Adaptive tackling of the swinging problem for a 2 DOF crane – payload system

The control of a crane carrying its payload by an elastic string corresponds to a task in which precise, indirect control of a subsystem dynamically coupled to a directly controllable subsystem is needed. This task is interesting since the coupled degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed to simultaneously tackle the problems originating from the imprecise dynamic model available for the system to be controlled and the swinging problem, too. The most important phenomenological properties of this approach are also discussed. The control considers the 4th time-derivative of the trajectory of the payload. The operation of the proposed control is illustrated via simulation results.

On the robustness of the slotine-Li and the FPT/SVD-based adaptive controllers

A comparative study concerning the robustness of a novel, Fixed Point Transformations/Singular Value Decomposition (FPT/SVD)-based adaptive controller and the Slotine-Li (S&L) approach is given by numerical simulations using a three degree of freedom paradigm of typical Classical Mechanical systems, the cart + double pendulum. The effects of the imprecision of the available dynamical model, presence of dynamic friction at the axles of the drives, and the existence of external disturbance forces unknown and not modeled by the controller are considered. While the Slotine-Li approach tries to identify the parameters of the formally precise, available analytical model of the controlled system with the implicit assumption that the generalized forces are precisely known, the novel one makes do with a very rough, affine form and a formally more precise approximate model of that system, and uses temporal observations of its desired vs. realized responses. Furthermore, it does not assume the lack of unknown perturbations caused either by internal friction and/or external disturbances. Its another advantage is that it needs the execution of the SVD as a relatively time-consuming operation on a grid of a rough system-model only one time, before the commencement of the control cycle within which it works only with simple computations. The simulation examples exemplify the superiority of the FPT/SVD-based control that otherwise has the deficiency that it can get out of the region of its convergence. Therefore its design and use needs preliminary simulation investigations. However, the simulations also exemplify that its convergence can be guaranteed for various practical purposes.

Linear algebra: selected problems

Linear Algebra—Selected Problems is a unique book for senior undergraduate and graduate students to fast review basic materials in Linear Algebra. Vector spaces are presented first, and linear transformations are reviewed secondly. Matrices and Linear systems are presented. Determinants and Basic geometry are presented in the last two chapters. The solutions for proposed excises are listed for readers to references.

Análise de fadiga de uma ponte ferroviária com tabuleiro misto vigado sob ação de tráfego de mercadorias

A presente dissertação centra-se no estudo de fadiga de uma ponte ferroviária com tabuleiro misto vigado pertencente a uma via de transporte de mercadorias. O caso de estudo incide sobre a ponte ferroviária sobre o rio do Sonho, localizada na Estrada de Ferro de Carajás situada no nordeste do Brasil. Nesta linha circulam alguns dos maiores comboios de mercadoria do mundo com cerca de 3.7 km de extensão e com cargas por eixo superiores a 300 kN. Numa primeira fase apresentam-se diversas metodologias de análise da fadiga em pontes ferroviárias metálicas. É também descrita a ferramenta computacional FADBridge, desenvolvida em ambiente MATLAB, e que possibilita o cálculo sistematizado e eficiente do dano de fadiga em detalhes construtivos de acordo com as indicações dos eurocódigos. Em seguida são abordadas as metodologias numéricas utilizadas para a realização das análises dinâmicas do sistema ponte-comboio e os aspetos regulamentares a ter em consideração no dimensionamento de pontes ferroviárias. O modelo numérico de elementos finitos da ponte foi realizado com recurso ao programa ANSYS. Com base neste modelo foram obtidos os parâmetros modais, nomeadamente as frequências naturais e os modos de vibração, tendo sido também analisada a importância do efeito compósito via-tabuleiro e a influência do comportamento não linear do balastro. O estudo do comportamento dinâmico da ponte foi realizado por intermédio de uma metodologia de cargas móveis através da ferramenta computacional Train-Bridge Interaction (TBI). As análises dinâmicas foram efetuadas para a passagem dos comboios reais de mercadorias e de passageiros e para os comboios de fadiga regulamentares. Nestas análises foi estudada a influência dos modos de vibração globais e locais, das configurações de carga dos comboios e do aumento da velocidade de circulação, na resposta dinâmica da ponte. Por último, foi avaliado o comportamento à fadiga de diversos detalhes construtivos para os cenários de tráfego regulamentar e reais. Foi ainda analisada a influência do aumento da velocidade, da configuração de cargas dos comboios e da degradação da estrutura nos valores do dano por fadiga e da respetiva vida residual.

Visual programming of XSLT from examples

Vishnu is a tool for XSLT visual programming in Eclipse - a popular and extensible integrated development environment. Rather than writing the XSLT transformations, the programmer loads or edits two document instances, a source document and its corresponding target document, and pairs texts between then by drawing lines over the documents. This form of XSLT programming is intended for simple transformations between related document types, such as HTML formatting or conversion among similar formats. Complex XSLT programs involving, for instance, recursive templates or second order transformations are out of the scope of Vishnu. We present the architecture of Vishnu composed by a graphical editor and a programming engine. The editor is an Eclipse plug-in where the programmer loads and edits document examples and pairs their content using graphical primitives. The programming engine receives the data collected by the editor and produces an XSLT program. The design of the engine and the process of creation of an XSLT program from examples are also detailed. It starts with the generation of an initial transformation that maps source document to the target document. This transformation is fed to a rewrite process where each step produces a refined version of the transformation. Finally, the transformation is simplified before being presented to the programmer for further editing.

