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Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira |
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Title |
Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives |
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2016 |
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Robotics and Autonomous Systems Journal |
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Vol. 83 |
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pp. 312-325 |
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Incremental scene reconstructionPoint cloudsAutonomous vehiclesPolygonal primitives |
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When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques. |
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cidis @ cidis @ |
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49 |
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Author |
Carlos Monsalve; Alain April and Alain Abran |
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Title |
Measuring software functional size from business process models |
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2011 |
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International Journal of Software Engineering and Knowledge Engineering |
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Vol. 21 |
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pp. 311–338 |
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ISO 14143-1 specifies that a functional size measurement (FSM) method must provide measurement procedures to quantify the functional user requirements (FURs) of software. Such quantitative information, functional size, is typically used, for instance, in software estimation. One of the international standards for FSM is the COSMIC FSM method — ISO 19761 — which was designed to be applied both to the business application (BA) software domain and to the real-time software domain. A recurrent problem in FSM is the availability and quality of the inputs required for measurement purposes; that is, well documented FURs. Business process (BP) models, as they are commonly used to gather requirements from the early stages of a project, could be a valuable source of information for FSM. In a previous article, the feasibility of such an approach for the BA domain was analyzed using the Qualigram BP modeling notation. This paper complements that work by: (1) analyzing the use of BPMN for FSM in the BA domain; (2) presenting notation-independent guidelines for the BA domain; and (3) analyzing the possibility of using BP models to perform FSM in the real-time domain. The measurement results obtained from BP models are compared with those of previous FSM case studies. |
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cidis @ cidis @ |
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19 |
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Mónica Villavicencio; Alain Abran |
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Title |
Facts and Perceptions Regarding Software Measurement in Education and in Practice: Preliminary Results |
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2011 |
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Journal of Software Engineering and Application |
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pp. 227-234 |
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Software measurement, education, software engineering |
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How is software measurement addressed in undergraduate and graduate programs in universities? Do organizations consider that the graduating students they hire have an adequate knowledge of software measurement? To answer these and related questions, a survey was administered to participants who attended the IWSM-MENSURA 2010 conference in Stuttgart, Germany. Forty-seven of the 69 conference participants (including software development practitioners, software measurement consultants, university professors, and graduate students) took part in the survey. The results indicate that software measurement topics are: A) covered mostly at the graduate level and not at the undergraduate level, and B) not mandatory. Graduate students and professors consider that, of the measurement topics covered in university curricula, specific topics, such as measures for the requirements phase, and measurement techniques and tools, receive more attention in the academic context. A common observation of the practitioners who participated in the survey was that students hired as new employees bring limited software measurement-related knowledge to their organizations. Discussion of the findings and directions for future research are presented. |
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2 CIDIS-FIEC, Escuela Superior Politécnica del Litoral (ESPOL), Guayaquil, Ecuador |
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cidis @ cidis @ |
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17 |
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Victor Santos; Angel D. Sappa; Miguel Oliveira |
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Title |
Special Issue on Autonomous Driving an Driver Assistance Systems |
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2017 |
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In Robotics and Autonomous Systems Journal |
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Vol. 91 |
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pp. 208-209 |
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gtsi @ user @ |
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65 |
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Dennis G. Romero, Anselmo Frizera N., & Teodiano Freire B. |
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Reconocimiento en-línea de acciones humanas basado en patrones de RWE aplicado en ventanas dinámicas de momentos invariantes. |
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2014 |
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Revista Iberoamericana de Automática e Informática industrial 00 (2014) |
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Vol. 11 |
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pp. 202-211 |
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cidis @ cidis @ |
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220 |
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Viñán-Ludeña, M.S., Roberto Jacome Galarza, Montoya, L.R., Leon, A.V., & Ramírez, C.C. |
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Smart university: an architecture proposal for information management using open data for research projects. |
