558 resultados para Courbe de coûts
Resumo:
Robust texture recognition in underwater image sequences for marine pest population control such as Crown-Of-Thorns Starfish (COTS) is a relatively unexplored area of research. Typically, humans count COTS by laboriously processing individual images taken during surveys. Being able to autonomously collect and process images of reef habitat and segment out the various marine biota holds the promise of allowing researchers to gain a greater understanding of the marine ecosystem and evaluate the impact of different environmental variables. This research applies and extends the use of Local Binary Patterns (LBP) as a method for texture-based identification of COTS from survey images. The performance and accuracy of the algorithms are evaluated on a image data set taken on the Great Barrier Reef.
Resumo:
Uninhabited aerial vehicles (UAVs) are a cutting-edge technology that is at the forefront of aviation/aerospace research and development worldwide. Many consider their current military and defence applications as just a token of their enormous potential. Unlocking and fully exploiting this potential will see UAVs in a multitude of civilian applications and routinely operating alongside piloted aircraft. The key to realising the full potential of UAVs lies in addressing a host of regulatory, public relation, and technological challenges never encountered be- fore. Aircraft collision avoidance is considered to be one of the most important issues to be addressed, given its safety critical nature. The collision avoidance problem can be roughly organised into three areas: 1) Sense; 2) Detect; and 3) Avoid. Sensing is concerned with obtaining accurate and reliable information about other aircraft in the air; detection involves identifying potential collision threats based on available information; avoidance deals with the formulation and execution of appropriate manoeuvres to maintain safe separation. This thesis tackles the detection aspect of collision avoidance, via the development of a target detection algorithm that is capable of real-time operation onboard a UAV platform. One of the key challenges of the detection problem is the need to provide early warning. This translates to detecting potential threats whilst they are still far away, when their presence is likely to be obscured and hidden by noise. Another important consideration is the choice of sensors to capture target information, which has implications for the design and practical implementation of the detection algorithm. The main contributions of the thesis are: 1) the proposal of a dim target detection algorithm combining image morphology and hidden Markov model (HMM) filtering approaches; 2) the novel use of relative entropy rate (RER) concepts for HMM filter design; 3) the characterisation of algorithm detection performance based on simulated data as well as real in-flight target image data; and 4) the demonstration of the proposed algorithm's capacity for real-time target detection. We also consider the extension of HMM filtering techniques and the application of RER concepts for target heading angle estimation. In this thesis we propose a computer-vision based detection solution, due to the commercial-off-the-shelf (COTS) availability of camera hardware and the hardware's relatively low cost, power, and size requirements. The proposed target detection algorithm adopts a two-stage processing paradigm that begins with an image enhancement pre-processing stage followed by a track-before-detect (TBD) temporal processing stage that has been shown to be effective in dim target detection. We compare the performance of two candidate morphological filters for the image pre-processing stage, and propose a multiple hidden Markov model (MHMM) filter for the TBD temporal processing stage. The role of the morphological pre-processing stage is to exploit the spatial features of potential collision threats, while the MHMM filter serves to exploit the temporal characteristics or dynamics. The problem of optimising our proposed MHMM filter has been examined in detail. Our investigation has produced a novel design process for the MHMM filter that exploits information theory and entropy related concepts. The filter design process is posed as a mini-max optimisation problem based on a joint RER cost criterion. We provide proof that this joint RER cost criterion provides a bound on the conditional mean estimate (CME) performance of our MHMM filter, and this in turn establishes a strong theoretical basis connecting our filter design process to filter performance. Through this connection we can intelligently compare and optimise candidate filter models at the design stage, rather than having to resort to time consuming Monte Carlo simulations to gauge the relative performance of candidate designs. Moreover, the underlying entropy concepts are not constrained to any particular model type. This suggests that the RER concepts established here may be generalised to provide a useful design criterion for multiple model filtering approaches outside the class of HMM filters. In this thesis we also evaluate the performance of our proposed target detection algorithm under realistic operation conditions, and give consideration to the practical deployment of the detection algorithm onboard a UAV platform. Two fixed-wing UAVs were engaged to recreate various collision-course scenarios to capture highly realistic vision (from an onboard camera perspective) of the moments leading up to a collision. Based on this collected data, our proposed detection approach was able to detect targets out to distances ranging from about 400m to 900m. These distances, (with some assumptions about closing speeds and aircraft trajectories) translate to an advanced warning ahead of impact that approaches the 12.5 second response time recommended for human pilots. Furthermore, readily available graphic processing unit (GPU) based hardware is exploited for its parallel computing capabilities to demonstrate the practical feasibility of the proposed target detection algorithm. A prototype hardware-in- the-loop system has been found to be capable of achieving data processing rates sufficient for real-time operation. There is also scope for further improvement in performance through code optimisations. Overall, our proposed image-based target detection algorithm offers UAVs a cost-effective real-time target detection capability that is a step forward in ad- dressing the collision avoidance issue that is currently one of the most significant obstacles preventing widespread civilian applications of uninhabited aircraft. We also highlight that the algorithm development process has led to the discovery of a powerful multiple HMM filtering approach and a novel RER-based multiple filter design process. The utility of our multiple HMM filtering approach and RER concepts, however, extend beyond the target detection problem. This is demonstrated by our application of HMM filters and RER concepts to a heading angle estimation problem.