An engine for generating XSLT from examples

XSLT is a powerful and widely used language for transforming XML documents. However its power and complexity can be overwhelming for novice or infrequent users, many of which simply give up on using this language. On the other hand, many XSLT programs of practical use are simple enough to be automatically inferred from examples of source and target documents. An inferred XSLT program is seldom adequate for production usage but can be used as a skeleton of the final program, or at least as scaffolding in the process of coding it. It should be noted that the authors do not claim that XSLT programs, in general, can be inferred from examples. The aim of Vishnu - the XSLT generator engine described in this paper – is to produce XSLT programs for processing documents similar to the given examples and with enough readability to be easily understood by a programmer not familiar with the language. The architecture of Vishnu is composed by a graphical editor and a programming engine. In this paper we focus on the editor as a GWT web application where the programmer loads and edits document examples and pairs their content using graphical primitives. The programming engine receives the data collected by the editor and produces an XSLT program.

Tech-based Innovations in pedagogical practices: the case of ISCAP

TICEduca. III Congresso Internacional TIC e Educação. 14 a 16 Novembro, Lisboa

Wuthering heights on the screen: exploring the relations between film adaptation and subtitling

This essay aims to confront the literary text Wuthering Heights by Emily Brontë with five of its screen adaptations and Portuguese subtitles. Owing to the scope of the study, it will necessarily afford merely a bird‘s eye view of the issues and serve as a starting point for further research. Accordingly, the following questions are used as guidelines: What transformations occur in the process of adapting the original text to the screen? Do subtitles update the film dialogues to the target audience‘s cultural and linguistic context? Are subtitles influenced more by oral speech than by written literary discourse? Shouldn‘t subtitles in fact reflect the poetic function prevalent in screen adaptations of literary texts? Rather than attempt to answer these questions, we focus on the objects as phenomena. Our interdisciplinary undertaking clearly involves a semio-pragmatic stance, at this stage trying to avoid theoretical backdrops that may affect our apprehension of the objects as to their qualities, singularities, and conventional traits, based on Lucia Santaella‘s interpretation of Charles S. Peirce‘s phaneroscopy. From an empirical standpoint, we gather features and describe peculiarities, under the presumption that there are substrata in subtitling that point or should point to the literary source text, albeit through the mediation of a film script and a particular cinematic style. Therefore, we consider how the subtitling process may be influenced by the literary intertext, the idiosyncrasies of a particular film adaptation, as well as the socio-cultural context of the subtitler and target audience. First, we isolate one of the novel‘s most poignant scenes – ‗I am Heathcliff‘ – taking into account its symbolic play and significance in relation to character and plot construction. Secondly, we study American, English, French, and Mexican adaptations of the excerpt into film in terms of intersemiotic transformations. Then we analyze differences between the film dialogues and their Portuguese subtitles.

Análise numérica e experimental de um modelo dinâmico da ponte ferroviária de Antuã

Mestrado em Engenharia Civil – Ramo Estruturas

Caracterização do transporte intermodal de cargas na zona norte de Portugal

Dissertação apresentada ao Instituto Politécnico do Porto para obtenção do Grau de Mestre em Logística Orientado pela professora Doutora Maria Teresa Ribeiro Pereira Esta dissertação não inclui as críticas e sugestões feitas pelo Júri.

Automatic Electricity Markets Data Extraction for Realistic Multi-agent Simulations

Electricity markets worldwide suffered profound transformations. The privatization of previously nationally owned systems; the deregulation of privately owned systems that were regulated; and the strong interconnection of national systems, are some examples of such transformations [1, 2]. In general, competitive environments, as is the case of electricity markets, require good decision-support tools to assist players in their decisions. Relevant research is being undertaken in this field, namely concerning player modeling and simulation, strategic bidding and decision-support.

Towards a unified European electricity market: The contribution of data-mining to support realistic simulation studies

Worldwide electricity markets have been evolving into regional and even continental scales. The aim at an efficient use of renewable based generation in places where it exceeds the local needs is one of the main reasons. A reference case of this evolution is the European Electricity Market, where countries are connected, and several regional markets were created, each one grouping several countries, and supporting transactions of huge amounts of electrical energy. The continuous transformations electricity markets have been experiencing over the years create the need to use simulation platforms to support operators, regulators, and involved players for understanding and dealing with this complex environment. This paper focuses on demonstrating the advantage that real electricity markets data has for the creation of realistic simulation scenarios, which allow the study of the impacts and implications that electricity markets transformations will bring to the participant countries. A case study using MASCEM (Multi-Agent System for Competitive Electricity Markets) is presented, with a scenario based on real data, simulating the European Electricity Market environment, and comparing its performance when using several different market mechanisms.

