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IEEE International Conference on Robotics and Automation (ICRA)

作者： Aamir Ahmad Tiago Nascimento André G. S. Conceição António Paulo Moreira Pedro Lima Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto and INESC TEC Porto Portugal Electrical Engineering Department Federal University of Bahia Salvador Bahia Brazil

ISBN: (纸本)9781467356404

Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive controller and the estimator module is based on a particle filter for cooperative target tracking. A formal description of the integration followed by simulation and real robot results on two different teams of homogeneous robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target's cooperative estimate while complying with the performance criteria such as keeping a pre-set distance between the team-mates and/or the target and obstacle avoidance.

关键词： Target tracking Robot sensing systems Cost function Robot kinematics Collision avoidance Uncertainty

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An agent-based framework for intelligent optimization of interactive visualizations

An agent-based framework for intelligent optimization of int...

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5th International Conference on Agents and Artificial Intelligence, ICAART 2013

作者： Moreira, Pedro Miguel Reis, Luís Paulo Augusto Sousa, A. ESTG-IPVC School of Technology and Management Polytechnic Institute of Viana do Castelo Viana do Castelo Portugal LIACC-Artificial Intelligence and Computer Science Lab. Univ. of Porto Porto Portugal EEUM-School of Engineering Univ. of Minho-DSI Campus de Azurém 4800-058 Guimarães Portugal INESC-TEC/DEI Faculty of Engineering Univ. of Porto R. Dr. Roberto Frias 4200-465 Porto Portugal

ISBN: (纸本)9789898565389

Interactive visualization of virtual environments is an active research topic. There is a multiplicity of applications such as simulation systems, augmented and mixed reality environments, computer games, amongst others, which endlessly demand for greater levels of realism and interaction. At every stage of the process, including modeling, image synthesis, transmission and navigation, there are identifiable circumstances which may compromise the achievement of high quality solutions for the posed problems. For many of these problems, an effective use of optimization tools can play a major role in order to achieve solutions with better quality. Within this context, an innovative optimization architecture is presented regarding to two major principles. The first principle comprises the possibility to integrate, with reduced effort, the optimization tools with existent applications and systems. Thus, we propose an agent-based framework where the optimization application may operate as an independent process in respect to the visualization application where communication is achieved by means of a specifically developed high-level message based protocol. The second principle establishes on the utilization of a class of intelligent optimization methods, known as metaheuristics, which major distinguishing quality is their great level of problem-independence, thus, enabling a wider application. The paper describes conducted experiments and presents results that demonstrate the utility and efficacy of the proposed framework.

关键词： Multi agent systems

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OPTICAL MEA SUREMENTS OF RAT MUSCLE SAMPLES UND ER TREATMENT WITH ETHYLENE GLYCOL AND GLUCOSE

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Journal of Innovative Optical Health Sciences 2013年第2期6卷 36-50页

作者： LUÍS OLIVEIRA MARIAINÊS CARVALHO ELISABETE NOGUEIRA VALERYV.TUCHIN Physics Department-Polytechnic of Porto School of Engineering Rua Dr.Antònio Bernardino de Almeida4314200-072 PortoPortugal University of Porto Rua Dr.Roberto Frias 4200-465 Porto Portugal CIETI-Centre of Innovationin Engineering and Industrial Technology ISEPRua Dr.Antònio Bernardino de Almeida4314200-072 PortoPortugal DEEC/FEUP and INESC TEC University of Porto Rua Dr.Roberto Frias4200-465 PortoPortugal Research-Educational Institute of Optics and Biophotonics Saratov State University 83 Astrakhanskaya Str.Saratov 410012Russia Laboratory of Laser Diagnostics of Technical and Living Systems Institute of Precise Mechanics and Control RASSaratov 410028Russia Optoelectronics and Measurement Techniques Laboratory P.O.Box 4500 University of OuluFIN-90014OuluFinland

With the objective to study the variation of optical properties of rat muscle during optical clearing,we have performed a set of optical measurements from that kind of *** performed were total tr ansmittance,ollimated transmit tance,specular reflec-tance and total *** set of measurements is suficient to determine diffuse reflectance and absorbance of the sample,also necessary to est imate the optical *** the per formed measurements and calculated quantities will be used later in inverse Monte Carlo(IMC)simu-lations to determine the evolution of the optical properties of muscle during treatments with ethylene glycol and *** results obt ained with the measurements already provide some information about the optical c learing treatments applied to the muscle and translate the mechanisms of turning the tissue more transparent and sequence of regimes of optical clearing.

