%!TEX encoding = UTF-8 Unicode

%% Thesis cover pages
%%
%% Based on the example.tex file provided by Tomás Oliveira e Silva
%%
%% Modified by João Paulo Barraca <jpbarraca@ua.pt>
%% Modified by Filipe Manco <filipe.manco@ua.pt>

% Remove 'coverdepname' parameter to remove department name from cover pages
% Add 'final' parameter to remove "DOCUMENTO PROVISÓRIO" from cover page
\documentclass[11pt,twoside,a4paper,final]{report}

%%% This file is a template for the cover of your
%%%  thesis.
%%% Lines like this one, starting with %%% , are
%%%  instructions. Search them to know where and
%%%  how to edit this file. After editing the
%%%  document you can delete them.
%%% Items marked with OPTIONAL can be removed.
%%% Most of the lines you will have to change
%%%  already have examples to help you understand.
%%% The complete list of options and commands can
%%%  be found in uaThesisTemplate.sty


%%% Select your area of study and department from
%%%  the following lists and replace them in the
%%%  \usepackage declaration ([area,department]).
%%%
%%% | area        |   | department |
%%% ---------------   --------------
%%% | arts        |   | dao        |
%%% | sciences    |   | dbio       |
%%% | education   |   | dcspt      |
%%% | economy     |   | deca       |
%%% | engineering |   | degeit     |
%%% | humanities  |   | de         |
%%% | health      |   | deti       |
%%% |             |   | demac      |
%%% |             |   | decivil    |
%%% |             |   | dem        |
%%% |             |   | dfis        |
%%% |             |   | dlc        |
%%% |             |   | dmat       |
%%% |             |   | dq         |
%%% |             |   | dcm        |
%%% |             |   | dgeo        |
%%% ---------------   --------------
%% Import the UA thesis template
\usepackage[engineering,deti]{uaThesisTemplate}


%% Optional packages for utf8 encoding and T1 fonts
\usepackage[utf8]{inputenc}
\usepackage[T1]{fontenc}

%% For prettier pages
\usepackage{lmodern}

%% We will use english and portuguese
\usepackage[english,portuguese]{babel}

\usepackage{xspace}% used by \sigla

%%% This package is only used to create a dummy
%%%  text for the abstract. You can remove the
%%%  following line in the final document.
%\usepackage{blindtext}


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%       DEFINE THESIS COVER FIELDS
%%                  START
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%% Edit thesis year
%% Thesis Year
\ThesisYear{\the\year}


%%% Uncomment one of the following options:
%\DocumentTypeThesis
%\DocumentTypeThesisProposal
\DocumentTypeDissertation

%%% Uncomment if you are a student of a MAP Doctoral program 
%%% http://www.map.edu.pt/
%%% | area                | identifier |
%%% | Biology of Plants   | bioplant   |
%%% | Computer Science    | i          |
%%% | Physics             | fis        |
%%% | Telecommunications  | tele       |

%\MAPProgram{i}

%%% Edit author's name
%% Author's full name
\Author{Pedro\\Amaral}

%%% Edit thesis title in Portuguese
%% Thesis Mandatory Title in Portuguese
%% MÁXIMO 70 CARACTERES
\TitlePT{Reconhecimento de Configurações da Mão Humana para Previsão de Intenções em Tarefas Colaborativas}

%%% OPTIONAL: you can write your thesis title in
%%%  other languages. You can repeat the following
%%%  line as many times as you want, or remove it
%%%  if you only want the portuguese title.
%% Optional Titles in additional languages.
%% MAX 70 CHARACTERS
\TitleEN{Recognition of Human Grasping Patterns for Intention Prediction in Collaborative Tasks}

%%% OPTIONAL: add a quotation if you like.
%% Optional Quotation
%\Quote{\selectlanguage{english}The greatest challenge to any thinker is stating the problem in a way that will allow a solution}{Bertrand Russell}

\Quote{\selectlanguage{english}Predicting the future isn’t magic, it’s artificial intelligence.}{Dave Waters}

%%% Edit your supervisor's information.
%%%
%%% \Supervisor{name}{category}
%%%
%%% name   : Supervisor's name
%%% categoy: One of the following list
%%%
%%% | category               |
%%% --------------------------
%%% | catedrático            |
%%% | catedrático convidado  |
%%% | associado c/ agregação |
%%% | associado              |
%%% | auxiliar               |
%%% | auxiliar convidado     |
%%% --------------------------
%% Supervisor information
\Supervisor{Filipe Silva}{Auxiliar}