Realistic Multi-Agent Simulation of Competitive Electricity Markets

The dynamism and ongoing changes that the electricity markets sector is constantly suffering, enhanced by the huge increase in competitiveness, create the need of using simulation platforms to support operators, regulators, and the involved players in understanding and dealing with this complex environment. This paper presents an enhanced electricity market simulator, based on multi-agent technology, which provides an advanced simulation framework for the study of real electricity markets operation, and the interactions between the involved players. MASCEM (Multi-Agent Simulator of Competitive Electricity Markets) uses real data for the creation of realistic simulation scenarios, which allow the study of the impacts and implications that electricity markets transformations bring to different countries. Also, the development of an upper-ontology to support the communication between participating agents, provides the means for the integration of this simulator with other frameworks, such as MAN-REM (Multi-Agent Negotiation and Risk Management in Electricity Markets). A case study using the enhanced simulation platform that results from the integration of several systems and different tools is presented, with a scenario based on real data, simulating the MIBEL electricity market environment, and comparing the simulation performance with the real electricity market results.

Digital storytelling: an integrated approach to language for the 21st century student

Societal changes have, throughout history, pushed the long-established boundaries of education across all grade levels. Technology and media merge with education in a continuous complex social process with human consequences and effects. We, teachers, can aspire to understand and interpret this volatile context that is being redesigned at the same time society itself is being reshaped as a result of the technological evolution. The language- learning classroom is not impenetrable to these transformations. Rather, it can perhaps be seen as a playground where teachers and students gather to combine the past and the present in an integrated approach. We draw on the results from a previous study and argue that Digital Storytelling as a Process is capable of aggregating and fostering positive student development in general, as well as enhancing interpersonal relationships and self-knowledge while improving digital literacy. Additionally, we establish a link between the four basic language-learning skills and the Digital Storytelling process and demonstrate how these converge into what can be labeled as an integrated language learning approach.

Alternativas Processuais e Valorização de Correntes da Refinaria de Matosinhos.

Evolução, ato ou efeito de evoluir, sequência de transformações, desenvolvimento progressivo. Se tudo à nossa volta se transforma, a indústria tem de acompanhar esse sistema evolutivo, tornando assim imprescindível alterar ou melhorar processos de produção quando estes não se enquadram com a realidade, ou porque o mercado se altera, ou porque as necessidades mudam, ou por simplesmente ser mais rentável. Sendo a Galp Energia uma empresa que se encontra sempre na vanguarda da evolução tecnológica, encontra no Departamento de Engenharia Química do Instituto Superior de Engenharia do Porto um aliado na procura do melhor modo de valorizar os seus produtos. A Refinaria de Matosinhos tem atualmente duas correntes de gasolina leve e uma de refinado que apresentam grande potencialidade de valorização. Parte destas correntes incorporam atualmente a pool de nafta química da refinaria que é vendida à Repsol Polímeros. O desafio que é proposto baseia-se em valorizar essas correntes através da sua isomerização aumentando o seu RON podendo então ter como fim a pool de gasolinas. Tirando partido da tecnologia disponível para este efeito são apresentados quatro cenários de possíveis soluções. Sendo os dois primeiros excluídos por violarem restrições impostas, o terceiro e quarto cenários foram analisados de um ponto de vista económico. O terceiro cenário conduz a gasolina leve da Fábrica de Aromáticos para a pool de gasolinas sem qualquer tratamento e a gasolina leve da Fábrica de Combustíveis continua a integrar a pool de nafta química. O refinado da Fábrica de Aromáticos será enviado para um splitter, sendo a corrente de topo destinada à pool de nafta química e a corrente de fundo enviada a um reator de isomerização, Isomalk-4SM, passando previamente por uma torre de argila de forma a assegurar que a restrição em teor de olefinas no reator não é violada. O efluente, com RON maior, integrará igualmente a pool de gasolinas. No quarto cenário a corrente de refinado da Fábrica de Aromáticos não sofre qualquer tratamento, continuando a alimentar a unidade de solventes, a gasolina leve da Fábrica de Aromáticos irá diretamente para a pool de gasolinas e a gasolina leve da Fábrica de Combustíveis passará pelo Isomalk-2SM para aumentar o índice de octanos garantido assim ter condições de integrar a pool de gasolinas. Dissertação de Mestrado em Engenharia Química Isomerização de Gasolina Leve O terceiro cenário apresenta um aumento de 4 576 773 € anuais nas receitas e o quarto alcança 11 333 982 € anuais. O investimento inicial total do terceiro cenário é de 28 821 608 € quando o quarto cenário carece de um investimento inicial de apenas 18 028 349 €. Quanto aos custos associados à implementação da unidade estes demonstram-se elevados, o terceiro cenário apresenta um custo de 23 133 429 € enquanto o do quarto cenário é de 13 998 797 €. O quarto cenário apresenta-se assim como a solução mais rentável para o objetivo desta dissertação.