C3 - Artigos Publicados em Periódicos
URI permanente para esta coleçãohttps://rihomolog.furg.br/handle/1/486
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- ItemHand skill programming: using fuzzy sets to program topobo kinectis memory devices(IEEE, 2011) Santin, Mateus Madail; Botelho, Silvia Silva da Costa; Dimuro, Graçaliz Pereira; Rodrigues, Celso Luiz LopesUnlike other sciences such as Mathematics and Biology, for example, computation is presented to students at a later learning stage. Even though they are able to establish sets of procedures, it is alleged that in their first years of elementary school, children do not yet present cognitive structures capable of representing symbolically, through existing computer programming languages, the algorithms associated with such procedures. Within this context, there has appeared recently a robotic kit named Topobo, capable of capturing manual movements carried out in their blocks. This article presents th first result associated with the use of Topobo as a language of manual programming. The study will lead to a decompiler able to furnish, with its control flux and its structure of adequate data, the program which results from the manual manipulation of the system by the child. In a more precise form, this work anticipates the utilization of fuzzy concepts for the representation of knowledge generated from the registers of manual programming of the Topobo elements. The utilization of the fuzzy formalism will allow a qualitative and diffuse description of the knowledge, in a manner very similar to the “intuitive” and “little precise” way which human beings handle information (mainly children),leading to an adequate structure and representation of the data which are being manipulated. In addition to the formalism adopted, the article presents a 3D interface which will be helpful in the performance of the experiments. In possession of the decompiled programs, we intend to evaluate the structure of data and control fluxes which will emerge in order to identify the mental structures utilized in the construction of algorithms through manual programming by children.
- ItemSistema de predição de alarmes em processos industriais por classificação não-supervisionada(2009) Braunstein, Sérgio Halpern; Lerm, André Arthur Perleberg; Lerm, Rafael Andréas Raffi; Werhli, Adriano Velasque; Botelho, Silvia Silva da Costa; Lippe, Edwaldo OliveiraUm sistema de predição de alarmes com a finalidade de auxiliar a implantação de uma política de manutenção preditiva industrial e de constituir-se em uma ferramenta gerencial de apoio à tomada de decisão é proposto neste trabalho. O sistema adquire leituras de diversos sensores instalados na planta, extrai suas características e avalia a saúde do equipamento. O diagnóstico e prognóstico implica a classificação das condições de operação da planta. Técnicas de árvores de regressão e classificação não-supervisionada são utilizadas neste artigo. Uma amostra das medições de 73 variáveis feitas por sensores instalados em uma usina hidrelétrica foi utilizada para testar e validar a proposta. As medições foram amostradas em um período de 15 meses.
- ItemA visual system for distributed mosaics using an auvs fleet(2009) Botelho, Silvia Silva da Costa; Drews Junior, Paulo Lilles Jorge; Galeriano, Marcelo de Paiva; Gonçalves, Eder Mateus NunesThe use of teams of Autonomous Underwater Vehicles for visual inspection tasks is a promising robotic field. The images captured by different robots can be also to aid in the localization/navigation of the fleet. In a previous work, a distributed localization system was presented based on the use of Augmented States Kalman Filter through the visual maps obtained by the fleet. In this context, this paper details a system for on-line construction of visual maps and its use to aid the localization and navigation of the robots. Different aspects related to the capture, treatment and construction of mosaics by fleets of robots are presented. The developed system can be executed on-line on different robotic platforms. The paper is concluded with a series of tests and analyses aiming at to system validation.
- ItemArtefatos educacionais com memória cinética Topobo: uma abordagem para o currículo dos anos iniciais(2012) Santin, Mateus Madail; Silva, João Alberto da; Botelho, Silvia Silva da CostaEste artigo apresenta o lúdico como uma forma de trabalhar conteúdos na escola, mostrando de forma introdutória a importância desta atividade. Após é apresentado o kit Topobo, uma ferramenta de uso pedagógico desenvolvido no laboratório de mídias do MIT (Massachusetts Institute of Technology) o qual é comercializado em caixas com diferentes quantidades de peças, onde o professor pode explorar conteúdos de forma lúdica. A partir disto, é mostrada uma metodologia para auxiliar o professor a trabalhar com robótica educacional em sala de aula, e por fim conclui com algumas percepções do uso de um kit Topobo comercial de 100 peças.