%%% OPTIONAL: you can add a second supervisor.
%%%
%%% \SecondSupervisor{name}{category}
%%%  {[preposition: (at, in, no, da)] department}
%%%  {[preposition: (at, in, do, na)] school}
%%%
%%% name      : See above.
%%% category  : See above.
%%% department: Can be a department, faculty or
%%%             other; Choose the preposition
%%%             accordingly.
%%% school    : University/Scholl name; Choose the
%%%             preposition accordingly.
%% Optional SecondSuperviser information
\SecondSupervisor{Vítor Santos}{Associado c/ Agregação}{do Departamento de Engenharia Mecânica}{da Universidade de Aveiro}

%%% Edit your degree information.
%%%
%%% \Degree{title}{name}
%%%
%%% title: Degree title (Mestre or Doutor)
%%% name : Degree name
%% Degree title and name
\Degree{Mestre}{Robótica e Sistemas Inteligentes}

%%% OPTIONAL: edit grant support texts where
%%%  appropriate. Maximum two.
%%%
%%% \GrantText{grant1}{grant2}
%% Optional Grant support texts
\GrantText{The present study was developed in the scope of the Project Augmented Humanity [POCI-01-0247-FEDER-046103], financed by Portugal 2020, under the Competitiveness and Internationalization Operational Program, the Lisbon Regional Operational Program, and by the European Regional Development Fund}

%%% OPTIONAL: Add a dedication text.
%% Optional Dedication text
%\Dedication{Dedico este trabalho à minha esposa e filho pelo incansável apoio.}

%%% OPTIONAL: Add an acknowledgement text
%% Optional Acknowledgement text
\Acknowledgements{Quero deixar um agradecimento especial ao meu orientador Filipe Silva e co-orientador Vítor Santos por toda a dedicação e ajuda durante o desenvolvimento desta dissertação. Quero também agradecer ao projeto Augmented Humanity por proporcionar todos os materiais necessários para a realização deste trabalho, aos meus companheiros de laboratório Joel Baptista e Manuel Gomes pela ajuda na recolha do dataset e Afonso Castro pela implementação do sistema de comunicação com o robô. Por fim, quero agradecer à minha família e amigos que me apoiaram durante todo este percurso.}

%%% Edit the keywords and abstract in Portuguese
%%% Don't forget to remove the \blindtext[3]
%%%  declaration.
%%% Don't remove the \selectlanguage statement or you will end with incorrect hyphenation
%% Mandatory Keywords and Abstract in Portuguese
\Abstract{Palavras Chave}{Colaboração Humano-Robô, Aprendizagem Automática, Reconhecimento de Objetos, Antecipação de Ações, Modelo Preditivo, Controlador de Robô, Robô Colaborativo}
         {Resumo}{\selectlanguage{portuguese}A Colaboração Homem-Robô surge como um conceito que complementa a flexibilidade e precisão de um trabalhador humano com a força e o menor custo de um trabalhador robótico no mesmo espaço de trabalho. Avanços recentes no campo da robótica colaborativa visam dotar os robôs industriais de capacidades de previsão e antecipação. Em muitas tarefas compartilhadas, a capacidade do robô de perceber e reconhecer com precisão os objetos que estão sendo manipulados pelo operador humano é crucial para fazer previsões sobre as intenções do operador. Neste contexto, esta dissertação tem dois objetivos principais. Em primeiro lugar, o objetivo é estabelecer a infraestrutura de hardware e software de um sistema colaborativo, que inclui um robô e duas câmeras utilizando o framework ROS. Esta infraestrutura inclui também um controlador de robô que antecipa o trabalhador humano, tomando decisões considerando as suas intenções derivadas dos dados dos sensores. Em segundo lugar, é desenvolvida uma framework baseada em aprendizagem para permitir que um robô auxiliar reconheça o objeto agarrado pelo operador humano com base no padrão das articulações da mão e dos dedos. A framework combina os pontos fortes do software MediaPipe na detecção de pontos de referência nas mãos a partir de uma imagem RGB com um classificador multiclasse profundo que prevê o objeto manipulado a partir dos pontos-chave extraídos. Este estudo concentra-se na comparação entre duas arquiteturas de aprendizagem profundas, uma Rede Neuronal Convolucional e um Transformer, em termos de exatidão de previsão, precisão, recall e F1-Score. O desempenho do sistema de reconhecimento é testado em diferentes conjuntos de dados com diferentes utilizadores e em diferentes sessões. Os resultados demonstram a eficácia dos métodos propostos, ao mesmo tempo que fornecem informações valiosas sobre os fatores que limitam a capacidade de generalização dos modelos.}

