Cooperative positioning for heterogeneous wireless systems

Future emerging market trends head towards positioning based services placing a new perspective on the way we obtain and exploit positioning information. On one hand, innovations in information technology and wireless communication systems enabled the development of numerous location based applications such as vehicle navigation and tracking, sensor networks applications, home automation, asset management, security and context aware location services. On the other hand, wireless networks themselves may bene t from localization information to improve the performances of di erent network layers. Location based routing, synchronization, interference cancellation are prime examples of applications where location information can be useful. Typical positioning solutions rely on measurements and exploitation of distance dependent signal metrics, such as the received signal strength, time of arrival or angle of arrival. They are cheaper and easier to implement than the dedicated positioning systems based on ngerprinting, but at the cost of accuracy. Therefore intelligent localization algorithms and signal processing techniques have to be applied to mitigate the lack of accuracy in distance estimates. Cooperation between nodes is used in cases where conventional positioning techniques do not perform well due to lack of existing infrastructure, or obstructed indoor environment. The objective is to concentrate on hybrid architecture where some nodes have points of attachment to an infrastructure, and simultaneously are interconnected via short-range ad hoc links. The availability of more capable handsets enables more innovative scenarios that take advantage of multiple radio access networks as well as peer-to-peer links for positioning. Link selection is used to optimize the tradeo between the power consumption of participating nodes and the quality of target localization. The Geometric Dilution of Precision and the Cramer-Rao Lower Bound can be used as criteria for choosing the appropriate set of anchor nodes and corresponding measurements before attempting location estimation itself. This work analyzes the existing solutions for node selection in order to improve localization performance, and proposes a novel method based on utility functions. The proposed method is then extended to mobile and heterogeneous environments. Simulations have been carried out, as well as evaluation with real measurement data. In addition, some speci c cases have been considered, such as localization in ill-conditioned scenarios and the use of negative information. The proposed approaches have shown to enhance estimation accuracy, whilst signi cantly reducing complexity, power consumption and signalling overhead.

Inter layer and cooperative design strategies for green mobile networks

The promise of a truly mobile experience is to have the freedom to roam around anywhere and not be bound to a single location. However, the energy required to keep mobile devices connected to the network over extended periods of time quickly dissipates. In fact, energy is a critical resource in the design of wireless networks since wireless devices are usually powered by batteries. Furthermore, multi-standard mobile devices are allowing users to enjoy higher data rates with ubiquitous connectivity. However, the bene ts gained from multiple interfaces come at a cost in terms of energy consumption having profound e ect on the mobile battery lifetime and standby time. This concern is rea rmed by the fact that battery lifetime is one of the top reasons why consumers are deterred from using advanced multimedia services on their mobile on a frequent basis. In order to secure market penetration for next generation services energy e ciency needs to be placed at the forefront of system design. However, despite recent e orts, energy compliant features in legacy technologies are still in its infancy, and new disruptive architectures coupled with interdisciplinary design approaches are required in order to not only promote the energy gain within a single protocol layer, but to enhance the energy gain from a holistic perspective. A promising approach is cooperative smart systems, that in addition to exploiting context information, are entities that are able to form a coalition and cooperate in order to achieve a common goal. Migrating from this baseline, this thesis investigates how these technology paradigm can be applied towards reducing the energy consumption in mobile networks. In addition, we introduce an additional energy saving dimension by adopting an interlayer design so that protocol layers are designed to work in synergy with the host system, rather than independently, for harnessing energy. In this work, we exploit context information, cooperation and inter-layer design for developing new energy e cient and technology agnostic building blocks for mobile networks. These technology enablers include energy e cient node discovery and short-range cooperation for energy saving in mobile handsets, complemented by energy-aware smart scheduling for promoting energy saving on the network side. Analytical and simulations results were obtained, and veri ed in the lab on a real hardware testbed. Results have shown that up to 50% energy saving could be obtained.

