La mise en oeuvre de systèmes avancés d’aide à la conduite (ADAS) basée vision, est une tâche complexe et difficile surtout d’un point de vue robustesse en conditions d’utilisation réelles. Une des fonctionnalités des ADAS vise à percevoir et à comprendre l’environnement de l’ego-véhicule et à fournir l’assistance nécessaire au conducteur pour réagir à des situations d’urgence. Dans cette thèse, nous nous concentrons sur la détection et la reconnaissance des objets mobiles car leur dynamique les rend plus imprévisibles et donc plus dangereux. La détection de ces objets, l’estimation de leurs positions et la reconnaissance de leurs catégories sont importants pour les ADAS et la navigation autonome. Par conséquent, nous proposons de construire un système complet pour la détection des objets en mouvement et la reconnaissance basées uniquement sur les capteurs de vision. L’approche proposée permet de détecter tout type d’objets en mouvement en fonction de deux méthodes complémentaires. L’idée de base est de détecter les objets mobiles par stéréovision en utilisant l’image résiduelle du mouvement apparent (RIMF). La RIMF est définie comme l’image du mouvement apparent causé par le déplacement des objets mobiles lorsque le mouvement de la caméra a été compensé. Afin de détecter tous les mouvements de manière robuste et de supprimer les faux positifs, les incertitudes liées à l’estimation de l’ego-mouvement et au calcul de la disparité doivent être considérées. Les étapes principales de l’algorithme sont les suivantes : premièrement, la pose relative de la caméra est estimée en minimisant la somme des erreurs de reprojection des points d’intérêt appariées et la matrice de covariance est alors calculée en utilisant une stratégie de propagation d’erreurs de premier ordre. Ensuite, une vraisemblance de mouvement est calculée pour chaque pixel en propageant les incertitudes sur l’ego-mouvement et la disparité par rapport à la RIMF. Enfin, la probabilité de mouvement et le gradient de profondeur sont utilisés pour minimiser une fonctionnelle d’énergie de manière à obtenir la segmentation des objets en mouvement. Dans le même temps, les boîtes englobantes des objets mobiles sont générées en utilisant la carte des U-disparités. Après avoir obtenu la boîte englobante de l’objet en mouvement, nous cherchons à reconnaître si l’objet en mouvement est un piéton ou pas. Par rapport aux algorithmes de classification supervisée (comme le boosting et les SVM) qui nécessitent un grand nombre d’exemples d’apprentissage étiquetés, notre algorithme de boosting semi-supervisé est entraîné avec seulement quelques exemples étiquetés et de nombreuses instances non étiquetées. Les exemples étiquetés sont d’abord utilisés pour estimer les probabilités d’appartenance aux classes des exemples non étiquetés, et ce à l’aide de modèles de mélange de gaussiennes après une étape de réduction de dimension réalisée par une analyse en composantes principales. Ensuite, nous appliquons une stratégie de boosting sur des arbres de décision entraînés à l’aide des instances étiquetées de manière probabiliste. Les performances de la méthode proposée sont évaluées sur plusieurs jeux de données de classification de référence, ainsi que sur la détection et la reconnaissance des piétons. Enfin, l’algorithme de détection et de reconnaissances des objets en mouvement est testé sur les images du jeu de données KITTI et les résultats expérimentaux montrent que les méthodes proposées obtiennent de bonnes performances dans différents scénarios de conduite en milieu urbain. / Vision-based Advanced Driver Assistance Systems (ADAS) is a complex and challenging task in real world traffic scenarios. The ADAS aims at perceiving andunderstanding the surrounding environment of the ego-vehicle and providing necessary assistance for the drivers if facing some emergencies. In this thesis, we will only focus on detecting and recognizing moving objects because they are more dangerous than static ones. Detecting these objects, estimating their positions and recognizing their categories are significantly important for ADAS and autonomous navigation. Consequently, we propose to build a complete system for moving objects detection and recognition based on vision sensors. The proposed approach can detect any kinds of moving objects based on two adjacent frames only. The core idea is to detect the moving pixels by using the Residual Image Motion Flow (RIMF). The RIMF is defined as the residual image changes caused by moving objects with compensated camera motion. In order to robustly detect all kinds of motion and remove false positive detections, uncertainties in the ego-motion estimation and disparity computation should also be considered. The main steps of our general algorithm are the following : first, the relative camera pose is estimated by minimizing the sum of the reprojection errors of matched features and its covariance matrix is also calculated by using a first-order errors propagation strategy. Next, a motion likelihood for each pixel is obtained by propagating the uncertainties of the ego-motion and disparity to the RIMF. Finally, the motion likelihood and the depth gradient are used in a graph-cut-based approach to obtain the moving objects segmentation. At the same time, the bounding boxes of moving object are generated based on the U-disparity map. After obtaining the bounding boxes of the moving object, we want to classify the moving objects as a pedestrian or not. Compared to supervised classification algorithms (such as boosting and SVM) which require a large amount of labeled training instances, our proposed semi-supervised boosting algorithm is trained with only a few labeled instances and many unlabeled instances. Firstly labeled instances are used to estimate the probabilistic class labels of the unlabeled instances using Gaussian Mixture Models after a dimension reduction step performed via Principal Component Analysis. Then, we apply a boosting strategy on decision stumps trained using the calculated soft labeled instances. The performances of the proposed method are evaluated on several state-of-the-art classification datasets, as well as on a pedestrian detection and recognition problem.Finally, both our moving objects detection and recognition algorithms are tested on the public images dataset KITTI and the experimental results show that the proposed methods can achieve good performances in different urban scenarios.

