CRAS - Indexed Articles in Journals

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    Estimation Approach for AUV Navigation Using a Single Acoustic Beacon
    ( 2010) Nuno Cruz ; Bruno Miguel Ferreira ; Aníbal Matos
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    Monitorização ambiental do emissário submarino da Foz do Arelho usando um veículo submarino autónomo
    ( 2011) Sandra Carvalho ; Aníbal Matos ; Patrícia Ramos ; Nuno Cruz
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    Enhanced refractive index sensing characteristics of optical fibre long period grating coated with titanium dioxide thin films
    ( 2014) Luís Carlos Coelho ; Diana Viegas ; José Luís Santos ; José Almeida
    A new type of fibre-optic refractive index sensor based on a long period fibre grating (LPFG) coated with a titanium dioxide (TiO2) thin film was demonstrated. The wavelength shift of the attenuation bands of this LPFG sensor to changes in the refractive index of the external media from 1.30 to 1.64 RIU was investigated. In order to optimize the sensor the TiO2 thin film thickness deposited around the LPFGs was varied from 10 to 80 nm. It was found that the TiO2 thin film increases the wavelength sensitivity of the LPFG to changes in the surrounding refractive index for values lower and higher than the cladding refractive index. As opposed to the bare LPFG it was shown the possibility to monitor refractive indices lower and higher than cladding refractive index tailoring the TiO2 thickness. An average wavelength sensitivity of 5250 nm/RIU was achieved in the range 1.444 to 1.456 RIU for a TiO2 thickness of 50 nm. In the region between 1.46 and 1.48 RIU the average sensitivity of about 825 nm/RIU was measured for a 40 nm thick film.
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    Unsupervised flow-based motion analysis for an autonomous moving system
    ( 2014) Andry Maykol Pinto ; Miguel Velhote Correia ; António Paulo Moreira ; Paulo José Costa
    This article discusses the motion analysis based on dense optical flow fields and for a new generation of robotic moving systems with real-time constraints. It focuses on a surveillance scenario where an especially designed autonomous mobile robot uses a monocular camera for perceiving motion in the environment. The computational resources and the processing-time are two of the most critical aspects in robotics and therefore, two non-parametric techniques are proposed, namely, the Hybrid Hierarchical Optical Flow Segmentation and the Hybrid Density-Based Optical Flow Segmentation. Both methods are able to extract the moving objects by performing two consecutive operations: refining and collecting. During the refining phase, the flow field is decomposed in a set of clusters and based on descriptive motion properties. These properties are used in the collecting stage by a hierarchical or density-based scheme to merge the set of clusters that represent different motion models. In addition, a model selection method is introduced. This novel method analyzes the flow field and estimates the number of distinct moving objects using a Bayesian formulation. The research evaluates the performance achieved by the methods in a realistic surveillance situation. The experiments conducted proved that the proposed methods extract reliable motion information in real-time and without using specialized computers. Moreover, the resulting segmentation is less computationally demanding compared to other recent methods and therefore, they are suitable for most of the robotic or surveillance applications.
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    Sensing Structure Based on Surface Plasmon Resonance in Chemically Etched Single Mode Optical Fibres
    ( 2014) Luís Carlos Coelho ; José Almeida ; Santos,JL ; Ferreira,RAS ; Andre,PS ; Diana Viegas
    Many optical systems based on surface plasmon resonance (SPR) have been developed for working as refractometers, chemical sensors or even for measuring the thickness of metal and dielectric thin films. Sensors based on SPR present very high sensitivity to refractive index (RI) variations when compared to the traditional RI sensors. However, these kinds of systems are usually large, expensive and therefore cannot be used for remote sensing. Optical fibre sensors based on SPR are usually implemented using multimode optical fibres cope with the requirements for remote sensing. In this section a new type of SPR sensor based in a single mode fibre (SMF) is proposed. A section of the SMF was chemically etched by emersion in a 48 % hydrofluoric acid solution, resulting in a tapering effect, with the cladding removing while the core is kept intact. Simulation results are in good agreement with the experimental spectral resonance dip attained around 1550 nm. Sensitivities of 3800 and 5100 nm/RIU were achieved for the reflection and for the transmission modes, respectively, for RI in the 1.33 to 1.37 range.
