Abstract
The notable expansion of technologies related to automated processes has been observed in recent years, largely driven by the significant advantages they provide across diverse industries. Concurrently, there has been a rise in simulation technologies aimed at replicating these complex systems. Nevertheless, in order to fully leverage the potential of these technologies, it is crucial to ensure the highest possible resemblance of simulations to real-world scenarios. In brief, this work consists of the development of a data acquisition and processing pipeline allowing a posterior search for the optimal physical parameters in MuJoCo simulator to obtain a more accurate simulation of a dexterous robotic hand. In the end, a Random Search optimization algorithm was used to validate this same pipeline.

Abstract

Abstract
The widespread use of smartphones and other low-cost equipment as recording devices, the massive growth in bandwidth, and the ever-growing demand for new applications with enhanced capabilities, made visual data a must in several scenarios, including surveillance, sports, retail, entertainment, and intelligent vehicles. Despite significant advances in analyzing and extracting data from images and video, there is a lack of solutions able to analyze and semantically describe the information in the visual scene so that it can be efficiently used and repurposed. Scientific contributions have focused on individual aspects or addressing specific problems and application areas, and no cross-domain solution is available to implement a complete system that enables information passing between cross-cutting algorithms. This paper analyses the problem from an end-to-end perspective, i.e., from the visual scene analysis to the representation of information in a virtual environment, including how the extracted data can be described and stored. A simple processing pipeline is introduced to set up a structure for discussing challenges and opportunities in different steps of the entire process, allowing to identify current gaps in the literature. The work reviews various technologies specifically from the perspective of their applicability to an end-to-end pipeline for scene analysis and synthesis, along with an extensive analysis of datasets for relevant tasks.

Abstract
The problem of gathering sufficiently representative data, such as those about human actions, shapes, and facial expressions, is costly and time-consuming and also requires training robust models. This has led to the creation of techniques such as transfer learning or data augmentation. However, these are often insufficient. To address this, we propose a semi-automated mechanism that allows the generation and editing of visual scenes with synthetic humans performing various actions, with features such as background modification and manual adjustments of the 3D avatars to allow users to create data with greater variability. We also propose an evaluation methodology for assessing the results obtained using our method, which is two-fold: (i) the usage of an action classifier on the output data resulting from the mechanism and (ii) the generation of masks of the avatars and the actors to compare them through segmentation. The avatars were robust to occlusion, and their actions were recognizable and accurate to their respective input actors. The results also showed that even though the action classifier concentrates on the pose and movement of the synthetic humans, it strongly depends on contextual information to precisely recognize the actions. Generating the avatars for complex activities also proved problematic for action recognition and the clean and precise formation of the masks.

Abstract
This paper proposes a multiple-lens receiver scheme to increase the misalignment tolerance of an underwater optical wireless communications link between an autonomous underwater vehicle (AUV) and a sensor plane. An accurate model of photon propagation based on the Monte Carlo simulation is presented which accounts for the lens(es) photon refraction at the sensor interface and angular misalignment between the emitter and receiver. The results show that the ideal divergence of the beam of the emitter is around 15 degrees for a 1 m transmission length, increasing to 22 degrees for a shorter distance of 0.5 m but being independent of the water turbidity. In addition, it is concluded that a seven-lense scheme is approximately three times more tolerant to offset than a single lens. A random forest machine learning algorithm is also assessed for its suitability to estimate the offset and angle of the AUV in relation to the fixed sensor, based on the power distribution of each lens, in real time. The algorithm is able to estimate the offset and angular misalignment with a mean square error of 5 mm (6 mm) and 0.157 rad (0.174 rad) for a distance between the transmitter and receiver of 1 m and 0.5 m, respectively.

Abstract
This paper presents an experimental investigation of sigma-delta modulation (SDM) as a means of improving the performance of underwater optical communication systems. The study considers the impact of the key parameters of SDM, including oversampling ratio, the system's signal-to-noise ratio, bandwidth, and optical link distance. The results of this study provide insights into the design and optimization of SDM-based underwater optical communication systems, paving the way for future research in this field. A fully digital solution, albeit operating at a lower bit rate than previously published OFDM counterparts, provides immunity against nonlinearities of the system and robustness to noise, which is relevant in harsh environments. Moreover, the proposed solution based on a first-order bandpass SDM architecture avoids the employment of a DAC at the receiver, simplifying its operation and reducing costs. An experimental investigation is carried out for the transmission of 16-QAM over SDM, and a transmission distance of 4.8 m over the underwater channel is achieved with a maximum transmission rate of 400 Mbit/s with an MER of 28 dB.