On the application of optimal control techniques in lossy fieldbuses

The performance of real-time networks is under continuous improvement as a result of several trends in the digital world. However, these tendencies not only cause improvements, but also exacerbates a series of unideal aspects of real-time networks such as communication latency, jitter of the latency and packet drop rate. This Thesis focuses on the communication errors that appear on such realtime networks, from the point-of-view of automatic control. Specifically, it investigates the effects of packet drops in automatic control over fieldbuses, as well as the architectures and optimal techniques for their compensation. Firstly, a new approach to address the problems that rise in virtue of such packet drops, is proposed. This novel approach is based on the simultaneous transmission of several values in a single message. Such messages can be from sensor to controller, in which case they are comprised of several past sensor readings, or from controller to actuator in which case they are comprised of estimates of several future control values. A series of tests reveal the advantages of this approach. The above-explained approach is then expanded as to accommodate the techniques of contemporary optimal control. However, unlike the aforementioned approach, that deliberately does not send certain messages in order to make a more efficient use of network resources; in the second case, the techniques are used to reduce the effects of packet losses. After these two approaches that are based on data aggregation, it is also studied the optimal control in packet dropping fieldbuses, using generalized actuator output functions. This study ends with the development of a new optimal controller, as well as the function, among the generalized functions that dictate the actuator’s behaviour in the absence of a new control message, that leads to the optimal performance. The Thesis also presents a different line of research, related with the output oscillations that take place as a consequence of the use of classic co-design techniques of networked control. The proposed algorithm has the goal of allowing the execution of such classical co-design algorithms without causing an output oscillation that increases the value of the cost function. Such increases may, under certain circumstances, negate the advantages of the application of the classical co-design techniques. A yet another line of research, investigated algorithms, more efficient than contemporary ones, to generate task execution sequences that guarantee that at least a given number of activated jobs will be executed out of every set composed by a predetermined number of contiguous activations. This algorithm may, in the future, be applied to the generation of message transmission patterns in the above-mentioned techniques for the efficient use of network resources. The proposed task generation algorithm is better than its predecessors in the sense that it is capable of scheduling systems that cannot be scheduled by its predecessor algorithms. The Thesis also presents a mechanism that allows to perform multi-path routing in wireless sensor networks, while ensuring that no value will be counted in duplicate. Thereby, this technique improves the performance of wireless sensor networks, rendering them more suitable for control applications. As mentioned before, this Thesis is centered around techniques for the improvement of performance of distributed control systems in which several elements are connected through a fieldbus that may be subject to packet drops. The first three approaches are directly related to this topic, with the first two approaching the problem from an architectural standpoint, whereas the third one does so from more theoretical grounds. The fourth approach ensures that the approaches to this and similar problems that can be found in the literature that try to achieve goals similar to objectives of this Thesis, can do so without causing other problems that may invalidate the solutions in question. Then, the thesis presents an approach to the problem dealt with in it, which is centered in the efficient generation of the transmission patterns that are used in the aforementioned approaches.

Network virtualisation from an operator perspective

Network virtualisation is seen as a promising approach to overcome the so-called “Internet impasse” and bring innovation back into the Internet, by allowing easier migration towards novel networking approaches as well as the coexistence of complementary network architectures on a shared infrastructure in a commercial context. Recently, the interest from the operators and mainstream industry in network virtualisation has grown quite significantly, as the potential benefits of virtualisation became clearer, both from an economical and an operational point of view. In the beginning, the concept has been mainly a research topic and has been materialized in small-scale testbeds and research network environments. This PhD Thesis aims to provide the network operator with a set of mechanisms and algorithms capable of managing and controlling virtual networks. To this end, we propose a framework that aims to allocate, monitor and control virtual resources in a centralized and efficient manner. In order to analyse the performance of the framework, we performed the implementation and evaluation on a small-scale testbed. To enable the operator to make an efficient allocation, in real-time, and on-demand, of virtual networks onto the substrate network, it is proposed a heuristic algorithm to perform the virtual network mapping. For the network operator to obtain the highest profit of the physical network, it is also proposed a mathematical formulation that aims to maximize the number of allocated virtual networks onto the physical network. Since the power consumption of the physical network is very significant in the operating costs, it is important to make the allocation of virtual networks in fewer physical resources and onto physical resources already active. To address this challenge, we propose a mathematical formulation that aims to minimize the energy consumption of the physical network without affecting the efficiency of the allocation of virtual networks. To minimize fragmentation of the physical network while increasing the revenue of the operator, it is extended the initial formulation to contemplate the re-optimization of previously mapped virtual networks, so that the operator has a better use of its physical infrastructure. It is also necessary to address the migration of virtual networks, either for reasons of load balancing or for reasons of imminent failure of physical resources, without affecting the proper functioning of the virtual network. To this end, we propose a method based on cloning techniques to perform the migration of virtual networks across the physical infrastructure, transparently, and without affecting the virtual network. In order to assess the resilience of virtual networks to physical network failures, while obtaining the optimal solution for the migration of virtual networks in case of imminent failure of physical resources, the mathematical formulation is extended to minimize the number of nodes migrated and the relocation of virtual links. In comparison with our optimization proposals, we found out that existing heuristics for mapping virtual networks have a poor performance. We also found that it is possible to minimize the energy consumption without penalizing the efficient allocation. By applying the re-optimization on the virtual networks, it has been shown that it is possible to obtain more free resources as well as having the physical resources better balanced. Finally, it was shown that virtual networks are quite resilient to failures on the physical network.

