Uncertainty based Multi-Robot Cooperative Triangulation

The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.

Monetary and fiscal policies interactions in a monetary union with country-size asymmetry

Within a country-size asymmetric monetary union, idiosyncratic shocks and national fiscal stabilization policies cause asymmetric cross-border effects. These effects are a source of strategic interactions between noncoordinated fiscal and monetary policies: on the one hand, due to larger externalities imposed on the union, large countries face less incentives to develop free-riding fiscal policies; on the other hand, a larger strategic position vis-à-vis the central bank incentives the use of fiscal policy to, deliberately, influence monetary policy. Additionally, the existence of non-distortionary government financing may also shape policy interactions. As a result, optimal policy regimes may diverge not only across the union members, but also between the latter and the monetary union. In a two-country micro-founded New-Keynesian model for a monetary union, we consider two fiscal policy scenarios: (i) lump-sum taxes are raised to fully finance the government budget and (ii) lump-sum taxes do not ensure balanced budgets in each period; therefore, fiscal and monetary policies are expected to impinge on debt sustainability. For several degrees of country-size asymmetry, we compute optimal discretionary and dynamic non-cooperative policy games and compare their stabilization performance using a union-wide welfare measure. We also assess whether these outcomes could be improved, for the monetary union, through institutional policy arrangements. We find that, in the presence of government indebtedness, monetary policy optimally deviates from macroeconomic to debt stabilization. We also find that policy cooperation is always welfare increasing for the monetary union as a whole; however, indebted large countries may strongly oppose to this arrangement in favour of fiscal leadership. In this case, delegation of monetary policy to a conservative central bank proves to be fruitful to improve the union’s welfare.

A Problemática da não equivalência das formas de tratamento em inglês e português

Polissema: Revista de Letras do ISCAP 2001/N.º 1: Tradução

Meta-heuristics self-configuration for scheduling

Scheduling resolution requires the intervention of highly skilled human problemsolvers. This is a very hard and challenging domain because current systems are becoming more and more complex, distributed, interconnected and subject to rapidly changing. A natural Autonomic Computing evolution in relation to Current Computing is to provide systems with Self-Managing ability with a minimum human interference. This paper addresses the resolution of complex scheduling problems using cooperative negotiation. A Multi-Agent Autonomic and Meta-heuristics based framework with self-configuring capabilities is proposed.

Training control centers' operators in incident diagnosis and power restoration using intelligent tutoring systems

The activity of Control Center operators is important to guarantee the effective performance of Power Systems. Operators’ actions are crucial to deal with incidents, especially severe faults like blackouts. In this paper, we present an Intelligent Tutoring approach for training Portuguese Control Center operators in tasks like incident analysis and diagnosis, and service restoration of Power Systems. Intelligent Tutoring System (ITS) approach is used in the training of the operators, having into account context awareness and the unobtrusive integration in the working environment. Several Artificial Intelligence techniques were criteriously used and combined together to obtain an effective Intelligent Tutoring environment, namely Multiagent Systems, Neural Networks, Constraint-based Modeling, Intelligent Planning, Knowledge Representation, Expert Systems, User Modeling, and Intelligent User Interfaces.

Self-managing agents for dynamic scheduling in manufacturing

The main purpose of this paper is to propose a Multi-Agent Autonomic and Bio-Inspired based framework with selfmanaging capabilities to solve complex scheduling problems using cooperative negotiation. Scheduling resolution requires the intervention of highly skilled human problem-solvers. This is a very hard and challenging domain because current systems are becoming more and more complex, distributed, interconnected and subject to rapidly changing. A natural Autonomic Computing (AC) evolution in relation to Current Computing is to provide systems with Self-Managing ability with a minimum human interference.

Cooperation mechanism for team-work based multi-agent system in dynamic scheduling through meta-heuristics

This paper describes a Multi-agent Scheduling System that assumes the existence of several Machines Agents (which are decision-making entities) distributed inside the Manufacturing System that interact and cooperate with other agents in order to obtain optimal or near-optimal global performances. Agents have to manage their internal behaviors and their relationships with other agents via cooperative negotiation in accordance with business policies defined by the user manager. Some Multi Agent Systems (MAS) organizational aspects are considered. An original Cooperation Mechanism for a Team-work based Architecture is proposed to address dynamic scheduling using Meta-Heuristics.

A Cooperativa enquanto espaço do empreendedorismo social: o caso específico da Cooperativa dos Pedreiros

Dissertação de Mestrado apresentada ao Instituto de Contabilidade e Administração do Porto para a obtenção do grau de Mestre em Empreendedorismo e Internacionalização, sob orientação de Doutora Deolinda Meira e Mestre Anabela Ribeiro.

Auto-regulação na gestão de conflitos em retalho

Mestrado em Engenharia Informática

An adaptive educational system for higher education

The main objective of an Adaptive System is to adequate its relation with the user (content presentation, navigation, interface, etc.) according to a predefined but updatable model of the user that reflects his objectives, preferences, knowledge and competences [Brusilovsky, 2001], [De Bra, 2004]. For Educational Adaptive Systems, the emphasis is placed on the student knowledge in the domain application and learning style, to allow him to reach the learning objectives proposed for his training [Chepegin, 2004]. In Educational AHS, the User Model (UM), or Student Model, has increased relevance: when the student reaches the objectives of the course, the system must be able to readapt, for example, to his knowledge [Brusilovsky, 2001]. Learning Styles are understood as something that intent to define models of how given person learns. Generally it is understood that each person has a Learning Style different and preferred with the objective of achieving better results. Some case studies have proposed that teachers should assess the learning styles of their students and adapt their classroom and methods to best fit each student's learning style [Kolb, 2005], [Martins, 2008]. The learning process must take into consideration the individual cognitive and emotional parts of the student. In summary each Student is unique so the Student personal progress must be monitored and teaching shoul not be not generalized and repetitive [Jonassen, 1991], [Martins, 2008]. The aim of this paper is to present an Educational Adaptive Hypermedia Tool based on Progressive Assessment.

