Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"

One of the main challenges in robotics is to develop accurate localization methods that achieve acceptable runtime performances.One of the most common approaches is to use Global Navigation Satellite System such as GPS to localize robots.However, satellite signals are not full-time available in some kind of environments.The purpose of this dissertation is to develop a localization system for a ground robot.This robot is inserted in a project called RoMoVi and is intended to perform tasks like crop monitoring and harvesting in steep slope vineyards.This vineyards are localized in the Douro region which are characterized by the presence of high hills.Thus, the context of RoMoVi is not prosperous for the use of GPS-based localization systems.Therefore, the main goal of this work is to create a reliable localization system based on vision techniques and low cost sensors.To do so, a Visual Odometry system will be used.The concept of Visual Odometry is equivalent to wheel odometry but it has the advantage of not suffering from wheel slip which is present in these kind of environments due to the harsh terrain conditions.Here, motion is tracked computing the homogeneous transformation between camera frames, incrementally.However, this approach also presents some open issues.Most of the state of art methods, specially those who present a monocular camera system, don't perform good motion estimations in pure rotations.In some of them, motion even degenerates in these situations.Also, computing the motion scale is a difficult task that is widely investigated in this field.This work is intended to solve these issues.To do so, fisheye lens cameras will be used in order to achieve wide vision field of views

Localização para Smart Devices tirando partido de iBeacons

A massificacao dos dispositivos de localização por satélite popularizou este tema, que hoje em dia se encontra amplamente experimentado e testado. Por outro lado, a evolução dos dispositivos móveis traz novas tecnologias e funcionalidades. O Bluetooth v4.0 é uma delas. Os iBeacons contém esta tecnologia e com base nas vantagens que traz, como o baixo custo e o baixo consumo, foi desenvolvido um sistema de localização baseado no RSSI. Este sistema é composto por dispositivos móveis, como os telemóveis de última geraçao, com o Sistema Operativo Android e uma aplicação criada para o efeito da localizaçao e os iBeacons como pontos de referênciaThe massification of devices based on satellite localization popularized this theme, which is widely well-tried and tested nowadays. On the other hand, the evolution of mobile devices brings new technologies and features. Bluetooth v4.0 is one of them. The iBeacons contains this technology and based on the advantages it brings, such as low cost, low consumption, a tracking system was developed. This system will be composed of mobile devices such as latest generation mobile phones, with the Android operating system and an application created for the purpose of location and iBeacons as reference point

Will Art Generated by Artificial Intelligence Replace the Role of a Graphic Designer?

Artificial intelligence (AI) programs are beginning to generate art and design at levels once executed by trained graphic designers. Prior perceived threats have come from automation and the rise of computer-assisted graphic design, particularly Adobe Photoshop. Concerns associated with AI-based image generation programs and tools, such as DALL-E 2, Midjourney, and Stable Diffusion, present far more complex questions and rapidly changing conditions. By comparing three separate design activities, this thesis provides one perspective on the wider problems facing the graphic design field. Specifically, three creative processes for producing graphic design will be examined: (1) the designer working purely on their own, without AI assistance; (2) the designer working in close collaboration with an AI program; and (3) a non-designer who adheres to the AI as much as possible to create their work. Implications for graphic design production are discussed

Sustainability of Underground Hydro-Technologies: From Ancient to Modern Times and toward the Future

An underground aqueduct is usually a canal built in the subsurface to transfer water from a starting point to a distant location. Systems of underground aqueducts have been applied by ancient civilizations to manage different aspects of water supply. This research reviews underground aqueducts from the prehistoric period to modern times to assess the potential of achieving sustainable development of water distribution in the sectors of agriculture and urban management, and provides valuable insights into various types of ancient underground systems and tunnels. The review illustrates how these old structures are a testament of ancient people’s ability to manage water resources using sustainable tools such as aqueducts, where the functionality works by using, besides gravity, only “natural” engineering tools like inverted siphons. The study sheds new light on human’s capability to collect and use water in the past. In addition, it critically analyzes numerous examples of ancient/historic/pre-industrial underground water supply systems that appear to have remained sustainable up until recent times. The sustainability of several underground structures is examined, correlated to their sound construction and regular maintenance. Moreover, several lessons can be learned from the analysis of ancient hydraulic works, particularly now, as many periodically hydrologic crises have occurred recently, overwhelmingly impacted by climate change and/or over-exploitation and degradation of available water resources

Sustainability of underground hydro-technologies: from ancient to modern times and toward the future

An underground aqueduct is usually a canal built in the subsurface to transfer water froma starting point to a distant location. Systems of underground aqueducts have been applied byancient civilizations to manage different aspects of water supply. This research reviews undergroundaqueducts from the prehistoric period to modern times to assess the potential of achieving sustainabledevelopment of water distribution in the sectors of agriculture and urban management, and providesvaluable insights into various types of ancient underground systems and tunnels. The review illustrateshow these old structures are a testament of ancient people's ability to manage water resources usingsustainable tools such as aqueducts, where the functionality works by using, besides gravity, only"natural" engineering tools like inverted siphons. The study sheds new light on human's capabilityto collect and use water in the past. In addition, it critically analyzes numerous examples ofancient/historic/pre-industrial underground water supply systems that appear to have remainedsustainable up until recent times. The sustainability of several underground structures is examined,correlated to their sound construction and regular maintenance. Moreover, several lessons canbe learned from the analysis of ancient hydraulic works, particularly now, as many periodicallyhydrologic crises have occurred recently, overwhelmingly impacted by climate change and/orover-exploitation and degradation of available water resources