Communication between nodes for autonomic and distributed management

Over the last decade, the most widespread approaches for traditional management were based on the Simple Network Management Protocol (SNMP) or Common Management Information Protocol (CMIP). However, they both have several problems in terms of scalability, due to their centralization characteristics. Although the distributed management approaches exhibit better performance in terms of scalability, they still underperform regarding communication costs, autonomy, extensibility, exibility, robustness, and cooperation between network nodes. The cooperation between network nodes normally requires excessive overheads for synchronization and dissemination of management information in the network. For emerging dynamic and large-scale networking environments, as envisioned in Next Generation Networks (NGNs), exponential growth in the number of network devices and mobile communications and application demands is expected. Thus, a high degree of management automation is an important requirement, along with new mechanisms that promote it optimally and e ciently, taking into account the need for high cooperation between the nodes. Current approaches for self and autonomic management allow the network administrator to manage large areas, performing fast reaction and e ciently facing unexpected problems. The management functionalities should be delegated to a self-organized plane operating within the network, that decrease the network complexity and the control information ow, as opposed to centralized or external servers. This Thesis aims to propose and develop a communication framework for distributed network management which integrates a set of mechanisms for initial communication, exchange of management information, network (re) organization and data dissemination, attempting to meet the autonomic and distributed management requirements posed by NGNs. The mechanisms are lightweight and portable, and they can operate in di erent hardware architectures and include all the requirements to maintain the basis for an e cient communication between nodes in order to ensure autonomic network management. Moreover, those mechanisms were explored in diverse network conditions and events, such as device and link errors, di erent tra c/network loads and requirements. The results obtained through simulation and real experimentation show that the proposed mechanisms provide a lower convergence time, smaller overhead impact in the network, faster dissemination of management information, increase stability and quality of the nodes associations, and enable the support for e cient data information delivery in comparison to the base mechanisms analyzed. Finally, all mechanisms for communication between nodes proposed in this Thesis, that support and distribute the management information and network control functionalities, were devised and developed to operate in completely decentralized scenarios.

PRESENTE, um projeto de futuro sobre o passado

No Monumento Nacional aos Combatentes do Ultramar, em Belém, encontram-se dispostos por ano e ordem alfabética os nomes dos militares mortos nesse conflito que durou treze anos. Este enunciado é o ponto de partida para um projeto artístico que, não sendo construído fisicamente a partir de fontes documentais ou de artefactos relacionados com os factos históricos, se irá desenvolver com base em premissas conceptuais no sentido de despoletar a partilha dessa memória. Este projeto artístico é, em si, a criação de um novo documento que olha o passado e o procura projetar no futuro com base no momento “PRESENTE”. Nesta comunicação propomo-nos, metodologicamente, discutir o processo de construção de um projeto artístico que, com a atribuição do prémio Bolsa Estação Imagem | Mora 2014 dará origem a uma exposição pública e à publicação de um livro relacionando-o com um conjunto de possibilidades que questionam as potencialidades que a área da criação artística dispõe para contaminar as questões da musealização de forma a contribuir com o despontar de novas abordagens e narrativas nas práticas da materialização de exposições como médium e lugar de criação artística. Através da consideração processual deste projeto procuramos atingir o significado da memória nos processos de mediação artística onde as imagens renunciando à possibilidade de serem simulacro ou fantasmagoria, simbolizam cada coisa e o seu contrário, abeirando-se da não representação e, neste limite, qual o papel do museu nessas práticas de mediação.

