Robot orientation with histograms on MSL

One of the most important tasks on robot soccer is localization. The team robots should self-localize on the 18 x 12 meters soccer field. Since a few years ago the soccer field has increased and the corner posts were removed and that increased the localization task complexity. One important aspect to take care for a proper localization is to find out the robot orientation. This paper proposes a new technique to calculate the robot orientation. The proposed method consists of using a histogram of white-green transitions (to detect the lines on the field) to know the robot orientation. This technique does not take much computational time and proves to be very reliable.(undefined

Minho MSL: a new generation of soccer robots

This paper describes the new generation of Minho Team robots since the last RoboCup participation. Robots have been rebuilt from top to bottom, keeping the essence of the previous generation, but lighter, faster, improved sight, new algorithms and new technology. The demands of RoboCup MSL are very high and a new breed of robots was necessary to cope with it. This paper describes a bottom-up view of the robot, the hardware used, the vision head, the high level software and some conclusions

From rapid prototyping to building in real scale: methodologies for upscaling additive manufacturing in architecture

The manufacture of architectural components mediated by computer-controlled Additive Manufacturing (AM) technologies has highlighted several positive aspects of their application, namely by enabling customised design solutions and high-performance complex geometries. Taking into account the experience of the Advanced Ceramics R&D Lab, in the production of small- / medium- scale prototypes, this paper explores the main variables and constraints of the production of real-scale architectural components. This information points to a set of procedures that should be avoided and others that should be privileged, allowing to anticipate how AM can contribute for the achievement of high performance components on a large scale.This work has the financial support of the Project Lab2PT – Landscapes, Heritage and Territory laboratory – AUR/04509 and FCT through national founds and when applicable of the FEDER cofinancing, in the aim of the new partnership agreement PT2020 and COMPETE2020 – POCI 01 0145FEDER 007528

Dimensionamento de estruturas de transição

A transfer structure is a structure that alters the load path of the gravity loads, shifting the line of thrust laterally to a different vertical alignment. Transfer structures are introduced in buildings that feature discontinuities in vertical elements and where a direct load path to the foundations is not possible. This paper presents an overview of existing transfer systems and provides guidance on their design and construction. Extensive research on buildings with transfer structures was carried out with the aim of developing a rational typology of these structures. The results can be broken down into five main types: BEAM, TRUSS, INCLINED STRUT, PLATE, and ARC H & CABLE. In addition, transfer structures’ design is often outside the scope of normal code guidance and may require a degree of engineering judgment. This paper also highlights the key aspects that determine the structural design of transfer structures, as well as typical construction methods.Uma estrutura de transição (ET) é uma estrutura que altera o caminho-de-carga das forças gravíticas. ETs são inseridas em edifícios que exibem descontinuidades em pilares ou paredes resistentes, e onde um caminho-de-carga direto para as fundações não é possível. Estas estruturas constituem elementos condicionantes do edifício onde se inserem, e o seu impacto no custo e no tempo de construção pode ser significativo. Este documento apresenta uma perspetiva geral das estruturas de transição existentes em edifícios e reúne princípios orientadores para o seu dimensionamento e construção. Foi realizada uma extensa pesquisa sobre edifícios com ETs em todo o mundo com o objetivo de desenvolver uma tipificação adequada destas estruturas. O resultado consiste em cinco tipos principais: Viga, Treliça, Escora inclinada, Placa e Arco & Cabo.info:eu-repo/semantics/publishedVersio