Made available in DSpace on 2016-08-18T18:55:15Z (GMT). No. of bitstreams: 1 Dissertacao Adriana Ligia.pdf: 718667 bytes, checksum: b2197e762c06a245cca42623ea831bb8 (MD5) Previous issue date: 2013-05-24 / Conselho Nacional de Desenvolvimento Científico e Tecnológico / This thesis is a study of social control from the perspective of Unified Social Assistance System (ITS) in order to perform an analysis of the performance of the Municipal Council of Social Service of São Luís (MA), considering that the space Councils while instances of social control of public policies have contributed over the years, with participatory processes involving different social subjects, inserted in various areas of struggle for rights guaranteed. As this analysis of the social control of Social Policy, in São Luís, we start from a theoretical-conceptual on Social Policy, social control, participation, Social Assistance Policy in Brazil and Maranhao as well as the configuration of ITS in Brazil and Maranhao. The study aimed to analyze the performance of the City Council of Social Welfare in São Luís (MA), with emphasis on the dynamics of formation, structure, possibilities and limits, as a forum for social control within the Social Care in St. Louis (MA). Besides this analysis, our study has proposed some challenges for the strengthening of social control within the City Council Social Services of St. Louis (MA), understanding the difficulties that occur within this Council and that the relations between state and civil society in this process are built collectively with bumps, discussions, a balance of forces, which aims to fight for rights and democratization of public policy. / Esta Dissertação constitui-se num estudo sobre o controle social na perspectiva do Sistema Único de Assistência Social (SUAS), no intuito de realizar uma análise da atuação do Conselho Municipal de Assistência Social de São Luís (MA), considerando-se que o espaço dos Conselhos enquanto instâncias de exercício do controle social das políticas públicas vêm contribuindo, ao longo dos anos, com processos participativos que envolvem diferentes sujeitos sociais, inseridos nos mais variados espaços de luta por garantia de direitos. Como se trata da análise do controle social da Política de Assistência Social, no município de São Luís, partimos de uma fundamentação teórico-conceitual acerca da Política Social, do controle social, da participação, da Política de Assistência Social no Brasil e no Maranhão, bem como da configuração do SUAS no Brasil e no Maranhão. O estudo teve como objetivo geral analisar a atuação do Conselho Municipal de Assistência Social em São Luís (MA), com destaque à sua dinâmica de constituição, estrutura, possibilidades e limites, enquanto instância de controle social no âmbito da Assistência Social em São Luís (MA). Além da realização desta análise, nosso estudo propôs alguns desafios para o fortalecimento do controle social no âmbito do Conselho Municipal de Assistência Social de São Luís (MA), compreendendo as dificuldades que se processam no interior deste Conselho e que as relações estabelecidas entre Estado e sociedade civil nesse processo são construídas coletivamente com embates, discussões, numa correlação de forças, que tem em vista a luta por direitos e a democratização das políticas públicas

Esta dissertação, fundamentada na teoria social, oferece elementos para uma apreensão critica acerca da importância da reflexão sobre educação permanente do assistente social no contexto do Sistema Único da Assistência Social. A escolha teórica ocorreu em decorrência da definição do problema de pesquisa, a partir da reflexão sobre a temática, numa perspectiva histórica e contextualizada: a realidade brasileira contemporânea. Sabe-se que o conteúdo da educação permanente, bem como a materialidade das ações que compõem o universo de intervenção do assistente social, estão submersos nos diferentes condicionantes que exercem influências diretas no exercício profissional num dado momento histórico. O objetivo deste estudo pautou-se pelo mapeamento da produção acadêmica sobre a temática, privilegiando um determinado período histórico, e pela investigação da percepção que os assistentes de sociais de três municípios, considerados de pequeno, médio e grande portes, no Vale do Paraíba Paulista, têm da educação permanente e de seus reflexos na qualidade dos serviços prestados. O método empregado para conhecer o `estado do conhecimento foi o exploratório-descritivo. Esta pesquisa bibliográfica configurou-se como quanti-qualitativa. Quantitativa, em função das informações coletadas terem sido obtidas por meio de um levantamento; qualitativa porque foram realizadas análises