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2020 |
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Advances in Intelligent Systems and Computing |
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1137 AISC, 2020 |
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172-178 |
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cidis @ cidis @ |
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188 |
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Michael Teutsch, Angel Sappa & Riad Hammoud |
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Title |
Computer Vision in the Infrared Spectrum: Challenges and ApproachesComputer Vision in the Infrared Spectrum: Challenges and Approaches |
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2021 |
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Synthesis Lectures on Computer Vision |
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Vol. 10 No. 2 |
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pp. 138 |
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cidis @ cidis @ |
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166 |
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Author |
Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira |
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Title |
Incremental Texture Mapping for Autonomous Driving |
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2016 |
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Robotics and Autonomous Systems Journal |
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Vol. 84 |
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pp. 113-128 |
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Scene reconstruction, Autonomous driving, Texture mapping |
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Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures. |
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cidis @ cidis @ |
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50 |
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Author |
Dennys Paillacho; F. Novillo; W. Agila.; V. Huilcapi |
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Title |
Impacto de las redes de comunicaciones en los Sistemas Robóticos de Control |
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2015 |
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Revista Politécnica |
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Vol. 35 |
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pp. 97-102 |
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Ethernet, CAN, Swichted Ethernet, Sistemas de control en red, Ciclo de comunicación, Control de ajuste de trayectoria |
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El análisis de incidencia que tienen las redes de comunicaciones sobre el comportamiento de los sistemas robóticos de control en red muestra grandes dificultades cuando se quieren hacer evaluaciones de tipo analítico. Por tal razón, en este trabajo un análisis que utiliza una aproximación basada en simulación es propuesto, de manera que el comportamiento temporal y espacial de un sistema robótico de control en red pueda ser evaluado. Para tal efecto, se propone un entorno de validación mediante el cual una red de comunicaciones permita distribuir mensajes de control entre el controlador principal y los controladores remotos ubicados en cada articulación angular del robot manipulador planar. Las interacciones entre los componentes del sistema han sido modeladas mediante un sistema de capas. Dicho modelo es llevado a un entorno de simulación con la finalidad de analizar el impacto de distintos parámetros de comunicaciones (i.e. tipo de red, tasa de datos y tamaño de datos) sobre el ciclo de comunicación y el error de seguimiento de trayectoria en un sistema robótico. |
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Escuela Politécnica Nacional |
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Español |
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Español |
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cidis @ cidis @ |
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33 |
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Author |
Ortiz J.; Londono J.; Novillo F.; Ampuno A.; Chávez M. |
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Title |
Determinación de Invariantes en Grandes Centros de Datos basados en Topología Fat-Tree |
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2015 |
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Revista Politécnica |
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Vol. 35 |
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pp. 91-96 |
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Invariantes de red, topologías, Fat-tree, simulación, emulación |
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Durante los últimos años ha existido un fuerte incremento en el acceso a internet, causando que los centros de datos ( DC) deban adaptar dinámicamente su infraestructura de red de cara a enfrentar posibles problemas de congestión, la cual no siempre se da de forma oportuna. Ante esto, nuevas topologías de red se han propuesto en los últimos años, como una forma de brindar mejores condiciones para el manejo de tráfico interno, sin embargo es común que para el estudio de estas mejoras, se necesite recrear el comportamiento de un verdadero DC en modelos de simulación/emulación. Por lo tanto se vuelve esencial validar dichos modelos, de cara a obtener resultados coherentes con la realidad. Esta validación es posible por medio de la identificación de ciertas propiedades que se deducen a partir de las variables y los parámetros que describen la red, y que se mantienen en las topologías de los DC para diversos escenarios y/o configuraciones. Estas propiedades, conocidas como invariantes, son una expresión del funcionamiento de la red en ambientes reales, como por ejemplo la ruta más larga entre dos nodos o el número de enlaces mínimo que deben fallar antes de una pérdida de conectividad en alguno de los nodos de la red. En el presente trabajo se realiza la identificación, formulación y comprobación de dos invariantes para la topología Fat-Tree, utilizando como software emulador a mininet. Las conclusiones muestran resultados concordantes entre lo analítico y lo práctico. |
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Escuela Politécnica Nacional |
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Español |
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cidis @ cidis @ |
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