His paper presents an application for handheld devices (smartphones and tablets), to solve ca-pac... more His paper presents an application for handheld devices (smartphones and tablets), to solve ca-pacitated Vehicle Routing Problems. The application implements a visual interactive solution method that integrates the insight and experience of the scheduler, and the power and precision of the heuristics, in an interactive environment. The solution method was implemented to make use of the interesting features and services of the current handheld devices. Results show that despite the restrictions on the processing power of these devices, their functionalities are very interesting to implement visual interactive methods, allowing the common user to easily solve vehicle routing problems
O presente artigo resulta de um trabalho, em fase de desenvolvimento, que pretende implementar mé... more O presente artigo resulta de um trabalho, em fase de desenvolvimento, que pretende implementar métodos de comparação de rastos gps para um sistema de partilha de carro. Assim, foram desenvolvidos algoritmos que permitem identificar percursos semelhantes, sugerindo hipóteses de partilha de carro que respeitam os critérios definidos pelo utilizador do sistema. Um dos objectivos principais do projecto prende-se com a necessidade de diminuir o número de carros que entram nas cidades, reduzindo dessa forma o congestionamento dos centros urbanos. Concretizando esta meta, consegue-se atingir outro objectivo: a redução na emissão de gases com efeito estufa, protegendo o ambiente
2017 12th Iberian Conference on Information Systems and Technologies (CISTI), 2017
In outdoor activities, such as managing paths in all-terrain vehicles, mountain biking, hiking or... more In outdoor activities, such as managing paths in all-terrain vehicles, mountain biking, hiking or tourist itineraries, it is common to resort to the navigation by using a guide containing the description of the path that should be followed. A roadbook is usually printed on paper, but with current advances in mobile computing and mobile devices, it has become very interesting and useful to have a digital roadbook for smartphones and tablets, in order to facilitate the preparation of notes upon recognition of the route, as well as to assist the user when they apply these same notes when navigating.
2017 12th Iberian Conference on Information Systems and Technologies (CISTI)
Most telerobotic applications rely on a Human-Robot Interface that requires the operator to conti... more Most telerobotic applications rely on a Human-Robot Interface that requires the operator to continuously monitor the state of the robot through visual feedback while uses manual input devices to send commands to control the navigation of the robot. Although this setup is present in many examples of telerobotic applications, it may not be suitable in situations when it is not possible or desirable to have manual input devices, or when the operator has a motor disability that does not allow the use of that type of input devices. Since the operator already uses his/her eyes in the monitoring task, an interface based on the inputs from their gaze could be used to teleoperate the robot. This paper presents a telerobotic platform that uses a user interface based on eye-gaze tracking that enables a user to control the navigation of a teleoperated mobile robot using only his/her eyes as inputs to the system. Details of the operation of the eye-gaze tracking system and the results of a task-oriented evaluation of the developed system are also included.
GRASP (Greedy Randomised Adaptive Search Procedure), is a restart procedure where each iterationc... more GRASP (Greedy Randomised Adaptive Search Procedure), is a restart procedure where each iterationconsists of a construction phase, followed by a local search phase that finds a locally optimal solu-tion. See Resende [9] for a survey of GRASP. This method has been applied with success to manycombinatorial optimisation problems [3], including the VRP [7] [8].In the present study we investigate the incorporation of interactive tools into a GRASP algorithm tosolve the Vehicle Routing Problem with Backhauls (VRPB), where the Backhaul customers, if any, areserved after all Linehaul customers.The aim of the interactivity is to integrate the insight and experience of the user, and the power andprecision of the heuristics in an interactive environment. An interactive approach enables us to searchfor a solution by means of a trial and error procedure, in which man and machine divide the tasks inaccordance with their best respective capabilities. The machine is by far superior in what concernsca...
this paper we present an improved GRASP interactive approach that includes a more powerful local ... more this paper we present an improved GRASP interactive approach that includes a more powerful local search phase
Interactive methods for vehicle routing axe appealing because they integrate the insight and expe... more Interactive methods for vehicle routing axe appealing because they integrate the insight and experience of the user and the power and precision of heuristics in an interactive environment. Although best known results for benchmark problems are attributed to tabu search, interactive methods give results within about 3% of these solutions, whilst retaining the advantage of user control. A new interactive construction method using GRASP will be presented. The method allows vehicles to make all their deliveries, and then make pick-ups before returning to the depot. A Windows implementation allows the user to control the solution process by selecting initial outline routes of one or more deliveries followed by pick-ups. The user can also try to improve the solution, especially if it is infeasible, using interactive tools. Results will be shown for benchmark problems.