Predicting yarn breaks in textile fabrics: a machine learning approach

In this paper, we propose a Machine Learning (ML) approach to predict faults that may occur during the production of fabrics and that often cause production downtime delays. We worked with a textile company that produces fabrics under the Industry 4.0 concept. In particular, we deal with a client customization requisite that impacts on production planning and scheduling, where there is a crucial need of limiting machine stoppage. Thus, the prediction of machine stops enables the manufacturer to react to such situation. If a specific loom is expected to have more breaks, several measures can be taken: slower loom speed, special attention by the operator, change in the used yarn, stronger sizing recipe, etc. The goal is to model three regression tasks related with the number of weft breaks, warp breaks, and yarn bursts. To reduce the modeling effort, we adopt several Automated Machine Learning (AutoML) tools (H2O, AutoGluon, AutoKeras), allowing us to compare distinct ML approaches: using a single (one model per task) and Multi-Target Regression (MTR); and using the direct output target or a logarithm transformed one. Several experiments were held by considering Internet of Things (IoT) historical data from a Portuguese textile company. Overall, the best results for the three tasks were obtained by the single-target approach with the H2O tool using logarithm transformed data, achieving an R2 of 0.73 for weft breaks. Furthermore, a Sensitivity Analysis eXplainable Artificial Intelligence (SA XAI) approach was executed over the selected H2OAutoML model, showing its potential value to extract useful explanatory knowledge for the analyzed textile domain.This work is supported by the European Structural and Investment Funds in the FEDER component, through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) [Project PPC4.0 - Production Planning Control 4.0; Funding Reference: POCI-01-0247-FEDER-069803]

Matching contours in images using curvature information

The work here described consists in searching for the optimum global matching between contours of two objects represented in images, which are sampled by equal or different number of points. Thus, to determine the optimum global matching between the points of two contours, it is used curvature information, that is totally invariant to rigid transformations. For the case of contours sampled by different numbers of points, two approaches are proposed to exclude, from the matching process, the additional points. In the last section of this paper, a method for the determination of the rigid transformation associated to two contours that is based in the same solution considered in our matching process is also described

Alinhamento computacional de imagens de pedobarografia estática e dinâmica

O alinhamento de imagens, isto é, o processo de transformação de uma imagem de modo que as estruturas representadas nessa imagem passem a estar ajustadas às estruturas homólogas representadas numa segunda imagem, é uma área de grande investigação em Visão Computacional. Na área médica, por exemplo, o alinhamento de imagens tem aplicações no auxílio ao diagnóstico, na fusão de informação contida em imagens obtidas por diferentes modalidades de imagem, monitorização temporal de órgãos e patologias, em cirurgia assistida por computador, etc.Na área da pedobarografia, o alinhamento de imagens é uma ferramenta relevante para clínicos e investigadores. Pois, após o adequado alinhamento computacional das imagens estáticas ou dinâmicas, tarefas como análise da distribuição da pressão plantar, comparação de imagens de um dado caso clínico com as imagens de casos previamente estudados, identificação automática de regiões, entre outras, ficam facilitadas e podem ser realizadas de forma automática.Nesta apresentação serão introduzidas três metodologias computacionais automáticas de alinhamento de imagens de pedobarografia estática (alinhamento de um par de imagens) e uma metodologia de alinhamento de sequências de imagens de pedobarografia dinâmica (associadas a passadas completa). Nos ensaios realizados envolvendo imagens de diferentes pessoas e obtidas por distintos equipamentos de pedobarografia, as referidas metodologias, descritas a seguir de forma resumida, revelaram elevada precisão e robustez, além de extrema rapidez de execução

Guimifiu : uma aplicação para controle social sobre postos de combustíveis

Trabalho de Conclusão de Curso (graduação)—Universidade de Brasília, Faculdade UnB Gama, 2017.Dentre os exportadores de petróleo, o Brasil é um dos países cujo preço da gasolina é mais elevado. Em 2015, foram revelados esquemas de cartel dos postos de combustíveis, mas, mesmo após a descoberta e tentativa de boicote pela população, os preços se mantiveram altos. O Guimifiu é um aplicativo multiplataforma implementado com o objetivo de incentivar a população brasileira a protestar contra os preços abusivos de combustível no país. Programado em Ionic 2 com uma API em Ruby on Rails, o aplicativo está sendo desenvolvido utilizando métodos e conceitos da Engenharia de Software, como Scrum e entrega contínua. As atualizações do Ionic 2 impediram que o trabalho alcançasse os resultados desejados. Apesar disso, a versão final do aplicativo está funcional e pronta para entrar em produção além de ser evoluída, principalmente pelo fato da API e o módulo de administração estarem bem desenvolvidos.Among the oil-exporter countries, Brazil has one of the world’s most expensive gas prices. In 2015, the existance of gas station cartels was uncovered, but even after the discovery and attempted boycott by the population, prices remained high. Guimifiu is a crossplatform application implemented with the aim of encouraging the Brazilian population to protest against abusive fuel prices in the country. Programmed in Ionic 2 with an API in Ruby on Rails, the application is being developed using methods and concepts of software engineering, such as Scrum and continuous delivery. Ionic 2’s updates have prevented the work from achieving desired results. Nonetheless, the final version of the application is functional and ready to go into production and be evolved, mainly because the API and the administration module are well developed

