainsi pu répondre à certaines limites rencontrées dans les premières phases de la recherche, et faire émerger de nouvelles questions et perspectives pour l'étude des processus de changement dans une dimension interactive. -- The concept of responsiveness was developed in psychotherapy research to describe the mutual and constant influence between patient and therapist. The responsive nature of psychotherapy is a serious problem for researchers, who generally adopt research designs involving cause-effect reasoning and fail to better understand therapeutic change. The purpose of our work is to propose some viable possibilities to respond to this problem. We chose the case study method, which enables an analysis in depth and in context of change processes. In the two first phases of research, our approach was specific to qualitative psychotherapy research. We first analyzed how change occurred in the patient, by identifying moment-by-moment the level of assimilation of his or her problematic experiences. We then tried to apprehend the therapist role in the change process. Our aim was to analyze how the therapist responsiveness could facilitate the patient change process at any moment of psychotherapy. We followed a procedure inspired by task analysis and, for each level of assimilation, we identified therapist interventions followed by progression, and elaborated an empirical sequential model. The third phase of research was a turning point, as we went in the field of linguistics. We adopted a dialogical approach of discourse to open up reflection. Thus, we could answer some limitations encountered in the first phases of research, and new questions and perspectives to study change process taking into account the interactive dimension emerged.

L'ensenyament del concepte piagetià de conservació: una experiència docent

The present work is aimed at reporting an educational experience about the conservation of the substance and the cognitive theories of Jean Piaget & Lev S. Vygotsky. This activity was carried out with 1st course students in the practical classes of the subject called Psicologia de l"educació i del desenvolupament en l"edat escolar, within the Teacher Training studies of the University of Girona. This experience was inspired by a proposal of González, Fuentes, de la Morena and Barajas (1995), in which the students have to analyse, using the solid and liquid conservation tasks created by Piaget and his colleagues from the Genevan School, the transition from the preoperational to the operational thought in infants aged from 4 to 8. This proposal has been adapted in order to analyse not only the infants" level of cognitive development but also what they can learn with the help of another person. Consequently, the students have chosen, administered and evaluated the support given to the children. Additionally, the different strategies used by the students in order to promote the infants" comprehension of the conservation have been studied and classified, which has allowed the reflection about other possible methods to teach and to show how to teach this concept El present treball pretén explicar una experiència docent sobre la conservació de la substància i les teories cognitives de Jean Piaget i Lev S. Vygotsky, en el marc de les pràctiques de l"assignatura Psicologia de l"educació i del desenvolupament en l"edat escolar amb alumnes 1r curs de la Diplomatura de Magisteri de la Universitat de Girona. Aquesta experiència s"ha inspirat en una proposta de González, Fuentes, de la Morena i Barajas (1995), en la qual els alumnes han d"analitzar el pas del pensament preoperatori al pensament operatori en infants de 4 a 8 anys, a través de tasques de conservació de la substància sòlida i líquida, les quals ja foren utilitzades per Piaget i els seus col·laboradors de l"Escola de Ginebra. Aquesta proposta ha estat adaptada per tal d"intentar analitzar el nivell de desenvolupament cognitiu dels infants no només a partir del que aquests són capaços de comprendre per sí sols sinó també a través d"ajudes, les quals han estat escollides, administrades i valorades pels propis estudiants. En aquesta revisió de la pràctica, s"han volgut delimitar les diferents estratègies utilitzades pels estudiants per tal de promoure la comprensió de la conservació en els infants, fet que ha permès la reflexió sobre d"altres possibles formes d"ensenyar i ensenyar a ensenyar aquest concep

Caracterização físico-química de polpas de frutos da Amazônia e sua correlação com a atividade anti-radical livre

Características físico-químicas (cor, pH, acidez total titulável, sólidos solúveis totais, conteúdo de lipídios e umidade) e níveis de compostos bioativos (ácido ascórbico, fenólicos totais) foram determinados em quinze amostras de polpas de frutos procedentes da região Amazônica (abiu, acerola, açaí, araçá-boi, bacaba, bacuri, buriti, cajá, cajarana, caju, cupuaçu, graviola, murici, noni e tamarindo). A atividade de radicais livres foi avaliada pelo método de ABTS. Algumas polpas apresentaram alta potencialidade antioxidante, associada com a atividade antirradicais livres obtida e os conteúdos dos componentes bioativos como compostos fenólicos e ácido ascórbico, destacando-se acerola e acaí. O conteúdo total de compostos fenólicos foi correlacionado à capacidade antioxidante das polpas.

