Simulação Virtual de Robôs Autônomos...
Transcript of Simulação Virtual de Robôs Autônomos...
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Prof. Ph.D. Prof. Ph.D. Fernando Fernando OsórioOsório -- Applied Computing / Applied Computing / UnisinosUnisinosProfaProfa . Ph.D. . Ph.D. SoraiaSoraia MusseMusse -- Computing Science / PUCComputing Science / PUC --RSRSProf. Prof. M.ScM.Sc. . FarleiFarlei HeinenHeinen -- Computing Eng. / Computing Eng. / UnisinosUnisinosM.ScM.Sc. Milton Roberto . Milton Roberto HeinenHeinen -- Ph.D. Student at UFRGSPh.D. Student at UFRGSProf. Prof. Ph.DPh.D Christian Christian KelberKelber -- Electrical Eng. / Electrical Eng. / UnisinosUnisinosGustavo Gustavo PessinPessin -- M.ScM.Sc. at . at UnisinosUnisinos
GRAPHIT - Computer Graphics and Vision Group (Unisinos/PUC-R S)GPVA - Autonomous Vehicles Research Group (Unisinos)GIA - Artificial Intelligence Research Group (Unisinos)RBV - Rede Brasileira de Visualização [FINEP/Brazil]
IEEE / DVP - Distinguished Visitors Program Latin America
Applied Computing Applied Computing PostPost--grad. Programgrad. Program-- PIPCAPIPCA
UNISINOS University UNISINOS University -- BrazilBrazil
Simulação Virtual de Simulação Virtual de Robôs Autônomos InteligentesRobôs Autônomos Inteligentes
Research group:
Fernando Osório, Ph.D. / IEEE CS DVP
III SITED / FURG 2007 - Palestra Convidada
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IEEE / DVP - Distinguished Visitors Program Latin America
Prof. Fernando Santos Osório - IEEE MemberApplied Computing Research Post-Graduation Program - PIPCAUNISINOS University - Brazil (Porto Alegre - Southern Region)IEEE Computer Society DVP Program
Jesuit UniversityWith: - 30.000 Students- 900 Professors- 16 PPGs (post-grad programs)
PPG CAPES PPG CAPES NotaNota 44
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Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Robots and Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: Autonomous Robots VR Simulation Tools
6. Conclusions and New TrendsVídeo Demo Web/Java
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Introduction VR - Virtual Reality
[Paul Milgram et al. 95]
From REAL to VIRTUAL3D + Immersion + Interaction
Virtual Reality
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VISUALIZING 3D & VIRTUAL ENVIRONMENTS
Virtual RealityVirtual Reality...
* VRML - 3D Worlds (Geometry)
* QTVR - Panorama 3D (Images)
Introduction VR - Virtual Reality
\\VRMLVRML
Virtual Reality
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IRISA / INRIA IRISA / INRIA -- FranceFrancehttp://www.irisa.fr/lagadic/demo/demohttp://www.irisa.fr/lagadic/demo/demo--ar3/demoar3/demo--ar3ar3--eng.htmleng.html
Real World Integrated with Virtual Objects
Augmented Reality
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Virtual Reality
Virtual RealityVirtual Reality...
* 3D Virtual Environment
* Interaction => Virtual Reality Devices
* Immersion => Virtual Reality Devices
* Realism => Graphical Realism (photo-realism)
Movements
Interaction Real x Virtual
"Physics Realism"
VISUALIZING 3D & VIRTUAL ENVIRONMENTS
How to do it?