关键词： Tissue optical clearing optical transmittance optical reflectance optical absorbance agent difusivity

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Optical measurements of rat muscle samples under treatment with ethylene glycol and glucose

Optical measurements of rat muscle samples under treatment w...

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作者： Oliveira, Luís Carvalho, Maria Inês Nogueira, Elisabete Tuchin, Valery V. Physics Department-Polytechnic of Porto School of Engineering Rua Dr. António Bernardino de Almeida 431 4200-072 Porto Portugal University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CIETI-Centre of Innovation in Engineering and Industrial Technology ISEP Rua Dr. António Bernardino de Almeida 431 4200-072 Porto Portugal DEEC/FEUP and INESC TEC University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal Research-Educational Institute of Optics and Biophotonics Saratov State University 83 Astrakhanskaya Str. Saratov 410012 Russia Laboratory of Laser Diagnostics of Technical and Living Systems Institute of Precise Mechanics and Control RAS Saratov 410028 Russia Optoelectronics and Measurement Techniques Laboratory University of Oulu P. O. Box 4500 FIN-90014 Oulu Finland

With the objective to study the variation of optical properties of rat muscle during optical clearing, we have performed a set of optical measurements from that kind of tissue. The measurements performed were total transmittance, collimated transmittance, specular reflectance and total reflectance. This set of measurements is sufficient to determine diffuse reflectance and absorbance of the sample, also necessary to estimate the optical properties. All the performed measurements and calculated quantities will be used later in inverse Monte Carlo (IMC) simulations to determine the evolution of the optical properties of muscle during treatments with ethylene glycol and glucose. The results obtained with the measurements already provide some information about the optical clearing treatments applied to the muscle and translate the mechanisms of turning the tissue more transparent and sequence of regimes of optical clearing. © The Authors.

关键词： Optical data processing

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Neural Networks for Condition Monitoring of Wind Turbines Gearbox

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Journal of Energy and Power engineering 2012年第4期6卷 638-644页

作者： Roque Filipe Mesquita Brandao Jose Antonio Beleza Carvalho Fernando Pires Maciel Barbosa Electrical Engineering Department School of Engineering Porto Polytechnic Institute Porto 4200-072 Portugal Institute for Systems and Computer Engineering of Porto （INESC TEC）＆ Engineering Faculty Porto University Porto 4200-465 Portugal

Wind energy is considered a hope in future as a clean and sustainable energy, as can be seen by the growing number of wind farms installed all over the world. With the huge proliferation of wind farms, as an alternative to the traditional fossil power generation, the economic issues dictate the necessity of monitoring systems to optimize the availability and profits. The relatively high cost of operation and maintenance associated to wind power is a major issue. Wind turbines are most of the time located in remote areas or offshore and these factors increase the referred operation and maintenance costs. Good maintenance strategies are needed to increase the health management of wind turbines. The objective of this paper is to show the application of neural networks to analyze all the wind turbine information to identify possible future failures, based on previous information of the turbine.

关键词： Condition monitoring maintenance neural networks wind energy.

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Live assessment of beat tracking for robot audition

Live assessment of beat tracking for robot audition

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： João Lobato Oliveira Gökhan Ince Keisuke Nakamura Kazuhiro Nakadai Hiroshi G. Okuno Luis Paulo Reis Fabien Gouyon Institute for Systems and Computer Engineering of Science and Technology (INESC TEC) Porto Portugal Department of Intelligence Science and Technology Graduate School of Informatics Kyoto University Kyoto Japan Honda Research Institute Japan Company Limited Saitama Japan Artificial Intelligence and Computer Science Laboratory (LIACC) FEUP Porto Portugal School of Engineering-DSI University of Minho Guimaraes Portugal

In this paper we propose the integration of an online audio beat tracking system into the general framework of robot audition, to enable its application in musically-interactive robotic scenarios. To this purpose, we introduced a staterecovery mechanism into our beat tracking algorithm, for handling continuous musical stimuli, and applied different multi-channel preprocessing algorithms (e.g., beamforming, ego noise suppression) to enhance noisy auditory signals lively captured in a real environment. We assessed and compared the robustness of our audio beat tracker through a set of experimental setups, under different live acoustic conditions of incremental complexity. These included the presence of continuous musical stimuli, built of a set of concatenated musical pieces; the presence of noises of different natures (e.g., robot motion, speech); and the simultaneous processing of different audio sources on-the-fly, for music and speech. We successfully tackled all these challenging acoustic conditions and improved the beat tracking accuracy and reaction time to music transitions while simultaneously achieving robust automatic speech recognition.

