Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

Novel hardware and software combination for automotive motorsport vehicles based on direct processing of graphical functions

The main motivation for the work presented here began with previously conducted experiments with a programming concept at the time named "Macro". These experiments led to the conviction that it would be possible to build a system of engine control from scratch, which could eliminate many of the current problems of engine management systems in a direct and intrinsic way. It was also hoped that it would minimize the full range of software and hardware needed to make a final and fully functional system. Initially, this paper proposes to make a comprehensive survey of the state of the art in the specific area of software and corresponding hardware of automotive tools and automotive ECUs. Problems arising from such software will be identified, and it will be clear that practically all of these problems stem directly or indirectly from the fact that we continue to make comprehensive use of extremely long and complex "tool chains". Similarly, in the hardware, it will be argued that the problems stem from the extreme complexity and inter-dependency inside processor architectures. The conclusions are presented through an extensive list of "pitfalls" which will be thoroughly enumerated, identified and characterized. Solutions will also be proposed for the various current issues and for the implementation of these same solutions. All this final work will be part of a "proof-of-concept" system called "ECU2010". The central element of this system is the before mentioned "Macro" concept, which is an graphical block representing one of many operations required in a automotive system having arithmetic, logic, filtering, integration, multiplexing functions among others. The end result of the proposed work is a single tool, fully integrated, enabling the development and management of the entire system in one simple visual interface. Part of the presented result relies on a hardware platform fully adapted to the software, as well as enabling high flexibility and scalability in addition to using exactly the same technology for ECU, data logger and peripherals alike. Current systems rely on a mostly evolutionary path, only allowing online calibration of parameters, but never the online alteration of their own automotive functionality algorithms. By contrast, the system developed and described in this thesis had the advantage of following a "clean-slate" approach, whereby everything could be rethought globally. In the end, out of all the system characteristics, "LIVE-Prototyping" is the most relevant feature, allowing the adjustment of automotive algorithms (eg. Injection, ignition, lambda control, etc.) 100% online, keeping the engine constantly working, without ever having to stop or reboot to make such changes. This consequently eliminates any "turnaround delay" typically present in current automotive systems, thereby enhancing the efficiency and handling of such systems.

Software protection

A computer system's security can be compromised in many ways—a denial-of-service attack can make a server inoperable, a worm can destroy a user's private data, or an eavesdropper can reap financial rewards by inserting himself in the communication link between a customer and her bank through a man-in-the-middle (MITM) attack. What all these scenarios have in common is that the adversary is an untrusted entity that attacks a system from the outside—we assume that the computers under attack are operated by benign and trusted users. But if we remove this assumption, if we allow anyone operating a computer system—from system administrators down to ordinary users—to compromise that system's security, we find ourselves in a scenario that has received comparatively little attention.

Software libre y libre acceso a la información : ¿hacia un ciberespacio público?

En el contexto del libre acceso a la información y la democratización del conocimiento, el presente artículo se enfoca en describir el estado actual de algunas propuestas relacionadas con la cooperación y el intercambio mundial de información surgidas a partir del siglo XX, pero sobre todo en el movimiento del software libre, fenómeno que se perfila como un modelo de desarrollo informacional acorde con los movimientos culturales de nuestros días y cuyos principios –se augura– pueden llegar a ser la base para la creación de un ciberespacio público, apoyado en servicios de información a bajo costo y repositorios digitales de alcance mundial.

Software libre : una alternativa para la gestión de recursos de información en bibliotecas

El presente trabajo tiene por objetivo exponer los fundamentos éticos y tecnológicos que caracterizan al movimiento del software libre, así como su cercana relación que tiene con el mundo de la gestión bibliotecaria y de la información. También se presentan algunas de las principales herramientas libres que existen para la administración de bibliotecas, al tiempo que se muestran los alcances y posibilidades que éstas y otras herramientas poseen para la creación de sistemas de información a bajo costo y repositorios documentales acordes con el movimiento mundial de Open Access.

Open source data sensing software for ultrasonic non-invasive temperature estimation

In this paper, an open source solution for measurement of temperature and ultrasonic signals (RF-lines) is proposed. This software is an alternative to the expensive commercial data acquisition software, enabling the user to tune applications to particular acquisition architectures. The collected ultrasonic and temperature signals were used for non-invasive temperature estimation using neural networks. The existence of precise temperature estimators is an essential point aiming at the secure and effective applica tion of thermal therapies in humans. If such estimators exist then effective controllers could be developed for the therapeutic instrumentation. In previous works the time-shift between RF-lines echoes were extracted, and used for creation of neural networks estimators. The obtained estimators successfully represent the temperature in the time-space domain, achieving a maximum absolute error inferior to the threshold value defined for hyperthermia/diathermia applications.

