36,712 research outputs found
Lunar Rover with Multiple Science Handling Capability
No full textA rover design study was undertaken for exploration of the Moon. Rovers that have been
launched in the past carried a suite of science payload either onboard its body or on the
robotic arm’s end. No rover has so far been launched and tasked with “carrying and
deploying” a payload on an extraterrestrial surface. This paper describes a lunar rover
designed for deploying payload as well as carrying a suite of instruments onboard for
conventional science tasks. The main consideration during the rover design process was the
usage of existing, in-house technology for development of some rover systems. The
manipulation subsystem design was derived from the technology of Light Weight Robot, a
dexterous arm originally developed for terrestrial applications. Recent efforts have led to
definition of a mission architecture for exploration of the Moon with such a rover. An outline
of its design, the manipulating arm technology and the design decisions that were made has
been presented
Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments
No full textPerception of the surrounding environment is an essential tool for intelligent navigation in any autonomous vehicle. In the context of Mars exploration, there is a strong motivation to enhance the perception of the rovers beyond geometry-based obstacle avoidance, so as to be able to predict potential interactions with the terrain. In this thesis we propose to remotely predict the amount of slip, which reflects the mobility of the vehicle on future terrain. The method is based on learning from experience and uses visual information from stereo imagery as input. We test the algorithm on several robot platforms and in different terrains. We also demonstrate its usefulness in an integrated system, onboard a Mars prototype rover in the JPL Mars Yard.
Another desirable capability for an autonomous robot is to be able to learn about its interactions with the environment in a fully automatic fashion. We propose an algorithm which uses the robot's sensors as supervision for vision-based learning of different terrain types. This algorithm can work with noisy and ambiguous signals provided from onboard sensors. To be able to cope with rich, high-dimensional visual representations we propose a novel, nonlinear dimensionality reduction technique which exploits automatic supervision. The method is the first to consider supervised nonlinear dimensionality reduction in a probabilistic framework using supervision which can be noisy or ambiguous.
Finally, we consider the problem of learning to recognize different terrains, which addresses the time constraints of an onboard autonomous system. We propose a method which automatically learns a variable-length feature representation depending on the complexity of the classification task. The proposed approach achieves a good trade-off between decrease in computational time and recognition performance.</p
Strategic alliances, organisational learning and new product development: the cases of Rover and Seat.
No full textThe importance of the automotive industry in the global economy is widely recognised. The sector has undergone enormous changes in order to prepare for the fierce competition of the 21st century. Among these transformations, the most relevant are those technologies developed for the rapid evolution of activities linked to new designs, new products, and new manufacturing processes and systems. Innovative Japanese carmakers have stimulated international performance comparisons in these activities. International technology alliances may be one way of gaining access to new competitive technologies. Risks and costs associated with new product development can be shared among the partners and more effective use can be made of manufacturing facilities and production capabilities. Sometimes, an alliance agreement may lead to the deployment of new capabilities. However, in spite of this potential, the literature presents the success rate of alliances at less than 50%. Our study considers two examples of companies that developed international joint ventures (IJVs): Rover with Honda, and Seat with Volkswagen. Since these two European peripheral companies, Rover and Seat, no longer remain as independent firms, we are interested in identifying the reasons leading to the success or failure of these IJVs as regards the New Product Development (NPD) process. In particular, in both cases the paper looks at the problems of the weaker partner becoming increasingly dependent on the other partner and the need for a well-defined strategy to benefit from IJVs.Alianzas estratégicas; desarrollo de productos; Rover; Seat;
Automatic goal allocation for a planetary rover with DSmT