Resumo:
This paper presents a novel vision-based underwater robotic system for the identification and control of Crown-Of-Thorns starfish (COTS) in coral reef environments. COTS have been identified as one of the most significant threats to Australia's Great Barrier Reef. These starfish literally eat coral, impacting large areas of reef and the marine ecosystem that depends on it. Evidence has suggested that land-based nutrient runoff has accelerated recent outbreaks of COTS requiring extensive use of divers to manually inject biological agents into the starfish in an attempt to control population numbers. Facilitating this control program using robotics is the goal of our research. In this paper we introduce a vision-based COTS detection and tracking system based on a Random Forest Classifier (RFC) trained on images from underwater footage. To track COTS with a moving camera, we embed the RFC in a particle filter detector and tracker where the predicted class probability of the RFC is used as an observation probability to weight the particles, and we use a sparse optical flow estimation for the prediction step of the filter. The system is experimentally evaluated in a realistic laboratory setup using a robotic arm that moves a camera at different speeds and heights over a range of real-size images of COTS in a reef environment.
Resumo:
Fracture behaviour of notched and un-notched plain concrete slender beams subjected to three-point or four-point bending is analyzed through a one-dimensional model, also called Softening Beam Model. Fundamental equations of equilibrium are used to develop the model. The influence of structural size in altering the fracture mode from brittle fracture to plastic collapse is explained through the stress distribution across the uncracked ligament obtained by varying the strain softening modulus. It is found that at the onset of fracture instability, stress at the crack tip is equal to zero. The maximum load and fracture load are found to be different and a unique value for the fracture load is obtained. It is shown that the length of the fracture process zone depends on the value of the strain softening modulus. Theoretical limits for fracture process zone length are also calculated. Several nonlinear fracture parameters, such as, crack tip opening displacement, crack mouth opening displacement and fracture energy are computed for a wide variety of beam specimens reported in the literature and are found to compare very well with experimental and theoretical results. It is demonstrated that by following a simple procedure, both pre-peak and post-peak portions of load versus crack mouth opening displacement curve can be obtained quite accurately. Further, a simple procedure to calculate the maximum load is also developed. The predicted values of maximum load are found to agree well with the experimental values. The Softening Beam Model (SBM), proposed in this investigation is very simple and is based on rational considerations. It can completely describe the fracture process from the beginning of formation of the fracture process zone till the onset of fracture instability.A l'aide d'un modèle unidimensionnel dit ldquoSoftening Beam Modelrdquo (SBM), on analyse le comportement à rupture de poutres élancées pleines entaillées ou non, soumises en flexion en trois ou quatre points. Des équations fondamentales d'équilibre sont utilisées pour développer le modèle. On explique l'influence de la taille du composant sur l'altération du mode de rupture en rupture fragile et en effondrement plastique par la distribution par la distribution des contraintes sur le ligament non fissuré lorsque varie le module d'adoucissement. On trouve que la contrainte à l'extrémité de la fissure est nulle est nulle au début de l'instabilité de la rupture. La charge maximum et la charge à la rupture sont trouvées différentes, et on obtient une valeur unique de la charge à la rupture. On montre que la longueur de la zone concernée par le processus de rupture d'pend de la valeur du module d'adoucissement. On calcule également les limites théoriques de longueur de cette zone. Divers paramètres de rupture non linéaire sont calculés pour une large gamme d'éprouvettes en poutres reprises dans la littérature; on trouve qu'il existe une bonne concordance avec les résultats expérimentaux et théoriques. On démontre qu'en suivant une procédure simple on peut obtenir avec une bonne précision la courbe reliant les portions avant et après le pic de sollicitation en fonction du COD de la fissure. En outre, on développe une procédure simple pour calculer la charge maximum. Les valeurs prédites sont en bon accord avec les valeurs expérimentales. Le modèle SBM proposé est très simple et est basé sur des considérations rationnelles. Il est susceptible de décrire complètement le processus de rupture depuis le début de la formation de la zone intéressée jusqu'à l'amorçage de la rupture instable.