Journal of Information Systems Engineering & Management
Most telerobotic applications rely on a Human-Robot Interface that requires the operator to conti... more Most telerobotic applications rely on a Human-Robot Interface that requires the operator to continuously monitor the state of the robot through visual feedback while uses manual input devices to send commands to control the navigation of the robot. Although this setup is present in many examples of telerobotic applications, it may not be suitable in situations when it is not possible or desirable to have manual input devices, or when the operator has a motor disability that does not allow the use of that type of input devices. Since the operator already uses his/her eyes in the monitoring task, an interface based on the inputs from their gaze could be used to teleoperate the robot. This paper presents a telerobotic platform that uses a user interface based on eye-gaze tracking that enables a user to control the navigation of a teleoperated mobile robot using only his/her eyes as inputs to the system. Details of the operation of the eye-gaze tracking system and the results of a task-oriented evaluation of the developed system are also included.
Este trabalho descreve a implementação de um Sistema Pericial para dispositivos móveis Android, d... more Este trabalho descreve a implementação de um Sistema Pericial para dispositivos móveis Android, dirigido ao utilizador comum e com a capacidade de usar diferentes bases de conhecimento, selecionáveis pelo utilizador. O sistema usa uma arquitetura com base em computação na nuvem para facilitar a criação e distribuição de diferentes bases de conhecimento.
A Wireless Sensor Network is ideal for monitoring applications such as precision agriculture and ... more A Wireless Sensor Network is ideal for monitoring applications such as precision agriculture and water quality control, among others. Sometimes due to logistic or economic restrictions, it is not possible to have a direct and permanent connection between the Wireless Sensor Network and a local base station, or a computer network to collect the data. In such cases, Wireless Sensor Networks should maintain the acquired data until it is locally collected. To autonomously collect the data, this paper proposes the use of an autonomous mobile robot. The robot is controlled by an onboard computer equipped with a Global Positioning System receiver and a Global System for Mobile module. The mission parameters are sent to the robot using Short Message Service.
In this paper we describe a visual interactive system to solve vehicle routing problems with back... more In this paper we describe a visual interactive system to solve vehicle routing problems with backhauls. We have called the system Computerised Routing Using Interactive Seed Entry. It combines a graphical-user-interface, with various interactive tools, and a Greedy Randomised Adaptive Search Procedure, in order to provide a solution method which enables the user's special knowledge or insights to be augmented by the computer's capacity to perform high speed calculations. We present the basic visual interactive approach developed in a previous work, and the improvements we have made to it, especially through the use of self-contained software objects called components. A description of the visual interactive approach developed, and details about the structure and implementation of the components and their advantages in the development of our system and optimization algorithms in general, will be given during the session.
Research in robotics has traditionally emphasized robot de-sign, development and control, low-lev... more Research in robotics has traditionally emphasized robot de-sign, development and control, low-level sensing and control, actuator design andcontrol, path planning and robot behavior engineering. In contrast, generally using robotic simulators, several Artificial Intelligence (Al) researchers are more con-cerned with providing real/simulated robots with higher-level cognitive functions that enable them to reason, act and perceive in an autonomous way in dynamic, continuous, inaccessible, and non deterministic environments. Combining ...
Universidade do Minho Guimarães peixoto@kanguru.pt RESUMO: O presente artigo resulta de um estudo... more Universidade do Minho Guimarães peixoto@kanguru.pt RESUMO: O presente artigo resulta de um estudo sobre optimização de rastos de GPS, com aplicação em projectos que tirem partido deste tipo de rastos. Apresentam-se os métodos usados para a obtenção de repositórios optimizados de rastos. É feita uma análise à eficácia e aos tempos de execução dos algoritmos de comparação de rastos de GPS, utilizando as diferentes optimizações. Procura-se saber, até que ponto a diminuição do número de pontos nos rastos não prejudica a qualidade da solução obtida. Conclui-se que dentro de uma determinada gama de optimização, este processo é vantajoso, uma vez que reduz os tempos de execução dos algoritmos e, mantém a qualidade da comparação de rastos em níveis bastante aceitáveis.
