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Estimating the 3D center point of an object with Kinect sensor RGB-D images

Estimating the 3D center point of an object with Kinect sens...

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IEEE Latin American Robotics Symposium, LARS

作者： Gustavo Fardo Armênio João Alberto Fabro Renzo De Rosa Tognella Felipe Pierre Conter Marlon Vaz De Oliveira Everson De Souza Silva Computer Engineering Course - UTFPR Curitiba PR Brazil PPGCA-Graduate Program on Applied Informatics UTFPR-Federal University of Technology - Paraná Curitiba PR Brazil Information System Course - UTFPR Curitiba PR Brazil UNILA - University of Latin American Integration Foz do Iguaçu PR Brazil CPGEI-Graduate Program on Electrical Engineering and Industrial Informatics/UTFPR IFPR- Federal Institute of Technology - Paraná Pinhais PR Brazil PPGCA-Graduate Program on Applied Informatics UTFPR Curitiba Brazil

This article describes the estimation of a 3D point using a Kinect sensor and the Robot Operating System (ROS) along with You Only Look Once (YOLO) for object detection. The Kinect sensor provides RGB-D images, which are used to create a Point Cloud representing the geometry of the environment. ROS is used as a robotics development framework, while YOLO is employed to identify objects in the scene. The article presents the packages used, the datasets used for measurement, and the configuration of ROS and YOLO. Additionally, the functionalities of RViz, a 3D visualization tool used in the tests, are explored. Furthermore, it covers the methods employed, the acquired data, and an analysis of the error margin in relation to the measurement of the distance between the Kinect and the object. The findings and techniques presented in this study contribute to addressing the challenges faced in the RoboCup@Home competition, specifically in the context of object manipulation tasks.

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Aspect-Oriented Model-Driven Engineering for FPGA/VHDL Based Embedded Real-Time Systems

Aspect-Oriented Model-Driven Engineering for FPGA/VHDL Based...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： Marcela Leite Marco Aurélio Wehrmeister Graduate Program in Applied Computing (PPGCA) Santa Catarina State University (UDESC) Joinville Brazil Graduate Program in Applied Computing (PPGCA) Federal University of Technology - Paraná (UTFPR) Curitiba Brazil

This work aims to assist the design of FPGA-based embedded system by extending the AMoDE-RT approach in order to support automatic generation of VHDL descriptions from high-level specification of embedded systems. This paper discusses the handling of non-functional requirements using concepts from Aspect-Oriented Software Development (AOSD) paradigm. The proposed approach promotes the specification of platform-independent aspects in UML/MARTE model, which is later used to generate the system VHDL description. A set of mapping rules has been created to implement the model-level aspects using VHDL constructs/statements. GenERTiCA tool has been extended to allow the UML-to-VHDL automatic transformation, including the weaving of aspects adaptations code into the generated VHDL description. Such an approach allows not only the generation of a fully sinthesizable VHDL description, but also the reuse of aspects in distinct implementation technologies. The obtained results show an increase in system performance and a better utilization of FPGA configurable resources due to the improved components modularization. These results indicate the practicability of full translation of platform-independent aspects into VHDL, opening room for gains in embedded real-time system design, including reuse and design effort reduction.

关键词： Unified modeling language Field programmable gate arrays Adaptation models Clocks Real-time systems Embedded systems

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On Generating VHDL Descriptions from Aspect-Oriented UML/MARTE Models

On Generating VHDL Descriptions from Aspect-Oriented UML/MAR...

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Brazilian Symposium on Computing System Engineering (SBESC)

作者： Marco Aurélio Wehrmeister Marcela Leite Graduate Program in Applied Computing (PPGCA) Federal University of Technology - Parana (UTFPR) Curitiba Brazil Graduate Program in Applied Computing (PPGCA) Instituto Federal Catarinense (IFC Araquari) Araquari Brazil

This paper discusses an approach to generate VHDL descriptions from high-level specifications, specifically UML/MARTE models that include aspect-oriented semantics. Standard UML diagrams describe the handling of functional requirements, whereas crosscutting concerns associated with the non-functional requirements are handle by aspects. UML-to-VHDL transformation is performed automatically by a script-based code generation tool named GenERTiCA. For that, mapping rules scripts define how to generate VHDL constructs from model elements, including the implementation of aspects adaptations. The generated VHDL description does not require any manual modification, in order to be fully synthesized onto a FPGA device. Some case studies have been performed to evaluate the proposed approach, however, this paper discusses the line-following robot implemented as a FPGA-based embedded system. An improvement in system design has been obtained, namely an increase in system performance and a better utilization of FPGA reconfigurable resources. Such positive results are related to a better modularization of components achieved by using the proposed high-level approach.

关键词： Unified modeling language Field programmable gate arrays Object oriented modeling Embedded systems Hardware Robots

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Particle Swarm Optimization applied to the Dynamic Allocation Problem

Particle Swarm Optimization Applied to the Dynamic Allocatio...