%%% OPTIONAL: you can write the keywords and
%%%  abstract in other languages. You can repeat
%%%  the following lines as many times as you want
%%%  or remove them if you only want portuguese.
%%% Don't remove the \selectlanguage statement or you will end with incorrect hyphenation.
%%% You can modify the language to any other supported by Latex
%% Optional Keywords and Abstract in additional languages.
%\Abstract{Keywords}{textbook, architecture, history, construction, construction materials, traditional knowledge.}
%         {Abstract}{\selectlanguage{english}An abstract is a short summary of a longer work (such as a thesis, dissertation or research paper).\\The abstract concisely reports the aims and outcomes of your research, so that readers know exactly what your paper is about.\\Although the structure may vary slightly depending on your discipline, your abstract should describe the purpose of your work, the methods you’ve used, and the conclusions you’ve drawn.\\One common way to structure your abstract is to use the IMRaD structure. This stands for: \begin{itemize} \item Introduction \item Methods \item Results \item Discussion \end{itemize} Check for more details here:\\\texttt{https://www.scribbr.com/dissertation/abstract/}}
\Abstract{Keywords}{Human-Robot Collaboration, Machine Learning, Object Recognition, Action Anticipation, Predictive Model, Robot Controller, Collaborative Robot}
         {Abstract}{\selectlanguage{english}Human-Robot Collaboration emerges as a concept that complements the flexibility and precision of a human worker with the strength and lower cost of a robotic worker in the same workspace. Recent advances in the field of collaborative robotics aim to endow industrial robots with prediction and anticipation abilities. In many shared tasks, the robot’s ability to accurately perceive and recognize the objects being manipulated by the human operator is crucial to make predictions about the operator's intentions. In this context, this dissertation has two main objectives. Firstly, the aim is to establish the hardware and software infrastructure of a collaborative system, which includes a robot and two cameras using the ROS framework. This infrastructure also includes a robot controller that anticipates the human worker, by making its decisions considering his intentions derived from sensor data. Secondly, a learning-based framework is developed to enable an assistive robot to recognize the object grasped by the human operator based on the pattern of the hand and finger joints. The framework combines the strengths of the commonly available software MediaPipe in detecting hand landmarks in an RGB image with a deep multi-class classifier that predicts the manipulated object from the extracted keypoints. This study focuses on the comparison between two deep architectures, a Convolutional Neural Network and a Transformer, in terms of prediction accuracy, precision, recall, and F1-score. The performance of the recognition system is tested on different datasets with different users and in different sessions. The results demonstrate the effectiveness of the proposed methods while providing valuable insights into the factors that limit the generalization ability of models.}

%%% Edit the Jury President information.
%% First Member will be the President of the Jury
\JuriMember{Prof. Doutor José Nuno Panelas Nunes Lau}{Professor Associado da Universidade de Aveiro}

%%% Repeat the above declaration for additional
%%%  members of the jury as many times as necessary.
%% Additional members of the Jury
\JuriMember{Prof. Doutor João Paulo Morais Ferreira}{Professor Coordenador do Instituto Superior de Engenharia de Coimbra}
\JuriMember{Prof. Doutor Filipe Miguel Teixeira Pereira da Silva}{Professor Auxiliar da Universidade de Aveiro}
%\JuriMember{Prof. Doutor João Antunes da Silva}{professor associado da Faculdade de Engenharia da Universidade do Porto}
%\JuriMember{Prof. Doutor João Antunes da Silva}{professor associado da Faculdade de Engenharia da Universidade do Porto}
%\JuriMember{Prof. Doutor João Antunes da Silva}{professor associado da Faculdade de Engenharia da Universidade do Porto}


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%       DEFINE THESIS COVER FIELDS
%%                  END
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


\begin{document}

%%% By default we consider portuguese to be the
%%%  main language (the last one in the usepackage
%%%  declaration). If you're writing your thesis
%%%  in english uncomment the following line.
%%% Set the proper language or you will end with incorrect hyphenation!
\selectlanguage{english}


\MakeCover
\end{document}
