Planeamento e execução de estruturas para abastecimento em linhas de montagem numa empresa do ramo automóvel

O presente trabalho foi desenvolvido na empresa Renault CACIA e tem como fundamento a implementação de um fluxo de abastecimento com 4 horas de autonomia em todas as linhas de montagem no departamento de fabricação de componentes mecânicos. No entanto, estas linhas deverão ter condições para poder armazenar esse abastecimento, pelo que terão de ser implementadas estruturas que o suportem. Com o objetivo de eliminar o excesso de stock existente na linha de montagem de bombas de óleo, a mais crítica da instalação, e as atividades que não acrescentam valor ao produto final, organizar o espaço disponível, melhorar as condições ergonómicas, propõem-se soluções que serão uma mais-valia para as empresas de fabricação. Durante o desenvolvimento do trabalho foi realizado um estudo aprofundado da linha de montagem e dos problemas existentes no processo de abastecimento e, posteriormente, foi determinada a quantidade necessária de embalagens de componentes para a autonomia requerida. Recorreu-se à ferramenta CAD 3D, Solidworks®, para o planeamento das estruturas, e ao software de simulação Arena®, para testar o funcionamento da linha de montagem com a implementação das estruturas para abastecimento. Verificaram-se melhorias conseguidas através da implementação das soluções sugeridas. A linha de montagem ficou mais organizada e arrumada, tendo-se reduzido cerca de 86,96% de stock global existente. Associado a este, existiam atividades realizadas pelo operador de montagem que não acrescentavam valor ao produto final, tendo-se obtido um incremento da produção na ordem de 1%.

Performance analysis of 4G wireless networks using system level simulator

In the last decade, mobile wireless communications have witnessed an explosive growth in the user’s penetration rate and their widespread deployment around the globe. In particular, a research topic of particular relevance in telecommunications nowadays is related to the design and implementation of mobile communication systems of 4th generation (4G). 4G networks will be characterized by the support of multiple radio access technologies in a core network fully compliant with the Internet Protocol (all IP paradigms). Such networks will sustain the stringent quality of service (QoS) requirements and the expected high data rates from the type of multimedia applications (i.e. YouTube and Skype) to be available in the near future. Therefore, 4G wireless communications system will be of paramount importance on the development of the information society in the near future. As 4G wireless services will continue to increase, this will put more and more pressure on the spectrum availability. There is a worldwide recognition that methods of spectrum managements have reached their limit and are no longer optimal, therefore new paradigms must be sought. Studies show that most of the assigned spectrum is under-utilized, thus the problem in most cases is inefficient spectrum management rather spectrum shortage. There are currently trends towards a more liberalized approach of spectrum management, which are tightly linked to what is commonly termed as Cognitive Radio (CR). Furthermore, conventional deployment of 4G wireless systems (one BS in cell and mobile deploy around it) are known to have problems in providing fairness (users closer to the BS are more benefited relatively to the cell edge users) and in covering some zones affected by shadowing, therefore the use of relays has been proposed as a solution. To evaluate and analyse the performances of 4G wireless systems software tools are normally used. Software tools have become more and more mature in recent years and their need to provide a high level evaluation of proposed algorithms and protocols is now more important. The system level simulation (SLS) tools provide a fundamental and flexible way to test all the envisioned algorithms and protocols under realistic conditions, without the need to deal with the problems of live networks or reduced scope prototypes. Furthermore, the tools allow network designers a rapid collection of a wide range of performance metrics that are useful for the analysis and optimization of different algorithms. This dissertation proposes the design and implementation of conventional system level simulator (SLS), which afterwards enhances for the 4G wireless technologies namely cognitive Radios (IEEE802.22) and Relays (IEEE802.16j). SLS is then used for the analysis of proposed algorithms and protocols.

