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

作者： Lázaro Q. Silva Ana Patricia F. M. Mascarenhas Marco A. C. Simões Ivanoé J. Rodowanski Jorge Alberto P. De Campos Josemar Rodrigues De Souza Jose Grimaldo Da Silva Filho Researchers are from the Center for Research on Computer Architecture Intelligent Systems and Robotics(ACSO) of State of Bahia University (UNEB) Bahia Brazil

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

Service robots are designed to perform useful activities for humans or other machines, such as cleaning a house, providing guidance, or cooking. To perform these activities, robots must be increasingly autonomous and capable of executing physical and cognitive tasks. Such skills involve human-robot interaction, where humans give a specific command, and the robot performs the task. In this scenario, voice recognition and detection tools can ensure communication through natural language. However, obtaining comprehensive and contextualized answers to specific questions or topics becomes challenging for the robot, which relies on static and pre-existing information to generate rigid and repetitive responses. This limitation hinders the creation of a more natural and intuitive dialogue between humans and machines. This paper proposes the LLP4ServiceRobot solution, which uses fine-tuned large language models to generate more dynamic texts and responses. The development methodology involves selecting large language models, fine-tuning them, and training them for text generation and question-answering tasks. We validated our model using two performance metrics: the Fl-Score, for the question-answering model; and ROUGE, for the text generation model. Results showed that the question-answering model achieved an F'l-Score of 52%, while the text generation model achieved a ROUGE-l score of 67%. Additionally, an experiment was conducted to evaluate the Question Answering (QA) model. Results showed that the model could correctly answer 60 % of the questions in a test dataset. The proposed model will be used in the service robot BILL, part of the RoboCup@Home league research at ACSO - the center for research in computer architecture, Intelligent Systems, and Robotics at the State University of Bahia - UNEB.

关键词： Training Measurement Service robots Computational modeling Large language models Natural languages Human-robot interaction Speech recognition Question answering (information retrieval) Intelligent systems

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Using Speech and Text in Emotions Recognition

Using Speech and Text in Emotions Recognition

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

作者： Vanessa M. Gomes Ana Patrícia F. M. Mascarenhas Ivanoé J. Rodowanski Jorge Alberto P. De Campos Josemar Rodrigues De Souza Jose Grimaldo Da Silva Filho Marco A. C. Simões Researchers are from the Center for Research on Computer Architecture Intelligent Systems and Robotics (ACSO) of State of Bahia University (UNEB) Salvador Bahia Brazil

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

This study explores the intricacies of human communication with a focus on emotion recognition in speech, emphasizing the significance of voice recognition. To Address Brazilian Portuguese's acoustic and linguistic features, this study adopts an innovative approach by integrating a convolutional neural network and the bidirectional encoder representations from the transformers model. The methodology involves a systematic literature review and the development of a real-time system, resulting in an accuracy rate of 87.5%. Voice is portrayed as a vital communication channel, conveying information and emotional nuances. Cultural and linguistic influences accentuate the complexity of emotion detection in speech, posing specific challenges in the Brazilian context. The need for more data for Brazilian Portuguese presents a barrier to developing culturally sensitive systems. The social relevance of the project is underscored by its potential to enhance human-computer interaction, promote emotional well-being, and contribute to the contest Brazilian natural language processing community.

关键词： Human computer interaction Emotion recognition Speech recognition Linguistics Robot sensing systems Transformers Real-time systems Natural language processing Global communication Systematic literature review

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RoboSign: Improving Interaction Between Service-Robot and Hearing Impairments People

RoboSign: Improving Interaction Between Service-Robot and He...

