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- UAV Proposal for Real-Time Online Gaming to Reduce StressPublication . Safadinho, David; Ramos, João; Ribeiro, Roberto; Pereira, António Manuel de JesusSports practice is a common way people find to relieve the high stress levels. Sometimes it is impossible to move around and look for a place to do that, but the new technologies allow the practice of sports and recreational activities afar through the internet, in a comfortable way. The technological progress is responsible for the virtualization of many tasks. Nowadays, online multiplayer games try to be real, but they only focus on scenery virtualizations. As we know there already exists various UAV competitions, but sometimes, due to the many rules imposed by the aerial space, it isn't possible and safe to train when and where we want. To promote a better quality of life, it is being developed a platform with a totally distributed architecture based on the Internet of Drones concept, as it is shown in this article, that will allow the control of real unmanned aerial vehicles at anytime, from anywhere. The solution is composed by a high-scalability and a low-cost modeling system that will permit UAV users to practice their control skills in a comfortable and safe way. This interaction with a real vehicle will relieve the high stress levels caused by daily life.
- Communication Protocol for Unmanned Vehicles : An Architectural ApproachPublication . Ramos, João; Ribeiro, Roberto; Safadinho, David; Barroso, João; Pereira, AntonioThe great potential of Unmanned Vehicles (UV) for services is supported by the evolution of drones and their flexible ability to help us performing dangerous, boring and difficult tasks. The common communication solutions e.g., radio, consider a pilot and a vehicle in the same location. Besides, the alternatives based on Ground Control Stations (GCS) are difficult to configure, which makes it difficult for a common user and a developer to use and/or implement new services for drones. This work proposes a solution with a new messaging protocol to overcome the previous problems, allowing controlling a UV in a remote location after a simple configuration. The implementation of this approach is based on a cloud platform, responsible for UV and user management, and on TCP/IP WebSockets for the user to control remotely located vehicles, anytime and anywhere. This research starts with the analysis of the prior work regarding UV communication technologies and the available GCS. Minding the identified problems, we designed an architecture that represents a cloud platform and multiple users and UVs in different networks. To prototype this architecture, we developed the user interface, the platform and the UV control module. The functional assessment considers a generic simplified and controlled scenario, focusing on the real-time control and video stream. The results confirmed the possibility to control a UV in a different location, in real-time, with an average response time of 25ms. This work provides valuable insights regarding the communication in the fields of anytime and anywhere device control and vehicle-based services.
- UAV Landing Using Computer Vision Techniques for Human DetectionPublication . Safadinho, David; Ramos, João; Ribeiro, Roberto; Filipe, Vítor; Barroso, João; Pereira, AntónioThe capability of drones to perform autonomous missions has led retail companies to use them for deliveries, saving time and human resources. In these services, the delivery depends on the Global Positioning System (GPS) to define an approximate landing point. However, the landscape can interfere with the satellite signal (e.g., tall buildings), reducing the accuracy of this approach. Changes in the environment can also invalidate the security of a previously defined landing site (e.g., irregular terrain, swimming pool). Therefore, the main goal of this work is to improve the process of goods delivery using drones, focusing on the detection of the potential receiver. We developed a solution that has been improved along its iterative assessment composed of five test scenarios. The built prototype complements the GPS through Computer Vision (CV) algorithms, based on Convolutional Neural Networks (CNN), running in a Raspberry Pi 3 with a Pi NoIR Camera (i.e., No InfraRed-without infrared filter). The experiments were performed with the models Single Shot Detector (SSD) MobileNet-V2, and SSDLite-MobileNet-V2. The best results were obtained in the afternoon, with the SSDLite architecture, for distances and heights between 2.5-10 m, with recalls from 59%-76%. The results confirm that a low computing power and cost-effective system can perform aerial human detection, estimating the landing position without an additional visual marker.
- Service Oriented Platform for Drones CompetitionPublication . Ramos, João; Safadinho, David; Ribeiro, Roberto; Pereira, António Manuel de JesusDrones are facing a huge success. They are available almost anywhere, either online or at a near shop, not only for enthusiasts but also for professionals of many areas, such as agriculture, construction, multimedia and military missions. In the same way, online platforms are growing fast. Many applications that we were used to be installed and ran locally in our devices are now deployed in the internet, with the benefits like high availability, high scalability and high compatibility with almost any laptop, computer, smartphone or tablet. Thus, the high level of interest and utility of drones and the crescent demand of service-oriented platforms surged up to be a great fusion of concepts. Nowadays, training and competition requires users to have their own aircraft(s) and to move, usually, to an arena where they can play with each other. Having it in consideration, in this work it's proposed a platform that combines real-time online gaming and drones' training and competition, in which users from around the world can socialize and play together. This paper runs through an overview of the concept, presenting the specifications and the requirements that the platform must meet to accomplish the desired objective. The proposed platform provides access to anyone, anytime, anywhere and with any device. It opens the possibility for users to communicate with each other and to control aircrafts with real-time video transmission, only achievable due to the distributed architecture designed, that minimizes the existence of single points of failure.
