Controle ótimo H 'INFINITO' com modificação de zeros para o problema de rastreamento em sistemas discretos usando LMI

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Projeto de controladores robustos para aplicações em estruturas inteligentes utilizando desigualdades matriciais lineares

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Desenvolvimento de um estimador de estado para sistemas de distribuição de energia elétrica desbalanceados

Pós-graduação em Engenharia Elétrica - FEIS

Para uma gramática da produção: análise da marca mesmo sob o enfoque da teoria das operações predicativas e enunciativas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Context detection and abstraction in smart environments

Context-aware computing is currently considered the most promising approach to overcome information overload and to speed up access to relevant information and services. Context-awareness may be derived from many sources, including user profile and preferences, network information, sensor analysis; usually context-awareness relies on the ability of computing devices to interact with the physical world, i.e. with the natural and artificial objects hosted within the "environment”. Ideally, context-aware applications should not be intrusive and should be able to react according to user’s context, with minimum user effort. Context is an application dependent multidimensional space and the location is an important part of it since the very beginning. Location can be used to guide applications, in providing information or functions that are most appropriate for a specific position. Hence location systems play a crucial role. There are several technologies and systems for computing location to a vary degree of accuracy and tailored for specific space model, i.e. indoors or outdoors, structured spaces or unstructured spaces. The research challenge faced by this thesis is related to pedestrian positioning in heterogeneous environments. Particularly, the focus will be on pedestrian identification, localization, orientation and activity recognition. This research was mainly carried out within the “mobile and ambient systems” workgroup of EPOCH, a 6FP NoE on the application of ICT to Cultural Heritage. Therefore applications in Cultural Heritage sites were the main target of the context-aware services discussed. Cultural Heritage sites are considered significant test-beds in Context-aware computing for many reasons. For example building a smart environment in museums or in protected sites is a challenging task, because localization and tracking are usually based on technologies that are difficult to hide or harmonize within the environment. Therefore it is expected that the experience made with this research may be useful also in domains other than Cultural Heritage. This work presents three different approaches to the pedestrian identification, positioning and tracking: Pedestrian navigation by means of a wearable inertial sensing platform assisted by the vision based tracking system for initial settings an real-time calibration; Pedestrian navigation by means of a wearable inertial sensing platform augmented with GPS measurements; Pedestrian identification and tracking, combining the vision based tracking system with WiFi localization. The proposed localization systems have been mainly used to enhance Cultural Heritage applications in providing information and services depending on the user’s actual context, in particular depending on the user’s location.

An analysis of automatic gender classification

[EN]Different researches suggest that inner facial features are not the only discriminative features for tasks such as person identification or gender classification. Indeed, they have shown an influence of features which are part of the local face context, such as hair, on these tasks. However, object-centered approaches which ignore local context dominate the research in computational vision based facial analysis. In this paper, we performed an analysis to study which areas and which resolutions are diagnostic for the gender classification problem. We first demonstrate the importance of contextual features in human observers for gender classification using a psychophysical ”bubbles” technique.

Reconstruction from image correspondences

A single picture provides a largely incomplete representation of the scene one is looking at. Usually it reproduces only a limited spatial portion of the scene according to the standpoint and the viewing angle, besides it contains only instantaneous information. Thus very little can be understood on the geometrical structure of the scene, the position and orientation of the observer with respect to it remaining also hard to guess. When multiple views, taken from different positions in space and time, observe the same scene, then a much deeper knowledge is potentially achievable. Understanding inter-views relations enables construction of a collective representation by fusing the information contained in every single image. Visual reconstruction methods confront with the formidable, and still unanswered, challenge of delivering a comprehensive representation of structure, motion and appearance of a scene from visual information. Multi-view visual reconstruction deals with the inference of relations among multiple views and the exploitation of revealed connections to attain the best possible representation. This thesis investigates novel methods and applications in the field of visual reconstruction from multiple views. Three main threads of research have been pursued: dense geometric reconstruction, camera pose reconstruction, sparse geometric reconstruction of deformable surfaces. Dense geometric reconstruction aims at delivering the appearance of a scene at every single point. The construction of a large panoramic image from a set of traditional pictures has been extensively studied in the context of image mosaicing techniques. An original algorithm for sequential registration suitable for real-time applications has been conceived. The integration of the algorithm into a visual surveillance system has lead to robust and efficient motion detection with Pan-Tilt-Zoom cameras. Moreover, an evaluation methodology for quantitatively assessing and comparing image mosaicing algorithms has been devised and made available to the community. Camera pose reconstruction deals with the recovery of the camera trajectory across an image sequence. A novel mosaic-based pose reconstruction algorithm has been conceived that exploit image-mosaics and traditional pose estimation algorithms to deliver more accurate estimates. An innovative markerless vision-based human-machine interface has also been proposed, so as to allow a user to interact with a gaming applications by moving a hand held consumer grade camera in unstructured environments. Finally, sparse geometric reconstruction refers to the computation of the coarse geometry of an object at few preset points. In this thesis, an innovative shape reconstruction algorithm for deformable objects has been designed. A cooperation with the Solar Impulse project allowed to deploy the algorithm in a very challenging real-world scenario, i.e. the accurate measurements of airplane wings deformations.