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

作者： Aron Caiuá V. De Brito Ana Patrícia F. M. Mascarenhas Marco A.C. Simões Ivanoé J. Rodowanski Jorge Alberto P. De Campos Josemar Rodrigues De Souza Jose Grimaldo Da Silva Filho Researchers are from the Center for Research on Computer Architecture Intelligent Systems and Robotics (ACSO) of State of Bahia University (UNEB) Cabula Bahia Salvador Brazil

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

Service robots assist humans in routine activities such as domestic tasks. Their interaction with humans, e.g., during communication, is commonly done through voice recognition functionalities. However, voice interaction limits robot usage, making it inaccessible to hearing-impaired people. This paper presents RoboSign, an interaction solution between a service robot and people with hearing impairments through command recognition in Brazilian Sign language (Libras). RoboSign includes a simplified dataset from scratch for a computer with low computational power, training a recurrent neural network model using MediaPipe Landmark Detector and Long ShortTerm Memory (LSTM) to perform signal recognition. The model was validated during training with unknown data, reaching 99% average accuracy, and evaluated in real-time using a camera, reaching 85% average accuracy. These results demonstrate that it is possible to perform human-robot interaction through Libras recognition with considerable accuracy without high computational cost due to simplified data collection and the LSTM algorithm for network training.

关键词： Training Sign language Accuracy Recurrent neural networks Service robots Computational modeling Auditory system Speech recognition Real-time systems Long short term memory

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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BROAD-BAND ISLAND INTERCONNECTION VIA SATELLITE - PERFORMANCE ANALYSIS FOR THE RACE-II CATALYST PROJECT

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 223-238页

作者： HADJITHEODOSIOU, MH KOMISARCZUK, P COAKLEY, F EVANS, BG SMYTHE, C Centre for Satellite Engineering Research University of Surrey Guildford GU2 5XH U.K. Obtained an M.A. in Electrical and Information Sciences from the University of Cambridge in 1989 and an M.S. in Electrical Engineering from the University of California Irvine in 1991. He is currently a Research Fellow at the Centre for Satellite Research University of Surrey U.K. His research interests include multiple access protocols for VSAT networks voice/data integration in low-bit-rate networks and the use of satellites for the provision of BISDN services. Obtained a B.Sc. in Pure and Applied Physics with Electronics in 1983 and an M.Sc. in Modern Electronics in 1984 from the University of Nottingham U.K. He was a project engineer on the Corporate Data Network for the Central Electricity Generating Board U.K. and then a senior lecturer in communication systems at the University of Greenwich UK. At present he is working on his Ph.D. at the Centre for Satellite Engineering Research (CSER) University of Surrey on the performance of communication systems. Has been Senior Lecturer in the Department of Electrical Engineering University of Surrey since 1984. She is the author (or joint author) of more than 80 research papers. Currently she teaches courses in Telecommunication Networks and Computer Architecture. Her research interests include on-board processing for satellites protocols and performance issues. Received the BSc. and Ph.D. degrees in Electrical Engineering and Microwave Systems from the University of Leeds in 1965/1968. He was British Telecom Lecturer-Reader in Telecommunications Systems at the University of Essex from 1969–1983. In 1983 he was appointed to the Alec Harley Reeves Chair of Information Systems Engineering at the University of Surrey and in 1990 became the first Director of the post-graduate centre for Satellite Engineering Research which houses some 100 researchers. In 1992 he was made a Fellow of the Royal Academy of Engineers in the U.K. and is a Fellow of IEE and a member of IEEE

The use of communication satellites as a possible way of offering broadband island interconnectivity appears to be a very attractive option, as it will enable the provision of an all-digital, transparent service to a number of ATM islands spanning a wide area, accommodating efficiently a variety of traffic demands. The CATALYST Project (RACE II/R2074) is an attempt to demonstrate the applicability and compatibility of satellite technology with the terrestrial BISDN. In this paper we present an overview of the project and focus on an initial study of the expected user performance through the CATALYST network. Our analysis is based upon mathematical and simulation models and describes the end-system to end-system transfer delay for given message lengths. The protocol profiles assume a mix of Novell NetWare and Network File System client/server architectures, which are supported by either the IEEE 802.3/Ethernet or fibre distributed data interface LANs, which are themselves linked via LAN/ATM/satellite interface units. Areas of further investigation, and the implication of our analysis on the actual network architecture, are discussed.