Resumo:
Remote sensing of physiological parameters could be a cost effective approach to improving health care, and low-power sensors are essential for remote sensing because these sensors are often energy constrained. This paper presents a power optimized photoplethysmographic sensor interface to sense arterial oxygen saturation, a technique to dynamically trade off SNR for power during sensor operation, and a simple algorithm to choose when to acquire samples in photoplethysmography. A prototype of the proposed pulse oximeter built using commercial-off-the-shelf (COTS) components is tested on 10 adults. The dynamic adaptation techniques described reduce power consumption considerably compared to our reference implementation, and our approach is competitive to state-of-the-art implementations. The techniques presented in this paper may be applied to low-power sensor interface designs where acquiring samples is expensive in terms of power as epitomized by pulse oximetry.
Resumo:
An abundance of spectrum access and sensing algorithms are available in the dynamic spectrum access (DSA) and cognitive radio (CR) literature. Often, however, the functionality and performance of such algorithms are validated against theoretical calculations using only simulations. Both the theoretical calculations and simulations come with their attendant sets of assumptions. For instance, designers of dynamic spectrum access algorithms often take spectrum sensing and rendezvous mechanisms between transmitter-receiver pairs for granted. Test bed designers, on the other hand, either customize so much of their design that it becomes difficult to replicate using commercial off the shelf (COTS) components or restrict themselves to simulation, emulation /hardware-in-Ioop (HIL), or pure hardware but not all three. Implementation studies on test beds sophisticated enough to combine the three aforementioned aspects, but at the same time can also be put together using COTS hardware and software packages are rare. In this paper we describe i) the implementation of a hybrid test bed using a previously proposed hardware agnostic system architecture ii) the implementation of DSA on this test bed, and iii) the realistic hardware and software-constrained performance of DSA. Snapshot energy detector (ED) and Cumulative Summation (CUSUM), a sequential change detection algorithm, are available for spectrum sensing and a two-way handshake mechanism in a dedicated control channel facilitates transmitter-receiver rendezvous.