Sistema de modelização tridimensional para ambientes não estruturados

A navegação de veículos autónomos em ambientes não estruturados continua a ser um problema em aberto. A complexidade do mundo real ainda é um desafio. A difícil caracterização do relevo irregular, dos objectos dinâmicos e pouco distintos(e a inexistência de referências de localização) tem sido alvo de estudo e do desenvolvimento de vários métodos que permitam de uma forma eficiente, e em tempo real, modelizar o espaço tridimensional. O trabalho realizado ao longo desta dissertação insere-se na estratégia do Laboratório de Sistemas Autónomos (LSA) na pesquisa e desenvolvimento de sistemas sensoriais que possibilitem o aumento da capacidade de percepção das plataformas robóticas. O desenvolvimento de um sistema de modelização tridimensional visa acrescentar aos projectos LINCE (Land INtelligent Cooperative Explorer) e TIGRE (Terrestrial Intelligent General proposed Robot Explorer) maior autonomia e capacidade de exploração e mapeamento. Apresentamos alguns sensores utilizados para a aquisição de modelos tridimensionais, bem como alguns dos métodos mais utilizados para o processo de mapeamento, e a sua aplicação em plataformas robóticas. Ao longo desta dissertação são apresentadas e validadas técnicas que permitem a obtenção de modelos tridimensionais. É abordado o problema de analisar a cor e geometria dos objectos, e da criação de modelos realistas que os representam. Desenvolvemos um sistema que nos permite a obtenção de dados volumétricos tridimensionais, a partir de múltiplas leituras de um Laser Range Finder bidimensional de médio alcance. Aos conjuntos de dados resultantes associamos numa nuvem de pontos coerente e referenciada. Foram desenvolvidas e implementadas técnicas de segmentação que permitem inspeccionar uma nuvem de pontos e classifica-la quanto às suas características geométricas, bem como ao tipo de estruturas que representem. São apresentadas algumas técnicas para a criação de Mapas de Elevação Digital, tendo sido desenvolvida um novo método que tira partido da segmentação efectuada

The Portuguese law on social economy

This study is a reflection on the Portuguese Framework Law on Social Economy, highlighting, from a critical point-of-view, its contribution to the explicit institutional and legal recognition of the social economy sector. It does so by defining the concept of social economy and listing the entities engaged in this sector, by defining its guiding principles and the mechanisms for its promotion and encouragement, and also by describing the creation of a tax and competition regime which will take into account its specificities. The setting up of this foundations of the social economy was based on the constitutional principle of protection of the social and cooperative sector, which substantiates the adoption of differentiating solutions in view of the positive discrimination of this sector.

QoS-based surrogates selection and service proposal formulation in offloading environments

Resource constraints are becoming a problem as many of the wireless mobile devices have increased generality. Our work tries to address this growing demand on resources and performance, by proposing the dynamic selection of neighbor nodes for cooperative service execution. This selection is in uenced by user's quality of service requirements expressed in his request, tailoring provided service to user's speci c needs. In this paper we improve our proposal's formulation algorithm with the ability to trade o time for the quality of the solution. At any given time, a complete solution for service execution exists, and the quality of that solution is expected to improve overtime.

Plano de negócios para a construção de uma unidade fabril de misturas complementares

A Cooperativa Agrícola de Vila do Conde desenvolve um negócio de fabrico e comercialização de misturas complementares para alimentação bovina, sobretudo para vacas leiteiras. Há alguns anos a esta parte, esta Cooperativa sabe que terá que deslocalizar a unidade fabril existente devido a imposições da Direção Geral de Alimentação e Veterinária, relacionadas com questões de natureza ambiental. A necessidade de ser realizado um novo investimento, para garantir a sustentabilidade do negócio mais rentável gerido por esta Cooperativa, levou a pensar-se na possibilidade de construção de uma nova unidade fabril, de dimensão superior, capaz de servir outras cooperativas, visando o desejado entendimento das cooperativas em torno de um objetivo comum, logrando a obtenção de economias de escala, de extrema importância para a sobrevivência do setor leiteiro na região do Entre Douro e Minho. Para o efeito será constituída uma nova sociedade por quotas, designada por AGRIVIL XXI, Lda., de capital exclusivamente cooperativo, possibilitando que, em cada momento, se possa aferir a situação económica e financeira do negócio de forma mais rigorosa e autónoma. Esta realidade foi conducente à elaboração do presente Plano de Negócios que se espera profícuo para definição dos objetivos e metas a atingir num futuro próximo pela Cooperativa Agrícola de Vila do Conde. As análises de viabilidade e do risco do projeto demonstraram estarem criadas as condições de aceitação do mesmo, sendo expectável um VAL de 1.371.764 euros, uma TIR de 12,04% e um pay-back period próximo dos 11 anos. No entanto é notório a existência de um risco inerente ao investimento na medida em que o montante dos fluxos gerados tende a aproximar-se dos fluxos investidos, não gerando um excedente de riqueza significativo.

A framework for offloading real-time applications in a distributed environment

This work focuses on highly dynamic distributed systems with Quality of Service (QoS) constraints (most importantly real-time constraints). To that purpose, real-time applications may benefit from code offloading techniques, so that parts of the application can be offloaded and executed, as services, by neighbour nodes, which are willing to cooperate in such computations. These applications explicitly state their QoS requirements, which are translated into resource requirements, in order to evaluate the feasibility of accepting other applications in the system.