Symbolic fractional dynamics

Fractional dynamics reveals long range memory properties of systems described by means of signals represented by real numbers. Alternatively, dynamical systems and signals can adopt a representation where states are quantified using a set of symbols. Such signals occur both in nature and in man made processes and have the potential of a aftermath as relevant as the classical counterpart. This paper explores the association of Fractional calculus and symbolic dynamics. The results are visualized by means of the multidimensional technique and reveal the association between the fractal dimension and one definition of fractional derivative.

A fuzzified systematic adjustment of the robotic Darwinian PSO

The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization using natural selection to enhance the ability to escape from sub-optimal solutions. An extension of the DPSO to multi-robot applications has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), benefiting from the dynamical partitioning of the whole population of robots, hence decreasing the amount of required information exchange among robots. This paper further extends the previously proposed algorithm adapting the behavior of robots based on a set of context-based evaluation metrics. Those metrics are then used as inputs of a fuzzy system so as to systematically adjust the RDPSO parameters (i.e., outputs of the fuzzy system), thus improving its convergence rate, susceptibility to obstacles and communication constraints. The adapted RDPSO is evaluated in groups of physical robots, being further explored using larger populations of simulated mobile robots within a larger scenario.

Accessing complexity from genome information

This paper studies the information content of the chromosomes of 24 species. In a first phase, a scheme inspired in dynamical system state space representation is developed. For each chromosome the state space dynamical evolution is shed into a two dimensional chart. The plots are then analyzed and characterized in the perspective of fractal dimension. This information is integrated in two measures of the species’ complexity addressing its average and variability. The results are in close accordance with phylogenetics pointing quantitative aspects of the species’ genomic complexity.

How a cyber-physical system can efficiently obtain a snapshot of physical information even in the presence of sensor faults

We present a distributed algorithm for cyber-physical systems to obtain a snapshot of sensor data. The snapshot is an approximate representation of sensor data; it is an interpolation as a function of space coordinates. The new algorithm exploits a prioritized medium access control (MAC) protocol to efficiently transmit information of the sensor data. It scales to a very large number of sensors and it is able to operate in the presence of sensor faults.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Indoor location using fingerprinting and fuzzy logic

Indoor location systems cannot rely on technologies such as GPS (Global Positioning System) to determine the position of a mobile terminal, because its signals are blocked by obstacles such as walls, ceilings, roofs, etc. In such environments. The use of alternative techniques, such as the use of wireless networks, should be considered. The location estimation is made by measuring and analysing one of the parameters of the wireless signal, usually the received power. One of the techniques used to estimate the locations using wireless networks is fingerprinting. This technique comprises two phases: in the first phase data is collected from the scenario and stored in a database; the second phase consists in determining the location of the mobile node by comparing the data collected from the wireless transceiver with the data previously stored in the database. In this paper an approach for localisation using fingerprinting based on Fuzzy Logic and pattern searching is presented. The performance of the proposed approach is compared with the performance of classic methods, and it presents an improvement between 10.24% and 49.43%, depending on the mobile node and the Fuzzy Logic parameters.ł

A sensor classification strategy for robotic manipulators

In practice the robotic manipulators present some degree of unwanted vibrations. The advent of lightweight arm manipulators, mainly in the aerospace industry, where weight is an important issue, leads to the problem of intense vibrations. On the other hand, robots interacting with the environment often generate impacts that propagate through the mechanical structure and produce also vibrations. In order to analyze these phenomena a robot signal acquisition system was developed. The manipulator motion produces vibrations, either from the structural modes or from endeffector impacts. The instrumentation system acquires signals from several sensors that capture the joint positions, mass accelerations, forces and moments, and electrical currents in the motors. Afterwards, an analysis package, running off-line, reads the data recorded by the acquisition system and extracts the signal characteristics. Due to the multiplicity of sensors, the data obtained can be redundant because the same type of information may be seen by two or more sensors. Because of the price of the sensors, this aspect can be considered in order to reduce the cost of the system. On the other hand, the placement of the sensors is an important issue in order to obtain the suitable signals of the vibration phenomenon. Moreover, the study of these issues can help in the design optimization of the acquisition system. In this line of thought a sensor classification scheme is presented. Several authors have addressed the subject of the sensor classification scheme. White (White, 1987) presents a flexible and comprehensive categorizing scheme that is useful for describing and comparing sensors. The author organizes the sensors according to several aspects: measurands, technological aspects, detection means, conversion phenomena, sensor materials and fields of application. Michahelles and Schiele (Michahelles & Schiele, 2003) systematize the use of sensor technology. They identified several dimensions of sensing that represent the sensing goals for physical interaction. A conceptual framework is introduced that allows categorizing existing sensors and evaluates their utility in various applications. This framework not only guides application designers for choosing meaningful sensor subsets, but also can inspire new systems and leads to the evaluation of existing applications. Today’s technology offers a wide variety of sensors. In order to use all the data from the diversity of sensors a framework of integration is needed. Sensor fusion, fuzzy logic, and neural networks are often mentioned when dealing with problem of combing information from several sensors to get a more general picture of a given situation. The study of data fusion has been receiving considerable attention (Esteban et al., 2005; Luo & Kay, 1990). A survey of the state of the art in sensor fusion for robotics can be found in (Hackett & Shah, 1990). Henderson and Shilcrat (Henderson & Shilcrat, 1984) introduced the concept of logic sensor that defines an abstract specification of the sensors to integrate in a multisensor system. The recent developments of micro electro mechanical sensors (MEMS) with unwired communication capabilities allow a sensor network with interesting capacity. This technology was applied in several applications (Arampatzis & Manesis, 2005), including robotics. Cheekiralla and Engels (Cheekiralla & Engels, 2005) propose a classification of the unwired sensor networks according to its functionalities and properties. This paper presents a development of a sensor classification scheme based on the frequency spectrum of the signals and on a statistical metrics. Bearing these ideas in mind, this paper is organized as follows. Section 2 describes briefly the robotic system enhanced with the instrumentation setup. Section 3 presents the experimental results. Finally, section 4 draws the main conclusions and points out future work.