Resumo:
‘Relations veritables et curieuses de l'Isle de Madagascar, et du Bresil’, de responsabilidade do livreiro Augustin Courbé, foi redigida em parte por Morisot, de DiJon, com base em documentos fornecidos pelos irmãos Dupuy. A obra, composta por dois volumes reunidos em um tomo, contém diversos relatos. Muita confusão existe acerca dessa edição de Courbé, seja relativamente ao número de volumes da obra, seja quanto à autoria dos relatos. Borba de Moraes a firma que "esses erros decorrem da raridade do trabalho completo". O primeiro volume, apresentado sob o titulo geral ‘Relations veritables et curieuses de l’Isle de Madagascar, et du Bresil’, contém os trabalhos ‘Relation du voyage de François Couché...: De la religion, moeurs, et façons de faire de ceux de I'Lsle de Madagascar: colloque entre le madagascarois et le françois...’, e ‘Re1ation du voyage de Roulox Baro’. O segundo volume é intitulado ‘Histoire des derniers troubles du Bresil entre les hollandois et les portugais’ e foi escrito por Pierre Moreau, cujo texto ocupa as 212 páginas iniciais. Além deste, constam do volume ‘Trois relations d'Egypte et autres memoires...’ e a ‘Relation d'um voyage de Perse’. Prod uzida a partir da observação dos fatos ocorridos durante o período de sua permanência em Pernambuco durante a ocupação pelos holandeses, a obra de Moreau é de capital importância para o estudo da situação socioeconômica de Pernambuco sob o domínio holandês. A edição de A. Courbé, conhecido livreiro que se estabeleceu em Paris de 1629 a 1660, teve o projeto das ilustrações a cargo de Jean Picard, oriundo de uma famosa família de gravadores, cujo nome aparece no primeiro volume apenas, segundo Borba de Moraes
Resumo:
[ES]La pena de cárcel, como única respuesta al delito, no constituye ninguna solución para el hecho delincuencial. No es solución para la víctima porque queda en el más profundo de los desamparos. No es solución para el infractor porque la cárcel no sólo no rehabilita sino que puede generar más delincuencia, como lo acredita el alto índice de reincidencia. Finalmente, no es una solución para la Comunidad por los altos costes, no sólo penitenciarios. Sólo integrada con otras respuestas no carcelarias, la respuesta prisional permite un abordaje sensato de la delincuencia. Se aboga, por ello, por una justicia que reconozca la existencia de otras instancias reparadoras como: la mediación, el arbitraje, el diálogo víctima - agresor, etc.
Resumo:
[ES]Este Trabajo de Fin de Grado tiene como objeto crear un programa que sirva como herramienta para los cálculos en las propiedades a fatiga de una pieza. El conjunto del trabajo se centra en su creación mediante la herramienta Excel. El programa cuenta con tres diferentes pestañas: una para los datos que debe introducir el usuario, otra correspondiente a los cálculos y por último una en la que aparecen los resultados. El usuario debe conocer las propiedades de la probeta del material a ensayar, así como el rango de ciclos en el cual se va a trabajar (siempre en un rango de ciclos medio alto). A partir de estas informaciones de la probeta, y gracias a la curva de Basquin y la ecuación de Marin, el programa será capaz de obtener la curva de resistencia a fatiga correspondiente para la pieza. Se incluyen también casos especiales en los que se realicen tratamientos mecánicos de mejora, con una tensión límite del proceso. Para obtener la curva S-N de la pieza se pedirá información en la pestaña de interfaz con el usuario sobre distintas propiedades de la pieza, que permitan así calcular los valores de los coeficientes de Marín gracias a la base de datos que contiene el programa. El usuario tiene también la opción de introducir él mismo los valores de los coeficientes para así obtener una curva que se aproxime más a sus resultados experimentales. En resumen, la función del programa es la de ser una calculadora de la resistencia fatiga de la pieza a partir de los datos que se disponen de la probeta.