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
PhantomPhantom
HaptionHaption
CyberForceCyberForce
OmegaOmega
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
[Ari Chapiro - Dance]
[CromosLab]
Agents
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
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1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
Knowledge
AutonomousBehaviour
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2. VR and Simulation
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
Virtual World
xx
Real World
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Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Robots and Agents - Control
Multi-Agents Systems - Knowledge
5. Autonomous Robots VR Simulation Tools
6. Conclusions and New TrendsVídeo Demo Web/Java
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Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
Virtual World
xx
Real World
Increasing Reality in VR Applications: Physical and Behavioral Simulation
2. VR and Simulation
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1. Introduction
RealisticVR
Increasing Reality in VR Applications: Physical and Behavioral Simulation
Virtual World
xx
Real World
Real WorldReal WorldSimulationSimulation
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Simulation Tools:
* ODE - Open Dynamics Engine
* OpenSteer
* PhysX AGEIA
* Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...
3. Physics Simulation Tools
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Simulation Tools:
* ODE - Open Dynamics Engine
* OpenSteer
* PhysX AGEIA
* Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...
3. Physics Simulation Tools
Physics:
Physical structure: resistance, mass, density, elasticity;Position and orientation in the 3D space; Kinematics and Dynamics;Linear and angular velocities; Motion (w/ forces and torques), trajectories; Acceleration, deceleration;Attraction and repulsion;Gravity, friction, inertia; Kinetic and potential energy; Laws of energy conservation, linear and angular momentum;Collisions and reaction to collisions;Steering models (wheeled cars, aircrafts, projectiles, boats and ships); Articulated Rigid Bodies Simulation (skeleton, robotic arm);Dynamic Simulation of Deformable Objects: elastic objects; Fluid simulation and Particle Systems (fire, smoke, clouds and liquids).
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* Deformable Objects and Fluids
- Finite Elements Methods
- Spring-Mass Systems
- CFD (Computational Fluid Dynamics)
- Level Set Methods
3. Physics Simulation Tools
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* ODE - Open Dynamics Engine
Simulation of Articulated Rigid Body Dynamics
Open Source Library (C/C++ API)
Used with OSG, Ogre3D, CrystalSpace, ...
3. Physics Simulation Tools
Slider jointSlider jointHinge jointHinge jointBall and socket jointBall and socket joint
Universal jointUniversal joint
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* ODE - Open Dynamics Engine
Simulation of Articulated Rigid Body Dynamics
3. Physics Simulation Tools
Physics Simulation:
- Gravity, friction, acceleration, deceleration; - Generation of motion: applying forces and torques (motors);- Collision avoidance and treatment (reaction, object bounce);- Kinematics models and rigid body dynamics simulation; - Different types of joints with actuators (motors)
Webbots uses ODE [Cyberbotics]
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* ODE - Open Dynamics Engine
3. Physics Simulation Tools
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* ODE - Open Dynamics Engine
3. Physics Simulation Tools
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* ODE - Open Dynamics Engine
3. Physics Simulation Tools
WebotsCyberbotics
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* ODE - Open Dynamics Engine
3. Physics Simulation Tools
Juice[Nate W.]
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3. Physics Simulation Tools
Simulation Tools:
* ODE - Open Dynamics Engine
* OpenSteer
* PhysX AGEIA
* Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...REAL TIME SIMULATIONREAL TIME SIMULATION
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Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge / Reasoning
4. Intelligent Behaviour
Comportamento
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Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge Integration
4. Intelligent Behaviour
Reactive-Deliberative Architecture