Privacy in next generation networks

In the modern society, communications and digital transactions are becoming the norm rather than the exception. As we allow networked computing devices into our every-day actions, we build a digital lifestyle where networks and devices enrich our interactions. However, as we move our information towards a connected digital environment, privacy becomes extremely important as most of our personal information can be found in the network. This is especially relevant as we design and adopt next generation networks that provide ubiquitous access to services and content, increasing the impact and pervasiveness of existing networks. The environments that provide widespread connectivity and services usually rely on network protocols that have few privacy considerations, compromising user privacy. The presented work focuses on the network aspects of privacy, considering how network protocols threaten user privacy, especially on next generation networks scenarios. We target the identifiers that are present in each network protocol and support its designed function. By studying how the network identifiers can compromise user privacy, we explore how these threats can stem from the identifier itself and from relationships established between several protocol identifiers. Following the study focused on identifiers, we show that privacy in the network can be explored along two dimensions: a vertical dimension that establishes privacy relationships across several layers and protocols, reaching the user, and a horizontal dimension that highlights the threats exposed by individual protocols, usually confined to a single layer. With these concepts, we outline an integrated perspective on privacy in the network, embracing both vertical and horizontal interactions of privacy. This approach enables the discussion of several mechanisms to address privacy threats on individual layers, leading to architectural instantiations focused on user privacy. We also show how the different dimensions of privacy can provide insight into the relationships that exist in a layered network stack, providing a potential path towards designing and implementing future privacy-aware network architectures.

Automatic information and safety systems for driving assistance

O objeto principal desta tese é o estudo de algoritmos de processamento e representação automáticos de dados, em particular de informação obtida por sensores montados a bordo de veículos (2D e 3D), com aplicação em contexto de sistemas de apoio à condução. O trabalho foca alguns dos problemas que, quer os sistemas de condução automática (AD), quer os sistemas avançados de apoio à condução (ADAS), enfrentam hoje em dia. O documento é composto por duas partes. A primeira descreve o projeto, construção e desenvolvimento de três protótipos robóticos, incluindo pormenores associados aos sensores montados a bordo dos robôs, algoritmos e arquitecturas de software. Estes robôs foram utilizados como plataformas de ensaios para testar e validar as técnicas propostas. Para além disso, participaram em várias competições de condução autónoma tendo obtido muito bons resultados. A segunda parte deste documento apresenta vários algoritmos empregues na geração de representações intermédias de dados sensoriais. Estes podem ser utilizados para melhorar técnicas já existentes de reconhecimento de padrões, deteção ou navegação, e por este meio contribuir para futuras aplicações no âmbito dos AD ou ADAS. Dado que os veículos autónomos contêm uma grande quantidade de sensores de diferentes naturezas, representações intermédias são particularmente adequadas, pois podem lidar com problemas relacionados com as diversas naturezas dos dados (2D, 3D, fotométrica, etc.), com o carácter assíncrono dos dados (multiplos sensores a enviar dados a diferentes frequências), ou com o alinhamento dos dados (problemas de calibração, diferentes sensores a disponibilizar diferentes medições para um mesmo objeto). Neste âmbito, são propostas novas técnicas para a computação de uma representação multi-câmara multi-modal de transformação de perspectiva inversa, para a execução de correcção de côr entre imagens de forma a obter mosaicos de qualidade, ou para a geração de uma representação de cena baseada em primitivas poligonais, capaz de lidar com grandes quantidades de dados 3D e 2D, tendo inclusivamente a capacidade de refinar a representação à medida que novos dados sensoriais são recebidos.