关键词： ASYNCHRONOUS TRANSFER MODE (ATM) BROAD-BAND ISDN SATELLITE COMMUNICATIONS

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White Paper: Naval Modeling and Simulation: Charting a Path to the User

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Naval Engineers Journal 1994年第4期106卷 209-211页

作者： Ricketts, J. Bruce THE AUTHOR:received his B.S. in naval architecture from the U.S. Naval Academy in J 983. After graduation Mr. Ricketts served eight years active duty service. His tours included Main Propulsion Assistant and Navigation Assistant aboard USS Caron (DD-970) Fire Control Officer and Chief Engineer aboard USS Ticonderoga (CG-47) and Weapons Officer and Combat Systems Officer aboard USS Philippine Sea (CG-58). He also performed additional duty at the David Taylor Model Basin in support of ship trials and future naval force analysis studies. He remains in the Naval Reserves where he is a Lieutenant Commander with NRL SCI & TECH 206. Mr. Ricketts currently works as a Research and Design Engineer for Analysis and Technology Inc. in support of computer analysis work being performed at the Carderock Division Naval Surface Warfare Center and is a member of ASNE SNAME and the Surface Navy Association. The views expressed herein are the personal opinions of the author and are not necessarily the official views of the Department of Defense or any military department thereof.

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HULL FORM DESIGN STUDIES FOR MONOHULL COMBATANTS

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NAVAL ENGINEERS JOURNAL 1992年第1期104卷 28-35页

作者： WILSON, WB performed this work as a consultant between 1988 and 1990. He is currently employed with Exxon Production Research Company in Houston Texas. He has worked as a program manager at the National Data Buoy Center for NAVSEC and MarAd as a naval architect taught naval architecture at the Marine Institute (formerly College of Fisheries) in St. John's Newfoundland and served as principal ocean engineer for Computer Sciences Corporation. Mr. Wilson is a graduate of Webb Institute and holds a master's degree from M.I.T. the latter via the Society of Naval Architects and Marine Engineers Wilber N. Landers scholarship. He is a registered professional engineer in the State of Mississippi and a member of SNAME and ASNE.

In support of the power-limited design approach for monohull combatants, a series of hull form studies was undertaken with the objective of developing simplified algorithms for use in early design stage ship synthesis numerical models. Resistance, propulsion, and seakeeping performance were analyzed. Algorithms were generated for bare hull resistance, varying L/B and displacement with optimum prismatic, for the effect of bow and stern bulbs, and for the drag of appendages. Propulsion formulae were derived for twin screw conventional propulsion for large diameter, controllable-reversible pitch propellers, and counter-rotating propellers. For the specific case of the stern bulb hull, a single screw propulsive coefficient was determined. In the seakeeping area, equations were formulated to estimate secondary hull form parameters (given basic hull characteristics), for use in Bales equation for R, an established seakeeping measure of merit. Then, R was related to Operability Indices (OI) in various sea states and, thus, the overall Seakeeping Performance Index (SPI) for a specific "combat" set of motion criteria. The effects of fins and rudder roll stabilization were added. The result is an easy-to-use technique for determining seakeeping operability in early stage design. For the power-limited design approach, substantial benefits in propulsion and seakeeping can be obtained from a high L/B, optimum C(p), seakeeping hull form. Incorporation of a bow and stern bulb and single screw propulsor can further significantly improve powering with minimal impact on operability in a seaway.

关键词： Warships

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CONCEPTIONAL CONSIDERATIONS FOR A TOWED VESSEL SAFETY KNOWLEDGE SYSTEM

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NAVAL ENGINEERS JOURNAL 1990年第1期102卷 68-73页