Control of muscle relaxation during anesthesia: a novel approach for clinical routine

During general anesthesia drugs are administered to provide hypnosis, ensure analgesia, and skeletal muscle relaxation. In this paper, the main components of a newly developed controller for skeletal muscle relaxation are described. Muscle relaxation is controlled by administration of neuromuscular blocking agents. The degree of relaxation is assessed by supramaximal train-of-four stimulation of the ulnar nerve and measuring the electromyogram response of the adductor pollicis muscle. For closed-loop control purposes, a physiologically based pharmacokinetic and pharmacodynamic model of the neuromuscular blocking agent mivacurium is derived. The model is used to design an observer-based state feedback controller. Contrary to similar automatic systems described in the literature this controller makes use of two different measures obtained in the train-of-four measurement to maintain the desired level of relaxation. The controller is validated in a clinical study comparing the performance of the controller to the performance of the anesthesiologist. As presented, the controller was able to maintain a preselected degree of muscle relaxation with excellent precision while minimizing drug administration. The controller performed at least equally well as the anesthesiologist.

Reading on LCD vs e-Ink displays: effects on fatigue and visual strain

Purpose:  Most recently light and mobile reading devices with high display resolutions have become popular and they may open new possibilities for reading applications in education, business and the private sector. The ability to adapt font size may also open new reading opportunities for people with impaired or low vision. Based on their display technology two major groups of reading devices can be distinguished. One type, predominantly found in dedicated e-book readers, uses electronic paper also known as e-Ink. Other devices, mostly multifunction tablet-PCs, are equipped with backlit LCD displays. While it has long been accepted that reading on electronic displays is slow and associated with visual fatigue, this new generation is explicitly promoted for reading. Since research has shown that, compared to reading on electronic displays, reading on paper is faster and requires fewer fixations per line, one would expect differential effects when comparing reading behaviour on e-Ink and LCD. In the present study we therefore compared experimentally how these two display types are suited for reading over an extended period of time. Methods:  Participants read for several hours on either e-Ink or LCD, and different measures of reading behaviour and visual strain were regularly recorded. These dependent measures included subjective (visual) fatigue, a letter search task, reading speed, oculomotor behaviour and the pupillary light reflex. Results:  Results suggested that reading on the two display types is very similar in terms of both subjective and objective measures. Conclusions:  It is not the technology itself, but rather the image quality that seems crucial for reading. Compared to the visual display units used in the previous few decades, these more recent electronic displays allow for good and comfortable reading, even for extended periods of time.

Ideología étnica durante el período amarniano : ¿límite o contacto con la otredad?

Durante el Reino Nuevo se produjo una ampliación de las fronteras y una fuerte centralización y estabilidad interna; es insoslayable resaltar al respecto el control por parte de la monarquía de los territorios conquistados y el mantenimiento de su posición en el Levante mediterráneo frente a la presión de mitanios e hititas. Particularmente, nos centraremos en el período amarniano, que tradicionalmente ha tenido una visión peyorativa basada en el supuesto de la 'incapacidad' real de intervención en asuntos políticos, como así también las grandes 'dificultades' en mantener el efectivo dominio del territorio.Sin embargo, diversos fueron los mecanismos de legitimación desarrollados por el poder regio en este contexto. Centrándonos en la postura fenomenológico-hermenéutica del historiador de las religiones rumano Mircea Eliade (1957) y basándonos también en los aportes de Fredrik Barth (1976), Jan Assmann (2005) y Pascal Vernus (2011), será nuestro objetivo analizar las implicaciones simbólico-religiosas de la concepción egipcia de los pueblos extranjeros y de las interacciones políticas con ellos bajo el período de gobierno de Akhenatón.

Ideología étnica durante el período amarniano : ¿límite o contacto con la otredad?

Durante el Reino Nuevo se produjo una ampliación de las fronteras y una fuerte centralización y estabilidad interna; es insoslayable resaltar al respecto el control por parte de la monarquía de los territorios conquistados y el mantenimiento de su posición en el Levante mediterráneo frente a la presión de mitanios e hititas. Particularmente, nos centraremos en el período amarniano, que tradicionalmente ha tenido una visión peyorativa basada en el supuesto de la 'incapacidad' real de intervención en asuntos políticos, como así también las grandes 'dificultades' en mantener el efectivo dominio del territorio.Sin embargo, diversos fueron los mecanismos de legitimación desarrollados por el poder regio en este contexto. Centrándonos en la postura fenomenológico-hermenéutica del historiador de las religiones rumano Mircea Eliade (1957) y basándonos también en los aportes de Fredrik Barth (1976), Jan Assmann (2005) y Pascal Vernus (2011), será nuestro objetivo analizar las implicaciones simbólico-religiosas de la concepción egipcia de los pueblos extranjeros y de las interacciones políticas con ellos bajo el período de gobierno de Akhenatón.