- UAV for Everyone : An Intuitive Control Alternative for Drone Racing CompetitionsPublication . Ribeiro, Roberto; Ramos, João; Safadinho, David; Pereira, António Manuel de JesusAs many technological innovations, the Unmanned Aerial Vehicles (UAV) were created for military purposes. However, these aircrafts are now a reality accessible for common civilians and are used to explore new possibilities in areas like cinema, photography or surveillance. The technology easily reached other application fields and turned into a new sports category as well, supported by many drone racing competitions that happen around the world. There are many alternatives to control a quadcopter, but the most accurate relies on a robust and heavy handheld remote controller that requires dexterity to be a good pilot. This limits the control of the UAV to users comfortable with this kind of interaction, discarding people with reduced fine motor skills, hand malformations or elders with low learning capacity from the possibility of piloting a quadcopter and participate in competition events. An alternative to these remote controllers should be developed to overpass the mentioned disadvantages. The solution proposed in this paper is an intuitive and accurate control system made of two small and lightweight wearable devices capable of detecting patterns based on motion events. These patterns are then sent to a mobile application responsible for controlling the drone. Wearing the described devices like a high-tech glove, the users can pilot the UAV through simple and intuitive upper limb movements, being the changes in the orientation of each device over time identified as a specific pattern. This solution presents a new approach to the control of UAV that improves the ease of piloting them and decreases the time that is required to learn how to handle them.
- Systematic Review of Emotion Detection with Computer Vision and Deep LearningPublication . Pereira, Rafael; Mendes, Carla; Ribeiro, Roberto; Miragaia, Rolando; Rodrigues, Nuno; Costa, Nuno; Pereira, António; Ribeiro, JoséEmotion recognition has become increasingly important in the field of Deep Learning (DL) and computer vision due to its broad applicability by using human–computer interaction (HCI) in areas such as psychology, healthcare, and entertainment. In this paper, we conduct a systematic review of facial and pose emotion recognition using DL and computer vision, analyzing and evaluating 77 papers from different sources under Preferred Reporting Items for Systematic Reviews and MetaAnalyses (PRISMA) guidelines. Our review covers several topics, including the scope and purpose of the studies, the methods employed, and the used datasets. The scope of this work is to conduct a systematic review of facial and pose emotion recognition using DL methods and computer vision. The studies were categorized based on a proposed taxonomy that describes the type of expressions used for emotion detection, the testing environment, the currently relevant DL methods, and the datasets used. The taxonomy of methods in our review includes Convolutional Neural Network (CNN), Faster Region-based Convolutional Neural Network (R-CNN), Vision Transformer (ViT), and “Other NNs”, which are the most commonly used models in the analyzed studies, indicating their trendiness in the field. Hybrid and augmented models are not explicitly categorized within this taxonomy, but they are still important to the field. This review offers an understanding of state-of-the-art computer vision algorithms and datasets for emotion recognition through facial expressions and body poses, allowing researchers to understand its fundamental components and trends.
- Web AR Solution for UAV Pilot Training and Usability TestingPublication . Ribeiro, Roberto; Ramos, João; Safadinho, David; Reis, Arsénio; Rabadão, Carlos; Barroso, João; Pereira, AntónioData and services are available anywhere at any time thanks to the Internet and mobile devices. Nowadays, there are new ways of representing data through trendy technologies such as augmented reality (AR), which extends our perception of reality through the addition of a virtual layer on top of real-time images. The great potential of unmanned aerial vehicles (UAVs) for carrying out routine and professional tasks has encouraged their use in the creation of several services, such as package delivery or industrial maintenance. Unfortunately, drone piloting is difficult to learn and requires specific training. Since regular training is performed with virtual simulations, we decided to propose a multiplatform cloud-hosted solution based in Web AR for drone training and usability testing. This solution defines a configurable trajectory through virtual elements represented over barcode markers placed on a real environment. The main goal is to provide an inclusive and accessible training solution which could be used by anyone who wants to learn how to pilot or test research related to UAV control. For this paper, we reviewed drones, AR, and human–drone interaction (HDI) to propose an architecture and implement a prototype, which was built using a Raspberry Pi 3, a camera, and barcode markers. The validation was conducted using several test scenarios. The results show that a real-time AR experience for drone pilot training and usability testing is achievable through web technologies. Some of the advantages of this approach, compared to traditional methods, are its high availability by using the web and other ubiquitous devices; the minimization of technophobia related to crashes; and the development of cost-effective alternatives to train pilots and make the testing phase easier for drone researchers and developers through trendy technologies.
- Distributed Architecture for Unmanned Vehicle ServicesPublication . Ramos, João; Ribeiro, Roberto; Safadinho, David; Barroso, João; Rabadão, Carlos; Pereira, AntónioThe demand for online services is increasing. Services that would require a long time to understand, use and master are becoming as transparent as possible to the users, that tend to focus only on the final goals. Combined with the advantages of the unmanned vehicles (UV), from the unmanned factor to the reduced size and costs, we found an opportunity to bring to users a wide variety of services supported by UV, through the Internet of Unmanned Vehicles (IoUV). Current solutions were analyzed and we discussed scalability and genericity as the principal concerns. Then, we proposed a solution that combines several services and UVs, available from anywhere at any time, from a cloud platform. The solution considers a cloud distributed architecture, composed by users, services, vehicles and a platform, interconnected through the Internet. Each vehicle provides to the platform an abstract and generic interface for the essential commands. Therefore, this modular design makes easier the creation of new services and the reuse of the different vehicles. To confirm the feasibility of the solution we implemented a prototype considering a cloud-hosted platform and the integration of custom-built small-sized cars, a custom-built quadcopter, and a commercial Vertical Take-Off and Landing (VTOL) aircraft. To validate the prototype and the vehicles’ remote control, we created several services accessible via a web browser and controlled through a computer keyboard. We tested the solution in a local network, remote networks and mobile networks (i.e., 3G and Long-Term Evolution (LTE)) and proved the benefits of decentralizing the communications into multiple point-to-point links for the remote control. Consequently, the solution can provide scalable UV-based services, with low technical effort, for anyone at anytime and anywhere.