Resumo:
以Web应用服务器为代表的分布式组件中间件系统(如EJB,CORBA,.NET)已发展为Web计算环境中的主要基础软件。中间件系统通过屏蔽底层平台的异构性,提供大量应用所需要的服务(如事务、安全等),极大地简化了大规模复杂分布式系统的开发;另外,通过定义良好的组件模型,大量COTS组件能部署到任何与标准兼容的中间件平台实现上,提高了软件复用的程度。 中间件在支持应用的功能性需求方面虽然取得了较好的效果,然而在非功能性支持方面,中间件尚处于“尽力而为”的阶段,缺乏相应的服务质量保障机制,难以满足复杂多变的计算环境的要求。性能是应用系统一种非常关键的非功能特征,基于组件的应用,其性能不但受到应用设计的影响,同时受到应用所部署的中间件系统的影响,而这种影响很大程度上是中间件资源参数配置引起的(下文中如无明确说明,资源配置简称为配置)。目前大部分中间件系统只支持静态配置方式,必须通过反复地试运行来确定手工配置的参数是否能够满足应用的性能需求,该方式效率低下,而且对管理人员的要求很高;同时,对于诸如e-commerce之类的计算环境,负载始终处于高动态变化之中,静态配置方式也难以适应这种负载变化。针对上述问题,本文以EJB中间件为目标平台,提出了一种基于性能模型的自适应配置框架,能够在系统负载变化的情况下,自适应地调整中间件配置参数,更好地满足应用的性能需求。 首先,本文研究了自适应配置框架的总体架构。该框架的核心是一个基于分层排队网络的性能模型,它能够预测在给定中间件配置和负载下的性能度量。在配置决定过程中,性能模型用于评估不同候选配置,指导搜索最优的配置,从而提高性能保障的准确性和有效性。 其次,本文研究了基于分层排队网络模型的EJB性能建模技术。通过分析不同类型组件容器的请求处理行为,我们为不同类型组件建立性能模板。通过基于模型分解/组合的建模方法和模版实例化构建整个EJB应用的完整性能模型。 最后,本文描述了自适应配置框架在OnceAS2.0应用服务器上的原型实现,以及相关实验对该框架有效性的验证。
Resumo:
随着微电子器件复杂度的提高,空间辐射对于计算机程序的正确性影响正越来越明显。一般情况下,这些影响并不是永久的,而是瞬时故障。无论是太空中的信息处理系统、嵌入式实时控制系统,还是计算机集群、高性能超级计算机都可能由于错误的输出而导致灾难性的后果。 传统的可靠性系统采用抗辐射部件和冗余的硬件来达到可靠性的要求,但是其价格昂贵,性能落后于今天的商用部件(COTS)。针对COTS在容错能力上存在的不足,软件容错技术可以在不改变硬件结构的情况下,有效的提高计算机系统的可靠性。 瞬时故障在软件层面上主要表现为控制流错误和数据流错误,本文主要针对控制流错误进行容错处理。软件实现的控制流容错技术通过在编译时加入冗余的容错逻辑,在程序执行时进行控制流错误的检测和处理。 如何在保证容错能力的同时,尽量降低冗余逻辑所带来的系统开销,是控制流容错需要解决的主要问题。本文从控制流错误的基本概念,容错单元的选择,签名信息的建立,签名点和检测点的插入位置几个角度对控制流容错进行研究,主要内容有: 1.对常见的控制流容错方法进行了分析比较,对其优点和不足予以说明。 2.对控制流错误进行了分类,以此为基础,提出了基于相关前驱基本块的控制流容错方法(CFCLRB)。 3.提出了一种签名流模型,提出了基于签名流模型的控制流容错方法(CFCSF)。该方法能够对基本块间控制流错误进行检测,具有较低的时间开销、空间开销和较高的错误覆盖率。同时,该方法可以根据容错尺度的要求,灵活的插入和删除签名点与检测点,具有极强的扩展性。该方法还可以应对动态函数指针这种编译时难以确定的控制流情况。 4.基于汇编指令对上述方法予以实现,并实现了国际上常用的控制流容错方法Control Flow Checking by Software Signatures(CFCSS)和Control-flow Error Detection through Assertions(CEDA)做为对比。通过加入冗余的指令逻辑,完成了对原程序的容错功能。 5.基于PIN工具实现了对控制流错误的注入,在相同的实验环境下对CFCLRB ,CFCSF,CFCSS,CEDA进行了对比实验。实验表明, CFCLRB的时间开销为26.9%,空间开销为27.6%,相比不具容错能力的原程序,其错误覆盖率从66.50%提升到97.32%。CFCSF的时间开销为14.7%,空间开销为22.1%,相比不具容错能力的原程序,其错误覆盖率从66.50%提升到96.79%。相比CFCSS,该方法的时间开销从37.2%下降到14.7%,空间开销从31.2%下降到22.1%,错误覆盖率从95.16%提升到96.79%。相比CEDA,该方法的时间开销从26.9%下降到14.7%,空间开销从27.1%下降到22.1%,错误覆盖率仅从97.39%下降到96.79%。 最后,本文对控制流容错的未来研究方向进行了展望。
Resumo:
Este trabajo revisa la evolución y estado actual de la automoción eléctrica; analiza las ventajas ambientales, de eficiencia energética y de costes del motor eléctrico frente al de combustión interna; y presenta como limitaciones para el uso del vehículo eléctrico, el desarrollo actual de las baterías recargables y la lenta implantación de electrolineras. Con el objetivo de contribuir al desarrollo de una actividad económica respetuosa con el medio ambiente y basada en nuevas tecnologías, se proyecta, a partir de experiencias previas, una instalación de puntos de recarga para una ciudad de 50.000 habitantes con un parque de 100 vehículos eléctricos que dispone de dos plazas de recarga rápida (poste trifásico 400V CA), siete plazas de recarga lenta (postes monofásicos 230V CA) y de 50 módulos fotovoltaicos que producen diariamente la energía equivalente a la recarga lenta de un vehículo en los meses fríos y de dos en los meses cálidos.