descritivas e interpretações dos dados obtidos. Para realização da pesquisa empírica adotou-se a abordagem qualitativa, utilizando-se da história oral, na sua modalidade narrativa, e da técnica de entrevista semiestruturada, o que permitiu dar voz aos profissionais de Serviço Social, bem como possibilitou o movimento de aproximação e compreensão da percepção dos assistentes sociais acerca da educação permanente e de seus reflexos na qualidade dos serviços prestados. Os resultados apontam para dois aspectos centrais: quanto à produção do conhecimento, a educação permanente do assistente social se constitui como um grande desafio em função não somente dos poucos estudos a respeito, mas também por se caracterizar como realidade que se renova no dinamismo societário demandando vigilância e atenção; quanto aos resultados empíricos, o estudo demonstra que a condição assalariada do assistente social interfere na busca e no aproveitamento das oportunidades de educação permanente. Verificou-se, ainda, que as oportunidades de capacitação têm chegado por parte do gestor da assistência social, porém, não no sentido de levar ao aprimoramento da intervenção, a uma postura crítica e à construção de novos conhecimentos, porque se pauta prevalentemente pelo repasse de informações pontuais, aligeiradas, não continuadas e, ainda, excludentes, já que prioriza oportunidades aos profissionais do poder público em detrimento dos que atuam nas organizações sociais. Por fim, os resultados apontam igualmente para o fato de que a qualidade da educação permanente precisa ser melhorada e revisada em seus aspectos teórico-conceituais de forma a diminuir a distância entre os conhecimentos adquiridos e sua efetivação prática. / This dissertation based on Social Theory offers elements for an understanding of the importance of critical reflection on continued education of social workers in the Unified System for Social Assistance context. The choice theory has not occurred by accident or on behalf of academic preferences, but on the definition of the research problem. Reflection on the theme occurs in a historical perspective and context: contemporary Brazilian reality. It is known that the content of continuing education as well as the materiality of the stocks that comprise the universe of social intervention is submerged in the different conditions that exert direct influences on professional practice in a given historical moment. The objective of this study was based on mapping the scholarship focusing on a particular social and historical period in the investigation of the perception that social workers of three municipalities, considered of small, medium and large in Paraíba Paulista Valley, have on the continued background and their impact on the quality of services provided. The method employed to know the `state of knowledge was exploratory and descriptive. This literature search was configured as quantitative and qualitative. Quantitative, in light of information collected has been obtained through a survey, and the qualitative analyzes were performed for descriptive and interpretation of data obtained. To conduct empirical research, it was adopted a qualitative approach using oral history in the narrative mode and the technique of semi-structured interview that allowed to give voice to the Social Service professionals and allowed the movement of approach and understanding of perception of social workers about continued education and its impact on the quality of services provided. The results indicate that the production of knowledge, the education of the social worker, it constitutes a great challenge not only in terms of few scientific studies that address this issue, but also because it is characterized as a reality that is renewed dynamism in demanding corporate vigilance and attention. With respect to the empirical findings, the study shows that the condition interferes with the social worker employed in search and seize opportunities for continuing education. And yet, it was found that such training opportunities have come from the manager of social assistance, but not in the sense of leading to improvement of the intervention, a wakening critical and construction of new knowledge because it is guided predominantly in the transfer of information punctual, light weight, no continued and even exclusionary because prioritizes opportunities for professionals in government at the expense of those who work in social organizations. And finally, the results also indicate that the quality of the continuing education must be improved and reviewed in the theoretical and the conceptual aspects, in order to bridge the gap between the knowledge and the practical realization.