作者： LATORRE, R LESAGE, M Dr. Robert Latorre:received a BSE (Naval Architecture and Marine Engineering) in 1971 and an MSC in 1972 from the University of Michigan. After language training at Middle Language College he studied at the University of Tokyo's Department of Naval Architecture where he received a MSE in 1975 and a doctor of engineering degree in 1978. As an assistant professor at the University of Michigan (1979–1983) Dr. Latorre began his study of towed vessel safety and river tow design. This resulted in a multiyear project sponsored by the U.S. Dept. of Transportation on towed vessel safety. This work was continued after he joined the University of New Orleans where he designed a 38.3m × 4.6m × 0.03–2.1m variable depth towing tank for ship offshore and inland waterway hydrodynamic studies. His research interests include cavitation noise high speed craft design and computational fluid dynamics. During the 1986 academic year he taught as a professor at the University of Tokyo's Mechanical Engineering Department. During this time he began to interact with artificial intelligence robotics and computer vision researchers in Japan. Mauricio Le Sage:received his BSC (bachelor's degree) in 1986. He is a graduate student at the University of New Orleans. His research interests are in the areas of artificial intelligence computer graphics and expert systems. At the time of this paper a joint effort entitled “An Inductive Approach To Plagiarism Detection In Computer Programs” by Gerard K. Rambally and Mauricio Le Sage was pending publication.

A new model is introduced for avoiding accidents where a tugboat capsizes or trips when towing a larger vessel. The development of the Tripping Avoidance Knowledge Base (TAKB) is described in terms of the relevant descriptive parameters, the graphical representation of the knowledge base and its conversion to a decision matrix is also shown. As with any AI application in a new and promising area, there are many unclear points which this paper highlights. The paper closes with the authors' recommendations for future development and refinement of the knowledge base.

关键词： Tugboats

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COMPARATIVE STRUCTURAL LIFE ASSESSMENT OF PATROL BOAT BOTTOM PLATING

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 253-262页

作者： AYYUB, BM WHITE, GJ BELLWRIGHT, TF PURCELL, ES Bilal M. Ayyub:is currently an associate professor of civil engineering at the University of Maryland. He received his B.S. degree in civil engineering from the University of Kuwait in 1980. He completed both his M.S. (1981) and Ph.D. (1983) in civil engineering at the Georgia Institute of Technology. Dr. Ayyub has an extensive background in risk-based analysis. He is engaged in research work involving structural reliability marine structures and mathematical modeling using the theories of probability statistics and fuzzy sets. His research work has been sponsored by the National Transportation Safety Board National Science Foundation U.S. Coast Guard Department of Defense State of Maryland and University of Maryland. He is the author of more than 100 publications in national and international journals conference proceedings and reports. Dr. Ayyub was a recipient of the ASNE “Jimmie” Hamilton Award for 1985 the ASCE “Outstanding Research Oriented Paper” in theJournal of Water Resources Planning and Managementfor 1987 and Edmund Friedman Young Engineer Award for Professional Achievement from ASCE for 1989. Gregory J. White:is an associate professor of naval architecture at the U.S. Naval Academy. He received his B.S. degreein engineering mechanics from Vanderbilt University in 1975 an M.E. degree in naval architecture from the University of California Berkeley in 1981 and a Ph.D. in civil engineering (structures) from the University of Maryland in 1986. Dr. White served on active duty with the U.S. Navy from 1975 to 1979 as a junior officer in the engineering and operations departments of Pacific Fleet destroyers. Prior to coming to the Naval Academy he worked at Mare Island Naval Shipyard in the scientific code and in the R&D division of Exxon International company's Tanker Department. Dr. White is the author of more than two dozen technical articles and reports and is one of the U.S. representatives to the International Ship and Offshore Structures Congress (ISSC). His research interests lie in t

The estimation of an absolute life expectancy of a structure is a complex process and the results are expected to have relatively large levels of uncertainty. In this study, a comparative analysis is undertaken between two different patrol boats. This is an approach which results in a higher confidence level because certain factors common to both boats can be eliminated by assuming them to be at constant normal levels. The study is limited to the critical forward bottom plating and takes into account the differences in material, plate dimensions, operational profile, structure and loading of the two vessels. Two failure modes, plastic plate deformation and fatigue, are considered, and a novel approach to plate wastage is included. Many factors affect the structural life of a vessel. They include structural type, operational profile, structural details, loads, inspection and maintenance, design methods, safety factors, corrosion, and environmental factors. There are three types of uncertainty associated with these factors; namely, physical randomness, statistical uncertainties, and model uncertainties. The method described is designed to address these uncertainties. The objective of the paper is to present the reliability-based structural life assessment method, and then to use it to evaluate and compare the structural performance of the forward bottom plating of the two patrol boats. The results of the evaluation are presented in the form of graphs and tables in order to facilitate the comparative evaluation. The method is performed within a computer-based format which allows parametric sensitivity analysis of several variables including the size of the plating panel, thickness, operational profile and loading. The sensitivity of the structural life expectancy of the forward bottom plating to variations in these parameters is evaluated.