His paper presents an application for handheld devices (smartphones and tablets), to solve ca-pac... more His paper presents an application for handheld devices (smartphones and tablets), to solve ca-pacitated Vehicle Routing Problems. The application implements a visual interactive solution method that integrates the insight and experience of the scheduler, and the power and precision of the heuristics, in an interactive environment. The solution method was implemented to make use of the interesting features and services of the current handheld devices. Results show that despite the restrictions on the processing power of these devices, their functionalities are very interesting to implement visual interactive methods, allowing the common user to easily solve vehicle routing problems
O presente artigo resulta de um trabalho, em fase de desenvolvimento, que pretende implementar mé... more O presente artigo resulta de um trabalho, em fase de desenvolvimento, que pretende implementar métodos de comparação de rastos gps para um sistema de partilha de carro. Assim, foram desenvolvidos algoritmos que permitem identificar percursos semelhantes, sugerindo hipóteses de partilha de carro que respeitam os critérios definidos pelo utilizador do sistema. Um dos objectivos principais do projecto prende-se com a necessidade de diminuir o número de carros que entram nas cidades, reduzindo dessa forma o congestionamento dos centros urbanos. Concretizando esta meta, consegue-se atingir outro objectivo: a redução na emissão de gases com efeito estufa, protegendo o ambiente
2017 12th Iberian Conference on Information Systems and Technologies (CISTI), 2017
In outdoor activities, such as managing paths in all-terrain vehicles, mountain biking, hiking or... more In outdoor activities, such as managing paths in all-terrain vehicles, mountain biking, hiking or tourist itineraries, it is common to resort to the navigation by using a guide containing the description of the path that should be followed. A roadbook is usually printed on paper, but with current advances in mobile computing and mobile devices, it has become very interesting and useful to have a digital roadbook for smartphones and tablets, in order to facilitate the preparation of notes upon recognition of the route, as well as to assist the user when they apply these same notes when navigating.
2017 12th Iberian Conference on Information Systems and Technologies (CISTI)
Most telerobotic applications rely on a Human-Robot Interface that requires the operator to conti... more Most telerobotic applications rely on a Human-Robot Interface that requires the operator to continuously monitor the state of the robot through visual feedback while uses manual input devices to send commands to control the navigation of the robot. Although this setup is present in many examples of telerobotic applications, it may not be suitable in situations when it is not possible or desirable to have manual input devices, or when the operator has a motor disability that does not allow the use of that type of input devices. Since the operator already uses his/her eyes in the monitoring task, an interface based on the inputs from their gaze could be used to teleoperate the robot. This paper presents a telerobotic platform that uses a user interface based on eye-gaze tracking that enables a user to control the navigation of a teleoperated mobile robot using only his/her eyes as inputs to the system. Details of the operation of the eye-gaze tracking system and the results of a task-oriented evaluation of the developed system are also included.
GRASP (Greedy Randomised Adaptive Search Procedure), is a restart procedure where each iterationc... more GRASP (Greedy Randomised Adaptive Search Procedure), is a restart procedure where each iterationconsists of a construction phase, followed by a local search phase that finds a locally optimal solu-tion. See Resende [9] for a survey of GRASP. This method has been applied with success to manycombinatorial optimisation problems [3], including the VRP [7] [8].In the present study we investigate the incorporation of interactive tools into a GRASP algorithm tosolve the Vehicle Routing Problem with Backhauls (VRPB), where the Backhaul customers, if any, areserved after all Linehaul customers.The aim of the interactivity is to integrate the insight and experience of the user, and the power andprecision of the heuristics in an interactive environment. An interactive approach enables us to searchfor a solution by means of a trial and error procedure, in which man and machine divide the tasks inaccordance with their best respective capabilities. The machine is by far superior in what concernsca...
this paper we present an improved GRASP interactive approach that includes a more powerful local ... more this paper we present an improved GRASP interactive approach that includes a more powerful local search phase
Interactive methods for vehicle routing axe appealing because they integrate the insight and expe... more Interactive methods for vehicle routing axe appealing because they integrate the insight and experience of the user and the power and precision of heuristics in an interactive environment. Although best known results for benchmark problems are attributed to tabu search, interactive methods give results within about 3% of these solutions, whilst retaining the advantage of user control. A new interactive construction method using GRASP will be presented. The method allows vehicles to make all their deliveries, and then make pick-ups before returning to the depot. A Windows implementation allows the user to control the solution process by selecting initial outline routes of one or more deliveries followed by pick-ups. The user can also try to improve the solution, especially if it is infeasible, using interactive tools. Results will be shown for benchmark problems.