Ideología étnica durante el período amarniano : ¿límite o contacto con la otredad?

Durante el Reino Nuevo se produjo una ampliación de las fronteras y una fuerte centralización y estabilidad interna; es insoslayable resaltar al respecto el control por parte de la monarquía de los territorios conquistados y el mantenimiento de su posición en el Levante mediterráneo frente a la presión de mitanios e hititas. Particularmente, nos centraremos en el período amarniano, que tradicionalmente ha tenido una visión peyorativa basada en el supuesto de la 'incapacidad' real de intervención en asuntos políticos, como así también las grandes 'dificultades' en mantener el efectivo dominio del territorio.Sin embargo, diversos fueron los mecanismos de legitimación desarrollados por el poder regio en este contexto. Centrándonos en la postura fenomenológico-hermenéutica del historiador de las religiones rumano Mircea Eliade (1957) y basándonos también en los aportes de Fredrik Barth (1976), Jan Assmann (2005) y Pascal Vernus (2011), será nuestro objetivo analizar las implicaciones simbólico-religiosas de la concepción egipcia de los pueblos extranjeros y de las interacciones políticas con ellos bajo el período de gobierno de Akhenatón.

Road environment modeling using robust perspective analysis and recursive Bayesian segmentation

Recently, vision-based advanced driver-assistance systems (ADAS) have received a new increased interest to enhance driving safety. In particular, due to its high performance–cost ratio, mono-camera systems are arising as the main focus of this field of work. In this paper we present a novel on-board road modeling and vehicle detection system, which is a part of the result of the European I-WAY project. The system relies on a robust estimation of the perspective of the scene, which adapts to the dynamics of the vehicle and generates a stabilized rectified image of the road plane. This rectified plane is used by a recursive Bayesian classi- fier, which classifies pixels as belonging to different classes corresponding to the elements of interest of the scenario. This stage works as an intermediate layer that isolates subsequent modules since it absorbs the inherent variability of the scene. The system has been tested on-road, in different scenarios, including varied illumination and adverse weather conditions, and the results have been proved to be remarkable even for such complex scenarios.

Rebalancing urban mobility: a tale of four cities

The key of mobility in urban planning is not in dispute. Integrated strategies that take into account the interrelations among land use, transport supply and demand and the different transportation modes are more necessary than ever. In Europe, regulatory tools such as local mobility plans or traffic plans have been enforced for a long time, evolving into so-called sustainable urban transport plans (SUTP) ? that is, plans thatmerge urban planning,mobility governance, social awareness and environmental safeguards to develop a vision based on sustainability and equity. Indeed, SUTP are aimed at solving typical problems in current land use, such as urban sprawl, which make clear the need for a paradigm shift from transport (or mobility) planning to land use (or city) planning, thereby producing urban mobility plans that are fully aligned with integrated urban development plans. This paper describes how SUTP are articulated across Europe according to four case studies: Peterborough (UK), Chambe¿ry (France), Ferrara (Italy) and Pinto (Spain), to highlight variations and commonalities, both among the four national legal frameworks and the actual planning processes at the local level. Objectives, measures and indicators used in the monitoring and evaluation phases have been analysed and the results assessed. The main conclusion of the paper is that, as seen in these real-life examples, the lack of integration between spatial planning and transport strategies results in the unsustainability of urban areas and, therefore, in a significant loss of competitiveness.

Discriminating Crop, Weeds and Soil Surface with a Terrestrial LIDAR Sensor

In this study, the evaluation of the accuracy and performance of a light detection and ranging (LIDAR) sensor for vegetation using distance and reflection measurements aiming to detect and discriminate maize plants and weeds from soil surface was done. The study continues a previous work carried out in a maize field in Spain with a LIDAR sensor using exclusively one index, the height profile. The current system uses a combination of the two mentioned indexes. The experiment was carried out in a maize field at growth stage 12–14, at 16 different locations selected to represent the widest possible density of three weeds: Echinochloa crus-galli (L.) P.Beauv., Lamium purpureum L., Galium aparine L.and Veronica persica Poir.. A terrestrial LIDAR sensor was mounted on a tripod pointing to the inter-row area, with its horizontal axis and the field of view pointing vertically downwards to the ground, scanning a vertical plane with the potential presence of vegetation. Immediately after the LIDAR data acquisition (distances and reflection measurements), actual heights of plants were estimated using an appropriate methodology. For that purpose, digital images were taken of each sampled area. Data showed a high correlation between LIDAR measured height and actual plant heights (R 2 = 0.75). Binary logistic regression between weed presence/absence and the sensor readings (LIDAR height and reflection values) was used to validate the accuracy of the sensor. This permitted the discrimination of vegetation from the ground with an accuracy of up to 95%. In addition, a Canonical Discrimination Analysis (CDA) was able to discriminate mostly between soil and vegetation and, to a far lesser extent, between crop and weeds. The studied methodology arises as a good system for weed detection, which in combination with other principles, such as vision-based technologies, could improve the efficiency and accuracy of herbicide spraying.