Colaboração na formação inicial e abordagem didática da ortografia

Considerando que, na sociedade atual, o conhecimento flui incessantemente, renovando-se a cada momento, o cidadão do séc. XXI confronta-se com novos desafios que exigem o desenvolvimento de novas competências. Os recursos da web social – como os fóruns de discussão online –, gratuitos e fáceis de utilizar, permitem que os indivíduos acedam à informação, construam conhecimento, partilhem interesses e desenvolvam múltiplas competências em colaboração. Face a esta realidade, as instituições de Ensino Superior têm vindo a reconhecer que os estudantes já não se sentem confortáveis com abordagens de ensino tradicionais, em que impera a transmissão de informação, preferindo envolver-se em experiências de aprendizagem em que possam interagir com a tecnologia, pelas potencialidades que já lhe reconhecem. Procurando ir ao encontro das exigências da sociedade e do mundo do trabalho atuais, o Processo de Bolonha veio renovar os cursos de Ensino Superior, centrando-os no estudante e no desenvolvimento da autonomia e da colaboração, entre outras competências. Esta tendência vai ao encontro da reconhecida valorização da colaboração com vista à melhoria do desempenho de um grupo profissional. Também no contexto educacional se reconhece o seu contributo para o desenvolvimento profissional do professor e a operacionalização de um ensino por competências. Compete à formação de professores lançar as bases deste movimento.A formação inicial de professores do 1º Ciclo do Ensino Básico tem, entre outras preocupações, a de levar o futuro professor a refletir sobre princípios didáticos que informem a conceção, implementação e avaliação de estratégias e atividades que contribuam para o desenvolvimento de competências nos alunos. Entre as competências a desenvolver nas crianças a frequentar este nível de escolaridade, no que concerne à aprendizagem da língua materna, figura a competência ortográfica, indispensável a uma boa comunicação escrita. Quanto mais cedo for automatizada, mais possibilidades o aluno terá de se ocupar prioritariamente de outros aspetos mais complexos e exigentes do processo de escrita. Tendo em vista estas preocupações, desenvolvemos um estudo, com futuros professores do 1º Ciclo do Ensino Básico a frequentar um mestrado profissionalizante da Universidade de Aveiro, cujos objetivos de investigação eram os seguintes: i) descrever as suas representações sobre colaboração; ii) compreender a influência dessas representações na adoção de práticas colaborativas num fórum de discussão online; iii) compreender o contributo da colaboração adotada num fórum de discussão online para a construção de conhecimento didático sobre a abordagem da ortografia; iv) compreender o contributo desse conhecimento para a conceção de instrumentos didáticos sobre a abordagem da ortografia. Numa primeira fase, o estudo desenvolveu-se com dois grupos de alunos, que nele participaram em dois anos letivos distintos (2009/2010 e 2010/2011), no contexto da unidade curricular de Didática da Língua Portuguesa (inserida no plano de estudos do 1º semestre do 1º ano do Mestrado em Educação Pré- Escolar e Ensino no 1º Ciclo do Ensino Básico da Universidade de Aveiro). Numa segunda fase (entre o 2º semestre do ano letivo de 2011/2012 e 1º semestre do ano letivo de 2012/2013), recolheu-se o resultado de uma intervenção didática desenvolvida por uma professora estagiária (participante na primeira fase do estudo), no âmbito da Prática Pedagógica Supervisionada, apoiada pelo Seminário de Investigação Educacional. Tratando-se de um estudo de caso, a investigação envolveu a recolha de dados através de inquérito por questionário disponibilizado online, uma reflexão individual apresentada por escrito, posts e documentos publicados num fórum de discussão online e instrumentos didáticos (planificação de aulas e relatório de estágio) elaborados pelos estudantes. Procedeu-se a uma análise de conteúdo fundamentada nos quadros teóricos e no estudo empírico.Os resultados vêm aprofundar a discussão em torno da utilização de ferramentas da web social no Ensino Superior, nomeadamente na formação inicial de professores, para desenvolver a colaboração, visando a construção de conhecimento didático, particularmente sobre a abordagem da ortografia. Por um lado, apontam para a influência de representações sobre colaboração na adoção dessa modalidade de trabalho num fórum de discussão online. Por outro, revelam a influência dessa modalidade no conhecimento didático coconstruído e apontam para uma valorização do mesmo por parte dos participantes no estudo, no momento de conceber, implementar e avaliar instrumentos didáticos. Daqui emergiram algumas sugestões pedagógico-didáticas com vista à promoção de práticas inovadoras no Ensino Superior, com recurso a ferramentas da web social, centradas na aprendizagem dos estudantes e no desenvolvimento da colaboração, particularmente na formação inicial de professores.