No full textIn this chapter, we propose an approach for assigning aninterest level to the goals of a planetary rover. Assigning an interest level to goals, allows the rover to autonomously transform and reallocate the goals. The interest level is defined by data-fusing payload and navigation information. The fusion yields an 'interest map',that quantifies the level of interest of each area around the rover. In this way the planner can choose the most interesting scientific objectives to be analysed, with limited human intervention, and reallocates its goals autonomously. The Dezert-Smarandache Theory of Plausible and Paradoxical Reasoning was used for information fusion: this theory allows dealing with vague and conflicting data. In particular, it allows us to directly model the behaviour of the scientists that have to evaluate the relevance of a particular set of goals. This chaptershows an application of the proposed approach to the generation of a reliable interest map
Telecommunication and Network Engineering Education
No full textThe goal of this Special Issue on Telecommunications and Networking Engineering Education is to build on these developments and further advance the field. Our objective was to collect a set of papers aligned with the field that present effective educational practices developed through scholarly approaches and assessed using well-defined evaluation or research methods. The collection of papers should present contributions that educators worldwide will find interesting, useful, and adaptable in their own settings
Requisitos para avaliação de portais de governo eletrônico do poder judiciário a partir das resoluções e metas do CNJ
No full textDissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia e Gestão do Conhecimento, Florianópolis, 2015.A informação e o conhecimento têm se tornado fatores importantes dentro da sociedade que está cada dia mais complexa. Dessa forma, tanto governo, como cidadãos buscam se atualizar utilizando as Tecnologias da Informação e Comunicação (TIC?s) como um instrumento para o acesso à informação, à justiça e a outros bens tangíveis e intangíveis. Neste contexto surge o Governo Eletrônico que é uma forma de desburocratizar os serviços públicos realizados pelas instituições e órgãos governamentais utilizando a tecnologia. Porém, ainda há muitas lacunas na oferta de informações e serviços no que diz respeito à sua disponibilização em meio eletrônico, como em portais na Internet. A presente pesquisa tem por objetivo levantar requisitos para avaliação de portais de Governo Eletrônico no Poder Judiciário, baseando-se no fato de que muitas pesquisas nessa área estão voltadas somente aos Poderes Executivo e Legislativo. A definição de requisitos para o Poder Judiciário vem ao encontro de uma lacuna encontrada através de uma revisão sistemática da literatura. A modelagem dos requisitos se dá através da elaboração de Mapas Conceituais para a representação do conhecimento das Metas e Resoluções do Conselho Nacional Justiça (CNJ) condizentes como o foco desta pesquisa. Após o levantamento dos requisitos, que são interligados com os Estágios evolutivos de Governo Eletrônico, foi desenvolvido um instrumento de avaliação e a aplicação foi realizada nos portais dos Tribunais de Justiça Estaduais, que soma 26 estados mais o Distrito Federal. A modelagem dos requisitos e a posterior transformação em instrumento para avaliação se mostrou satisfatória perante o objetivo da pesquisa podendo-se concluir que mais de 30% dos portais analisados apresentava lacunas no estágio evolutivo Informacional de Governo Eletrônico, o mais primordial dos estágios.Abstract : The information and knowledge have become important factors in society that is becoming more complex each day. Thus, both government as citizens seek to update using Information and Communication Technologies (ICT) as a tool for access to information, justice and other tangible and intangible property. In this context the Electronic Government arises, which is a way to reduce the bureaucracy of public services carried out by institutions and government agencies using the technology. However, there are still many gaps in the provision of information and services with regard to its availability in electronic media, such as web portals. This research aims to raise the requirements for the evaluation of e-government portals in the judiciary, based on the fact that many studies in this area are directed only to the executive and legislative branches. Setting requirements for the Judiciary is in line with a gap found through a systematic literature review. The modeling of the requirements is through the development of concept maps for knowledge representation of the Goals and Resolutions of the National Council of Justice (CNJ) in agreement as the focus of this research. After the raising of the requirements, which are interconnected with the Electronic Government Evolutionary stages, an assessment tool was developed and it was used in the portals of the State Courts of Justice, who has 26 states plus the Federal District. The modeling of the requirements and the subsequent transformation into an instrument for evaluation proved satisfactory to the purpose of the research and can be concluded that about 30% of the analyzed portals was flawed in informational evolutionary stage of e-government, the most fundamental of the stages
Low-cost, multi-agent systems for planetary surface exploration