Crossing genetic and swarm intelligence algorithms to generate logic circuits

Genetic Algorithms (GAs) are adaptive heuristic search algorithm based on the evolutionary ideas of natural selection and genetic. The basic concept of GAs is designed to simulate processes in natural system necessary for evolution, specifically those that follow the principles first laid down by Charles Darwin of survival of the fittest. On the other hand, Particle swarm optimization (PSO) is a population based stochastic optimization technique inspired by social behavior of bird flocking or fish schooling. PSO shares many similarities with evolutionary computation techniques such as GAs. The system is initialized with a population of random solutions and searches for optima by updating generations. However, unlike GA, PSO has no evolution operators such as crossover and mutation. In PSO, the potential solutions, called particles, fly through the problem space by following the current optimum particles. PSO is attractive because there are few parameters to adjust. This paper presents hybridization between a GA algorithm and a PSO algorithm (crossing the two algorithms). The resulting algorithm is applied to the synthesis of combinational logic circuits. With this combination is possible to take advantage of the best features of each particular algorithm.

Bertrand model under incomplete information

We consider a Bertrand duopoly model with unknown costs. The firms' aim is to choose the price of its product according to the well-known concept of Bayesian Nash equilibrium. The chooses are made simultaneously by both firms. In this paper, we suppose that each firm has two different technologies, and uses one of them according to a certain probability distribution. The use of either one or the other technology affects the unitary production cost. We show that this game has exactly one Bayesian Nash equilibrium. We analyse the advantages, for firms and for consumers, of using the technology with highest production cost versus the one with cheapest production cost. We prove that the expected profit of each firm increases with the variance of its production costs. We also show that the expected price of each good increases with both expected production costs, being the effect of the expected production costs of the rival dominated by the effect of the own expected production costs.

CardioML: integrating personal cardiac information for ubiquous diagnosis and analysis

The latest medical diagnosis devices enable the performance of e-diagnosis making the access to these services easier, faster and available in remote areas. However this imposes new communications and data interchange challenges. In this paper a new XML based format for storing cardiac signals and related information is presented. The proposed structure encompasses data acquisition devices, patient information, data description, pathological diagnosis and waveform annotation. When compared with similar purpose formats several advantages arise. Besides the full integrated data model it may also be noted the available geographical references for e-diagnosis, the multi stream data description, the ability to handle several simultaneous devices, the possibility of independent waveform annotation and a HL7 compliant structure for common contents. These features represent an enhanced integration with existent systems and an improved flexibility for cardiac data representation.

