A learning environment for robotic production line simulation

This paper presents a framework for a robotic production line simulation learning environment using Autonomous Ground Vehicles (AGV). An eLearning platform is used as interface with the simulator. The objective is to introduce students to the production robotics area using a familiar tool, an eLearning platform, and a framework that simulates a production line using AGVs. This framework allows students to learn about robotics but also about several areas of industrial management engineering without requiring an extensive prior knowledge on the robotics area. The robotic production line simulation learning environment simulates a production environment using AGVs to transport materials to and from the production line. The simulator allows students to validate the AGV dynamics and provides information about the whole materials supplying system which includes: supply times, route optimization and inventory management. The students are required to address several topics such as: sensors, actuators, controllers and an high level management and optimization software. This simulator was developed with a known open source tool from robotics community: Player/Stage. This tool was extended with several add-ons so that students can be able to interact with a complex simulation environment. These add-ons include an abstraction communication layer that performs events provided by the database server which is programmed by the students. An eLearning platform is used as interface between the students and the simulator. The students can visualize the effects of their instructions/programming in the simulator that they can access via the eLearning platform. The proposed framework aims to allow students from different backgrounds to fully experience robotics in practice by suppressing the huge gap between theory and practice that exists in robotics. Using an eLearning platform eliminates installation problems that can occur from different computers software distribution and makes the simulator accessible by all students at school and at home.

Autonomous guided vehicles applied to industrial engineering and management studies

This article presents a framework to an Industrial Engineering and Management Science course from School of Management and Industrial Studies using Autonomous Ground Vehicles (AGV) to supply materials to a production line as an experimental setup for the students to acquire knowledge in the production robotics area. The students must be capable to understand and put into good use several concepts that will be of utmost importance in their professional life such as critical decisions regarding the study, development and implementation of a production line. The main focus is a production line using AGVs, where the students are required to address several topics such as: sensors actuators, controllers and an high level management and optimization software. The presented framework brings to the robotics teaching community methodologies that allow students from different backgrounds, that normally don’t experiment with the robotics concepts in practice due to the big gap between theory and practice, to go straight to ”making” robotics. Our aim was to suppress the minimum start point level thus allowing any student to fully experience robotics with little background knowledge.

Avaliação e Otimização do Consumo de Água no Processo e do Sistema de Tratamento de Efluentes

O elevado consumo de água associado à escassez deste recurso contribuiu para que alternativas de reutilização/reciclagem de água fossem estudadas que permitam diminuir o seu consumo e minimizar a dependência das indústrias. Monitorizar e avaliar os consumos de água, a nível industrial, é imprescindível para assegurar uma gestão sustentável dos recursos hídricos, sendo este o objetivo da presente dissertação. As alternativas encontradas na unidade industrial em estudo foram a substituição do equipamento sanitário e o aproveitamento do efluente tratado para operações de lavagem e/ou arrefecimento por contacto direto. A maioria do equipamento sanitário não é eficiente, tendo-se proposto a substituição desse sistema por um de menor consumo que permitirá uma poupança de 30 % no consumo de água, que corresponderá a 12 149,37 €/ano, sendo o retorno do investimento estimado em 3 meses. O efluente industrial na entrada da ETAR e nas diferentes etapas - tratamento primário de coagulação/floculação; tratamento secundário ou biológico em SBR; tratamento terciário de coagulação/floculação - foi caracterizado através da medição da temperatura, pH, oxigénio dissolvido e pela determinação da cor, turvação, sólidos suspensos totais (SST), azoto total, carência química de oxigénio (CQO), Carência Bioquímica de Oxigénio ao fim de 5 dias (CBO5) e razão CBO5/CQO. Esta caracterização permitiu avaliar o efluente industrial bruto que se caracteriza por um pH alcalino (8,3 ± 1,7); condutividade baixa (451 ± 200,2 μS/cm); elevada turvação (11 255 ± 8812,8 FTU); cor aparente (63 670 ± 42293,4 PtCo) e cor verdadeira (33 621 ± 19547,9 PtCo) elevadas; teores elevados de CQO (24 753 ± 11806,7 mg/L O2) SST (5 164 ± 3845,5 mg/L) e azoto total (718 mg/L) e um índice de biodegradabilidade baixo (razão CBO5/CQO de 1,4). Este estudo permitiu verificar que a eficiência global do tratamento do efluente foi 82 % na remoção da turvação, 83 % na remoção da cor aparente, 96 % na remoção da cor verdadeira, 85 % na remoção da CQO e 30 % na remoção dos SST. Quanto às eficiências de remoção associadas ao tratamento primário no que diz respeito à turvação, cor aparente, CQO e SST, apresentam valores inferiores aos referidos na literatura para o mesmo tipo de tratamento em efluentes similares. As eficiências de remoção obtidas no tratamento secundário são inferiores às do tratamento primário: turvação, cor aparente, CQO e SST, pelo que procurou-se otimizar a primeira etapa do processo de tratamento Neste estudo de otimização estudou-se a influência de cinco coagulantes – Sulfato de Alumínio, PAX XL – 10, PAX 18, cloreto de ferro e a conjugação de PAX 18 com sulfato de ferro - e seis floculantes – Superfloc A 150, Superfloc A 130, PA 1020, Ambifloc 560, Ambifloc C58 e Rifloc 54 - no tratamento físico-químico do efluente. O PAX 18 e o Ambifloc 560 UUJ foram os que apresentaram as mais elevadas eficiências de remoção (99,85 % na cor, 99,87 % na turvação, 90,12 % na CQO e 99,87 % nos SST). O custo associado a este tratamento é de 1,03 €/m3. Pela comparação com os critérios de qualidade no guia técnico ERSAR, apenas o parâmetro da CQO excede o valor, contudo o valor obtido permite diminuir os custos associados a um tratamento posterior para remoção da CQO remanescente no efluente residual tratado.