Polyelectrolyte based sensors as key to achieve quantitative electronic tongues: Detection of triclosan on aqueous environmental matrices

This work was supported by the Project “Development of Nanostructures for Detection of Triclosan Traces on Aquatic Environments” (PTDC/FIS-NAN/0909/2014). The Center for Environmental and Sustainability Research CENSE and Centre of Physics and Technological Research CEFITEC,which is financed bynational funds from FCT/MEC (UID/AMB/04085/2019 and UID/FIS/00068/2019). This research was anchored by the RESOLUTION LAB, an infrastructure at NOVA School of Science and Technology. J. Pereira-da-Silva and P. Zagalo acknowledge their fellowships PD/BD/142768/2018, PD/BD/142767/2018 from RABBIT Doctoral Program, respectively. C. Magro acknowledges to Fundação para a Ciência e a Tecnologia for her PhD fellowship (SFRH/BD/114674/2016).Triclosan (TCS) is a bacteriostatic used in household items that promotes antimicrobial resistance and endocrine disruption effects both to humans and biota, raising health concerns. In this sense, new devices for its continuous monitoring in complex matrices are needed. In this work, sensors, based on polyelectrolyte layer-by-layer (LbL) films prepared onto gold interdigitated electrodes (IDE), were studied. An electronic tongue array, composed of (polyethyleneimine (PEI)/polysodium 4-styrenesulfonate (PSS))5 and (poly(allylamine hydrochloride/graphene oxide)5 LbL films together with gold IDE without coating were used to detect TCS concentrations (10−15–10−5 M). Electrical impedance spectroscopy was used as means of transduction and the obtained data was analyzed by principal component analysis (PCA). The electronic tongue was tested in deionized water, mineral water and wastewater matrices showing its ability to (1) distinguish between TCS doped and non-doped solutions and (2) sort out the TCS range of concentrations. Regarding film stability, strong polyelectrolytes, as (PEI/PSS)n, presented more firmness and no significant desorption when immersed in wastewater. Finally, the PCA data of gold IDE and (PEI/PSS)5 sensors, for the mineral water and wastewater matrices, respectively, showed the ability to distinguish both matrices. A sensitivity value of 0.19 ± 0.02 per decade to TCS concentration and a resolution of 0.13 pM were found through the PCA second principal component.publishersversionpublishe

3DCP for complex sites: robotic fabrication of custom-fit slabs in irregular pontoons

This paper presents a case study on the use of 3DCP to qualify rocky pontoons with spaces for recreational use—namely sitting areas, circulation trails and fishing activities—and biodiversity protection—providing habitat and refuge for native marine species—with a focus on the challenges and opportunities associated with 3DCP prefabrication for such a complex topographical context. We first discuss the benefits and disadvantages of 3DCP over traditional methods for retrofitting strategies with the support of state-of-the-art literature review. We then present a methodology for an experimental case study, organized in three stages: (1) a photogrammetric survey and digital reconstruction of the site´s rocky landscape, (2) the creation of a tool to generate and optimize custom-fit slabs based on their location on site, intended use and role in the protection of the natural ecosystem, and (3) the robotic fabrication of these slabs through 3DCP. Finally, we present our key findings, revealing that 3DCP offers a viable and more efficient alternative for appropriating and revitalizing sites with a disorderly and highly complex topography.This work is co-funded by the European Regional Development Fund (ERDF) through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) of the Portugal 2020 Program [Project No. 47108, “SIFA”; Funding Reference: POCI-01-0247-FEDER-047108. It is co-financed by the Project Lab2PT—Landscapes, Heritage and Territory laboratory—UIDB/04509/2020 through FCT—Fundação para a Ciência e a Tecnologia and by FCT Doctoral Grant with the reference SFRH/BD/145832/2019