Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems

In this paper we investigate the problem of Simultaneous Localization and Mapping (SLAM) for a multi robot system. Relaxing some assumptions that characterize related work we propose an application of Rao-Blackwellized Particle Filters (RBPF) for the purpose of cooperatively estimating SLAM posterior. We consider a realistic setup in which the robots start from unknown initial poses (relative locations are unknown too), and travel in the environment in order to build a shared representation of the latter. The robots are required to exchange a small amount of information only when a rendezvous event occurs and to measure relative poses during the meeting. As a consequence the approach also applies when using an unreliable wireless channel or short range communication technologies (bluetooth, RFId, etc.). Moreover it allows to take into account the uncertainty in relative pose measurements. The proposed technique, which constitutes a distributed solution to the multi robot SLAM problem, is further validated through simulations and experimental tests.     

Aerodynamic and aeroelastic analyses on the CAARC standard tall building model using numerical simulation

The simulation of the wind action over the CAARC (Commonwealth Advisory Aeronautical Council) standard tall building model is performed in the present work. Aerodynamic and aeroelastic analyses are reproduced numerically in order to demonstrate the applicability of CFD techniques in the field of wind engineering. A major topic in this paper is referred to one of the first attempts to simulate the aeroelastic behavior of a tall building employing complex CFD techniques. Numerical results obtained in this work are compared with numerical and wind tunnel measurements and some important concluding remarks about the present simulation are also reported.     

Correct behavior identification system in a Tagged World

This paper presents a system that is able to process the information provided by a Tagged World to identify user’s behavior and to produce alarms in dangerous situations. The system inputs are signals from sensors, which are used to recognize correct behavior (action sequences) by Inductive Learning, using Data Mining techniques. The inference engine is a reasoning device that is implemented by means of Regular Grammars. It permits us to control user’s behavior. As output, the system produces and sends alarms when a user action sequence is wrong, indicating the erroneous actions, forgotten future, and so on. To test our system, the Tagged World is supposed to be at a house, where we have used RFID technology to control the objects inside it.     

Contributions of Dichotomic View of plasticity to seamlessly embed accessibility and adaptivity support in user interfaces

Recent legal changes have increased the need for developing accessible user interfaces in computer-based systems. In this sense, previously existing user interfaces are intended to be modified and new user interfaces are intended to be designed taking accessibility guidelines into account. Typically, model-based approaches have been used when developing accessible user interfaces or redefining existing ones. But the use of static models leads to the development of not dynamically adaptable user interfaces. Dynamic adaptation in accessible user interfaces is important due to the fact that interaction difficulties on people with disabilities may change through use. In this paper, we present some contributions that can be obtained from the application of the Dichotomic View of plasticity in the personalization of user interfaces. With the double perspective defined in this approach, it is intended to go further from a mere adaptation to certain user stereotypes, offering also a dynamic support to real limitations or difficulties users can encounter during the use of the UI. This goal is achieved analyzing user logs by an inference engine that dynamically infers modifications in the user interface to adjust it to varying user needs. A case study is presented in order to show how the guidelines and software support defined in the Dichotomic View of plasticity can be applied to develop a component for a particular system aimed at performing dynamic user interface adaptations with accessibility purposes. This approach includes some innovations that make it different from conventional adaptable mechanisms applied to accessibility in some important aspects.     

Exploring educational immersive videogames: an empirical study with a 3D multimodal interaction prototype

ABSTRACT

Gestural interaction devices emerged and originated various studies on multimodal human–computer interaction to improve user experience (UX). However, there is a knowledge gap regarding the use of these devices to enhance learning. We present an exploratory study which analysed the UX with a multimodal immersive videogame prototype, based on a Portuguese historical/cultural episode. Evaluation tests took place in high school environments and public videogaming events. Two users would be present simultaneously in the same virtual reality (VR) environment: one as the helmsman aboard Vasco da Gama’s fifteenth-century Portuguese ship and the other as the mythical Adamastor stone giant at the Cape of Good Hope. The helmsman player wore a VR headset to explore the environment, whereas the giant player used body motion to control the giant, and observed results on a screen, with no headset. This allowed a preliminary characterisation of UX, identifying challenges and potential use of these devices in multi-user virtual learning contexts. We also discuss the combined use of such devices, towards future development of similar systems, and its implications on learning improvement through multimodal human–computer interaction.     