Exploring the long-term associations between adolescents’ music training and academic achievement

There is a positive relationship between learning music and academic achievement, although doubts remain regarding the mechanisms underlying this association. This research analyses the academic performance of music and non-music students from seventh to ninth grade. The study controls for socioeconomic status, intelligence, motivation and prior academic achievement. Data were collected from 110 adolescents at two time points, once when the students were between 11 and 14 years old in the seventh grade, and again 3 years later. Our results show that music students perform better academically than non-music students in the seventh grade (Cohen’s d = 0.88) and in the ninth grade (Cohen’s d = 1.05). This difference is particularly evident in their scores in Portuguese language and natural science; the difference is somewhat weaker in history and geography scores, and is least pronounced in mathematics and English scores (η2 p from .09 to .21). A longitudinal analysis also revealed better academic performance by music students after controlling for prior academic achievement (η2 p = .07). Furthermore, controlling for intelligence, socioeconomic status and motivation did not eliminate the positive association between music learning from the seventh to the ninth grade and students’ academic achievement (η2 p = .06). During the period, music students maintained better and more consistent academic standing. We conclude that, after controlling for intelligence, socioeconomic status and motivation, music training is positively associated with academic achievement.

Effects of self-administered exercises based on Tuina techniques on musculoskeletal disorders of professional orchestra musicians: a randomized controlled trial

Background Musicians are frequently affected by playing-related musculoskeletal disorders (PRMD). Common solutions used by Western medicine to treat musculoskeletal pain include rehabilitation programs and drugs, but their results are sometimes disappointing. Objective To study the effects of self-administered exercises based on Tuina techniques on the pain intensity caused by PRMD of professional orchestra musicians, using numeric visual scale (NVS). Design, setting, participants and interventions We performed a prospective, controlled, single-blinded, randomized study with musicians suffering from PRMD. Participating musicians were randomly distributed into the experimental (n = 39) and the control (n = 30) groups. After an individual diagnostic assessment, specific Tuina self-administered exercises were developed and taught to the participants. Musicians were instructed to repeat the exercises every day for 3 weeks. Main outcome measures Pain intensity was measured by NVS before the intervention and after 1, 3, 5, 10, 15 and 20 d of treatment. The procedure was the same for the control group, however the Tuina exercises were executed in points away from the commonly-used acupuncture points. Results In the treatment group, but not the control group, pain intensity was significantly reduced on days 1, 3, 5, 10, 15 and 20. Conclusion The results obtained are consistent with the hypothesis that self-administered exercises based on Tuina techniques could help professional musicians controlling the pain caused by PRMD. Although our results are very promising, further studies are needed employing a larger sample size and double blinding designs.