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Brazilian Symposium on Neural Networks

作者： Jean L. Pierobom Myriam R. Delgado Celso A.A. Kaestner Graduate Program on Applied Computing (PPGCA) Federal University of Technology of Paraná (UTFPR) Curitiba Parana Brazil

Particle Swarm Optimization (PSO) is based on the analysis of emergent behavior of bird flocks. Though it was originally designed for continuous optimization, PSO has provided good results in some recent works when applied to static and discrete optimization problems. In this paper, the particle encoding scheme is based on permutations and the PSO algorithm is adapted to solve a real-world application (cabs-customers allocation) of the dynamic task assignment problem. In the proposed approach, as the optimal solution may change during the optimization process, different strategies to detect and react to changes are tested. The results show that combinations of traditional techniques achieve good solutions in tested instances defined with different sizes and scales of changes.

关键词： Heuristic algorithms Optimization Resource management Robustness Particle swarm optimization Monitoring Accuracy

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Enhancing automatic generation of VHDL descriptions from UML/MARTE models

Enhancing automatic generation of VHDL descriptions from UML...

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IEEE International Conference on Industrial informatics (INDIN)

作者： Marcela Leite Cristiano D. Vasconcellos Marco Aurélio Wehrmeister Graduate Program in Applied Computing (PPGCA) Santa Catarina State University (UDESC) Joinville Brazil Federal University of Technology - Paraná (UTFPR) Graduate Program in Applied Computing (PPGCA/UDESC) Curitiba Brazil

This work aims to assist the design of FPGA-based embedded system by extending the AMoDE-RT approach in order to support automatic generation of VHDL descriptions from high-level specification of embedded systems. For that, this work proposes a new set of mapping rules to translate UML/-MARTE elements into VHDL constructs, allowing the generation of fully synthesizable descriptions, including the embedded system structure and behavior. The proposed mapping rules have been implemented in GenERTiCA tool, which is used in AMoDE-RT to generate source code from UML/MARTE models, enabling the UML-to-VHDL automatic transformation. The proposed approach has been validated using a valve control system as case study. The obtained results show a decrease in FPGA used area, as well as a small impact on system performance. These results indicate the practicability of a full translation from UML elements into VHDL, opening room for specifying the system behavior using higher abstraction levels even for FPGA-based embedded system implementation.

关键词： Unified modeling language Object oriented modeling Embedded systems Clocks Actuators Valves

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FluxProg 2.0 - Extended Version of a Visual Tool for Teaching programming Logic Using Flowcharts with Real and Simulated Robots

FluxProg 2.0 - Extended Version of a Visual Tool for Teachin...

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2024 Brazilian Symposium on Robotics (SBR), and 2024 Workshop on Robotics in Education (WRE)

作者： Matheus Biscaya Gutierrez João Alberto Fabro André Cristiano Cordeiro Academic Department of Informatics (DAINF-CT) Federal University of Technology - Paraná (UTFPR) Curitiba PR Brazil Graduate Program on Applied Computing (PPGCA) DAINF-CT - UTFPR Curitiba PR Brazil

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

This paper presents a new teaching tool with the goal of facilitating the learning of basic programming concepts among high school students and university freshmen. The tool incorporates a user-friendly visual interface and robotics, expanding on the existing Fluxprog project. New features were implemented, such as variables, logical and mathematical operations, conditional structures, and loops, to motivate students to engage in challenges that promote logical thinking. This paper presents the design, implementation and evaluation of a programming teaching tool using a visual language based on flowcharts, with subsequent data collection through a questionnaire and analysis of preliminary results to evaluate the user's experience while interacting with the tool.

关键词： Visualization Flowcharts Conferences Education Data collection User experience Logic Robots programming profession

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Hierarchical Classification of Bird Species Using Their Audio Recorded Songs

Hierarchical Classification of Bird Species Using Their Audi...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Carlos N. Silla Celso A. A. Kaestner Post-Graduate Program in Informatics (PPGI) Federal University of Technology of Paraná (UTFPR-CP) Cornélio Procópio Brazil Post-Graduate Program in Applied Computer Science (PPGCA) Federal University of Technology of Paraná (UTFPR) Curitiba Brazil

ISBN: (纸本)9781479906505

In this paper we address the task of hierarchical bird species identification from audio recordings. We evaluate three types of approaches to deal with hierarchical classification problems: the flat classification approach, the local-model per parent node classifier approach and the global-model hierarchical-classification approach. For the flat and local-model classification approach we employ the classic Naive Bayes algorithm. For the global-model approach we use the Global Model Naive Bayes (GMNB) algorithm. As in the classical Naive Bayes, the algorithm computes prior probabilities and likelihoods, but these computations take into account the hierarchical classification scenario: it assumes that any example which belongs to a given class will also belong to all its ancestor classes. In the current application, the employed class hierarchy is the standard scientific taxonomy of birds used in Biology. In order to deal with the bird songs we obtain features by computing several acoustic quantities from intervals of the audio signal. We conduct three experiments in order to compare the three different approaches to the hierarchical bird species identification problem. Our experimental results show that the use of the GMNB hierarchical classification algorithm outperforms both the flat and local-model approaches (Using the Hierarchical F-measure metric);hence the use of a global-model approach (such as the GMNB) can be a feasible way to improve the classification performance for problems with a large number of classes.