- ItemUsing augmented state Kalman filter to localize multi autonomous underwater vehicles(2007) Botelho, Silvia Silva da Costa; Neves, Renato Silva das; Taddei, Lorenzo; Oliveira, Vinícius Menezes deThe present paper describes a system for the construction of visual maps ("mosaics") and motion estimation for a set of AUVs (Autonomous Underwater Vehicles). Robots are equipped with down-looking camera which is used to estimate their motion with respect to the seafloor and built an online mosaic. As the mosaic increases in size, a systematic bias is introduced in its alignment, resulting in an erroneous output. The theoretical concepts associated with the use of an Augmented State Kalman Filter (ASKF) were applied to optimally estimate both visual map and the fleet position.
- ItemDesenvolvimento de uma plataforma multidisciplinar para autoria de jogos 3D interativos e educativos(2009) Pinto, Ivete Martins; Botelho, Silvia Silva da Costa; Souza, Rodrigo Chaves de; Goulart, Thiago Sonego; Colares, Rafael Gonçalves; Campos, Raphael LeiteEste artigo apresenta SABERLÂNDIA, uma plataforma computacional para o desenvolvimento de jogos eletrônicos educacionais que, a partir de contextos e conteúdos fornecidos, propicia a geração automática de jogos de ação. As principais características de tal proposta são: i. o desenvolvimento de um sistema de autoria que estimule a construção do conhecimento, de forma lúdica, propiciando aos diferentes sujeitos (professores, aprendizes), nas diferentes áreas, atuarem como autor no desenvolvimento destes jogos; ii. a utilização de recursos multimídias como motivação, fazendo uso de recursos de Realidade Virtual e Robótica. Apresentam-se as funcionalidades e a arquitetura da plataforma, assim como as ferramentas que a compõem.
- ItemA visual system for distributed mosaics using AUV fleets(2009) Drews Junior, Paulo Lilles Jorge; Botelho, Silvia Silva da CostaThe article explores the self-localization and mapping for fleets of multi-autonomous underwater vehicles using visual-based systems. It evaluates the generated mosaics captured by cameras of vehicles. It discusses the mosaic construction concept. It demonstrates that these mosaics can be used as reference maps for the vehicles navigation system.
- ItemAutomatic control of a ROV for inspection of underwater structures using a low-cost sensing(2015) Kuhn, Vinicius Nizolli; Drews Junior, Paulo Lilles Jorge; Gomes, Sebastião Cícero Pinheiro; Cunha, Mauro André Barbosa; Botelho, Silvia Silva da CostaThis work deals with the implementation of a position and orientation automatic control of an underwater vehicle to perform inspection tasks of submerged structures without using the knowledge of a previous dynamic model in the control law and, mainly, by using a low-cost embedded minimal instrumentation. This instrumentation does not employ expensive components to determine the position and orientation of the vehicle, like a central inertial. In this way, a computer vision system is used as a sensory source in order to assist the control. It was developed an algorithm to image processing and a system for integrating the different sensors. Experimental results using the proposed sensing show that the closed-loop control of the vehicle was suitable for the conduction of inspections.
- ItemAn immersive and collaborative visualization system for digital manufacturing(2010) Duarte Filho, Nelson Lopes; Botelho, Silvia Silva da Costa; Carvalho, Jônata Tyska; Marcos, Pedro de Botelho; Maffei, Renan de Queiroz; Oliveira, Rodrigo Remor; Oliveira, Rodrigo Ruas; Hax, Vinícius AlvesIn this paper, an approach on immersive multiprojection visualization of manufacturing processes is proposed. It admits scenarios with dynamic components and allows virtual reality collaborative visualization among geographically distributed users through multi-CAVE devices. A set of modules for modeling, converting, visualizing, and interacting are also proposed. The method can be applied to CAD projects, models, and simulations used in industry. The ideas discussed are then validated through the study of a real case related to the shipbuilding and offshore industries.
- ItemAppearance-based odometry and mapping with feature descriptors for underwater robots(2009) Botelho, Silvia Silva da Costa; Drews Junior, Paulo Lilles Jorge; Figueiredo, Mônica da Silva; Rocha, Celina Haffele da; Oliveira, Gabriel LeivasThe use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of non-standard locomotion robotic methods. In this context, this paper proposes an approach to visual odometry and mapping of underwater vehicles. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer vision for visual odometry, extracting landmarks in underwater image sequences and ii) the development of topological maps for localization and navigation. The integration of such systems will allow visual odometry, localization and mapping of the environment. A set of tests with real robots was accomplished, regarding online and performance issues. The results reveals an accuracy and robust approach to several underwater conditions, as illumination and noise, leading to a promissory and original visual odometry and mapping technique.
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