Neural network in computer vision for RoboCup middle size league

Robot World Cup Initiative (RoboCup) is a worldwide competition proposed to advance research in robotics and artificial intelligence. It has a league called RoboCup soccer devoted for soccer robots. Robotic soccer is a challenge because robots are mobile, fully autonomous, multi-agents, and they play on a dynamic environment. Moreover, robots must recognize the game entities, which is a crucial task during a game. A camera is usually used as an input system to recognize ball, opponents, soccer field, and so on. These elements may be recognized applying some tools of computational intelligence, for example an artificial neural network. This paper describes the application of an artificial neural network on middle size robotic football league, where a multilayer perceptron neural network is trained with the backpropagation algorithm, to classify elements on the image. The results show that an artificial neural network successfully classified the entities. They were recognized even when similar color entities were present on the image.info:eu-repo/semantics/publishedVersio

Vision and distance integrated sensor (Kinect) for an autonomous robot

This work presents an application of the Microsoft Kinect camera for an autonomous mobile robot. In order to drive autonomously one main issue is the ability to recognize signalling panels positioned overhead. The Kinect camera can be applied in this task due to its double integrated sensor, namely vision and distance. The vision sensor is used to perceive the signalling panel, while the distance sensor is applied as a segmentation filter, by eliminating pixels by their depth in the object’s background. The approach adopted to perceive the symbol from the signalling panel consists in: a) applying the depth image filter from the Kinect camera; b) applying Morphological Operators to segment the image; c) a classification is carried out with an Artificial Neural Network and a simple Multilayer Perceptron network that can correctly classify the image. This work explores the Kinect camera depth sensor and hence this filter avoids heavy computational algorithms to search for the correct location of the signalling panels. It simplifies the next tasks of image segmentation and classification. A mobile autonomous robot using this camera was used to recognize the signalling panels on a competition track of the Portuguese Robotics Open

Jazz e o conceito de improvisação – estratégias de ensino/aprendizagem para iniciantes

Este relatório de estágio foi elaborado para dar cumprimento aos requisitos da Unidade Curricular de Prática de Ensino Supervisionada do Mestrado em Ensino da Música da ESMAE. A primeira parte é constituída pela caracterização da instituição que me acolheu como estagiário, a Art’J– Escola Profissional de Artes Performativas da Jobra durante o ano letivo 2018/2019. A segunda parte apresenta a descrição da minha prática educativa relativa às aulas observadas, lecionadas e supervisionadas, referentes aos alunos do curso profissional de instrumentista de jazz e de combo. Na terceira e última parte, consta o projeto de intervenção que pretende avaliar o uso de práticas pedagógicas mais intuitivas para o ensino/aprendizagem da improvisação e da linguagem do jazz para alunos que nunca tiveram contacto com esta linguagem, dando prioridade à transmissão oral. Os resultados obtidos neste estudo, apontam para a pertinência do uso de diferentes estratégias de ensino/aprendizagem da improvisação para iniciantes.This internship report was elaborated for the specification compliance of Supervised Teaching Practice of the Master's degree in the Teaching of Music from Escola Superior de Música e Artes do Espetáculo. The first chapter is related to the characterization of the institution that received me as a probationer, the Art’J– Escola Profissional de Artes Performativas da Jobra during the school year 2018/2019. The second chapter as the description of my educational practice, whether in observing classes, teaching or being supervised, relatively to professional jazz instrumentalist course students and combo. The third and last chapter, includes the intervention project that pretends evaluate the use intuitive educational practices to the improvisation education and jazz language of students that never had contact with this language, specially the oral transmission. The results obtained in this research support the adequacy using different teaching/learning strategies of jazz beginners

Controlling Assistive Machines in Paralysis Using Brain Waves and Other Biosignals

