Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can make the decision to maneuver in the match to get the right goal kick. There are various methods of detecting goal. One of them is to detect goal post using vision. In this study the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area that is detected is the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.Keywords— omnidirectional camera, vision, radial search lines, goal detection, ersow soccer robot

Children-in-laws’ message processing: Associations among uncertainty, perceived topic avoidance, goal inferences, and martial satisfaction

Uncertainty is germane to the in-law experience. Although associations between in-law’s doubts and message production are well documented, less is known about how in-law’s uncertainty corresponds with their message processing and how these evaluations associate with relational outcomes. Weaving theorizing on uncertainty and goal detection, the present study examined associations between children-in-law’s uncertainty, message processing, and marital satisfaction. Self-report, survey data from children-in-law ( n = 199) revealed that their uncertainty corresponds with biased appraisals of their parents-in-law’s communication, specifically perceived topic avoidance and the goals undergirding their avoidant communication (i.e., goal inferences). Additionally, perceived topic avoidance rather than uncertainty shared a stronger association with goal inferences. Finally, goal inferences were directly and indirectly associated with children-in-law’s marital satisfaction. Results are interpreted in light of their theoretical and practical contributions.

A Novel Framework for Multi-Agent Systems Using a Decentralized Strategy

SummaryThis work addresses a new framework that proposes a decentralized strategy for collective and collaborative behaviours of multi-agent systems. This framework includes a new clustering behaviour that causes agents in the swarm to agree on attending a group and allocating a leader for each group, in a decentralized and local manner. The leader of each group employs a vision-based goal detection algorithm to find and acquire the goal in a cluttered environment. As soon as the leader starts moving, each member is enabled to move in the same direction by staying coordinated with the leader and maintaining the desired formation pattern. In addition, an exploration algorithm is designed and integrated into the framework so as to allow each group to be able to explore goals in a collaborative and efficient manner. A series of comprehensive experiments are conducted in order to verify the overall performance of the proposed framework.