Control Architectures: Reactive, Deliberative, Hierarchical, Hybrid
Hybrid Architecture
Architecture BDI (Beliefs-Desires-Intentions)
F. Osório et al.[Virtual Concept 2005]
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Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge / Reasoning
4. Intelligent Behaviour
Robotic
Teams, Squads, Swarms
Artificial Intelligence Tools
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Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Robots and Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: Autonomous Robots VR Simulation Tools
6. Conclusions and New Trends
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5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots Simulator
SEVA 3D - Autonomous Vehicle Parking
LEGGEN - Legged (articulated) Robots Simulator
Robombeiros - Multi-Robots Fire Fighting
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5. Applications: VR Simulation Tools
SimRob3D
- Our Simulation Tools: SimRob2D (Khepera)SimRob3D Seva2D
Autonomous Robots in VR Environments
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5. Applications: VR Simulation Tools
SimRob3D Simulator
> Sensors: Infrared, Sonar, Bumper
> Actuators / Kinematics: Differential, Ackerman
> Realistic Simulation Model: 3D World + noise / error (imprecise sensors and actuators)
Autonomous Robots in VR Environments
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5. Applications: VR Simulation Tools
SimRob3D
Simulator
Autonomous Robots in VR Environments
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5. Applications: VR Simulation Tools
SEVA 3D - "Sistema de Estacionamento de Veículos Autônomos"
Sources of Inspiration:
- Baja Buggy remotely controlled by a cell phoneC. Kelber - UNISINOS, Brazil
Published at:IEEE WCCIIJCNN 2006
Autonomous Robots in VR Environments
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5. Applications: VR Simulation Tools
SEVA 3D
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SEVA 3D Simulator
> Vehicle Simulation xx Vehicle Control
SimRob3D SEVA3D
Commands
Sensors
Control:SEVA3D-A (FSA)SEVA3D-N (Neural)
ControlSimulation
MotorActions
SensorialInformation
Kinematics:Estimation ofPosition and Orientation
Perception:Sensor Simulation
3DWorld
RobotModel
Visualization
SimRob3D SEVA3D
Commands
Sensors
Control:SEVA3D-A (FSA)SEVA3D-N (Neural)
ControlSimulation
MotorActions
SensorialInformation
Kinematics:Estimation ofPosition and Orientation
Perception:Sensor Simulation
3DWorld
RobotModel
Visualization
Autonomous Robots in VR Environments
5. Applications: SEVA 3D
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SEVA: FSA - Finite State Automaton
Inputs:
- Sonar Sensors: Stochastic ray-casting / 3D cone)
Outputs:
- Steering Wheel Angle- Gas pedal (car speed + direction: fwd, back)
States:
Autonomous Robots in VR Environments
5. Applications: SEVA 3D
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SEVA: NEURAL FSA - Learning the FSA...
Si(t) + Si(t-1) + ...Temporal Window
Adapted Jordan-Net using RProp Learning
5. Applications: SEVA 3D
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SEVA3D - Autonomous Vehicle Parking Simulator
3D
SensorsActuatorsKinematicsFSA CtrlANN Ctrl
5. Applications: SEVA 3D
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5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots Simulator
SEVA 3D - Autonomous Vehicle Parking
LEGGEN - Legged (articulated) Robots Simulator
Robombeiros - Multi-Robots Fire Fighting
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5. Applications: VR Simulation Tools
Legged Robots Evolution and Walking Control
Sources of Inspiration:
Autonomous Robots in VR Environments
[EPFL]
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5. Applications: VR Simulation Tools
Legged Robots Evolution and Walking Control
Sources of Inspiration: LEGGEN - Published at: IEEE WCCI CEC 2006SBIA 2006
33
Autonomous Robots in VR Environments
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5. Applications: VR Simulation Tools
LEGGEN - Legged Robots Evolution and Walking ControlAutonomous Robots in VR Environments
Simulation of Robots: 3D Realistic Virtual Environments- Sensors: infrared, sonar, bumpers, gyro (accelerometers),
GPS, compass, light and vision sensors, etc. - Actuators: legs and arms with angular motors (joints) - Physics: collision, kinematics, rigid body dynamics
Simulation of Legged Autonomous Robots:- Robot ControlArchitectures Implementation