Immediate effects of Tuina techniques on working-related musculoskeletal disorder of professional orchestra musicians

BACKGROUND: Musicians are a prone group to suffer from working-related musculoskeletal disorder (WRMD). Conventional solutions to control musculoskeletal pain include pharmacological treatment and rehabilitation programs but their efficiency is sometimes disappointing. OBJECTIVE: The aim of this research is to study the immediate effects of Tuina techniques on WRMD of professional orchestra musicians from the north of Portugal. DESIGN, SETTING, PARTICIPANTS AND INTERVENTIONS: We performed a prospective, controlled, single-blinded, randomized study. Professional orchestra musicians with a diagnosis of WRMD were randomly distributed into the experimental group (n=39) and the control group (n=30). During an individual interview, Chinese diagnosis took place and treatment points were chosen. Real acupoints were treated by Tuina techniques into the experimental group and non-specific skin points were treated into the control group. Pain was measured by verbal numerical scale before and immediately after intervention. RESULTS: After one treatment session, pain was reduced in 91.8% of the cases for the experimental group and 7.9% for the control group. CONCLUSION: Although results showed that Tuina techniques are effectively reducing WRMD in professional orchestra musicians of the north of Portugal, further investigations with stronger measurements, double-blinding designs and bigger simple sizes are needed.

Application of Infrared Thermal Imaging in a Violinist with Temporomandibular Disorder

Temporomandibular disorders (TMD) consist of a group of pathologies that affect the masticatory muscles, temporomandibular joints (TMJ), and/or related structures. String instrumentalists, like many orchestra musicians, can spend hours with head postures that may influence the biomechanical behavior of the TMJ and the muscles of the craniocervicomandibular complex (CCMC). The adoption of abnormal postures acquired during performance by musicians can lead to muscular hyperactivity of the head and cervical muscles, with the possible appearance of TMD. Medical infrared thermography is a non-invasive procedure that can monitor the changes in the superficial tissue related to blood circulation and may serve as a complement to the clinical examination. The objective of this study was to use infrared thermography to evaluate, in one subject, the cutaneous thermal changes adjacent to the CCMC that occur before, during, and after playing a string instrument.

Gestão de Componentes em Dinâmico

A crescente evolução das tecnologias de informação e comunicação, aliadas ao desenvolvimento industrial, proporcionou um aumento de competitividade entre as indústrias, originando uma subida do nível da relação qualidade preço. Esta premissa causou uma maior preocupação com a procura contínua pela melhoria dos processos, de forma a aumentar as actividades de valor acrescentado, eliminando todo o tipo de desperdícios. Nesta conjuntura, a Grohe Portugal Componentes Sanitários, Lda propôs uma melhoria no âmbito da gestão de stocks de componentes existentes em dinâmico. Esta acção de melhoria passa pela definição e implementação de um método de gestão destes componentes, acompanhado por um conjunto de regras de identificação de actividades e respectivos intervenientes, por forma a optimizar os meios existentes e evitar a ocorrência de falhas de componentes nas linhas. Trata-se de um método baseado no cálculo das necessidades das linhas, que através da procura média semanal e constituição dos produtos finais define um nível de prioridade entre os componentes, identificando quais os mais requisitados pelas linhas e possibilitando a gestão do dinâmico. Na contínua tentativa de combater possíveis falhas, desenvolveu-se um sistema de gestão do tipo Kanban com a capacidade de gerir o produto semi-acabado para consumo interno. Foram, ainda, criadas melhorias que permitem um acréscimo de eficiência na gestão dos componentes em estante dinâmica, diminuindo o capital imobilizado investido em stocks, levando a um rearranjo de layouts, proporcionando melhores condições de trabalho e optimizando percursos e recursos. Descreve-se detalhadamente o processo de (i) actualização, definição e implementação do método de gestão de componentes em dinâmico, acompanhado pelo respectivo conjunto de regras, (ii) a implementação de um sistema do tipo Kanban orientado às reais preocupações da empresa, (iii) a redefinição de layouts em conformidade com a actualização dos dinâmicos e (iv) a identificação e execução de um conjunto de melhorias. Todas estas actividades acompanhadas pelo impacto financeiro na organização. Por fim, efectua-se o balanço deste projecto e sugerem-se oportunidades de melhoria.

A rule-based grapheme-to-phone converter for TTS systems in european portuguese

In this paper, a linguistically rule-based grapheme-to-phone (G2P) transcription algorithm is described for European Portuguese. A complete set of phonological and phonetic transcription rules regarding the European Portuguese standard variety is presented. This algorithm was implemented and tested by using online newspaper articles. The obtained experimental results gave rise to 98.80% of accuracy rate. Future developments in order to increase this value are foreseen. Our purpose with this work is to develop a module/ tool that can improve synthetic speech naturalness in European Portuguese. Other applications of this system can be expected like language teaching/learning. These results, together with our perspectives of future improvements, have proved the dramatic importance of linguistic knowledge on the development of Text-to-Speech systems (TTS).

