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.

Integrated multi-scale architecture of the cortex with application to computer vision

Tese de dout., Engenharia Electrónica e de Computadores, Faculdade de Ciência e Tecnologia, Universidade do Algarve, 2007

Adaptive generalized predictive control algorithm implemented over an heterogeneous parallel architecture

In this paper a parallel implementation of an Adaprtive Generalized Predictive Control (AGPC) algorithm is presented. Since the AGPC algorithm needs to be fed with knowledge of the plant transfer function, the parallelization of a standard Recursive Least Squares (RLS) estimator and a GPC predictor is discussed here.

Implementation of an daptive generalized predictive control algorithm over an heterogeneous parallel architecture

In this paper a parallel implementation of an Adaprtive Generalized Predictive Control (AGPC) algorithm is presented. Since the AGPC algorithm needs to be fed with knowledge of the plant transfer function, the parallelization of a standard Recursive Least Squares (RLS) estimator and a GPC predictor is discussed here.

Enterprise architecture model: an approach proposition. A case study of information systems in the hospitality industry

This paper discusses the role of enterprise architecture representation, in the context of ERP (Enterprise Resource Planning) information systems, as an instrument for an organization to reflect on itself and develop its business strategies and respective alignment with Information Systems. The paper proposes a representation model of enterprise architecture, as a tool for recommending good practices, and it emerges from a case study undertaken in the context of and investigation on advantages and limitations of ERP systems in the hospitality industry. The proposed approach is also inspired on other academic or market propositions suitable for the objectives of the investigation. It consists on a set of items representing the steps that must be taken by top managers and IS managers.

French-greek machine translation of imperative sentences: issues in aspect and mood from a controlled language perspective

The present dissertation examines how grammatical aspect and mood are handled by machine translation (MT) systems within the scope of imperative sentences (orders, recommendations) when dealing with the language pair French-Greek (unidirectional, towards Greek). As the grammatical category of aspect is not expressed in the same way in both languages, choosing the correct aspect value when translating a verb from French to Greek can pose problems. We are interested in describing the types of errors that occur and their frequency in a corpus taken from texts pertaining to the security domain and from technical manuals, where imperative sentences are very common. In order to further delimit our research, our sample consists of sentences that comply with the general principles of simplicity and readability provided by several controlled language guidelines and aimed at higher translatability when having MT in mind. In a second phase, this study aims at discovering how modifying some of the control rules would help (or not) the MT systems better decide upon the translation of aspect and mood.

Changing patterns of first injection across key periods of the French Harm Reduction Policy: PrimInject, a cross sectional analysis

Background: Monitoring of emerging modes of drug consumption in France has identified new patterns of injection among youths with diverse social backgrounds, which may explain the persistence of high rates of hepatitis C virus infection. The circumstances surrounding the first injection have been poorly documented in the group of heavy drug users and in the context of the French opioid substitution treatment (OST) policy that provides expanded access to high-dosage buprenorphine (BHD). Methods: An Internet survey (Priminject) was conducted from October 2010 to March 2011 with French drug users. Four time periods were compared based on critical dates throughout the implementation of the Harm Reduction Policy in France. Results: Compared with drug users who injected for the first time prior to 1995, the aspects of drug use for users who recently injected for the first time were as follows: (1) experimentation with miscellaneous drugs before the first injection; (2) an older age at the time of first injection; (3) heroin as the drug of choice for an individual’s first injection, notwithstanding the increased usage of stimulant drugs; (4) BHD did not appear to be a pathway to injection; and (5) an increased number of users who injected their first time alone, without the help or presence of another individual. Conclusion: The PrimInject study showed that there is a group of injection drug users that is larger than the group of injection drug users observed in previous studies; therefore, it is necessary to diversify programs to reach the entire spectrum of high-risk users.

Assessing energy consumption in supply chains

The paper addresses the transport activities and associated energy consumption involved in the production and supply of two products: jeans and yoghurt. In the case of jeans, the analysis is from the locations in which cotton is grown, to retail outlets in the UK; in the case of yoghurt, the analysis is from the supply of milk on farms, to retail outlets in France. The results show that the transport stages from the point of jeans manufacture to UK port are responsible for the greatest proportion of transport energy use per kilogram of jeans in the UK supply chain. In the case of the French yoghurt supply chains, the results indicate that each of the three transport stages from farm to third-party distribution centre consume approximately the same proportion of total freight transport energy. The energy used on the transport stage for yoghurt from third-party distribution centre to retail outlet varies depending on the type of retail outlet served. Far greater quantities of energy are used in transporting jeans than yoghurts from farm/field to retail outlet. This is explained by the distances involved in the respective supply chains. Both case studies demonstrate that the energy used by consumers transporting goods to their homes by car can be as great as total freight transport energy used in the supply chain from farm/field to retail outlet (per kilogram of product transported).