No full textThe use of off-the-shelf consumer electronics combined with top-down design methodologies have made small and inexpensive satellites, such as CubeSats, emerge as viable, low-cost and attractive space-based platforms that enable a range of new and exciting mission scenarios. In addition, to overcome some of the resource limitation issues encountered with these platforms, distributed architectures have emerged to enable complex tasks through the use of multiple low complexity units. The low-cost characteristics of such systems coupled with the distributed architecture allows for an increase in the size of the system beyond what would have been feasible with a monolithic system, hence widening the operational capabilities without significantly increasing the control complexity of the system. These ideas are not new for Earth orbiting devices, but excluding some distributed remote sensing architectures they are yet to be applied for the purpose of planetary exploration. Experience gained through large rovers demonstrates the value of in-situ exploration, which is however limited by the associated high-cost and risk. The loss of a rover can and has happened because of a number of possible failures: besides the hazards directly linked to the launch and journey to the target-body, hard landing and malfunctioning of parts are all threats to the success of the mission. To overcome these issues this paper introduces the concept of using off-the-shelf consumer electronics to deploy a low-cost multi-rover system for future planetary surface exploration. It is shown that such a system would significantly reduce the programmatic-risk of the mission (for example catastrophic failure of a single rover), while exploiting the inherent advantages of cooperative behaviour. These advantages are analysed with a particular emphasis put upon the guidance, navigation and control of such architectures using the method of artificial potential field. Laboratory tests on multi-agent robotic systems support the analysis. Principal features of the system are identified and the underlying advantages over a monolithic single-agent system highlighted
Modelagem de sistema de conhecimento para apoio a decisão sentencial na justiça estadual
No full textDissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia e Gestão do Conhecimento, Florianópolis, 2012O papel de manutenção do estado de direito exercido pelo poder judiciário, guardando a constituição e suas leis, julgando conflitos de interesses e mantendo a ordem social, deve ser prestado de forma a atender o cidadão e empresas de forma adequada. Um dos principais pontos a ser considerado é a luta contra a morosidade do judiciário, ou seja, alcançar celeridade razoável nos processos. O processo eletrônico diminuiu o tempo de trâmite judicial diminuindo tempo "morto", como por exemplo, montagem da pasta do processo, numeração de páginas e, principalmente com o trânsito físico das peças processuais. Observa-se que, para uma maior diminuição do tempo de trâmite dessas ações, é necessário uso adequado dos recursos do tribunal e aumento de desempenho no processo decisório sentencial, atividades intensivas de conhecimento. Esse trabalho tem como objetivo levantar o contexto organizacional, identificando as atividades intensivas de conhecimento e definir modelagem de Sistema de Conhecimento para auxiliar o processo decisório, no âmbito da justiça estadual. Foram levantadas aplicações de engenharia de conhecimento aplicadas ao judiciário e a partir desta revisão de literatura, gerar base para modelo de sistema de conhecimento. Para modelagem do sistema organizacional "Tribunal de Justiça do Estado do Amazonas" foi aplicado modelo CESM, de modo a estabelecer componentes, estrutura, ambiente e mecanismos deste, para entendimento de sua complexidade. A metodologia CommomKADS foi aplicada de forma a levantar o contexto organizacional, assim como os conceitos a serem concebidos para a resolução dos problemas e aproveitamento de oportunidade, bem como definições do projeto do artefato, ou seja, do Sistema de Conhecimento. A partir da metodologia foram estabelecidos modelo de organização, onde podem ser definidos os problemas e oportunidades, que podem ou não ser relacionadas a atividades intensivas de conhecimento, identificando, portanto, ativos de conhecimento aplicados. O Modelo de Tarefa descreve os processos do TJ/AM, identificando o uso do conhecimento e uma crítica com relação a sua aplicação correta. O modelo de agente oferece levantamento dos agentes, humanos ou de software. Com base nesses modelos é apresentado o contexto e definido o conceito do sistema de conhecimento, através dos modelos de conhecimento, que descreve a aplicação do mesmo nas tarefas, e os modelos de comunicação, que define a interação entre os agentes. A partir disto é definido o projeto do software, definindo um artefato. Desta forma, este trabalho contribui com a academia demonstrando quais atividades intensivas de conhecimento carecem de melhorias para melhorar o desempenho do judiciário, a aplicação de técnicas de engenharia de conhecimento para tal identificação, bem como apresenta uma sistemática de recuperação de documentos aplicada ao judiciário, de