Journal of Information Systems Engineering & Management
Most telerobotic applications rely on a Human-Robot Interface that requires the operator to conti... more Most telerobotic applications rely on a Human-Robot Interface that requires the operator to continuously monitor the state of the robot through visual feedback while uses manual input devices to send commands to control the navigation of the robot. Although this setup is present in many examples of telerobotic applications, it may not be suitable in situations when it is not possible or desirable to have manual input devices, or when the operator has a motor disability that does not allow the use of that type of input devices. Since the operator already uses his/her eyes in the monitoring task, an interface based on the inputs from their gaze could be used to teleoperate the robot. This paper presents a telerobotic platform that uses a user interface based on eye-gaze tracking that enables a user to control the navigation of a teleoperated mobile robot using only his/her eyes as inputs to the system. Details of the operation of the eye-gaze tracking system and the results of a task-oriented evaluation of the developed system are also included.
Este trabalho descreve a implementação de um Sistema Pericial para dispositivos móveis Android, d... more Este trabalho descreve a implementação de um Sistema Pericial para dispositivos móveis Android, dirigido ao utilizador comum e com a capacidade de usar diferentes bases de conhecimento, selecionáveis pelo utilizador. O sistema usa uma arquitetura com base em computação na nuvem para facilitar a criação e distribuição de diferentes bases de conhecimento.
A Wireless Sensor Network is ideal for monitoring applications such as precision agriculture and ... more A Wireless Sensor Network is ideal for monitoring applications such as precision agriculture and water quality control, among others. Sometimes due to logistic or economic restrictions, it is not possible to have a direct and permanent connection between the Wireless Sensor Network and a local base station, or a computer network to collect the data. In such cases, Wireless Sensor Networks should maintain the acquired data until it is locally collected. To autonomously collect the data, this paper proposes the use of an autonomous mobile robot. The robot is controlled by an onboard computer equipped with a Global Positioning System receiver and a Global System for Mobile module. The mission parameters are sent to the robot using Short Message Service.
In this paper we describe a visual interactive system to solve vehicle routing problems with back... more In this paper we describe a visual interactive system to solve vehicle routing problems with backhauls. We have called the system Computerised Routing Using Interactive Seed Entry. It combines a graphical-user-interface, with various interactive tools, and a Greedy Randomised Adaptive Search Procedure, in order to provide a solution method which enables the user's special knowledge or insights to be augmented by the computer's capacity to perform high speed calculations. We present the basic visual interactive approach developed in a previous work, and the improvements we have made to it, especially through the use of self-contained software objects called components. A description of the visual interactive approach developed, and details about the structure and implementation of the components and their advantages in the development of our system and optimization algorithms in general, will be given during the session.
Research in robotics has traditionally emphasized robot de-sign, development and control, low-lev... more Research in robotics has traditionally emphasized robot de-sign, development and control, low-level sensing and control, actuator design andcontrol, path planning and robot behavior engineering. In contrast, generally using robotic simulators, several Artificial Intelligence (Al) researchers are more con-cerned with providing real/simulated robots with higher-level cognitive functions that enable them to reason, act and perceive in an autonomous way in dynamic, continuous, inaccessible, and non deterministic environments. Combining ...
Universidade do Minho Guimarães peixoto@kanguru.pt RESUMO: O presente artigo resulta de um estudo... more Universidade do Minho Guimarães peixoto@kanguru.pt RESUMO: O presente artigo resulta de um estudo sobre optimização de rastos de GPS, com aplicação em projectos que tirem partido deste tipo de rastos. Apresentam-se os métodos usados para a obtenção de repositórios optimizados de rastos. É feita uma análise à eficácia e aos tempos de execução dos algoritmos de comparação de rastos de GPS, utilizando as diferentes optimizações. Procura-se saber, até que ponto a diminuição do número de pontos nos rastos não prejudica a qualidade da solução obtida. Conclui-se que dentro de uma determinada gama de optimização, este processo é vantajoso, uma vez que reduz os tempos de execução dos algoritmos e, mantém a qualidade da comparação de rastos em níveis bastante aceitáveis.
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