关键词： Bird species identification Audio classification Hierarchical classification Hierarchical Naive Bayes classifier bird species Hierarchical Bayes Audio recordings audio signals Songs

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The DTN Routing Problem: Exploitation versus Exploration of Solutions

The DTN Routing Problem: Exploitation versus Exploration of ...

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IEEE Vehicular Technology Conference

作者： Jaquinei de Oliveira Ana Cristina B. Kochem Vendramin Anelise Munaretto Myriam Delgado Graduate Program in Applied Computer Science (PPGCA) Federal University of Technology - Parana (UTFPR) Curitiba Brazil Graduate Program in Electrical and Computer Engineering (CPGEI) Federal University of Technology - Parana (UTFPR) Curitiba Brazil

Designed to Delay Tolerant Networks, the Cultural Greedy GrAnt (CGrAnt) routing protocol uses Ant Colony Optimization to represent the population space of a Cultural Algorithm. CGrAnt aims to improve the message forwarding by analyzing the network characteristics based on three distinct knowledge: Domain, History, and Situational. The Domain knowledge plays a central role in the CGrAnt operation as it provides a good balance between search space exploration (through the selection of new solutions) and exploitation (through the selection of previously found solutions). This work proposes alternative metrics to be used by the Domain knowledge of CGrAnt. Results show that the new proposed metrics increase the CGrAnt performance.

关键词： Measurement Routing protocols Sociology Statistics History Social network services

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Identifying New Persons in the Context of the Robocup@Home Competition Using KNN

Identifying New Persons in the Context of the Robocup@Home C...

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IEEE Latin American Robotics Symposium, LARS

作者： David Segalle Gustavo Fardo Armênio Gustavo Fontes Lewin Everson De Souza Silva João Alberto Fabro Computer Engineering Course UTFPR-Federal University of Technology - Paraná Curitiba PR Brazil Computer Engineering Course - UTFPR Curitiba PR Brazil Eletronic Engineering Course - UTFPR Curitiba PR Brazil PPGCA-Graduate Program on Applied Informatics-UTFPR Curitiba PR Brazil

Robocup@Home proposes a challenge related to Person Recognition: after presented, a new ‘operator’ should become ‘immediately’ recognizable by the robot. The presentation procedure may require the operator to correctly interact with the robot, following a certain procedure, as instructed by the robot itself (for example, staying in front of the robot, so that the robot can take pictures of this person). In this paper, we propose the use of the KNN (K-Nearest Neighbor) supervised machine learning algorithm to include a new ‘operator’ in a database of persons recognizable by the robot. This algorithm uses information taken from an image segmentation of the face of the operator. The experiment evaluates how long it takes to include a new operator if the robot has from 1 to 12 current operators, evaluating also how long it takes to include this operator based on 1, 2 or more images of the new operator, taken from slightly different points of view. The results confirm that KNN can be used to ‘present to the robot’ up to 13 new operators, with up to 15 images for each operator, in less than 60 seconds.

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Training of an Artificial Neural Network with Backpropagation algorithm using notification oriented paradigm

Training of an Artificial Neural Network with Backpropagatio...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Fenando Schütz João A. Fabro Carlos R. E. Lima Adriano F. Ronszcka Paulo C. Stadzisz Jean M. Simão Graduate School in Electrical Engineering and Industrial Informatics (CPGEI) Federal University of Technology - Paraná (UTFPR) - Av. Sete de Setembro 3165. Curitiba-PR Brazil. 80-230-901 Graduate School of Applied Computing (PPGCA) Federal University of Technology - Parana (UTFPR) Curitiba PR Brazil Graduate School in Electrical Engineering and Industrial Informatics (CPGEI)

When implementing Artificial Neural Networks with imperative programing languages, the resulting programs are usually highly coupled. This problem usually hampers distribution over multiple processors, especially when the ANN executes on general-purpose processors. An emerging technique called Notification Oriented Paradigm (NOP) facilitates the development of distributed and decoupled systems, and minimizes the amount of processing calculations, while avoiding structural and temporal redundancies in the logical-causal evaluation. These advantages seem to be relevant to parallel systems, especially in the case of ANNs. In this sense, this paper presents the development of a Multi-Layer Perceptron using Backpropagation training algorithm, based on the concepts of NOP in its implementation. The overall performance of NOP implementation was not so good in comparison with the Imperative Paradigm (IP) implementation, because the current materialization of NOP (framework) is still based on a single thread implementation. Even though, this implementation proved to be plausible and decoupled, as well as parallelizable according the inherent parallelism of ANNs, conceptually intrinsic on the NOP.

关键词： Artificial neural networks Training Neurons Computer architecture Hardware program processors

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