Characterization and modelling of software defined radio front-ends

O presente trabalho tem por objectivo estudar a caracterização e modelação de arquitecturas de rádio frequência para aplicações em rádios definidos por software e rádios cognitivos. O constante aparecimento no mercado de novos padrões e tecnologias para comunicações sem fios têm levantado algumas limitações à implementação de transceptores rádio de banda larga. Para além disso, o uso de sistemas reconfiguráveis e adaptáveis baseados no conceito de rádio definido por software e rádio cognitivo assegurará a evolução para a próxima geração de comunicações sem fios. A ideia base desta tese passa por resolver alguns problemas em aberto e propor avanços relevantes, tirando para isso partido das capacidades providenciadas pelos processadores digitais de sinal de forma a melhorar o desempenho global dos sistemas propostos. Inicialmente, serão abordadas várias estratégias para a implementação e projecto de transceptores rádio, concentrando-se sempre na aplicabilidade específica a sistemas de rádio definido por software e rádio cognitivo. Serão também discutidas soluções actuais de instrumentação capaz de caracterizar um dispositivo que opere simultaneamente nos domínios analógico e digital, bem como, os próximos passos nesta área de caracterização e modelação. Além disso, iremos apresentar novos formatos de modelos comportamentais construídos especificamente para a descrição e caracterização não-linear de receptores de amostragem passa-banda, bem como, para sistemas nãolineares que utilizem sinais multi-portadora. Será apresentada uma nova arquitectura suportada na avaliação estatística dos sinais rádio que permite aumentar a gama dinâmica do receptor em situações de multi-portadora. Da mesma forma, será apresentada uma técnica de maximização da largura de banda de recepção baseada na utilização do receptor de amostragem passa-banda no formato complexo. Finalmente, importa referir que todas as arquitecturas propostas serão acompanhadas por uma introdução teórica e simulações, sempre que possível, sendo após isto validadas experimentalmente por protótipos laboratoriais.

Challenges in mercury speciation and fractionation in soil and sediment

This investigation focused on the development, test and validation of methodologies for mercury fractionation and speciation in soil and sediment. After an exhaustive review of the literature, several methods were chosen and tested in well characterised soil and sediment samples. Sequential extraction procedures that divide mercury fractions according to their mobility and potential availability in the environment were investigated. The efficiency of different solvents for fractionation of mercury was evaluated, as well as the adequacy of different analytical instruments for quantification of mercury in the extracts. Kinetic experiments to establish the equilibrium time for mercury release from soil or sediment were also performed. It was found that in the studied areas, only a very small percentage of mercury is present as mobile species and that mobility is associated to higher aluminium and manganese contents, and that high contents of organic matter and sulfur result in mercury tightly bound to the matrix. Sandy soils tend to release mercury faster that clayey soils, and therefore, texture of soil or sediment has a strong influence on the mobility of mercury. It was also understood that analytical techniques for quantification of mercury need to be further developed, with lower quantification limits, particularly for mercury quantification of less concentrated fractions: water-soluble e exchangeable. Although the results provided a better understanding of the distribution of mercury in the sample, the complexity of the procedure limits its applicability and robustness. A proficiency-testing scheme targeting total mercury determination in soil, sediment, fish and human hair was organised in order to evaluate the consistency of results obtained by different laboratories, applying their routine methods to the same test samples. Additionally, single extractions by 1 mol L-1 ammonium acetate solution, 0.1 mol L-1 HCl and 0.1 mol L-1 CaCl2, as well as extraction of the organometallic fraction were proposed for soil; the last was also suggested for sediment and fish. This study was important to update the knowledge on analytical techniques that are being used for mercury quantification, the associated problems and sources of error, and to improve and standardize mercury extraction techniques, as well as to implement effective strategies for quality control in mercury determination. A different, “non chemical-like” method for mercury species identification was developed, optimised and validated, based on the thermo-desorption of the different mercury species. Compared to conventional extraction procedures, this method has advantages: it requires little to no sample treatment; a complete identification of species present is obtained in less than two hours; mercury losses are almost neglectable; can be considered “clean”, as no residues are produced; the worldwide comparison of results obtained is easier and reliable, an important step towards the validation of the method. Therefore, the main deliverables of this PhD thesis are an improved knowledge on analytical procedures for identification and quantification of mercury species in soils and sediments, as well as a better understanding of the factors controlling the behaviour of mercury in these matrices.

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.