modo a melhorar o processo decisório e impactar positivamente com a diminuição temporal do trâmite judicial.Abstract : The duty of maintaining the rule of law applied by the judiciary board, watching the constitution and its laws, judging conflicts of interest and maintaining the social order, must be provided to meet the citizens and businesses needs properly. One of the main points to be considered is the fight against the slowness of the judiciary; in other words, achieve reasonable quickness in the processes. The electronic process reduced the judicial proceeding time, allowing to diminish "dead time", for example, assembly the process files, page numbering, and mainly with the physical transit of procedural parts. Notice that, to a greater reduction in length of these pending actions, it is necessary a correct use of resources of the court and increase the performance in decisionmaking judgment, intensive knowledge activities. This essay aims to raise the organizational context, identifying the intensive knowledge activities and define the Knowledge System pattern to support the decision-making process within the state courts. It has brought up engineering applications expertise applied to the judiciary and from this literature review, to generate a pattern to the knowledge system model. For the organizational system pattern "Court of justice of the State of Amazonas" the CESM model was applied in order to establish the components, structure, and mechanisms of this environment to understand its complexity. The CommomKADS methodology was applied to raise the organizational context as well as the concepts to be designed to solve problems and exploit opportunities, as well as the design definitions of the artifact, in other words, the Knowledge System. From this methodology, it was established organization models, where it can define problems and opportunities, which may or may not be related to knowledge intensive activities, so identifying applied knowledge assets. The task model describes the processes of the CJ/AM, identifying the use of knowledge and a review about its correct application. The instrument model provides a study about the human agents or software. Based on these models the context is presented and it is defined the concept of the knowledge system, through the knowledge systems models, which describes its application during the tasks, as well as the communication models that define the interaction between the agents. Thenceforth, it is defined the software design, outlining an artifact. Thus, this study contributes to the academy demonstrating which intensive knowledge activities need to be improved to enhance the performance of the judiciary, and the application of engineering knowledge techniques to such identification, even as presents systematic document retrieval applied to the judiciary to improve decision-making processes and impacting positively with the decrease in length of pending actions
Modelo de conhecimento para apoio ao juiz na fase processual trabalhista
No full textTese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico. Programa de Pós-Graduação em Engenharia e Gestão do ConhecimentoEsta tese tem como base a visão interdisciplinar das áreas da Engenharia do Conhecimento e do Direito. A tomada de decisão quanto ao direito processual requer muito esforço de um juiz trabalhista para a análise do processo em pauta, a qual é uma atividade dispendiosa e intensiva em conhecimento. Esta tese trata da modelagem do conhecimento empregado pelo juiz na análise e tomada de decisão do direito processual na sessão da audiência de instrução e julgamento do processo trabalhista, para apoio à atividade do juiz e reuso do conhecimento explicitado e organizado. O estudo da literatura mostrou uma lacuna quanto à maneira que o juiz analisa e decide. A legislação brasileira (CF, CLT, CPC) mostra em linhas gerais os poderes e os deveres atribuídos ao juiz para conduzir o processo e julgar, mas não considera a utilização de recursos tecnológicos que apoiem a atividade da análise, a qual continua sendo feita através de busca manual nos autos processuais e legislação e com leitura das informações pelo juiz, tanto no processo em papel quanto no processo eletrônico. O método de abordagem da pesquisa é o dedutivo apoiado pelos procedimentos de pesquisa na literatura, entrevista com o grupo de especialistas juízes, discussão e formalização da sua maneira de analisar com o uso de perguntas, explicitação do conhecimento tácito do juiz, visão da organização sistêmica com o uso do modelo CESM, aplicação da camada contexto da metodologia CommonKADS, proposição do modelo de conhecimento, elaboração e aplicação de questionário de avaliação do modelo com juízes do trabalho. Os principais resultados mostraram que o modelo de conhecimento é útil aos juízes, permite decisões mais céleres, mais corretas, mais padronizadas, permite o reuso de análises, apoia o juiz na análise e é o juiz quem está no comando da decisão
Robot Mobility Systems for Planetary Surface Exploration – State-of-the-Art and Future Outlook: A Literature Survey
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