关键词： Naval Vessels

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THE QUANTIFICATION OF INTEROPERABILITY

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NAVAL ENGINEERS JOURNAL 1989年第3期101卷 251-256页

作者： MENSH, DR KITE, RS DARBY, PH Dennis Roy Mensh:is currently the task leader Interoperability Project with the MITRE Corporation in McLean Va. He received his B.S. and M.S. degrees in applied physics from Loyola College in Baltimore Md. and the American University in Washington D. C. He also has completed his course work towards his Ph.D. degree in computer science specializing in the fields of systems analysis and computer simulation. He has been employed by the Naval Surface Warfare Center White Oak Laboratory Silver Spring Md. for 20 years in the areas of weapon system analysis and the development of weapon systems simulations. Since 1978 he has been involved in the development of tools and methodologies that can be applied to the solution of shipboard combat system/battle force system architecture and engineering problems. Mr. Mensh is a member of ASNE MORS IEEE U.S. Naval Institute MAA and the Sigma Xi Research Society. Robert S. Kite:is a systems engineer with the Naval Warfare Systems Engineering Department of the MITRE Corporation in McLean Va. Mr. Kite received his B.S. degree in electronic engineering from The Johns Hopkins University in Baltimore Md. Mr. Kite retired from the Federal Communications Commission in 1979 and served a project manager of the J-12 Frequency Management Support Project for the Illinois Institute of Technology Research Institute in Annapolis Md. before joining MITRE. Mr. Kite is presently a member of ASNE the Military Operations Research Society and an associate member of Sigma Xi. Paul H. Darby:has worked in the field of interoperability both in the development of interoperability concepts and systems since joining the Department of the Navy in 1967. He was the Navy's program manager for the WestPacNorth TACS/ TADS and IFFN systems. He is currently head of the Interoperability Branch Warfare Systems Engineering Office Space and Naval Warfare Systems Command. He holds a B.S. from the U.S. Naval Academy.

JCS Pub 1 defines interoperability as “The ability of systems, units or forces to provide services to and accept services from other systems, units or forces and to use the services so exchanged to enable them to operate effectively together.” With JCS Pub 1 as a foundation, interoperability of systems, units or forces can be factored into a set of components that can quantify interoperability. These components are: media, languages, standards, requirements, environment, procedures, and human factors. The concept described in this paper uses these components as an analysis tool to enable specific detailed analyses of the interoperability of BFC3 systems, units, or forces for the purpose of uncovering and resolving interoperability issues and problems in the U.S. Navy, Joint, and Allied arenas. Also, as a management tool, the components can help determine potential interoperability characteristics of future U.S. Navy BFC3 systems for compliance with battle force systems architectures. The approach selected for the quantification of interoperability was the development of a set of measures of performance (MOPs) and measures of effectiveness (MOEs). The MOPs/MOEs were integrated with a candidate set of components, which were used to partition the totality of interoperability into measurable entities. The methodology described employs basic truth table theory in conjunction with logic equations to evaluate the interoperability components in terms of MOPs that were aggregated to MOEs. It is believed that this concept, although elementary and based on fundamental principles, represents an operationally significant approach rather than a theoretical approach to the quantification of interoperability. The vehicle used as a means to measure the MOPs and MOEs was the research Evaluation and Systems Analysis (RESA) computer modeling and simulation capability at the Naval Ocean Systems center (NOSC), San Diego, Calif. Data for the measurements were collected during a Tactical I

关键词： Military Engineering

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