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    A Flow-based Motion Perception Technique for an Autonomous Robot System
    ( 2014) Andry Maykol Pinto ; António Paulo Moreira ; Miguel Velhote Correia ; Paulo José Costa
    Visual motion perception from a moving observer is the most often encountered case in real life situations. It is a complex and challenging problem, although, it can promote the arising of new applications. This article presents an innovative and autonomous robotic system designed for active surveillance and a dense optical flow technique. Several optical flow techniques have been proposed for motion perception however, most of them are too computationally demanding for autonomous mobile systems. The proposed HybridTree method is able to identify the intrinsic nature of the motion by performing two consecutive operations: expectation and sensing. Descriptive properties of the image are retrieved using a tree-based scheme and during the expectation phase. In the sensing operation, the properties of image regions are used by a hybrid and hierarchical optical flow structure to estimate the flow field. The experiments prove that the proposed method extracts reliable visual motion information in a short period of time and is more suitable for applications that do not have specialized computer devices. Therefore, the HybridTree differs from other techniques since it introduces a new perspective for the motion perception computation: high level information about the image sequence is integrated into the estimation of the optical flow. In addition, it meets most of the robotic or surveillance demands and the resulting flow field is less computationally demanding comparatively to other state-of-the-art methods.
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    Permanent Ocean Presence With Autonomous Sailing Robots Wind-Propelled Vessels Foster Long Missions With Precise Maneuvering
    ( 2014) José Carlos Alves ; Nuno Cruz
    The demand for accurate ocean sampling is continuously growing to provide a better understanding of the complex sea environment. Current economic and social activity is strongly dictated by knowledge built on data collected from thousands of sensors around the world, ranging from space-borne remote sensors to underwater devices transported by profilers. Autonomous sailboats have great potential to gather long-term data to understand multiple aspects of the ocean environment. In terms of oceanography, they can be used to study many processes occurring at the surface, like the energy exchange between the ocean and the atmosphere and how it affects the climate. They can also be a valuable tool to understand the dynamics of episodic events that evolve on a timescale of weeks or months, like harmful algae blooms or the evolution of pollution plumes. Even though these incidents can already be tracked by satellite, the ability to capture in-situ data for the full cycle can provide valuable data about the phenomena.
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    Analysis of Phase Interrogated SPR Fiber Optic Sensors With Bimetallic Layers
    ( 2014) Hamed Moayyed ; Leite,IT ; Luís Carlos Coelho ; José Luís Santos ; Diana Viegas
    An effective analytical model combining geometrical optics with the transfer-matrix theory for stratified optical media is applied to investigate the sensing properties of tapered optical fiber surface plasmon resonance (SPR) sensors incorporating Ag-Au bimetallic layers, particularly in the context of phase interrogation. The performance of the sensing structures is studied as a function of the tapering parameters and thickness of the metallic layers. It is shown that the Ag-Au bimetallic combination is capable of improving the resolution and tuning working region of SPR fiber-optic sensors and that by tapering the sensing structures enhanced sensitivity can be achieved when phase interrogation is considered.
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    Enhancing dynamic videos for surveillance and robotic applications: The robust bilateral and temporal filter
    ( 2014) Andry Maykol Pinto ; Paulo José Costa ; Miguel Velhote Correia ; António Paulo Moreira
    Over the last few decades, surveillance applications have been an extremely useful tool to prevent dangerous situations and to identify abnormal activities. Although, the majority of surveillance videos are often subjected to different noises that corrupt structured patterns and fine edges. This makes the image processing methods even more difficult, for instance, object detection, motion segmentation, tracking, identification and recognition of humans. This paper proposes a novel filtering technique named robust bilateral and temporal (RBLT), which resorts to a spatial and temporal evolution of sequences to conduct the filtering process while preserving relevant image information. A pixel value is estimated using a robust combination of spatial characteristics of the pixel's neighborhood and its own temporal evolution. Thus, robust statics concepts and temporal correlation between consecutive images are incorporated together which results in a reliable and configurable filter formulation that makes it possible to reconstruct highly dynamic and degraded image sequences. The filtering is evaluated using qualitative judgments and several assessment metrics, for different Gaussian and Salt Pepper noise conditions. Extensive experiments considering videos obtained by stationary and non-stationary cameras prove that the proposed technique achieves a good perceptual quality of filtering sequences corrupted with a strong noise component.
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    The European Project Semester at ISEP: the challenge of educating global engineers
    ( 2015) Benedita Malheiro ; Manuel Santos Silva ; Ribeiro,MC ; Guedes,P ; Ferreira,P
    Current engineering education challenges require approaches that promote scientific, technical, design and complementary skills while fostering autonomy, innovation and responsibility. The European Project Semester (EPS) at Instituto Superior de Engenharia do Porto (ISEP) (EPS@ISEP) is a one semester project-based learning programme (30 European Credit Transfer Units (ECTU)) for engineering students from diverse scientific backgrounds and nationalities that intends to address these goals. The students, organised in multidisciplinary and multicultural teams, are challenged to solve real multidisciplinary problems during one semester. The EPS package, although on project development (20 ECTU), includes a series of complementary seminars aimed at fostering soft, project-related and engineering transversal skills (10 ECTU). Hence, the students enrolled in this programme improve their transversal skills and learn, together and with the team of supervisors, subjects distinct from their core training. This paper presents the structure, implementation and results of the EPS@ISEP that was created in 2011 to apply the best engineering practices and promote internationalisation and engineering education innovation at ISEP. © 2014 SEFI.