Bildgesteuerte, perkutane Interventionen stellen bei vielen diagnostischen und therapeutischen Fragestellungen eine Alternative zum chirurgischen Vorgehen dar. Hierbei kommen bevorzugt die Sonographie und die Computertomographie (CT) zum Einsatz. Zu den Indikationen für eine gezielte Nutzung der Magnetresonanztomographie (MRT) zählen Befunde, die sich mit anderen Modalitäten nicht ausreichend darstellen lassen, die fehlende Strahlenexposition (CT) sowie Alleinstellungsmerkmale wie der hervorragende native Weichteilkontrast oder die Möglichkeiten zur Darstellung von Temperaturen oder Diffusionsprozessen. Zu den Nachteilen zählen die langen Messzeiten, das starke Magnetfeld sowie die räumliche Enge in den meist röhrenförmigen Geräten, die ein interventionelles Vorgehen oft erschweren. Stereotaktische Führungs- und Navigationshilfen sind kein notwendiger Bestandteil der interventionellen Ausrüstung, ermöglichen jedoch oft eine gezieltere Planung, bessere Visualisierung oder vereinfachte Durchführung, insbesondere gegenüber einer rein kognitiven Einbeziehung der MRT-Informationen. Assistenzsysteme für geschlossene MRT-Geräte sind meist rahmenbasiert und beschränken sich auf bestimmte Regionen, z. B. die Mamma, die Prostata oder das muskuloskelettale System. Diese Arbeit beschreibt hingegen eine leistungsstarke rahmenlose Assistenztechnik (Navigation), die sich praktisch in beliebigen Körperregionen einsetzen lässt. Der Operateur orientiert sich dabei anhand von hochwertigen MRT-Ansichten, die gemäß der in Echtzeit erfassten Nadellage aus einem kurz zuvor erhobenen Referenzdatensatz reformatiert werden. Ausgehend von der Implementierung an einem speziellen offenen MRT-System (0,5 T) werden interventionelle Komponenten und Methoden beschrieben, die erfolgreich auf ein herkömmliches MRT-System (1,5 T) übertragen wurden. Die Einschränkungen des geschlossenen Systems führten dabei zu einer speziellen Registrierungstechnik mit Hilfe einer kompakten, frei positionierbaren Referenzplatte mit resonanten Miniatur-Hochfrequenzspulen (semiaktiv) als MR-Positionsmarker. Im Vordergrund stand die systematische Prüfung der Marker hinsichtlich Signalverhalten und Sicherheit sowie die Zuverlässigkeit und Genauigkeit einer vollautomatischen, bildbasierten 3D-Lokalisation unter experimentellen und klinischen Randbedingungen. Gegenüber herkömmlichen, passiven (Kontrastmittel-) Markern zeichnet sich die semiaktive Technik dadurch aus, dass sie gleichzeitig, auch mehrere, beliebig über das gesamte Messvolumen verteilte Marker, praktisch unabhängig von sämtlichen anatomischen Strukturen lokalisieren kann. Sowohl die Festlegung einer Position (ein Marker) oder einer Ebene (drei Marker) wie auch die navigierte Platzierung einer Nadel zeigten im Experiment ausreichend hohe Genauigkeiten. Auf Basis einer zeitlich optimierten (Subsekunden-) Markerbildgebung konnte experimentell eine robotisch geführte Nadel direkt im MRT bildgebend verfolgt werden, was weitere Anwendungen der Lokalisationstechnik in Aussicht stellt. Navigierte Biopsien an einem Gewebephantom zeigten nach ausschließlich stereotaktischer Positionierung – ohne Kontrollbildgebung – unabhängig vom Erfahrungsgrad der medizinischen Anwender ausreichend hohe Trefferquoten. Gleichzeitig lieferte die Studie wertvolle, auch anwenderspezifische Erkenntnisse über die Bedienbarkeit sowie den Zeitbedarf für einzelne Interventionsschritte. Im Vergleich mit anderen prototypischen oder kommerziellen Systemen zeigte sich die vorgestellte Assistenztechnik – am Beispiel muskuloskelettaler Interventionen – als klinisch flexibel einsetzbar.

The correct classification of a logs assortment is crucial for the economic output within a fully mechanized timber harvest. This task is especially for unexperienced but also for professional machine operators mentally demanding. This paper presents a method towards an assistance system for machine operators for an automated log quality and assortment estimation. Therefore, machine vision methods for object detection are combined with machine learning approaches for estimating the logs weight based on a Convolutional Neural Network (CNN). Based on the dimensions oft he object ´log, a first categorisation into a specific assortment is done. By comparing the theoretical weight of a healthy log of such dimensions to the real weight estimated by the CNN-based crane scale, quality reducing properties such as beetle infestation or red rod can be detected. In such cases, the assistance system displays a visual warning to the operator to check the loaded log.