Resumo:
The Convention on the Rights of the Child (CRC, 1989) is currently the most ratified international treaty. Several authors have highlighted its potential for both a moral education and citizenship. However, paradoxically, different studies report its limited or occasional incorporation into school practices. This article explores experiences of participation in schools,the third P of the CRC, from the plurality of voices and actors of the educational community,by means of 14 discussion groups in 11 autonomous communities in Spain. Discourse analysis evidence low levels of student participation in school life. But, at the same time, a favorable educational environment for the development of projects that contribute to child participation is found, as well as for the incorporation of the CRC as a mover and a referential integrator of the different schools projects. However, it is also an educational background conductive to projects for its development, such as the incorporation of the CRC as a referential integrator of the schools projects.
Resumo:
Les changements dans le réseau de la santé tel que le virage des soins vers le soutien à domicile (SAD) pour les aînés en perte d'autonomie, exigent des infirmières qu'elles mettent à jour leurs connaissances. Cette étude qualitative réalisée au moyen d'entrevues semi-dirigées s'intéresse au rapport à la formation infirmière continue (FIC) chez des infirmières en SAD au Québec. Son cadre de référence s'inspire des modèles de l'American Nurses Association (1994), de Cervero (1985) et de Hegge (1985). Les résultats révèlent que les infirmières sont engagées en FIC, qu'elles réalisent des activités de formation continue (AFC) diversifiées et qu'elles perçoivent certaines retombées dans leur pratique clinique. Cependant, des contraintes de temps, de coûts et d'accessibilité des AFC pertinentes demeurent des enjeux à prendre en considération. Finalement, des recommandations concernant la pratique clinique, l'enseignement, la gestion et la recherche sont proposées.
Resumo:
À travers la littérature théorique sur le sujet, nous avons pu remarquer que pendant les dernières années, le processus migratoire a subi des changements : le nombre de migrations internationales a augmenté et les flux migratoires ont privilegié des directions nouvelles. En même temps, grâce au développement accélére des nouvelles technologies de l'information et de la communication (TIC) et à la baisse de leurs coûts, les caractéristiques de la migration ont été modifiées : les pratiques de communication transnationales sont devenues facilement accessibles et plus fréquentes. Les TIC ont mis au service des migrants de nouveaux circuits pour communiquer et ont introduit des changements dans la façon de le faire. Le discours transmis au moyen des TIC n'est pas limité au récit d'événements : il est composé par des expressions d'émotions, d'états d'âme récents, des sensations, qui permettent de rapprocher les territoires, et même de les unifier, donnant l'image d'une présence connectée. Ce lointain devenu accessible par les TIC crée un espace social de présences simultanées, ou plutôt de coprésences, défini par une forte interaction qui a remplacé aujourd'hui le sentiment ancien de double absence (n'être plus là et pas encore ici). L'ancienne image du migrant déraciné s'est vue remplacée par celle d'un migrant qui circule en gardant le contact avec son pays d'origine. Ce nouveau modèle, celui du migrant connecté, est caracterisé par l'hypermobilité et la multiappartenance qui l'installent dans une mobilité perçue, de nos jours, comme positive. L'usage répandu des nouvelles technologies a permis l'expression d'une culture du lien (jusqu'ici existante à l'état latent et peu développée), axée sur la création de réseaux. Les réseaux pourraient occuper une importance majeure dans le processus d'intégration à un nouveau territoire, dans la participation à la vie associative ainsi que dans la conservation de la mémoire identitaire. Notre cadre théorique est constitué par la littérature sur le sujet et nous allons nous appuyer sur une recherche de terrain pour constater à quel degré un groupe précis, celui des immigrants argentins à Sherbrooke, se sert des TIC dans son vécu migratoire et de quelle manière cet usage peut avoir une influence sur son intégration au pays d'accueil.