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    A Localization Method Based on Map-Matching and Particle Swarm Optimization
    ( 2015) Andry Maykol Pinto ; António Paulo Moreira ; Paulo José Costa
    This paper presents a novel localization method for small mobile robots. The proposed technique is especially designed for the Robot@Factory, a new robotic competition which is started in Lisbon in 2011. The real-time localization technique resorts to low-cost infra-red sensors, a map-matching method and an Extended Kalman Filter (EKF) to create a pose tracking system that performs well. The sensor information is continuously updated in time and space according to the expected motion of the robot. Then, the information is incorporated into the map-matching optimization in order to increase the amount of sensor information that is available at each moment. In addition, the Particle Swarm Optimization (PSO) relocates the robot when the map-matching error is high, meaning that the map-matching is unreliable and the robot gets lost. The experiments presented in this paper prove the ability and accuracy of the presented technique to locate small mobile robots for this competition. Extensive results show that the proposed method presents an interesting localization capability for robots equipped with a limited amount of sensors, but also less reliable sensors.
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    Fiber optic hydrogen sensor based on an etched Bragg grating coated with palladium
    ( 2015) Luís Carlos Coelho ; José Almeida ; José Luís Santos ; Diana Viegas
    A study of a sensor for hydrogen (H-2) detection based on fiber Bragg gratings coated with palladium (Pd) with self-temperature compensation is presented. The cladding around the gratings was reduced down to 50 mu m diameter by a chemical etching process. One of the gratings was left uncoated, and the other was coated with 150 nm of Pd. It was observed that palladium hydride has unstable behavior in environments with high humidity level. A simple solution to overcome this problem based on a Teflon tape is presented. The sensing device studied was able to respond to H-2 concentrations in the range 0%-1% v/v at room temperature and atmospheric pressure, achieving sensitivities larger than 20 pm/% v/v. Considering H-2 concentrations in nitrogen up to 1%, the performance of the sensing head was characterized for different thicknesses of Pd coating ranging from 50 to 200 nm. (C) 2015 Optical Society of America
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    Detection of Extra Virgin Olive Oil Thermal Deterioration Using a Long Period Fibre Grating Sensor Coated with Titanium Dioxide
    ( 2015) Luís Carlos Coelho ; Diana Viegas ; Santos,JL ; José Almeida
    A new sensing system for the detection of thermal deterioration of extra virgin olive oil based on long period fibre grating is reported. It is demonstrated the feasibility of long period fibre grating sensor for the analysis of high refractive index edible oils. The detection principle is the wavelength dependence of the attenuation bands of a TiO2-coated long period fibre grating on the changes in the refractive index of the medium surrounding the cladding surface of the optical fibre. The quality of the sensor was tested by measuring the wavelength shift of the attenuation bands in response to thermal deterioration of an edible oil (extra virgin olive oil) with refractive index higher than the fibre cladding. Absorption spectroscopy has allowed the effects of thermal deterioration to be detected, for example, in the decreasing of the absorption band at 677 nm, attributed to chlorophyll A. A detection limit of about 5 min at 180 A degrees C and of about 2 min at 225 A degrees C was observed for the sensing system. The proposed sensing system could lead to the realisation of a biochemical sensor for the food industry. The change in refractive index of extra virgin olive oil as a function of heating time and temperature was systematically measured for the first time.
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    Formation control driven by cooperative object tracking
    ( 2015) Lima,PU ; Ahmad,A ; André Dias ; Conceicao,AGS ; António Paulo Moreira ; Eduardo Silva ; Almeida,L ; Oliveira,L ; Nascimento,TP
    In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.
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    Developing an aquaponics system to learn sustainability and social compromise skills
    ( 2015) Duarte,AJ ; Benedita Malheiro ; Ribeiro,C ; Manuel Santos Silva ; Ferreira,P ; Guedes,P
    The goal of this project, one of the proposals of the EPS@ISEP Spring 2014, was to develop an Aquaponics System. Over recent years Aquaponics systems have received increased attention since they contribute to reduce the strain on resources within 1st and 3rd world countries. Aquaponics is the combination of Hydroponics and Aquaculture, mimicking a natural environment in order to successfully apply and enhance the understanding of natural cycles within an indoor process. Using this knowledge of natural cycles, it was possible to create a system with capabilities similar to that of a natural environment with the support of electronics, enhancing the overall efficiency of the system. The multinational team involved in the development of this system was composed of five students from five countries and fields of study. This paper describes their solution, including the overall design, the technology involved and the benefits it can bring to the current market. The team was able to design and render the Computer Aided Design (CAD) drawings of the prototype, assemble all components, successfully test the electronics and comply with the budget. Furthermore, the designed solution was supported by a product sustainability study and included a specific marketing plan. Last but not least, the students enrolled in this project obtained new multidisciplinary knowledge and increased their team work and cross-cultural communication skills.