Narrative change in psychotherapy

This thesis focuses on the processes of narrative change in psychotherapy. Previous reviews of the processes of narrative change in psychotherapy concluded that a general theory that details narrative concepts appropriate to understand psychotherapy processes, explains the dynamic processes between narratives, and how they relate to positive outcomes is needed. This thesis addresses this issue by suggesting a multi-layered model that accounts for transformations in different layers of narrative organization. Accordingly, a model was specified that considers three layers of narrative organization: a micro-layer of narrative innovations that disrupt the clients’ usual way of construct meaning from life situations (innovative moments), a meso-layer of narrative scripts that integrate these narrative innovations in narrative scripts that consolidate its transformative potential (protonarratives), and, finally, a macro-layer of clients’ life story (self-narrative). Globally, the empirical studies provided support for the conceptual plausibility of this model and to the specific hypothesis that were formulated on its basis. Our observations complement previous research that had underlined the integrative processes either by emphasizing thematic coherence or integration, by emphasizing the role of dynamicity and differentiation of narrative contents and processes. Additionally, they also contribute to expand previous accounts of narrative innovation through insights on the processes that characterize narrative innovation development across psychotherapy. These studies also emphasize the role of quantitative procedures in the study of narrative processes of change as they allow us to accommodate the complexity and dynamic properties of narrative processes.

Avaliação em contextos de blended learning no ensino superior

The increasing complexity of the Information Society and the Bologna Declaration in the European context has led Higher Education (HE) institutions to revise their curricula courses, as far as the adoption of new strategies for teaching and learning as well as evaluation are concerned. It can also be emphasized that there has been a growing use of eLearning and of blended learning (bLearning) in HE, since these modes of training seem to be a very convenient option for lifelong learning. In this context, quality is taken as an essential goal in the development of the European Space for Education and Training, where HE institutions compete among themselves, and where evaluation is determinant as a promoter of this quality. Considering the problems summarized above, the research developed, based on four published scientific papers, intended to answer a set of research questions related to evaluation of bLearning contexts in HE. The study used diverse techniques and instruments (questionnaires, document analysis, and observation mediated technologies) spanning two methodological approaches: i) study of descriptive and exploratory nature and ii) case studies of bLearning modules. In the first approach an evaluation model for bLearning courses was developed, where we collected and analyzed, at a national level, the opinions of teachers with bLearning experience about the model dimensions. The case studies presented are post graduation curricular units, where bLearning teaching, learning and evaluation strategies were explored and evaluated, namely peer assessment. The main contributions of the first approach are: the process of questioning around the evaluation of bLearning courses, namely the quality assurance criteria for bLearning, as well as the model developed, providing a framework of theoretical, methodological and empirical elements that can be adapted in similar contexts. From the case studies emerged: the developed evaluation guidelines and the data collection instruments, in order to disseminate evaluation “best practices” that may be useful for other units in similar contexts. Regarding the recommendations about the evaluation of teaching of bLearning courses we emphasize: the use of versatile evaluation objects; the evaluation throughout the process and not just at the end; and the involvement of multiple evaluators, including students (whose feedback is essential to monitor the quality of teaching and learning). From the case studies we highlight: the need for discussion of evaluation frameworks to explore, and consequent increase in the transparency of the evaluation process; the increased interaction between groups; and the peer assessment as a strategy to promote active and autonomous learning. In addition to the contributions and recommendations for practice and research in the area of evaluation in bLearning contexts in HE, listed above, it also emerged from this study useful guidelines regarding educational evaluation in bLearning contexts, in order to improve the quality of teaching, learning and evaluation in such contexts.