Automatic Schaeffer's gestures recognition system

Schaeffer's sign language consists of a reduced set of gestures designed to help children with autism or cognitive learning disabilities to develop adequate communication skills. Our automatic recognition system for Schaeffer's gesture language uses the information provided by an RGB‐D camera to capture body motion and recognize gestures using dynamic time warping combined with k‐nearest neighbors methods. The learning process is reinforced by the interaction with the proposed system that accelerates learning itself thus helping both children and educators. To demonstrate the validity of the system, a set of qualitative experiments with children were carried out. As a result, a system which is able to recognize a subset of 11 gestures of Schaeffer's sign language online was achieved.     

On improving the efficiency of tensor voting

This paper proposes two alternative formulations to reduce the high computational complexity of tensor voting, a robust perceptual grouping technique used to extract salient information from noisy data. The first scheme consists of numerical approximations of the votes, which have been derived from an in-depth analysis of the plate and ball voting processes. The second scheme simplifies the formulation while keeping the same perceptual meaning of the original tensor voting: The stick tensor voting and the stick component of the plate tensor voting must reinforce surfaceness, the plate components of both the plate and ball tensor voting must boost curveness, whereas junctionness must be strengthened by the ball component of the ball tensor voting. Two new parameters have been proposed for the second formulation in order to control the potentially conflictive influence of the stick component of the plate vote and the ball component of the ball vote. Results show that the proposed formulations can be used in applications where efficiency is an issue since they have a complexity of order O(1). Moreover, the second proposed formulation has been shown to be more appropriate than the original tensor voting for estimating saliencies by appropriately setting the two new parameters.     

Randomization can be a healer: consensus with dynamic omission failures

Wireless ad-hoc networks are being increasingly used in diverse contexts, ranging from casual meetings to disaster recovery operations. A promising approach is to model these networks as distributed systems prone to dynamic communication failures. This captures transitory disconnections in communication due to phenomena like interference and collisions, and permits an efficient use of the wireless broadcasting medium. This model, however, is bound by the impossibility result of Santoro and Widmayer, which states that, even with strong synchrony assumptions, there is no deterministic solution to any non-trivial form of agreement if n ? 1 or more messages can be lost per communication round in a system with n processes. In this paper we propose a novel way to circumvent this impossibility result by employing randomization. We present a consensus protocol that ensures safety in the presence of an unrestricted number of omission faults, and guarantees progress in rounds where such faults are bounded by ${f \,{\leq}\,\lceil \frac{n}{2} \rceil (n\,{-}\,k)\,{+}\,k\,{-}\,2}$ , where k is the number of processes required to decide, eventually assuring termination with probability 1.     

Visualization of level-of-detail meshes on the GPU

Extensive research has been carried out in multiresolution models for many decades. The tendency in recent years has been to harness the potential of GPUs to perform the level-of-detail extraction on graphics hardware. The aim of this work is to present a new level-of-detail scheme based on triangles which is both simple and efficient. In this approach, the extraction process updates vertices instead of indices, thus providing a perfect framework for adapting the algorithms to work completely on GPU shaders. One of the key aspects of our proposal is the need for just a single rendering pass in order to obtain the desired geometry. Moreover, coherence among the different approximations is maximized by means of a symmetric extraction algorithm, which performs the same process when refining and coarsening the mesh. Lastly, we also introduce different uses of the scheme to offer continuous and view-dependent resolution.     

Multi‐agent system for knowledge‐based event recognition and composition

This work presents a multi‐agent system for knowledge‐based high‐level event composition, which interprets activities, behaviour and situations semantically in a scenario with multi‐sensory monitoring. A perception agent (plurisensory agent and visual agent)‐based structure is presented. The agents process the sensor information and identify (agent decision system) significant changes in the monitored signals, which they send as simple events to the composition agent that searches for and identifies pre‐defined patterns as higher‐level semantic composed events. The structure has a methodology and a set of tools that facilitate its development and application to different fields without having to start from scratch. This creates an environment to develop knowledge‐based systems generally for event composition. The application task of our work is surveillance, and event composition/inference examples are shown which characterize an alarming situation in the scene and resolve identification and tracking problems of people in the scenario being monitored.