Eficiência energética em edifícios residenciais da cidade do Porto

O consumo de energia a nível mundial tem atingido valores históricos, devido ao crescimento da população mundial e ao aumento do consumo per capita. Nesta medida é extremamente importante existirem alternativas para que a redução do consumo de energia de todos os países seja uma realidade, evitando também as consequências ambientais, em particular as alterações climáticas, resultantes da utilização intensiva de combustíveis fósseis. Portugal, tal como outros países da União Europeia, tem que cumprir metas, pelo que é urgente encontrarem-se soluções de forma a diminuir o consumo de energia sem interferir com o nosso dia-a-dia. A cidade do Porto, tal como qualquer cidade, precisa de imensa energia desde os transportes até à indústria, passando pelos edifícios. Os edifícios, residenciais e de serviços, são responsáveis por mais de 50% de energia primária consumida no concelho do Porto, sendo que aos edifícios residenciais corresponde um consumo de 1.473 GWh/ano de energia primária, o que é um valor elevado. Numa primeira parte deste trabalho foi efetuado um levantamento de informação caracterizando a cidade do Porto relativamente ao seu edificado e consumos energéticos. Numa segunda parte propuseram-se medidas para reduzir o consumo para cada tipo de utilização de energia, nomeadamente preparação de refeições, AQS (água quente sanitária), aquecimento ambiente, frio (frigorífico, arcas, etc.), outros e iluminação. Para cada um destes tipos de utilização estudou-se, sempre que possível, a evolução do longo do tempo (2004 a 2012) e possíveis cenários de evolução para o futuro. Para além disso, também se estudou a evolução do mix de produção de energia elétrica de 2004 até 2012 e previsões da evolução do mix para o futuro. Nesta análise foi tido em conta o aspeto ambiental contabilizando-se, sempre que possível, as emissões de poluentes resultantes do consumo de energia. Por fim, efetuou-se uma avaliação técnica, ambiental e económica das medidas propostas. Pode dizer-se que a maioria das medidas propostas a serem implementadas conduziria a uma redução do consumo de energia e consequentemente a uma diminuição das emissões de poluentes, em particular dos gases com efeito de estufa (CO2). Em termos técnicos a maioria das medidas pode ser aplicada embora algumas delas envolvam custos de investimento significativos. Dada a conjuntura atual, seria importante obter o financiamento necessário para a implementação das medidas propostas e a divulgação de medidas já existentes, tais como os programas para AQS e janelas eficientes.

Sistemas de supervisão e controlo de autómatos: soluções baseadas em OPC E IEC 60870-5-104

Atualmente, no segmento metro-ferroviário, há uma tendência para que todos os equipamentos que constituem os sistemas auxiliares de uma estação (escadas mecânicas, elevadores, bloqueadores, validadores de bilhética, ventiladores, bombas, entre outros) sejam dotados de inteligência. Tipicamente, um conjunto de equipamentos são ligados a um autómato que permite o controlo local e remoto e é vulgar que, sendo de fabricantes diferentes, suportem tecnologias distintas. Um sistema de supervisão que permita o acesso à informação disponibilizada por cada um dos autómatos, ou à atuação sobre um deles, terá por isso que implementar e suportar diversos protocolos de comunicação de forma a não ficar limitado a um tipo de tecnologia. De forma a diminuir os custos de desenvolvimento e operação de um sistema de supervisão e controlo e facilitar a integração de novos equipamentos, com diferentes características, têm sido procuradas soluções que garantam uma mais fácil comunicação entre os diversos módulos intervenientes. Nesta dissertação são implementadas soluções baseadas em clientes OPC-DA e OPC-AE e no protocolo IEC 60870-5-104, permitindo que os sistemas de supervisão e de controlo comuniquem com os equipamentos através destes três módulos. Os principais aspectos inovadores estão associados à implementação de uma arquitetura multiprotocolo usando as novas tendências de supervisão e controlo baseadas em soluções distribuídas.

Dificuldades encontradas no processo de internacionalização: estudo nas PME de mobiliário nos concelhos de Paços de Ferreira e Paredes

Dissertação de Mestrado apresentada ao Instituto Superior de Contabilidade e Administração do Porto para a obtenção do grau de Mestre em Auditoria, sob orientação do Mestre Adalmiro Álvaro Malheiro de Castro Andrade Pereira

Fractional Order Generalized Information

This paper formulates a novel expression for entropy inspired in the properties of Fractional Calculus. The characteristics of the generalized fractional entropy are tested both in standard probability distributions and real world data series. The results reveal that tuning the fractional order allow an high sensitivity to the signal evolution, which is useful in describing the dynamics of complex systems. The concepts are also extended to relative distances and tested with several sets of data, confirming the goodness of the generalization.

Person Localization Using Sensor Information Fusion

Nowadays the incredible grow of mobile devices market led to the need for location-aware applications. However, sometimes person location is difficult to obtain, since most of these devices only have a GPS (Global Positioning System) chip to retrieve location. In order to suppress this limitation and to provide location everywhere (even where a structured environment doesn’t exist) a wearable inertial navigation system is proposed, which is a convenient way to track people in situations where other localization systems fail. The system combines pedestrian dead reckoning with GPS, using widely available, low-cost and low-power hardware components. The system innovation is the information fusion and the use of probabilistic methods to learn persons gait behavior to correct, in real-time, the drift errors given by the sensors.