Joustava hitsausautomaatio piensarjatuotannossa

Kustannuspaineet, tuotteiden laatuvaatimukset ja lisääntyvässä määrin myös ammattitaitoisen työvoiman pula lisäävät robotisoinnin käyttötarvetta hitsauksessa. Tämä työ on tehty edellä mainituista lähtökohdista ja käsittelee robottihitsausjärjestelmän suunnitteluprojektia, joustavaa hitsausautomaatiota ja robotiikan soveltamista. Näkökohtana on Savonia-ammattikorkeakoulun sekä Pohjois-Savon alueen yritysten tutkimus-, kehitys- ja koulutustoiminnan tarpeet. Joustavuus on hitsausjärjestelmän päätavoite, jolla pyritään vastaamaan asiakasohjautuvan yksittäis- ja piensarjatuotannon haasteisiin. Ratkaisua yksittäis- ja piensarjatuotteiden kokonaistaloudelliseen hitsaukseen on haettu hitsausrobotin rinnalle lisätyllä apurobotilla, jonka päätehtävä on kappaleenkäsittely, mutta sitä voidaan käyttää myös mm. robotisoituun leikkauksen ja särmäykseen. Tavallisuudesta poikkeavaa järjestelmäratkaisua on perusteltu sillä, että ohjaus- ja ohjelmointitekniikan sekä kehittyneen anturoinnin myötä on robottien käytettävyys parantunut ja aiempaa haasteellisempien robottijärjestelmien toteuttaminen on tullut näin mahdolliseksi. Lisäksi virtuaalimallinnus, simulointi ja etäohjelmointi ovat työkaluja, joita voidaan käyttää mm. tuotannon laadun ja tehokkuuden parantamiseen. Työssä esitetty robottiaseman suunnittelu alkaa järjestelmän määrittelystä, vaatimuslistan laadinnasta sekä visioinnista ja päättyy kolmen järjestelmävaihtoehdon vertailuun. Esitetyillä järjestelmävaihtoehdoilla on haettu mahdollisuutta yhdistää yleensä erillisinä toteutettuja työvaiheita yhteiseen soluun. Tuotannon joustavuus on ollut tuotantokapasiteettia tärkeämpi laitteistokokoonpanon valintaperuste.

Level Set Methods in Image Processing

This thesis gives an overview of the use of the level set methods in the field of image science. The similar fast marching method is discussed for comparison, also the narrow band and the particle level set methods are introduced. The level set method is a numerical scheme for representing, deforming and recovering structures in an arbitrary dimensions. It approximates and tracks the moving interfaces, dynamic curves and surfaces. The level set method does not define how and why some boundary is advancing the way it is but simply represents and tracks the boundary. The principal idea of the level set method is to represent the N dimensional boundary in the N+l dimensions. This gives the generality to represent even the complex boundaries. The level set methods can be powerful tools to represent dynamic boundaries, but they can require lot of computing power. Specially the basic level set method have considerable computational burden. This burden can be alleviated with more sophisticated versions of the level set algorithm like the narrow band level set method or with the programmable hardware implementation. Also the parallel approach can be used in suitable applications. It is concluded that these methods can be used in a quite broad range of image applications, like computer vision and graphics, scientific visualization and also to solve problems in computational physics. Level set methods and methods derived and inspired by it will be in the front line of image processing also in the future.

Robottihitsauksen tehokas käyttöönotto

Työn tavoitteena oli selvittää uuden robottihitsaussolun käyttöönotto siten, että se tapahtuu mahdollisimman tehokkaasti ja taloudellisesti. Uudella robotilla on tarkoitus hitsata nykyisin käsinhitsattavia kauhakuormaajien takarunkoja sekä alihankintana tilattavia kauhoja. Tuotannon kotiuttamisella alihankinnasta ja hitsauksen robotisoinnilla pyritään nostamaan omaa tuotantovolyymiä ja pienentämään valmistuskustannuksia. Työn teoriaosuudessa selvitettiin tyypilliset robotiikkaan liittyvät asiat, kuten robotit, niiden ohjaus ja ohjelmointi sekä perusteet hitsauksen robotisoinnista. Lisäksi käsiteltiin hitsattavan tuotteen suunnittelu- ja valmistusnäkökohtia ja hitsauksen kustannuslaskennan perusteet. Työn käytännön osuudessa tehtiin kartoitus kahden valitun takarunkomallin soveltuvuudesta robottihitsaukseen ja muutosehdotuksia, joilla voidaan parantaa runkojen robottihitsattavuutta. Lisäksi käytiin läpi hitsauksen nykytilanne osavalmistuksesta aina hitsauksen jälkeiseen viimeistelyyn. Hitsauksen kustannusten selvittämistä varten tehtiin taulukkolaskentaohjelma, jolla tehtiin esimerkkinä kuvitteellinen kustannussäätölaskelma. Tuottavuusmittari laadittiin niin, että sillä voidaan mitata sekä robotin että kokohitsaustapahtuman tehokkuutta pitkällä ja lyhyellä aikavälillä. Näiden lisäksi laadittiin sisäinen ohje robottihitsattavien kappaleiden silloitukseen sekä suunnittelijoille ohjeistus huomioitavista asioista suunniteltaessa kappaletta robottihitsaukseen.

Simulation Supported Robot Programming using XML

The main objective of this master's thesis is to study robot programming using simulation software, and also how to embed the simulation software into company's own robot controlling software. The further goal is to study a new communication interface to the assembly line's components -more precisely how to connect the robot cell into this new communication system. Conveyor lines are already available where the conveyors use the new communication standard. The robot cell is not yet capable of communicating with to other devices using the new communication protocols. The main problem among robot manufacturers is that they all have their own communication systems and programming languages. There has not been any common programming language to program all the different robot manufacturers robots, until the RRS (Realistic Robot Simulation) standards were developed. The RRS - II makes it possible to create the robot programs in the simulation software and it gives a common user interface for different robot manufacturers robots. This thesis will present the RRS - II standard and the robot manufacturers situation for the RRS - II support. Thesis presents how the simulation software can be embedded into company's own robot controlling software and also how the robot cell can be connected to the CAMX (Computer Aided Manufacturing using XML) communication system.