Homograph ambiguity resolution in front-end design for portuguese TTS systems

In this paper, a module for homograph disambiguation in Portuguese Text-to-Speech (TTS) is proposed. This module works with a part-of-speech (POS) parser, used to disambiguate homographs that belong to different parts-of-speech, and a semantic analyzer, used to disambiguate homographs which belong to the same part-of-speech. The proposed algorithms are meant to solve a significant part of homograph ambiguity in European Portuguese (EP) (106 homograph pairs so far). This system is ready to be integrated in a Letter-to-Sound (LTS) converter. The algorithms were trained and tested with different corpora. The obtained experimental results gave rise to 97.8% of accuracy rate. This methodology is also valid for Brazilian Portuguese (BP), since 95 homographs pairs are exactly the same as in EP. A comparison with a probabilistic approach was also done and results were discussed.

Adaptive modeling and high quality spectral estimation for speech enhancement

In this work an adaptive modeling and spectral estimation scheme based on a dual Discrete Kalman Filtering (DKF) is proposed for speech enhancement. Both speech and noise signals are modeled by an autoregressive structure which provides an underlying time frame dependency and improves time-frequency resolution. The model parameters are arranged to obtain a combined state-space model and are also used to calculate instantaneous power spectral density estimates. The speech enhancement is performed by a dual discrete Kalman filter that simultaneously gives estimates for the models and the signals. This approach is particularly useful as a pre-processing module for parametric based speech recognition systems that rely on spectral time dependent models. The system performance has been evaluated by a set of human listeners and by spectral distances. In both cases the use of this pre-processing module has led to improved results.

ezGo: A voice operated wheelchair with biosignal monitoring for home environments

In this paper we present ezGo, an electric powered wheelchair with a speech based interface and biosignal monitoring instrumentation. The user can use the voice, a natural communication method, for controlling the chair movement and obtain information about his health. Additionally a set of semi-autonomous modes with macro recording enable the execution of navigation tasks with little effort and improved precision. The main purpose of the system is to provide severely disabled persons with an assistive device that can improve their confidence and daily independence. The obtained results on usability tests showed that users consider ezGo a valuable help on their daily tasks and a very desirable addition to standard wheelchairs.

Speech as the basic interface for assistive technology

Speech interfaces for Assistive Technologies are not common and are usually replaced by others. The market they are targeting is not considered attractive and speech technologies are still not well spread. Industry still thinks they present some performance risks, especially Speech Recognition systems. As speech is the most elemental and natural way for communication, it has strong potential for enhancing inclusion and quality of life for broader groups of users with special needs, such as people with cerebral palsy and elderly staying at their homes. This work is a position paper in which the authors argue for the need to make speech become the basic interface in assistive technologies. Among the main arguments, we can state: speech is the easiest way to interact with machines; there is a growing market for embedded speech in assistive technologies, since the number of disabled and elderly people is expanding; speech technology is already mature to be used but needs adaptation to people with special needs; there is still a lot of R&D to be done in this area, especially when thinking about the Portuguese market. The main challenges are presented and future directions are proposed.

Automatic syllabification for danish text-to-speech systems

In this paper, a rule-based automatic syllabifier for Danish is described using the Maximal Onset Principle. Prior success rates of rule-based methods applied to Portuguese and Catalan syllabification modules were on the basis of this work. The system was implemented and tested using a very small set of rules. The results gave rise to 96.9% and 98.7% of word accuracy rate, contrary to our initial expectations, being Danish a language with a complex syllabic structure and thus difficult to be rule-driven. Comparison with data-driven syllabification system using artificial neural networks showed a higher accuracy rate of the former system.

Kalman tracking linear predictor for vowel intelligibility enhancement on european portuguese HMM based speech synthesis

The recent developments on Hidden Markov Models (HMM) based speech synthesis showed that this is a promising technology fully capable of competing with other established techniques. However some issues still lack a solution. Several authors report an over-smoothing phenomenon on both time and frequencies which decreases naturalness and sometimes intelligibility. In this work we present a new vowel intelligibility enhancement algorithm that uses a discrete Kalman filter (DKF) for tracking frame based parameters. The inter-frame correlations are modelled by an autoregressive structure which provides an underlying time frame dependency and can improve time-frequency resolution. The system’s performance has been evaluated using objective and subjective tests and the proposed methodology has led to improved results.