Development of an Unmanned Capsule for large-scale maritime search and rescue

This paper describes the development and testing of a robotic capsule for search and rescue operations at sea. This capsule is able to operate autonomously or remotely controlled, is transported and deployed by a larger USV into a determined disaster area and is used to carry a life raft and inflate it close to survivors in large-scale maritime disasters. The ultimate goal of this development is to endow search and rescue teams with tools that extend their operational capability in scenarios with adverse atmospheric or maritime conditions.

Testing Nelder-Mead Based Repulsion Algorithms for Multiple Roots of Nonlinear Systems via a Two-Level Factorial Design of Experiments

This paper addresses the challenging task of computing multiple roots of a system of nonlinear equations. A repulsion algorithm that invokes the Nelder-Mead (N-M) local search method and uses a penalty-type merit function based on the error function, known as 'erf', is presented. In the N-M algorithm context, different strategies are proposed to enhance the quality of the solutions and improve the overall efficiency. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm.

Effect of selenization conditions on the growth and properties of Cu2ZnSn(S,Se)4 thin films

The opto-electronic properties of copper zinc tin sulfide can be tuned to achieve better cell efficiencies by controlled incorporation of selenium. In this paper we report the growth of Cu2ZnSn(S,Se)4 (CZTSSe) using a hybrid process involving the sequential evaporation of Zn and sputtering of the sulfide precursors of Cu and Sn, followed by a selenization step. Two approaches for selenization were followed, one using a tubular furnace and the other using a rapid thermal processor. The effects of annealing conditions on the morphological and structural properties of the films were investigated. Scanning electron microscopy and energy dispersive spectroscopy were employed to investigate the morphology and composition of the films. Structural analyses were done using X-ray diffraction (XRD) and Raman spectroscopy. Structural analyses revealed the formation of CZTSSe. This study shows that regardless of the selenization method a temperature above 450 °C is required for conversion of precursors to a compact CZTSSe layer. XRD and Raman analysis suggests that the films selenized in the tubular furnace are selenium rich whereas the samples selenized in the rapid thermal processor have higher sulfur content.

HIV Voluntary Testing among Portuguese Women Attending Family Planning Clinics: Implications for HIV Prevention Education and Testing

Objectives: The aim of this article is to analyze the factors associated with HIV testing among 767 sexually active women. Methods: Participants were administered several self-report questionnaires that assessed behavioral and psychosocial measures. Results: Overall, 59.8% of the participants reported ever having tested for HIV. Results show that higher levels of education, being pregnant or having been pregnant, concern about AIDS, AIDS knowledge, self-efficacy in condom negotiation and perception of no risk in partner significantly predicted the likelihood of testing among women. Attending the mass was negatively associated with HIV testing. Conclusions: These findings provide information that can be used in the development of a focused gender sensitive HIV prevention program to increase HIV testing.

Projeto e desenvolvimento de células robotizadas para soldadura e cladding

A utilização de equipamentos robóticos para o processo de soldadura por arco elétrico teve um forte crescimento nas décadas de 80 e 90, altura em que o custo e fiabilidade da tecnologia passou a permitir a integração de robôs em linhas de produção ou em células de fabrico. Depressa cresceram as exigências de uma produção com qualidade repetitiva e facilmente ajustável, e as restrições ao uso de processos manuais ou de tecnologias com pouca flexibilidade. Desde o início do século XXI que a renovação de uma estação de fabrico de peças soldadas para produção em série, especialmente no setor automóvel, parece forçada à integração de robôs industriais, que assim se tornaram símbolos de produtividade. A KAMAZ encontra-se atualmente a renovar alguns dos seus processos de fabrico, incluindo as áreas de soldadura por arco ou cladding. Esta Dissertação aborda o trabalho elaborado, depois de contratualizada com a ABB Rússia a instalação de novas células de fabrico robotizado nesta empresa. Este projeto tem início com o levantamento das necessidades, a verificação do processo existente, e a procura da solução tecnológica que se adapte a essas condições e cumpra os requisitos acordados. São realizadas modelações e simulações off-line em 3D, usando o software RobotStudio da ABB, que permitiram testar cada solução e analisar a sua adequação e viabilidade. Para maior garantia de se obter a qualidade esperada na fusão e deposição do material por processo com arco elétrico revestido a gás, foram realizados testes reais utilizando equipamento robótico em condições baseadas nos testes feitos no ambiente virtual. Por último, são ajustadas as localizações dos postos de trabalho ao layout existente e é feito o balanceamento do tempo de operação manual com o tempo do processo robotizado. Este projeto de Tese termina com a aceitação do cliente para a solução encontrada e para os resultados dos testes reais de ambos os processos.