Trophic plasticity in the cnidarian-dinoflagellate symbiosis

Coral reefs are of utmost ecological and economical importance but are currently in global decline due to climate change and anthropogenic disturbances. Corals, as well as other cnidarian species, live in symbiosis with photosynthetic dinoflagellates of the genus Symbiodinium. This relationship provides the cnidarian host with alternative metabolic pathways, as the symbionts translocate photosynthetic carbon to the animal. Besides this autotrophic nutrition mode, symbiotic cnidarians also take up organic matter from the environment (heterotrophy). The nutritional balance between auto- and heterotrophy is critical for the functioning, fitness and resilience of the cnidariandinoflagellate symbiosis. New methodological approaches were developed to better understand the role of auto- and heterotrophy in the ecophysiology of cnidarians associated with Symbiodinium, and the ecological implications of this trophic plasticity. Specifically, the new approaches were developed to assess photophysiology, biomass production of the model organism Aiptasia sp. and molecular tools to investigate heterotrophy in the cnidarian-dinoflagellate symbiosis. Using these approaches, we were able to non-invasively assess the photophysiological spatial heterogeneity of symbiotic cnidarians and identify spatial patterns between chlorophyll fluorescence and relative content of chlorophyll a and green-fluorescent proteins. Optimal culture conditions to maximize the biomass production of Aiptasia pallida were identified, as well as their implications on the fatty acid composition of the anemones. Molecular trophic markers were used to determine prey digestion times in symbiotic cnidarians, which vary between 1-3 days depending on prey species, predator species and the feeding history of the predator. This method was also used to demonstrate that microalgae is a potential food source for symbiotic corals. By using a stable isotope approach to assess the trophic ecology of the facultative symbiotic Oculina arbuscula in situ, it was possible to demonstrate the importance of pico- and nanoplanktonic organisms, particularly autotrophic, in the nutrition of symbiotic corals. Finally, we showed the effects of functional diversity of Symbiodinium on the nutritional plasticity of the cnidarian-dinoflagellate symbiosis. Symbiont identity defines this plasticity through its individual metabolic requirements, capacity to fix carbon, quantity of translocated carbon and the host’s capacity to feed and digest prey.

International cooperation for development in tourism destinations

The main goal of this thesis is to propose a conceptual theoretical model of critical success factors of International Development Cooperation programmes that are based in knowledge transfer approaches in the context of tourism development. The research was structured around three main theoretical pillars: international development cooperation (IDC), tourism as a tool for development, and knowledge transfer (KT). By exploring these pillars´ main interrelations, it was possible to gather the necessary background to develop the theoretical model and apply it to a real context. It was adopted a qualitative research approach using as a case study an IDC programme in tourism - the UNWTO.Volunteers programme. The key contribution of this thesis in the theoretical realm is the bridging of fields of study that are insufficiently covered in the scientific literature. The resulting model proposal applied to a real context of an IDC programme implementation permitted to test it partially providing useful insights for future research. It is postulated that IDC programmes in these contexts constitute a process rather than an end in itself. Therefore, they should be seen as a way of changing the state of the art of the tourism system in a sustainable manner so that it potentially generates positive development changes. This study suggested that it is not possible to achieve positive results if, instead of encouraging a KT and learning environment, it is simply disseminated knowledge in a linear, static, north-south approach. The characteristics of these interventions should be reviewed in that it was found that it is very difficult to guarantee the maintenance of the development changes induced by them if it is not safeguarded the necessary conditions and accountability to implement the recommended actions. While it was perceived a great potential for development changes to be induced by some IDC programmes in tourism destinations, it was concluded that these processes are too much dependent on the local political systems and existing power relations, as well as on the level of tourism development of the destination. However, more research is needed to examine the ability to generalise the findings to other IDC programmes and different destinations of developing countries.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

Para uma interpretação na guitarra das sonatas BMW 1001/1003/1005 de Bach inspirada numa memorabília das práticas interpretativas

O presente trabalho procura compreender as abordagens interpretativas desenvolvidas na guitarra das sonatas para violino BWV 1001, 1003 e 1005 de Bach e apresenta uma proposta de interpretação inspirada no autógrafo original. Sistematiza características de transcrições e gravações das obras no instrumento, e considera as respectivas inferências interpretativas. Face ao significativo número de autores e intérpretes que, adaptando o texto de Bach, privilegiam a faceta harmónica da guitarra e desvalorizam o uso de recursos expressivos da prática interpretativa barroca implícitos e explícitos na notação, problematiza os desafios colocados a uma interpretação num instrumento harmónico que mantém o texto escrito para um outro predominantemente melódico, e faz da articulação o seu centro, facultando propostas de realização. O texto de Bach para violino, as práticas barrocas e o legado dos discursos interpretativos sobre as obras integram o repositório de memórias que inspiraram e fundamentaram a criação de uma interpretação. Nela se tomam opções estéticas e encontram as respectivas soluções de realização técnica na sequência da procura de novos caminhos interpretativos, através da recuperação de alguns aspectos que teriam tido expressão numa imaginária interpretação oitocentista – criando uma outra memória.