Diploma thesis "Analysis of the social assistance system in the Czech Republic from the perspective of families caring for a child with handicap" deals with one of the three pillars of the social security system in the Czech Republic, with the system of social assistance. It summarizes the current theoretical knowledge in this field, introduces the core concepts of values and international and European kontext of human and social rights claimed under the social assistance system with a particular focus on the handicapped people. It also advocates the concept of social assistance to these citizens into the historical framework and explains its origination in the Czech Republic. The analytical part focuses on specific design and operation of social assistance from the perspective of families caring for a child with handicap in two periods, in socialism and in present. It identifies the whole field of provided assistance to the target group, which represents mainly social benefits and social welfare services, and subsequently subjects it to comparison. The analytical part is supplemented by the testimony of families caring for the disadvantaged child. The paper presents practical experience with the system of social assistance by caring such a child of two families in the socialist era and one...

This thesis deals with the system of state social support. It analyzes the development of these benefits since the beginning of the global economic crisis to the present. I analyzed birth grant, child allowance, parental allowance, housing allowance and funeral grant. I analyzed social supplement too, but it has been canceled. The thesis compares the benefits before the global economic crisis with the development of the crisis and the current legislative setting benefits. The aim is to confirm the impact of the global economic crisis to strengthen those benefits. Since 2008 welfare benefits are toughen in our country. Toughen up benefits impacts families with children whom are primarily set these benefits. Thus decreasing doses that are designed for families with children? State makes austerity. It reduces expenditures of the state budget. In my thesis I examine the impact of the tightening of state social support system of assistance in material need. Therefore reduce the expenditures of the state budget, or just spilling over into another social security? Accordingly, this thesis compares the development of state budget expenditures on social benefits and the benefits of the assistance in material need, from 2007 to 2013. Powered by TCPDF (www.tcpdf.org)

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Durch das I-FAS der TU Chemnitz wurde im Rahmen des AKTIV-Projektes eine Probandenstudie zur Akzeptanz von Systemausprägungen einer Aktiven Gefahrenbremsung (AGB) bei PKW durchgeführt. Unter Verwendung eines stehenden Hindernisses wurden sechs Systemausprägungen verglichen, die von den AGB-Partnern in zwei Versuchsträger implementiert wurden. Die sechs Systemausprägungen werden nahezu identisch bewertet, solange Probanden keine Vergleichsmöglichkeit zu anderen Systemausprägungen haben. Wenn es zu einem Fahrereingriff kommt, ist der Eingriffszeitpunkt des Fahrers unabhängig von der gefahrenen Systemausprägung.

Der vierte Band der Schriftenreihe Verkehrstelematik stellt die intermodalen Forschungsthemen und ihre praktischen Anwendungen der Professur für Verkehrsleitsysteme und -prozessautomatisierung an der Fakultät Verkehrswissenschaften „Friedrich List“ der Technischen Universität Dresden mit ausgewählten Veröffentlichungen des Jahres 2013 vor. Die Schwerpunkte der Forschungsarbeit liegen einerseits im Bereich der energieoptimalen Steuerung im Schienenverkehr und zugehörigen Fahrerassistenzsystemen, andererseits auf dem Verkehrsmanagement des Straßenverkehrs. Die energieoptimale Steuerung im Schienenverkehr wird mittels Fahrerassistenzsystemen nicht nur im Eisenbahnverkehr, beispielsweise auf den Zügen des Harz-Elbe-Express, sondern auch auf Straßenbahn- und U-Bahn-Fahrzeugen umgesetzt. Darüber hinaus werden die Methoden und Verfahren der energieoptimalen Steuerung im Rahmen von Ansätzen für ein modularisiertes Verkehrsmanagement bei Eisenbahnen verwendet. Das Verkehrsmanagementsystem der Stadt Dresden VAMOS bildet die Basis für den zweiten Forschungsschwerpunkt. Hierbei werden im vorliegenden Band einerseits Möglichkeiten untersucht, den Straßenverkehr mikroskopisch zu simulieren und dabei die Verkehrszustandsdaten des VAMOS einfließen zu lassen. Andererseits wird der Frage nachgegangen, in wie weit man anhand der im System vorhandenen Floating-Car-Daten Straßensperrungen sicher identifizieren kann. Zu beiden Forschungsschwerpunkten sind fünf weitere Artikel im Rahmen der vom Lehrstuhl organisierten internationalen Konferenz „3rd Models and Technologies for Intelligent Transportation Systems (3. MT-ITS)“ entstanden. Diese Beiträge sind im Konferenzband als dritter Band der vorliegenden Schriftenreihe Verkehrstelematik bereits erschienen.