A incorporação das preferências do utilizador no desenvolvimento de software para dados biomédicos: uma contribuição da análise conjunta nas tecnologias de informação da saúde

O aumento significativo de patologias relacionadas com a alimentação, designadamente a obesidade, considerada pela Organização Mundial de Saúde como a “epidemia do século XXI”, remete o profissional da área da nutrição para a necessidade de uma intervenção cada vez mais eficiente. O objectivo deste estudo é avaliar a necessidade do desenvolvimento de novas tecnologias que possibilitem o auxílio aos processos de apoio nutricional, assim como medir as preferências no desenvolvimento de software. Para isso, utilizou-se a Análise Conjunta, na qual os resultados agregados foram hierarquizados mediante uma Análise Categórica de Componentes Principais, para posterior segmentação dos individuos, mediante uma Análise de Clusters Hierárquicos. Neste estudo, pode verificar-se que não existe preferências no desenvolvimento de software genérico, havendo uma grande receptividade dos profissionais de saúde ao desenvolvimento da Telemedicina na área da nutrição. Por fim, existem diferenças, estatisticamente significativas, entre os profissionais da área da nutrição, o que permite a sua caracterização.

A influência da batimetria no regime de impacte de tempestades. Estudo de um caso prático com recurso a SIG

Dissertação de Mestrado, Geomática – Ramo de Ciências da Informação Geográfica, Faculdade de Ciências e Tecnologia, Instituto Superior de Engenharia, Universidade do Algarve, 2015

Charter vessel licenses

Each year the South Carolina Department of Natural Resources publishes a summary of the laws and regulations of commercial fishing in the state. This publication provides the license requirements, definitions, restrictions, and laws and regulations for the licensing of charter boats.

Hotel Valuation Software, Version 4.0

[Updated August 2016] The Hotel Valuation Software, freely available from Cornell’s Center for Hospitality Research, has been updated to reflect the many changes in the 11th Edition of the Uniform System of Accounts for the Lodging Industry (USALI). Version 4.0 of the Hotel Valuation Software provides numerous enhancements over the original tool from 2011. In addition to a significant increase in functionality and an update to reflect the 11th edition of the USALI, Version 4.0 takes advantage of the power of the latest release of Microsoft Excel®. Note that Version 4.0 works only on a PC running Microsoft Windows, it does not work on a Mac running OS X. Users desiring an OS X compatible version should click here (Labeled as Version 2.5). 酒店评估软件手册和三个程序（点击这里 ) Users desiring a Mandarin version of the Hotel Valuation Software should click here The Hotel Valuation Software remains the only non-proprietary computer software designed specifically to assist in the preparation of market studies, forecasts of income and expense, and valuations for lodging property. The software provides an accurate, consistent, and cost-effective way for hospitality professionals to forecast occupancy, revenues and expenses and to perform hotel valuations. Version 4.0 of the Hotel Valuation Software includes the following upgrades – a complete update to reflect the 11th edition of the USALI – the most significant change to the chart of accounts in a generation, an average daily rate forecasting tool, a much more sophisticated valuation module, and an optional valuation tool useful in periods of limited capital liquidity. Using established methodology, the Hotel Valuation Software is a sophisticated tool for lodging professionals. The tool consists of three separate software programs written as Microsoft Excel files and a software users' guide. The tool is provided through the generosity of HVS and the School of Hotel Administration. The three software modules are: Room Night Analysis and Average Daily Rate: Enables the analyst to evaluate the various competitive factors such as occupancy, average room rate, and market segmentation for competitive hotels in a local market. Calculates the area-wide occupancy and average room rate, as well as the competitive market mix. Produce a forecast of occupancy and average daily rate for existing and proposed hotels in a local market. The program incorporates such factors as competitive occupancies, market segmentation, unaccommodated demand, latent demand, growth of demand, and the relative competitiveness of each property in the local market. The program outputs include ten-year projections of occupancy and average daily rate. Fixed and Variable Revenue and Expense Analysis: The key to any market study and valuation is a supportable forecast of revenues and expenses. Hotel revenue and expenses are comprised of many different components that display certain fixed and variable relationships to each other. This program enables the analyst to input comparable financial operating data and forecast a complete 11-year income and expense statement by defining a small set of inputs: The expected future occupancy levels for the subject hotel Base year operating data for the subject hotel Fixed and variable relationships for revenues and expenses Expected inflation rates for revenues and expenses Hotel Capitalization Software: A discounted cash flow valuation model utilizing the mortgage-equity technique forms the basis for this program. Values are produced using three distinct underwriting criteria: A loan-to-value ratio, in which the size of the mortgage is based on property value. A debt coverage ratio (also known as a debt-service coverage ratio), in which the size of the mortgage is based on property level cash flow, mortgage interest rate, and mortgage amortization. A debt yield, in which the size of the mortgage is based on property level cash flow. By entering the terms of typical lodging financing, along with a forecast of revenue and expense, the program determines the value that provides the stated returns to the mortgage and equity components. The program allows for a variable holding period from four to ten years The program includes an optional model useful during periods of capital market illiquidity that assumes a property refinancing during the holding period

O software Google Sketchup como instrumento no ensino da geometria descritiva

Relatório da Prática de Ensino Supervisionada, Ensino de Artes Visuais, Universidade de Lisboa, 2013

O software de design gráfico e web design e a sua relação com a criatividade

Relatório da prática de ensino supervisionada, Mestrado em Ensino das Artes Visuais, Universidade de Lisboa, 2014

Software for wireless broadband system design

The paper looks at the software of leading companies in the field of wireless broadband systems development. The basic characteristics of appropriate software and design systems are shown including the most typical examples for their implementation.