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    Accurate detection of spread-spectrum modulated signals in reverberant underwater environments
    ( 2015) Aparicio,J ; Jimenez,A ; Alvarez,FJ ; Urena,J ; De Marziani,C ; de Diego,D ; Nuno Cruz ; Campos,H
    In those positioning systems based on the detection of acoustic signals, an accurate detection of the arrival times is crucial for a correct estimation of the distance between nodes, and therefore, for the precise estimation of the node that wants to be located. In order to obtain this arrival time more accurately, acoustic signals can be coded using pseudorandom noise, but these coded signals are still affected by underwater channel phenomena. In this work, the detection of spread-spectrum modulated signals is analyzed in underwater environments that are highly affected by multipath and reverberation. A spread-spectrum signal, which consist of a modulated Kasami code, has been emitted through two different pools, reaching a receiver where it has been captured after following several line-of-sight and non-line-of-sight paths. Then, a correlation process has been performed offline to provide information about the arrival times (times-of-flight) that form the multipath structure. These times-of-flight are compared with those provided by an underwater acoustic propagation model, in order to test the performance of this model and its capacity to predict the outcome of signal detection in underwater environments with a strong multipath and reverberation component. That way, the validated propagation model could be later used in future studies to predict the detection of spread-spectrum signals and the performance of systems that use them in these adverse environments.
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    Homing a robot with range-only measurements under unknown drifts
    ( 2015) Bruno Miguel Ferreira ; Aníbal Matos ; Nuno Cruz ; António Paulo Moreira
    The problem of homing a mobile robot to a given reference location under unknown relative and absolute positions is addressed in this paper. This problem is easy to solve when all the positions and kinematic variables are known or are observable, but remains a challenge when only range is measured. Its complexity further increases when variable and unknown drifts are added to the motion, which is typical for marine vehicles. Based on the range measurements, it is possible to drive the robot arbitrarily close to the reference. This paper presents a complete solution and demonstrates the validity of the approach based on the Lyapunov theory. The use of models, which are often affected by uncertainties and/or unmodeled terms, is intended to be minimal and only some constraints are imposed on the speed of the robot. We derive a control law that makes the robot converge asymptotically to the reference and prove its stability theoretically. Nevertheless, as it is well known, practical limitations on the actuation can weaken some properties of convergence, namely when the system dynamics require increasing actuation along the approach trajectory. We will demonstrate that the robot reaches a positively invariant set around the reference whose upper bound is determined. Finally, we conclude our work by presenting simulation and experimental data and by demonstrating the validity and the robustness of the method.
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    A MULTI-AGENT BROKERAGE PLATFORM FOR MEDIA CONTENT RECOMMENDATION
    ( 2015) Bruno Miguel Veloso ; Benedita Malheiro ; Carlos Burguillo,JC
    Near real time media content personalisation is nowadays a major challenge involving media content sources, distributors and viewers. This paper describes an approach to seamless recommendation, negotiation and transaction of personalised media content. It adopts an integrated view of the problem by proposing, on the business-to-business (B2B) side, a brokerage platform to negotiate the media items on behalf of the media content distributors and sources, providing viewers, on the business-to-consumer (B2C) side, with a personalised electronic programme guide (EPG) containing the set of recommended items after negotiation. In this setup, when a viewer connects, the distributor looks up and invites sources to negotiate the contents of the viewer personal EPG. The proposed multi-agent brokerage platform is structured in four layers, modelling the registration, service agreement, partner lookup, invitation as well as item recommendation, negotiation and transaction stages of the B2B processes. The recommendation service is a rule-based switch hybrid filter, including six collaborative and two content-based filters. The rule-based system selects, at runtime, the filter(s) to apply as well as the final set of recommendations to present. The filter selection is based on the data available, ranging from the history of items watched to the ratings and/or tags assigned to the items by the viewer. Additionally, this module implements (i) a novel item stereotype to represent newly arrived items, (ii) a standard user stereotype for new users, (iii) a novel passive user tag cloud stereotype for socially passive users, and (iv) a new content-based filter named the collinearity and proximity similarity (CPS). At the end of the paper, we present off-line results and a case study describing how the recommendation service works. The proposed system provides, to our knowledge, an excellent holistic solution to the problem of recommending multimedia contents.
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    Probabilistic Egomotion for Stereo Visual Odometry
    ( 2015) Hugo Miguel Silva ; Bernardino,A ; Eduardo Silva
    We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle's angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method's instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.