The extent to which humans can interact with machines significantly enhanced through inclusion of speech, gestures, and eye movements. However, these communication channels depend on a functional motor system. As many people suffer from severe damage of the motor system resulting in paralysis and inability to communicate, the development of brain-machine interfaces (BMI) that translate electric or metabolic brain activity into control signals of external devices promises to overcome this dependence. People with complete paralysis can learn to use their brain waves to control prosthetic devices or exoskeletons. However, information transfer rates of currently available noninvasive BMI systems are still very limited and do not allow versatile control and interaction with assistive machines. Thus, using brain waves in combination with other biosignals might significantly enhance the ability of people with a compromised motor system to interact with assistive machines. Here, we give an overview of the current state of assistive, noninvasive BMI research and propose to integrate brain waves and other biosignals for improved control and applicability of assistive machines in paralysis. Beside introducing an example of such a system, potential future developments are being discussed

Cleft Lip And Palate: Series Of Unusual Clinical Cases.

Cleft lip and/or palate (CL/P) represent the most common congenital anomalies of the face, corresponding to approximately 65% of all malformations of the craniofacial region. to describe unusual clinical cases of non-syndromic CL/P (CL/PNS), diagnosed in a reference service in Minas Gerais, Brazil, and correlate these alterations with possible risk factors. we carried out a retrospective study, between the years of 1992 and the 1st half of 2009, from medical records. Among the 778 cases of CL/PNS diagnosed in the period of 17 years, 5 (0.64%) were unusual CL/PNS, and all patients were male. It was found that among the 5 patients, 2 had incomplete right cleft lip with incomplete cleft palate, 2 were affected by left incomplete cleft lip and incomplete cleft palate, and 1 had a cleft lip and palate associated with complete right cleft palate. Risk factors such as consanguinity, maternal smoking and alcohol consumption, medication usage during pregnancy, history of abortion and/or stillbirths and maternal diseases were not associated with unusual CL/PNS. This study described 5 unusual cases of CL/PNS in a Brazilian population; no associations with the risk factors analyzed were seen. It also confirmed the unusualness of the prevalence of such alterations.76649-5

Livro Verde dos Montados

O Livro Verde dos Montados apresenta diversos objectivos que se interligam: Em primeiro lugar, o Livro Verde pretende reunir e sistematizar, de uma forma simples e acessível ao público, o conhecimento produzido em Portugal pelos investigadores e técnicos de várias instituições de investigação ou de gestão que estudam o Montado. Assume-se como uma oportunidade de caracterizar o sistema tendo em conta as suas várias dimensões, identificando as principais ameaças à sua preservação assim como os caminhos que podem ajudar à sua sustentabilidade. Não sendo um documento científico, baseia-se no conhecimento científico e pretende constituir a base para uma plataforma de organização, tanto dos investigadores como do conhecimento científico actualmente produzido em Portugal sobre o Montado.Em segundo lugar, o Livro Verde deverá contribuir para um entendimento partilhado do que é o Montado, por parte do público, de técnicos e de especialistas, conduzindo a uma classificação mais clara do que pode ser considerado Montado e de quais os tipos distintos de Montados que podem ser identificados. Em terceiro lugar, o Livro Verde estabelece as bases para uma estratégia coordenada de disponibilização de informação sobre o sistema Montado, visando o seu conhecimento, apreciação e valorização pela sociedade portuguesa no seu conjunto. Deste modo, o Livro Verde poderá constituir um instrumento congregador e inspirador para a realização de acções de sensibilização e informação sobre o Montado. Em quarto lugar, pretende-se que o Livro Verde contribua para um maior reconhecimento e valorização do Montado como sistema, a nível do desenho das políticas nacionais por parte dos vários sectores envolvidos.Finalmente, o Livro Verde constituirá um documento parceiro do Livro Verde das Dehesas, produzido em Espanha em 2010, de forma a reforçar o reconhecimento e a devida valorização destes sistemas silvo-pastoris no desenho das estratégias e políticas relevantes pelas instituições europeias. Em suma, os autores pretendem que o Livro Verde dos Montados se afirme como o primeiro passo para uma efectiva definição e implementação de uma estratégia nacional para os Montados