Electromechanical properties of engineered lead free potassium sodium niobate based materials

K0.5Na0.5NbO3 (KNN), is the most promising lead free material for substituting lead zirconate titanate (PZT) which is still the market leader used for sensors and actuators. To make KNN a real competitor, it is necessary to understand and to improve its properties. This goal is pursued in the present work via different approaches aiming to study KNN intrinsic properties and then to identify appropriate strategies like doping and texturing for designing better KNN materials for an intended application. Hence, polycrystalline KNN ceramics (undoped, non-stoichiometric; NST and doped), high-quality KNN single crystals and textured KNN based ceramics were successfully synthesized and characterized in this work. Polycrystalline undoped, non-stoichiometric (NST) and Mn doped KNN ceramics were prepared by conventional ceramic processing. Structure, microstructure and electrical properties were measured. It was observed that the window for mono-phasic compositions was very narrow for both NST ceramics and Mn doped ceramics. For NST ceramics the variation of A/B ratio influenced the polarization (P-E) hysteresis loop and better piezoelectric and dielectric responses could be found for small stoichiometry deviations (A/B = 0.97). Regarding Mn doping, as compared to undoped KNN which showed leaky polarization (P-E) hysteresis loops, B-site Mn doped ceramics showed a well saturated, less-leaky hysteresis loop and a significant properties improvement. Impedance spectroscopy was used to assess the role of Mn and a relation between charge transport – defects and ferroelectric response in K0.5Na0.5NbO3 (KNN) and Mn doped KNN ceramics could be established. At room temperature the conduction in KNN which is associated with holes transport is suppressed by Mn doping. Hence Mn addition increases the resistivity of the ceramic, which proved to be very helpful for improving the saturation of the P-E loop. At high temperatures the conduction is dominated by the motion of ionized oxygen vacancies whose concentration increases with Mn doping. Single crystals of potassium sodium niobate (KNN) were grown by a modified high temperature flux method. A boron-modified flux was used to obtain the crystals at a relatively low temperature. XRD, EDS and ICP analysis proved the chemical and crystallographic quality of the crystals. The grown KNN crystals exhibit higher dielectric permittivity (29,100) at the tetragonal-to-cubic phase transition temperature, higher remnant polarization (19.4 μC/cm2) and piezoelectric coefficient (160 pC/N) when compared with the standard KNN ceramics. KNN single crystals domain structure was characterized for the first time by piezoforce response microscopy. It could be observed that <001> - oriented potassium sodium niobate (KNN) single crystals reveal a long range ordered domain pattern of parallel 180° domains with zig-zag 90° domains. From the comparison of KNN Single crystals to ceramics, It is argued that the presence in KNN single crystal (and absence in KNN ceramics) of such a long range order specific domain pattern that is its fingerprint accounts for the improved properties of single crystals. These results have broad implications for the expanded use of KNN materials, by establishing a relation between the domain patterns and the dielectric and ferroelectric response of single crystals and ceramics and by indicating ways of achieving maximised properties in KNN materials. Polarized Raman analysis of ferroelectric potassium sodium niobate (K0.5Na0.5)NbO3 (KNN) single crystals was performed. For the first time, an evidence is provided that supports the assignment of KNN single crystals structure to the monoclinic symmetry at room temperature. Intensities of A′, A″ and mixed A′+A″ phonons have been theoretically calculated and compared with the experimental data in dependence of crystal rotation, which allowed the precise determination of the Raman tensor coefficients for (non-leaking) modes in monoclinic KNN. In relation to the previous literature, this study clarifies that assigning monoclinic phase is more suitable than the orthorhombic one. In addition, this study is the basis for non-destructive assessments of domain distribution by Raman spectroscopy in KNN-based lead-free ferroelectrics with complex structures. Searching a deeper understanding of the electrical behaviour of both KNN single crystal and polycrystalline materials for the sake of designing optimized KNN materials, a comparative study at the level of charge transport and point defects was carried out by impedance spectroscopy. KNN single crystals showed lower conductivity than polycrystals from room temperature up to 200 ºC, but above this temperature polycrystalline KNN displays lower conductivity. The low temperature (T < 200 ºC) behaviour reflects the different processing conditions of both ceramics and single crystals, which account for less defects prone to charge transport in the case of single crystals. As temperature increases (T > 200 ºC) single crystals become more conductive than polycrystalline samples, in which grain boundaries act as barriers to charge transport. For even higher temperatures the conductivity difference between both is increased due to the contribution of ionic conduction in single crystals. Indeed the values of activation energy calculated to the high temperature range (T > 300 ºC) were 1.60 and 0.97 eV, confirming the charge transport due to ionic conduction and ionized oxygen vacancies in single crystals and polycrystalline KNN, respectively. It is suggested that single crystals with low defects content and improved electromechanical properties could be a better choice for room temperature applications, though at high temperatures less conductive ceramics may be the choice, depending on the targeted use. Aiming at engineering the properties of KNN polycrystals towards the performance of single crystals, the preparation and properties study of (001) – oriented (K0.5Na0.5)0.98Li0.02NbO3 (KNNL) ceramics obtained by templated grain growth (TGG) using KNN single crystals as templates was undertaken. The choice of KNN single crystals templates is related with their better properties and to their unique domain structure which were envisaged as a tool for templating better properties in KNN ceramics too. X-ray diffraction analysis revealed for the templated ceramics a monoclinic structure at room temperature and a Lotgering factor (f) of 40% which confirmed texture development. These textured ceramics exhibit a long range ordered domain pattern consisting of 90º and 180º domains, similar to the one observed in the single crystals. Enhanced dielectric (13017 at TC), ferroelectric (2Pr = 42.8 μC/cm2) and piezoelectric (d33 = 280 pC/N) properties are observed for textured KNNL ceramics as compared to the randomly oriented ones. This behaviour is suggested to be due to the long range ordered domain patterns observed in the textured ceramics. The obtained results as compared with the data previously reported on texture KNN based ceramics confirm that superior properties were found due to ordered repeated domain pattern. This study provides an useful approach towards properties improvement of KNN-based piezoelectric ceramics. Overall, the present results bring a significant contribution to the pool of knowledge on the properties of sodium potassium niobate materials: a relation between the domain patterns and di-, ferro-, and piezo-electric response of single crystals and ceramics was demonstrated and ways of engineering maximised properties in KNN materials, for example by texturing were established. This contribution is envisaged to have broad implications for the expanded use of KNN over the alternative lead-based materials.

