Nelson de Moura Martins Gomes

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Bolsa de Pós-doutorado FAPESP processo 25/00620-6Suporte de Realidade Aumentada para intervenções manuais em infraestrutura de FPSO envolve a sobreposição precisa de imagens auxiliares no campo de visão do operador, devidamente alinhadas ao equipamento existente e compensando os movimentos da cabeça. O objetivo é desenvolver um capacete vestível com sensores capazes de rastrear sua posição em 6 graus de liberdade (6DOF) com latência, taxa de transferência e precisão adequadas para suporte de Realidade Aumentada.Este projeto parte do pressuposto de que o ambiente não sofrerá modificações específicas para suportar esta operação, e que as comunicações entre o capacete e sistemas externos são pouco confiáveis.Assim, o projeto visa rastrear a posição do capacete utilizando sensores embutidos, como câmeras de vídeo e sensores inerciais.

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The decision-making for automated vehicles (AVs) deals with the guidance of the vehicle in response to the behavior of all other road users that are locally placed in its surroundings. It is predicted that in the majority of the cases the AV should be able to achieve its objectives and maintain itself out of any dangerous situations, but due to the highly dynamic nature of the road environment this cannot be guaranteed all the time. Thus, in some rare situations it may find itself in a situation where all its actions will cause a collision. In such cases its decisional criteria need to be completely changed, from one related to the performance to another that minimizes the negative effects that the action to be executed might have. To adapt a decision-making component with ethical deliberation capabilities to the considered use-case the MDP that implements the deliberation under normal situations is completely modified, so as to account for the uncertainties related to the pedestrian behavior. For the ethical deliberation an estimate of the collision severity for the road users involved is used, together with an ethically-inspired deliberation method that is different from the one used in normal situations. Then, considering two possible scenarios, one static where the AV finds itself directly in a dilemma situation and another where it needs to accomplish a mission, the proposed hybrid decision-making process is tested.One can easily observe the hypothetical behavior of the AV in ethical situations from the simulations that were done, allowing not only someone to understand why the AV took a specific decision but also to reason about which deliberation procedure would be more accepted or closer to a common-sense mitigation in dangerous situations. Also, the importance of the prediction of such situations so as to enable the AV to avoid closer configurations also becomes clear in the results obtained with the scenarios tested. As a final observation, one can

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PhD subject: Governing autonomous vehicle behavior. Study of the decision-making for automated vehicles under normal driving situations in urban areas and in dilemma situations, where an accident is certain.

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PhD subject: Governing autonomous vehicle behavior. Study of the decision-making for automated vehicles under normal driving situations in urban areas and in dilemma situations, where an accident is certain. Part of the AVEthics ANR JCJC project.

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Development of a eucalyptus selection machine capable of detecting the size, diameter and number of leafs from an image of the seedling. Implementation of all other software components on C++ and with a multi-threading approach: IHM, license tool, communication with logic controller. Project financed by FAPESP (Fundação de apoio a pesquisa do Estado de São Paulo).

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Development of a tracking application to detect and follow automotive parts in the assembly line; evaluation of the final vision component (partially implemented by GeorgiaTech University), implementation of the camera calibration and calibration of the robotic arm used (UR5) to follow the tracking part. Construction and evaluation of the application in a real prototype;