关键词： Noise Robots Speech Tracking Speech processing Accuracy Acoustics

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Obstacle Detection using Stereo Imaging to Assist the Navigation of Visually Impaired People

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Procedia computer Science 2012年 14卷 83-93页

作者： Paulo Costa Hugo Fernandes Paulo Martins João Barroso Leontios J. Hadjileontiadis School of Technology and Management Polytechnic Institute of Leiria 2411-901 Leiria Portugal University of Trás-os-Montes e Alto Douro 5001-801 Vila Real Portugal INESC TEC (formerly INESC Porto)/UTAD – University of Trás-os-Montes e Alto Douro 5001-801 Vila Real Portugal GECAD/UTAD – Knowledge Engineering and Decision Support Research Center Vila Real Portugal Department of Electrical and a Computer Engineering Division of Telecomunications Aristotle University of Thessaloniki Thessaloniki Greece

Assistive technology enables people to achieve independence when performing daily tasks and it enhances their overall quality of life. Visual information is the basis for most navigational tasks, so visually impaired individuals are at disadvantage due to the lack of sufficient information about their surrounding environment. With recent advances in inclusive technology it is possible to extend the support given to people with visual disabilities in terms of their mobility. In this context we propose and describe the Blavigator project, whose global objective is to assist visually impaired people in their navigation on indoor and outdoor environments. This paper is focused mainly on the computer Vision module of the Blavigator prototype. We propose an object collision detection algorithm based on disparity images. The proposed algorithm uses a 2D Ensemble Empirical Mode Decomposition image optimization algorithm and a two layer disparity image segmentation to detect nearby objects.

关键词： Assistive technologies Obstacle detection Stereo vision Empirical Mode Decomposition

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Using key alignment indicators for performance evaluation in collaborative networks

Using key alignment indicators for performance evaluation in...

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12th IFIP WG 5.5 Working Conference on Virtual Enterprises, PRO-VE 2011

作者： Da Piedade Francisco, Roberto Azevedo, Américo Bastos, João Almeida, António INESC Porto - Institute for Systems and Computer Engineering of Porto Faculty of Engineering University of Porto Porto Portugal

ISBN: (纸本)9783642233296

This paper aims to explore the performance alignment in collaborative network environments. It has been stated that performance management based on data collection and the evaluation of key performance indicators (KPIs) may not be effective due to the different indicators and measurement systems in place for the various participants in a collaborative network (CN). Therefore, measuring the strategic and inter-organizational alignment based on key alignment indicators (KAIs) can be an excellent alternative to improve performance evaluation systems. This approach has led to the exploration of the performance prediction paradigm and develops tools to estimate a performance and evaluate the degree of alignment by creating instances of a future performance in collaborative networks. © 2011 IFIP International Federation for Information Processing.

关键词： Benchmarking

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Factory templates: A decision support framework for manufacturing processes management

Factory templates: A decision support framework for manufact...

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作者： Azevedo, Américo Almeida, António Caldas, Álvaro INESC Porto - Institute for Systems and Computer Engineering of Porto Faculdade de Engenharia Universidade Do Porto Porto Portugal INESC Porto - Institute for Systems and Computer Engineering of Porto Porto Portugal

ISBN: (纸本)9789899624757

In order to develop the new industrial paradigm, it is necessary to explore a framework supported by planning and operational tools. Indeed, it becomes clear that more and more the next factories need to be increasingly more flexible, agile and knowledge-based in order to be able to adapt in real time to the continuously changing market demands, technology options and regulations, as well as accelerate the design process and optimise production. Therefore, in this paper a framework capable of supporting the factory planning will be presented based on predefined templates and product requirements. Furthermore, the Factory Templates will allow for process deployment, control and evaluation in real-time. © 2011 AISTI.

关键词： Life cycle

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Multicriteria decision aid for planning energy storage and sustainable mobility - The São Miguel Island case study

Multicriteria decision aid for planning energy storage and s...

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2011 IEEE PES Trondheim Powertech: The Power of technology for a Sustainable Society, POWERtecH 2011

作者： Da Silva, M. Moreira Lopes, J.A. Peças Matos, Manuel A. Faculdade de Engenharia Universidade Do Porto INESC Porto - Institute for Systems and Computer Engineering Portugal

ISBN: (纸本)9781424484195

This paper presents a Multicriteria Decision Aid methodology for planning energy storage and sustainable mobility, in an isolated system. The objective of this research is to enhance the sustainability of the analyzed case study (São Miguel Island), by comparing a set of alternatives for energy storage and sustainable mobility. The alternatives characterization and evaluation is made through the calculation of meaningful attributes, namely: carbon emissions, overall costs and reliability. An analysis of the most interesting alternatives is also performed. © 2011 IEEE.

关键词： Energy storage

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