Genetic Evolved Control of Articulated Robots (w/legs)
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5. Applications: VR Simulation Tools
LEGGEN - Legged Robots Evolution and Walking ControlAutonomous Robots in VR Environments
Simulation of 3D Realistic Virtual Legged Robots LEGGEN Simulator - Tools:
1. OSG- Open Scene Graph (OpenGL + Extensions)[ http://www.openscenegraph.org/ ]
2. ODE - Open Dynamics EngineRigid Body Physics Simulation(gravity, inertia, friction, collision, joints, etc)[ http://www.ode.org/ ]
3. GALib - Genetic Algorithms Simulation[ http://www.lancet.mit.edu/ga/ ]
4. Robot Control FSM: Finite State Machine = Sense + Act
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5. Applications: VR Simulation Tools
LEGGEN - Legged Robots Evolution and Walking ControlAutonomous Robots in VR Environments
Simulation main goals:
- Evaluate different Robot Models(hardware configurations)IEEE WCCI / CEC 2006 - Vancouver, Canadá
- Evaluate different Fitness FunctionsIBERAMIA / SBIA - Ribeirão Preto, SP Robot Models
Boston Dynamics
Evaluate different robot models in order to select a better hardware configuration
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LEGGEN SIMULATOR
Simulation Results:
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LEGGEN SIMULATOR
Simulation RESULTS:
Tetrapod Video - Distance, Gyro
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LEGGEN SIMULATOR
Simulation RESULTS: Tetrapod Video - "bloopers"
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5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots Simulator
SEVA 3D - Autonomous Vehicle Parking
LEGGEN - Legged (articulated) Robots Simulator
Robombeiros - Fire Fighting
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Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:* 2D and 3D Simulation* Simulation of fire propagation* Autonomous fire-fighting team* Define: Strategy, Mission, Execution
Fire PropagationSimulation:
- Direction and Speedof wind
- Vegetation type andcoverture density
(speed of propagation)- Terrain
Figure: 2D Simulation using SDL library => http://pessin.googlepages.com/robombeiros
Published at SVR 2007 (Symposium on Virtual and Augmented Reality) [G. Pessin, F. Osório, S. Musse, V. Nonnenmacher, S. Ferreira]
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Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:
http://pessin.googlepages.com/robombeirosPublished at SVR 2007 (Symposium on Virtual and Augmented Reality) [G. Pessin, F. Osório, S. Musse, V. Nonnenmacher, S. Ferreira]
3D Visualization:- Vegetation, Fire- Autonomous mobile Robots- Stereo 3D - Tools: OSG, ODE, Demeter
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Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:
3D Simulation:- Fire propagation- Physics- Robot Control
http://pessin.googlepages.com/robombeiros
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Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Robots and Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: Autonomous Robots VR Simulation Tools
6. Conclusions and New Trends
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New Trends
Claytronics - Nanotechhttp://www.cs.cmu.edu/~claytronics/[Published at IROS2006]
IEEE Intelligent Robot and Systems Conference
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Conclusions and New Trends
Virtual Reality Environments:
Geometric + Kinematic + Physical + Behavioural + Cognitive=
Realistic VR Environments
New Trends: VR + PhysicsArtificial IntelligenceAR - Augmented RealityHaptic Interfaces
Autonomy IVREIntelligent Virtual Reality Environments
Simulation VR PBSimVR Physical and Behavioral Simulation
More Real VR++
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CONTACT INFORMATION
UNISINOS University UNISINOS University -- BrazilBrazil
Applied Computing Research PostApplied Computing Research Post --grad Programgrad Program -- PIPCAPIPCAAutonomous Vehicles Research GroupAutonomous Vehicles Research Group -- GPVAGPVA
WebWeb: : GoogleGoogle -- veiculosveiculos autonomosautonomos
GPVA GPVA WebWeb PagePage: : http://www.eletrica.unisinos.br/~autonomhttp://www.eletrica.unisinos.br/~autonom
ContactContact -- WebWeb PagePage: : http://inf.unisinos.br/~osorio/http://inf.unisinos.br/~osorio/
This conference This conference -- Web Page: Web Page: http://inf.unisinos.br/~osorio/palestras/cerma07.ht mlhttp://inf.unisinos.br/~osorio/palestras/cerma07.ht ml
Contact: Prof. Dr. Fernando OsórioE-Mail: [email protected]