Design normal: memória e invisibilidade dos objectos

As últimas décadas têm sido caracterizadas por uma crescente indefinição do design, que refletindo um dia-a-dia cada vez mais complexo, não pode mais ser encarado como actividade fechada no projecto e acabada no produto. O seu universo aumentou e dispersou-se em mercados menores, alargando o seu alcance e sua importância, transformando-o em termo quantitativo e inflacionário. A crescente atenção de que é alvo dramatizou a sua relação com o consumo, o ruído nas prateleiras e a superficialidade da generalização de uma perspectiva do projecto focada nos new media, validando uma abordagem narcisista e de dispensa do diálogo com a indústria, tornaram-no sinónimo de especial. Este trabalho procura confirmar e refletir sobre a existência de um universo de produtos concretos e abordagens que de forma consciente partilham esta noção do contexto actual, em primeiro lugar, sugerindo caminhos alternativos e reacções resultantes da prática e discurso. Em segundo lugar procura analisar se tal reacção pode ser considerada como um movimento. Partindo de uma revisão bibliográfica, e de uma reflexão sobre um universo de produtos do dia-a-dia, procura-se, em terceiro lugar, interpretar e organizar as diversas formas e estratégias de rejeição da noção de design especial. Da procura de abordagens opostas a especial resulta uma ideia base de normal, normal sem ser banal, expressa na exposição Super Normal. Da extensão a um universo maior de produtos, reacções e autores, resulta a ideia de normal como um conceito mais abrangente, mas composto por conceitos menores, mais específicos, mais concretos e fáceis de identificar nos objectos. A organização e interpretação dessas abordagens resulta num triângulo de conceitos que constroem a noção de normal pela procura da evolução por recurso à memória e ao conhecimento, da invisibilidade pela integração e diluição do produto e projecto, e da liberdade como meio de adequação ao contexto actual. O livro resultante reflete uma abordagem definida de uma época, e não todo o panorama. A sistematização do conceito de normal a partir da segmentação em ideias menores, mais concretas e identificáveis nos produtos, procura proporcionar a consulta organizada de reacções ao contexto dominante actual, à ideia de especial, mas mais do que regras, procura fornecer um documento de reflexão a visitar no acto de projectar, seja como um todo, ou em partes.